CN107438227B - Unmanned aerial vehicle delivery method - Google Patents
Unmanned aerial vehicle delivery method Download PDFInfo
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- CN107438227B CN107438227B CN201610356510.1A CN201610356510A CN107438227B CN 107438227 B CN107438227 B CN 107438227B CN 201610356510 A CN201610356510 A CN 201610356510A CN 107438227 B CN107438227 B CN 107438227B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/12—Target-seeking control
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- G—PHYSICS
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- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
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Abstract
The invention relates to the field of communication, in particular to an unmanned aerial vehicle delivery method, a control method and a control device. The method comprises the following steps: the unmanned aerial vehicle sends request information to the wireless terminal; when the wireless terminal receives and confirms the request information, the wireless terminal feeds back the confirmation information and the position information thereof to the unmanned aerial vehicle; according to the position information, the unmanned aerial vehicle executes delivery operation to the wireless terminal user; wherein, when unmanned aerial vehicle with when the distance between the wireless terminal position satisfies the preset condition, wireless terminal control unmanned aerial vehicle accomplishes and delivers the operation. The technical scheme of the invention can realize the control of the unmanned aerial vehicle by the wireless terminal to carry out wide-range, high-efficiency, flexible and quick delivery.
Description
The technical field is as follows:
the invention relates to the field of communication, in particular to an unmanned aerial vehicle delivery method, a control method and a control device.
Background art:
with the rapid development of internet electronic commerce, people put forward more demands on high efficiency, convenience and wide coverage range of logistics, the existing manpower delivery by using couriers cannot meet the demands of society on logistics, the labor cost is high, and the logistics can not be directly delivered to the places of users conveniently in many remote areas. In order to adapt to the development of internet electronic commerce and meet the requirement of efficient, convenient and wide-range logistics, unmanned aerial vehicle delivery will become the trend of future logistics development. However, the existing unmanned aerial vehicle delivery technology can only realize fixed point-to-point transportation at a preset position, for example, one express delivery location is transported to another express delivery location, and is transported to a community express station or an express delivery locker from the distribution location, only the transfer of logistics is realized, and direct delivery in place cannot be realized, that is, direct delivery is directly carried to a customer who finally receives goods from a delivery departure point, and dynamic point-to-point transportation cannot be realized, that is, if a destination temporarily changes in the unmanned aerial vehicle delivery transportation process, delivery failure can be caused, and the delivery destination can not be changed at any time along with the change of the location of the user.
The invention content is as follows:
the invention aims to provide an unmanned aerial vehicle delivery method, a control method and a control device, which aim to realize the technical problem of controlling an unmanned aerial vehicle by a wireless terminal to carry out wide-range, efficient, flexible and quick delivery.
In order to solve the above technical problem, the embodiment of the present invention provides the following technical solutions:
a drone delivery method, the method comprising:
the unmanned aerial vehicle sends request information to the wireless terminal;
when the wireless terminal receives and confirms the request information, the wireless terminal feeds back the confirmation information and the position information thereof to the unmanned aerial vehicle;
according to the position information, the unmanned aerial vehicle executes delivery operation to the wireless terminal user; wherein, when unmanned aerial vehicle with when the distance between the wireless terminal position satisfies the preset condition, wireless terminal control unmanned aerial vehicle accomplishes and delivers the operation.
Further, the drone sends request information to the wireless terminal, wherein the request information includes: a request and a first identification request are received.
Optionally, the wireless terminal feeding back the confirmation information and the location information thereof to the drone includes:
the wireless terminal confirms the receiving request of the unmanned aerial vehicle and the first identity recognition request; the manner of confirming the first identification request includes but is not limited to: identity information input confirmation, fingerprint information confirmation, touch operation information confirmation or pattern information confirmation;
when the first identity recognition request confirmation information is successful, the wireless terminal feeds back the confirmation information and the position information to the unmanned aerial vehicle; wherein the location information comprises: and geographic information and/or meteorological information of the current position of the wireless terminal.
Optionally, the distance between the unmanned aerial vehicle and the wireless terminal location satisfies a preset condition:
the distance between the unmanned aerial vehicle and the wireless terminal position is equal to or less than a preset distance threshold value.
Further, unmanned aerial vehicle with when the distance between the wireless terminal position satisfies the preset condition, wireless terminal control unmanned aerial vehicle accomplishes and delivers the operation and includes:
when the distance between the unmanned aerial vehicle and the wireless terminal position meets a preset condition;
the unmanned aerial vehicle sends a control request to the wireless terminal;
and the wireless terminal confirms the control request and controls the unmanned aerial vehicle to finish delivery operation.
Optionally, the sending, by the drone, the control request to the wireless terminal includes: the unmanned aerial vehicle sends a second identity recognition request to the wireless terminal;
the wireless terminal confirms the control request and controls the unmanned aerial vehicle to finish delivery operation, and the wireless terminal comprises:
after the wireless terminal confirms that the second identity recognition request is successful, the wireless terminal establishes wireless connection with the unmanned aerial vehicle;
the wireless terminal sends a control instruction to the unmanned aerial vehicle;
and according to the received control instruction, the unmanned aerial vehicle finishes delivery operation.
Optionally, the controlling, by the wireless terminal, the drone to complete the delivery operation includes:
the wireless terminal carries out touch operation instruction control of the touch screen and the unmanned aerial vehicle finishes delivery operation.
Optionally, the manner in which the wireless terminal establishes the wireless connection with the drone includes, but is not limited to, any of the following: infrared connection, bluetooth connection, NFC connection.
Further, before the wireless terminal establishes a wireless connection with the drone, the method further includes:
the communication connection mode between the wireless terminal and the unmanned aerial vehicle is a wide area communication mode such as cellular network communication or satellite communication.
Preferably, the wireless terminal feeding back the position information to the drone includes:
the wireless terminal can feed back the position updating information of the wireless terminal to the unmanned aerial vehicle in real time.
Another embodiment of the present invention provides a control method applied to a wireless terminal, including:
receiving and confirming request information sent by the unmanned aerial vehicle;
feeding back the confirmation information and the current position information to the unmanned aerial vehicle; wherein the assurance information and location information are received at the drone and instruct the drone to perform a delivery operation;
when the distance between the unmanned aerial vehicle and the wireless terminal position meets the preset condition, the unmanned aerial vehicle is controlled to finish the delivery operation.
Further, the receiving and confirming request information sent by the drone includes: receiving request information sent by an unmanned aerial vehicle, wherein the request information comprises: receiving a request and a first identity recognition request; confirming the receiving request and the first identification request; the manner of confirming the first identification request includes but is not limited to: identity information input confirmation, fingerprint information confirmation, touch operation information confirmation or pattern information confirmation.
Optionally, when the distance between the drone and the wireless terminal location satisfies a preset condition, controlling the drone to complete the delivery operation includes: when the distance between the unmanned aerial vehicle and the position of the wireless terminal is equal to or smaller than a preset distance threshold value; receiving and confirming a control request sent by an unmanned aerial vehicle, and establishing wireless connection with the unmanned aerial vehicle; sending a control instruction to the unmanned aerial vehicle through the wireless connection; the control instruction is used for controlling the unmanned aerial vehicle to finish delivery operation.
Further, the receiving and confirming of the control request sent by the drone further includes: receiving and confirming a second identity recognition request sent by the unmanned aerial vehicle; and after the second identity recognition request is confirmed to be successful, establishing wireless connection with the unmanned aerial vehicle.
Optionally, the controlling the drone to complete delivery operations includes: receiving a touch operation instruction of a touch screen; and controlling the unmanned aerial vehicle to finish delivery operation according to the touch operation instruction.
Another embodiment of the present invention provides a control apparatus, which is applied to a wireless terminal, and includes a confirmation module, a sending module, and a control module; wherein the content of the first and second substances,
the receiving module is used for receiving and confirming request information sent by the unmanned aerial vehicle;
the sending module is used for feeding back the confirmation information and the current position information to the unmanned aerial vehicle; wherein the assurance information and location information are received at the drone and instruct the drone to perform a delivery operation;
and the control module is used for controlling the unmanned aerial vehicle to finish delivery operation when the distance between the unmanned aerial vehicle and the wireless terminal position meets the preset condition.
Further, the received request information of the confirmed module includes: receiving a request and a first identity recognition request; the control device further comprises an identification module for receiving identity confirmation information, wherein the identity confirmation information is used for matching with the first identity identification request; wherein the identity confirmation information includes but is not limited to: the identity information confirms input information, fingerprint confirmation information, touch operation confirmation information or pattern confirmation information.
Optionally, the control device further comprises: a wireless communication module; when the distance between the unmanned aerial vehicle and the wireless terminal position meets the preset conditions, the distance is: when the distance between the unmanned aerial vehicle and the position of the wireless terminal is equal to or smaller than a preset distance threshold value; when the control module receives and confirms the control request sent by the unmanned aerial vehicle; the wireless communication module is used for establishing wireless connection with the unmanned aerial vehicle; the control module sends a control instruction to the unmanned aerial vehicle through the wireless communication module; the control instruction is used for controlling the unmanned aerial vehicle to finish delivery operation.
Optionally, the control module further comprises: a receiving unit and a control unit;
the receiving unit is used for receiving a touch operation instruction of the touch screen;
and the control unit is used for controlling the unmanned aerial vehicle to finish delivery operation according to the touch operation instruction.
Another embodiment of the present invention provides an unmanned aerial vehicle delivery method, including:
the unmanned aerial vehicle management platform sends request information to the wireless terminal;
when the wireless terminal receives and confirms the request information, the wireless terminal feeds back the confirmation information and the position information thereof to the unmanned aerial vehicle management platform;
the unmanned aerial vehicle management platform sends the terminal position information to the unmanned aerial vehicle;
according to the position information, the unmanned aerial vehicle executes delivery operation to the wireless terminal user; wherein, when unmanned aerial vehicle with when the distance between the wireless terminal position satisfies the preset condition, wireless terminal control unmanned aerial vehicle accomplishes and delivers the operation.
According to the unmanned aerial vehicle delivery method, the control method and the control device, the information of the position of the user can be fed back to the unmanned aerial vehicle by utilizing the communication between the wireless terminal of the user and the unmanned aerial vehicle, and the wireless terminal can control the unmanned aerial vehicle to finish final landing delivery when the unmanned aerial vehicle flies to the position near the position of the user. The technical scheme of the invention not only improves the high efficiency and convenience of unmanned aerial vehicle delivery, but also improves the flexibility and safety of unmanned aerial vehicle delivery.
Description of the drawings:
the accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the examples serve to explain the principles of the invention and not to limit the invention.
Fig. 1 is a flow chart of a drone delivery method of an embodiment of the present invention;
FIG. 2 is a flow chart of a control method of another embodiment of the present invention;
FIG. 3 is a schematic diagram of a control device according to another embodiment of the present invention;
fig. 4 is a schematic structural diagram of a drone of an embodiment of the present invention;
fig. 5 is a flow chart of a drone delivery method of another embodiment of the present invention;
FIG. 6 is a flow chart of a control method of another embodiment of the present invention;
fig. 7 is an interaction diagram of a drone delivery system of another embodiment of the present invention.
The specific implementation mode is as follows:
in order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.
Fig. 1 is a flowchart of a method for delivering an unmanned aerial vehicle according to an embodiment of the present invention. As shown in fig. 1, the method of the embodiment of the present invention includes:
s001, the unmanned aerial vehicle sends request information to the wireless terminal;
s002, when the wireless terminal receives and confirms the request information, the wireless terminal feeds back the confirmation information and the position information thereof to the unmanned aerial vehicle;
s003, according to the position information, the unmanned aerial vehicle executes delivery operation to the wireless terminal user; wherein, when unmanned aerial vehicle with when the distance between the wireless terminal position satisfies the preset condition, wireless terminal control unmanned aerial vehicle accomplishes and delivers the operation.
Further, the drone sends request information to the wireless terminal, wherein the request information includes: a request and a first identification request are received.
Further, the wireless terminal confirms the receiving request of the unmanned aerial vehicle and the first identity identification request; the manner of confirming the first identification request includes but is not limited to: identity information input confirmation, fingerprint information confirmation, touch operation information confirmation or pattern information confirmation. The specific process is that after the receiving request is sent to the wireless terminal, the request information can present prompt information on the interface of the wireless terminal, and when the user confirms that the delivery can be received, the receiving request is confirmed. After the receiving request is confirmed, the wireless terminal interface prompts the user to confirm the first identification request according to the first identification request, in short, the user is required to input the identification information in the wireless terminal, and if the input identification information is correct, the wireless terminal completes the operation of confirming the first identification information. The identity information is matched with the first identity identification request, and the first identity identification request information is attribute information of a delivery object to be delivered by the unmanned aerial vehicle or user information carried by the delivery object, such as an identity card number, a wireless terminal number or a preset password of the user. In actual use, the identity information received by the wireless terminal may be fingerprint information, character password information, touch gesture information, pattern recognition information, or the like of the user, for example, the identity recognition request information sent by the unmanned aerial vehicle is a plurality of pictures, wherein at least one of the pictures is matched with the user information of the wireless terminal, and the first identity recognition request confirmation operation is completed if the matched picture is recognized.
Optionally, in the embodiment of the present invention, when the drone sends the first identification request to the wireless terminal, the drone may carry correct and matched identification information in the identification request information and send the identification request information to the wireless terminal. When the wireless terminal confirms the first identification information, as long as the identification information operation performed by the user is matched with the correct identification information received from the unmanned aerial vehicle, the confirmation of the first identification request is completed. In another embodiment, when receiving a first identification request sent by an unmanned aerial vehicle, a wireless terminal can feed back confirmation information of the first identification request to the unmanned aerial vehicle, the unmanned aerial vehicle receives whether matching is correct or not when receiving the first identification confirmation information sent by the wireless terminal, and if the matching is correct, the matching is fed back to the wireless terminal, and the wireless terminal receives the feedback information and then sends current position information to the unmanned aerial vehicle through modulation of a modulator for indicating the unmanned aerial vehicle to carry out delivery operation.
Further, after the first identity recognition request confirms information successfully, the wireless terminal feeds back the confirmation information and the position information to the unmanned aerial vehicle; wherein the location information comprises: and geographic information and/or meteorological information of the current position of the wireless terminal. The geographic information includes longitude and latitude information and altitude information of a current spatial position of the wireless terminal, and surrounding building information of the current position, and the longitude and latitude and altitude information of the current position can be acquired by using global positioning systems such as a GPS and a BDS. In a specific embodiment, the drone may prompt the wireless terminal or initiate a second confirmation request according to the received geographic information and/or weather information of the location of the wireless terminal, for example, the received weather information is information of rain, snow or extreme low temperature of the location of the wireless terminal, and the drone may initiate the second confirmation request to the wireless terminal to confirm to the user of the wireless terminal whether to continue the delivery under the condition of extreme weather information.
Further, after receiving the confirmation information and the position information fed back by the wireless terminal, the unmanned aerial vehicle demodulates the confirmation information and the position information through a demodulator and performs operation processing on the demodulated information through an internal processor of the unmanned aerial vehicle to form a control instruction. The control instruction is used for controlling the unmanned aerial vehicle to carry out delivery operation, specifically controlling the flying speed, path, flying height and the like of the unmanned aerial vehicle. In a specific embodiment, a gyroscope or the like may be used to control the flight operations of the drone.
Further, in this embodiment of the present invention, when the distance between the drone and the wireless terminal location satisfies a preset condition, the wireless terminal controlling the drone to complete the delivery operation includes:
when the distance between the unmanned aerial vehicle and the position of the wireless terminal is equal to or smaller than a preset distance threshold value (for example, smaller than 50 meters), the unmanned aerial vehicle sends a control request to the wireless terminal; and the wireless terminal confirms the control request and controls the unmanned aerial vehicle to finish delivery operation. Can thoroughly guarantee like this that the position that unmanned aerial vehicle delivered is just in customer's visual within range, especially wireless terminal's position supports real-time update and carries out real-time interaction mode with unmanned aerial vehicle, means that the customer who holds wireless terminal can remove to open ground, even positions such as roof, and direct convenient observation unmanned aerial vehicle gets into visual short-distance range and descends the guide to unmanned aerial vehicle.
Preferably, in another embodiment of the present invention, the sending, by the drone, the control request to the wireless terminal includes: the unmanned aerial vehicle sends a second identity recognition request to the wireless terminal; the wireless terminal confirms the control request and controls the unmanned aerial vehicle to finish delivery operation, and the wireless terminal comprises: after the wireless terminal confirms that the second identity recognition request is successful, the wireless terminal establishes wireless connection with the unmanned aerial vehicle; the wireless terminal sends a control instruction to the unmanned aerial vehicle; and according to the received control instruction, the unmanned aerial vehicle finishes delivery operation. The operation of sending the second identification request to the wireless terminal by the unmanned aerial vehicle and confirming the second identification request by the wireless terminal is the same as the technical scheme of confirming the first identification request and the first identification request disclosed in the above embodiment. The wireless terminal and the mode of establishing wireless connection with the unmanned aerial vehicle comprise near-distance connection modes such as infrared connection, visible light, Bluetooth connection, NFC (near field communication) access communication connection and WIFI (wireless fidelity) connection. For example, the infrared connection can adopt infrared remote control and can directly utilize an infrared modem such as an MCP2120, an HSDL3001 and other integrated devices; the bluetooth connection may utilize an integrated device such as BCM 4330.
In the embodiment of the present invention, before the wireless terminal establishes the wireless connection with the unmanned aerial vehicle, the communication connection mode between the wireless terminal and the unmanned aerial vehicle is a wide area communication mode such as cellular network communication or satellite communication.
Preferably, in this embodiment of the present invention, the controlling, by the wireless terminal, the drone to complete the delivery operation includes: the wireless terminal carries out touch operation instruction control of the touch screen and the unmanned aerial vehicle finishes delivery operation. In another specific embodiment, when wireless terminal with unmanned aerial vehicle establishes wireless connection after, but wireless terminal automatic start control mode, control mode can be for the control of wireless terminal preinstall installation unmanned aerial vehicle's specific APP software, appears being similar to the interface of game paddle after the software is opened, has about virtual button about, in the interface, the user can pass through virtual button control last delivery operation is accomplished to unmanned aerial vehicle, including turning to, falling to the ground, unloading operation etc.. Optionally, when the touch screen is a pressure screen, the flight speed of the unmanned aerial vehicle may be controlled according to the magnitude of the pressure value received by the virtual key on the pressure screen, for example, if the magnitude of the pressure value received by the virtual key is large, the flight speed of the unmanned aerial vehicle is fast; in another embodiment, the control mode may also be an operation mode built in the wireless terminal, in the control operation mode, the touch screen of the wireless terminal is divided into four areas, i.e., an upper area, a lower area, a left area, a right area, and a left area, or 2, 8, 4, and 6 numeric keys in the numeric input keyboard are respectively used as the upper key, the lower key, the left key, the right key, and the left key to control the flight direction of the unmanned aerial vehicle, and pressure values received by the four areas or the four keys are used for controlling the flight speed of the.
In an alternative embodiment, the control operations on the touch screen may be graphical control modes such as left turn, right turn, forward, backward, ascending, descending, and the like, and the touch screen interface of the wireless terminal converts these control operations into information conforming to the control instruction of the drone, for example, the drone has a left turn defined as 1, a right turn defined as 2, forward defined as 3, backward defined as 4, ascending defined as 5, and descending defined as 6. And the wireless terminal converts the control operation information into a binary source code suitable for transmission and transmits the binary source code to the unmanned aerial vehicle to realize the control of the unmanned aerial vehicle.
In another embodiment of the invention, the wireless terminal can also control the unmanned aerial vehicle to perform operations such as flying, steering and landing through a built-in gyroscope to finish delivery.
For clearly describing that the wireless terminal controls the unmanned aerial vehicle to complete the delivery operation, the control process is introduced in more detail with reference to specific application scenarios as follows: when the unmanned aerial vehicle flies to a position near the position of the wireless terminal (that is, the distance between the unmanned aerial vehicle and the position of the wireless terminal is equal to or smaller than the preset distance threshold value in the above embodiment), the unmanned aerial vehicle enters the visual field range of the wireless terminal user, and after the wireless terminal receives and confirms the control request sent by the unmanned aerial vehicle, the wireless connection is established between the unmanned aerial vehicle and the wireless terminal. The wireless terminal starts a control mode and receives a control operation instruction of a user, the operation control instruction is modulated and sent to the unmanned aerial vehicle, the unmanned aerial vehicle demodulates the received control instruction and sends the demodulated control instruction to an internal flight controller, and the flight controller controls the unmanned aerial vehicle to complete final flight, landing and unloading operations according to the control operation instruction sent by the wireless terminal. After the delivery operation is completed, the unmanned aerial vehicle returns to the departure place.
Optionally, in another embodiment of the present invention, the feeding back, by the wireless terminal, the position information to the drone includes: the wireless terminal can feed back the position updating information of the wireless terminal to the unmanned aerial vehicle in real time, so that the unmanned aerial vehicle can adjust the flying destination in real time in the flying process. Therefore, the delivery position is not limited to a plurality of preset fixed addresses any more, and the delivery destination can be updated according to the change of the position of the client in the flight process.
Fig. 2 is a control method applied to a wireless terminal according to another embodiment of the present invention. As shown in fig. 2, the method according to the embodiment of the present invention includes;
s100, receiving and confirming request information sent by the unmanned aerial vehicle;
s101, feeding back the confirmation information and the current position information to the unmanned aerial vehicle; wherein the assurance information and location information are received at the drone and instruct the drone to perform a delivery operation;
s102, when the distance between the unmanned aerial vehicle and the wireless terminal position meets a preset condition, controlling the unmanned aerial vehicle to finish delivery operation.
In this embodiment of the present invention, the receiving and confirming request information sent by the drone includes: receiving request information sent by an unmanned aerial vehicle, wherein the request information comprises: receiving a request and a first identity recognition request; confirming the receiving request and the first identification request; the manner of confirming the first identification request includes but is not limited to: identity information input confirmation, fingerprint information confirmation, touch operation information confirmation or pattern information confirmation.
Optionally, in another embodiment of the present invention, the controlling the drone to complete a delivery operation when the distance between the drone and the wireless terminal location satisfies a preset condition includes:
when the distance between the unmanned aerial vehicle and the position of the wireless terminal is equal to or smaller than a preset distance threshold value;
receiving and confirming a control request sent by an unmanned aerial vehicle, and establishing wireless connection with the unmanned aerial vehicle;
sending a control instruction to the unmanned aerial vehicle through the wireless connection; the control instruction is used for controlling the unmanned aerial vehicle to finish delivery operation. The wireless terminal and the mode of establishing wireless connection with the unmanned aerial vehicle comprise near-distance connection modes such as infrared connection, Bluetooth connection, NFC (near field communication) access communication connection and WIFI connection. Before the wireless terminal and the unmanned aerial vehicle establish wireless connection, the communication connection mode between the wireless terminal and the unmanned aerial vehicle is a wide area communication mode such as cellular network communication or satellite communication.
Further, in a preferred embodiment, the receiving and confirming the control request sent by the drone further includes:
receiving and confirming a second identity recognition request sent by the unmanned aerial vehicle;
and after the second identity recognition request is confirmed to be successful, establishing wireless connection with the unmanned aerial vehicle.
Optionally, in another embodiment of the present invention, the controlling the drone to complete delivery operation includes: receiving a touch operation instruction of a touch screen; and controlling the unmanned aerial vehicle to finish delivery operation according to the touch operation instruction. Further, in a preferred embodiment, when the touch screen is a pressure screen, the touch operation of the pressure screen is received; and controlling the speed of the unmanned aerial vehicle for completing the delivery operation according to the received pressure value of the touch operation. In a specific embodiment, when wireless terminal with unmanned aerial vehicle establishes wireless connection after, but wireless terminal automatic start control mode, control mode can be for the control of wireless terminal preinstall installation unmanned aerial vehicle's specific APP software, appears being similar to the interface of game paddle after the software is opened, has about virtual button about, in the interface, the user can pass through virtual button control last delivery operation is accomplished to unmanned aerial vehicle, including turning to, falling to the ground, unloading operation etc.. Optionally, when the touch screen is a pressure screen, the flight speed of the unmanned aerial vehicle may be controlled according to the magnitude of the pressure value received by the virtual key on the pressure screen, for example, if the magnitude of the pressure value received by the virtual key is large, the flight speed of the unmanned aerial vehicle is fast; in another embodiment, the control mode may also be an operation mode built in the wireless terminal, in the control operation mode, the touch screen of the wireless terminal is divided into four areas, i.e., an upper area, a lower area, a left area, a right area, and a left area, or 2, 8, 4, and 6 numeric keys in the numeric input keyboard are respectively used as the upper key, the lower key, the left key, the right key, and the left key to control the flight direction of the unmanned aerial vehicle, and pressure values received by the four areas or the four keys are used for controlling the flight speed of the.
Fig. 3 is a schematic structural diagram of a control device in a wireless terminal according to another embodiment of the present invention. As shown in fig. 3, the control device includes: the device comprises a confirmation module, a sending module and a control module; wherein the content of the first and second substances,
the receiving module is used for receiving and confirming request information sent by the unmanned aerial vehicle;
the sending module is used for feeding back the confirmation information and the current position information to the unmanned aerial vehicle; wherein the assurance information and location information are received at the drone and instruct the drone to perform a delivery operation;
and the control module is used for controlling the unmanned aerial vehicle to finish delivery operation when the distance between the unmanned aerial vehicle and the wireless terminal position meets the preset condition.
Preferably, in this embodiment of the present invention, the request information received by the confirmation module includes: receiving a request and a first identity recognition request; the control device further comprises an identification module for receiving identity confirmation information, wherein the identity confirmation information is used for matching the first identity identification request; wherein the identity confirmation information includes but is not limited to: the identity information confirms input information, fingerprint confirmation information, touch operation confirmation information or pattern confirmation information.
Further, in the embodiment of the present invention, the control device further includes a wireless communication module. When the distance between the unmanned aerial vehicle and the wireless terminal position meets the preset conditions, the distance is: when the distance between the unmanned aerial vehicle and the position of the wireless terminal is equal to or smaller than a preset distance threshold value; when the control module receives and confirms the control request sent by the unmanned aerial vehicle; the wireless communication module is used for establishing wireless connection with the unmanned aerial vehicle; the control module sends a control instruction to the unmanned aerial vehicle through the wireless communication module; the control instruction is used for controlling the unmanned aerial vehicle to finish delivery operation.
Optionally, in another embodiment of the present invention, the control module further includes: a receiving unit and a control unit;
the receiving unit is used for receiving a touch operation instruction of the touch screen;
and the control unit is used for controlling the unmanned aerial vehicle to finish delivery operation according to the touch operation instruction.
Further, in a preferred embodiment, the receiving unit is further configured to receive a pressure value included in the touch operation instruction; the control unit is also used for controlling the speed of the unmanned aerial vehicle for completing the delivery operation according to the received pressure value.
Optionally, in another embodiment of the present invention, the control device may perform a control operation by using a gyroscope built in the wireless terminal, so as to control the drone to complete a delivery operation.
Further, in another embodiment of the present invention, the control device further includes a modulation module, configured to modulate the control instruction of the control module, transmit the modulated control instruction to the sending module, and send the modulated control instruction to the drone.
Fig. 4 is a schematic structural diagram of an unmanned aerial vehicle in an embodiment of the present invention, and as shown in fig. 4, the unmanned aerial vehicle in the embodiment of the present invention includes: the device comprises a control assembly, a driving assembly, a transmission module and a processor;
the control component is used for receiving a control instruction of the processor to control the delivery operation of the unmanned aerial vehicle;
the driving assembly is used for receiving a control command and driving the unmanned aerial vehicle to fly;
the transmission module is used for establishing communication connection between the unmanned aerial vehicle and the wireless terminal;
and the processor is used for making a control instruction to control the delivery operation of the unmanned aerial vehicle according to the position information of the wireless terminal.
Wherein, unmanned aerial vehicle flight control subassembly constitute with drive assembly the essential part of unmanned aerial vehicle carrier, unmanned aerial vehicle can include through configuration gyroscope module, motor servo, the imitative collision module of ultrasonic wave, safety parachute module, other affiliated goods shelves, express delivery uninstallation mechanism and rack mechanism etc.. Unmanned aerial vehicle flight control subassembly obtain unmanned aerial vehicle's flight direction action command from the processor, right drive assembly sends control command right drive assembly carries out real time control, realizes the flight direction of unmanned aerial vehicle carrier, flight action control. What is needed is
Optionally, the drone further comprises: the airborne position interaction module is used for realizing real-time position positioning of the unmanned aerial vehicle, can adopt global positioning systems such as GPS and BDS and can also adopt local positioning systems such as WIFI and infrared, and the other hand is used for receiving position information of the wireless terminal and sending the position information of the unmanned aerial vehicle and the received position information data of the wireless terminal to the processor. The processor compares the position information of the unmanned aerial vehicle and the received position information data of the wireless terminal to obtain the flight direction of the unmanned aerial vehicle, such as left turn, right turn, forward, backward, ascending, descending and the like, and sends the instructions to the flight control assembly.
Optionally, in another embodiment of the present invention, the unmanned aerial vehicle further includes: and the identity recognition and landing guide module is used for receiving the secondary identity recognition information and the control operation instruction of the wireless terminal in the delivery process. And further, identity information authentication is carried out on the identity information received from the wireless terminal and the information of the delivery object acquired in advance, if the identity information accords with the identity information, a control operation instruction of the wireless terminal is received, the control instruction of the wireless terminal is directly sent to a control assembly, and the unmanned aerial vehicle is controlled to finish delivery operation.
Fig. 5 is a delivery method of a drone according to another embodiment of the present invention. As shown in fig. 5, the method according to the embodiment of the present invention includes:
s200, the unmanned aerial vehicle management platform sends request information to the wireless terminal;
s201, when the wireless terminal receives and confirms the request information, the wireless terminal feeds back the confirmation information and the position information thereof to the unmanned aerial vehicle management platform;
s202, the unmanned aerial vehicle management platform sends the terminal position information to the unmanned aerial vehicle;
s203, according to the position information, the unmanned aerial vehicle executes delivery operation to the wireless terminal user; wherein, when unmanned aerial vehicle with when the distance between the wireless terminal position satisfies the preset condition, wireless terminal control unmanned aerial vehicle accomplishes and delivers the operation.
Further, in the embodiment of the present invention, in S200, a specific process of sending, by the drone management platform to the wireless terminal, the request information is as follows: the unmanned aerial vehicle management platform sends a receiving request and a first identity recognition request to the wireless terminal.
Further, the wireless terminal confirms the receiving request of the unmanned aerial vehicle management platform and the first identity identification request; the manner of confirming the first identification request includes but is not limited to: identity information input confirmation, fingerprint information confirmation, touch operation information confirmation or pattern information confirmation. The specific process is that after the receiving request is sent to the wireless terminal, the request information can present prompt information on the interface of the wireless terminal, and when the user confirms that the delivery can be received, the receiving request is confirmed. After the receiving request is confirmed, the wireless terminal interface prompts the user to confirm the first identification request according to the first identification request, in short, the user is required to input the identification information in the wireless terminal, and if the input identification information is correct, the wireless terminal completes the operation of confirming the first identification information. The identity information is matched with the first identity identification request, and the first identity identification request information is attribute information of a delivery object to be delivered by the unmanned aerial vehicle management platform or user information carried by the delivery object, such as an identity card number of the user, a wireless terminal number or a preset password. In actual use, the identity information received by the wireless terminal may be fingerprint information, character password information, touch gesture information, pattern recognition information, or the like of the user, for example, the identity recognition request information sent on the unmanned aerial vehicle management platform is a plurality of pictures, wherein at least one of the pictures is matched with the user information of the wireless terminal, and the first identity recognition request confirmation operation is completed if the matched picture is recognized.
Optionally, in the embodiment of the present invention, when the unmanned aerial vehicle management platform sends the first identification request to the wireless terminal, the unmanned aerial vehicle management platform may carry correct matching identification information in the first identification request information and send the first identification request information to the wireless terminal. When the wireless terminal confirms the first identification information, the first identification request confirmation is completed as long as the first identification information operation performed by the user is matched with the correct identification information received from the unmanned aerial vehicle management platform. In another embodiment, when receiving a first identification request sent by an unmanned aerial vehicle management platform, a wireless terminal can feed back identification request confirmation information of the first identification request to the unmanned aerial vehicle management platform, the unmanned aerial vehicle management platform determines whether matching is correct when receiving the identification confirmation information of the first identification sent by the wireless terminal, if so, the wireless terminal feeds back the information to the wireless terminal, and the wireless terminal receives the feedback information and then modulates and sends current position information to the unmanned aerial vehicle management system through a modulator.
Further, in an optional embodiment, the location information comprises: and geographic information and/or meteorological information of the current position of the wireless terminal. The geographic information comprises longitude and latitude information, altitude information, information of surrounding buildings of the current position and the like of the current spatial position of the wireless terminal.
Further, in the embodiment of the present invention, the unmanned aerial vehicle management platform sends the received position information of the wireless terminal to the unmanned aerial vehicle, and the unmanned aerial vehicle performs operation processing on the received position information to form a delivery path plan.
Optionally, in another embodiment, the unmanned aerial vehicle management platform works out unmanned aerial vehicle delivery planning path information through processing and operation on the position information according to the received position information of the wireless terminal, and then sends the delivery planning path information to the unmanned aerial vehicle, and the unmanned aerial vehicle performs delivery operation according to the received planning path.
Further, in this embodiment of the present invention, when the distance between the drone and the wireless terminal location satisfies a preset condition, the wireless terminal controlling the drone to complete the delivery operation includes:
when the distance between the unmanned aerial vehicle and the position of the wireless terminal is equal to or smaller than a preset distance threshold value (for example, smaller than 50 meters), the unmanned aerial vehicle sends a control request to the wireless terminal; and the wireless terminal confirms the control request and controls the unmanned aerial vehicle to finish delivery operation.
Preferably, in another embodiment of the present invention, the sending, by the drone, the control request to the wireless terminal includes: the unmanned aerial vehicle sends a second identity recognition request to the wireless terminal; the wireless terminal confirms the control request and controls the unmanned aerial vehicle to finish delivery operation, and the wireless terminal comprises: after the wireless terminal confirms that the second identity recognition request is successful, the wireless terminal establishes wireless connection with the unmanned aerial vehicle; the wireless terminal sends a control instruction to the unmanned aerial vehicle; and according to the received control instruction, the unmanned aerial vehicle finishes delivery operation. The operation of sending the second identification request to the wireless terminal by the unmanned aerial vehicle and confirming the second identification request by the wireless terminal is the same as the technical scheme of confirming the first identification request and the first identification request disclosed in the above embodiment. The wireless terminal and the mode of establishing wireless connection with the unmanned aerial vehicle comprise near-distance connection modes such as infrared connection, Bluetooth connection, NFC (near field communication) access communication connection and WIFI connection.
In the embodiment of the invention, the communication connection mode among the wireless terminal, the unmanned aerial vehicle and the unmanned aerial vehicle management platform is a wide area communication mode such as cellular network communication or satellite communication; before the unmanned aerial vehicle and the wireless terminal are in wireless connection, the communication connection mode between the wireless terminal and the unmanned aerial vehicle is also a wide area communication mode such as cellular network communication or satellite communication.
Fig. 6 is a control method applied to a wireless terminal according to another embodiment of the present invention. As shown in fig. 6, the method according to the embodiment of the present invention includes:
s300, receiving and confirming request information sent by the unmanned aerial vehicle management platform;
s301, feeding back the confirmation information and the position information thereof to an unmanned aerial vehicle management platform; the position information is sent to the unmanned aerial vehicle by the unmanned aerial vehicle management platform and used for indicating the unmanned aerial vehicle to execute delivery operation to a wireless terminal user;
s302, when the distance between the unmanned aerial vehicle and the wireless terminal position meets a preset condition, controlling the unmanned aerial vehicle to finish delivery operation.
Fig. 7 is a drone delivery system of another embodiment of the present invention. As shown in fig. 7, the system includes: the system comprises an unmanned aerial vehicle management platform, an unmanned aerial vehicle and a wireless terminal; wherein the content of the first and second substances,
the unmanned aerial vehicle management platform is used for the wireless terminal to send request information;
the wireless terminal is used for receiving and confirming the request information and feeding back the confirmation information and the position information thereof to the unmanned aerial vehicle management platform;
the unmanned aerial vehicle management platform is also used for sending the terminal position information to an unmanned aerial vehicle;
the unmanned aerial vehicle is used for executing delivery operation to the wireless terminal user according to the position information;
the wireless terminal is also used for controlling the unmanned aerial vehicle to finish delivery operation when the distance between the unmanned aerial vehicle and the wireless terminal position meets the preset condition.
According to the delivery method, the control device and the delivery system for the unmanned aerial vehicle, the information of the position of the user can be fed back to the unmanned aerial vehicle by utilizing the communication between the wireless terminal of the user and the unmanned aerial vehicle, and the wireless terminal can control the unmanned aerial vehicle to finish final landing delivery when the unmanned aerial vehicle flies to the position close to the position of the user. The technical scheme of the invention not only improves the high efficiency and convenience of unmanned aerial vehicle delivery, but also improves the flexibility and safety of unmanned aerial vehicle delivery.
It will be understood by those skilled in the art that all or part of the steps of the above methods may be implemented by instructing relevant hardware through a program, and the program may be stored in a computer readable storage medium, such as a read-only memory, a magnetic or optical disk, and the like. Accordingly, the modules in the above embodiments may be implemented in the form of hardware, and may also be implemented in the form of software functional modules. The present invention is not limited to any specific form of combination of hardware and software.
The foregoing is only a preferred embodiment of the present invention, and naturally there are many other embodiments of the present invention, and those skilled in the art can make various corresponding changes and modifications according to the present invention without departing from the spirit and the essence of the present invention, and these corresponding changes and modifications should fall within the scope of the appended claims.
Claims (20)
1. A method for unmanned aerial vehicle delivery, the method comprising:
the unmanned aerial vehicle sends request information to the wireless terminal;
when the wireless terminal receives and confirms the request information, the wireless terminal feeds back confirmation information and position information thereof to the unmanned aerial vehicle;
according to the position information, the unmanned aerial vehicle executes delivery operation to the wireless terminal user; wherein, when unmanned aerial vehicle with when the distance between the wireless terminal position satisfies the preset condition, wireless terminal control unmanned aerial vehicle accomplishes and delivers the operation.
2. The method of claim 1, wherein the drone sends request information to the wireless terminal, wherein the request information comprises: a request and a first identification request are received.
3. The method of claim 2, wherein the wireless terminal feeding back the acknowledgement information and the location information thereof to the drone comprises:
the wireless terminal confirms the receiving request of the unmanned aerial vehicle and the first identity recognition request; the manner of confirming the first identification request includes but is not limited to: identity information input confirmation, fingerprint information confirmation, touch operation information confirmation or pattern information confirmation;
when the first identity recognition request confirmation information is successful, the wireless terminal feeds back the confirmation information and the position information to the unmanned aerial vehicle; wherein the location information comprises: and geographic information and/or meteorological information of the current position of the wireless terminal.
4. The method of claim 1, wherein the distance between the drone and the wireless terminal location satisfies a preset condition that:
the distance between the unmanned aerial vehicle and the wireless terminal position is equal to or less than a preset distance threshold value.
5. The method according to any one of claims 1 to 4, wherein when the distance between the unmanned aerial vehicle and the wireless terminal location satisfies a preset condition, the wireless terminal controlling the unmanned aerial vehicle to complete the delivery operation comprises:
when the distance between the unmanned aerial vehicle and the wireless terminal position meets a preset condition;
the unmanned aerial vehicle sends a control request to the wireless terminal;
and the wireless terminal confirms the control request and controls the unmanned aerial vehicle to finish delivery operation.
6. The method of claim 1, wherein sending, by the drone, a control request to the wireless terminal comprises: the unmanned aerial vehicle sends a second identity recognition request to the wireless terminal;
the wireless terminal confirms the control request and controls the unmanned aerial vehicle to finish delivery operation, and the wireless terminal comprises:
after the wireless terminal confirms that the second identity recognition request is successful, the wireless terminal establishes wireless connection with the unmanned aerial vehicle;
the wireless terminal sends a control instruction to the unmanned aerial vehicle;
and according to the received control instruction, the unmanned aerial vehicle finishes delivery operation.
7. The method of claim 1 or 6, wherein the wireless terminal controlling the drone to complete delivery operations comprises:
the wireless terminal receives a touch operation instruction of a touch screen;
and controlling the unmanned aerial vehicle to finish delivery operation according to the touch operation instruction.
8. The method of claim 6, wherein the wireless terminal establishes a wireless connection with the drone in a manner including, but not limited to, any one of: infrared connection, bluetooth connection, NFC connection.
9. The method of claim 6 or 8, wherein before the wireless terminal establishing the wireless connection with the drone, further comprising:
the communication connection mode between the wireless terminal and the unmanned aerial vehicle is a wide area communication mode such as cellular network communication or satellite communication.
10. The method of any of claims 1-4, wherein the wireless terminal feeding back the location information to the drone comprises:
the wireless terminal can feed back the position updating information of the wireless terminal to the unmanned aerial vehicle in real time.
11. A control method applied to a wireless terminal, the method comprising:
receiving and confirming request information sent by the unmanned aerial vehicle;
feeding back the confirmation information and the current position information to the unmanned aerial vehicle; wherein the confirmation information and the location information are received at the drone and instruct the drone to perform a delivery operation;
when the distance between the unmanned aerial vehicle and the wireless terminal position meets the preset condition, the unmanned aerial vehicle is controlled to finish the delivery operation.
12. The method of claim 11, wherein receiving and confirming the request information sent by the drone comprises:
receiving request information sent by an unmanned aerial vehicle, wherein the request information comprises: receiving a request and a first identity recognition request;
confirming the receiving request and the first identification request; the manner of confirming the first identification request includes but is not limited to: identity information input confirmation, fingerprint information confirmation, touch operation information confirmation or pattern information confirmation.
13. The method of claim 11, wherein the controlling the drone to complete the delivery operation when the distance between the drone and the wireless terminal location satisfies a preset condition comprises:
when the distance between the unmanned aerial vehicle and the position of the wireless terminal is equal to or smaller than a preset distance threshold value;
receiving and confirming a control request sent by an unmanned aerial vehicle, and establishing wireless connection with the unmanned aerial vehicle;
sending a control instruction to the unmanned aerial vehicle through the wireless connection; the control instruction is used for controlling the unmanned aerial vehicle to finish delivery operation.
14. The method of claim 13, wherein the receiving and confirming the control request sent by the drone further comprises:
receiving and confirming a second identity recognition request sent by the unmanned aerial vehicle;
and after the second identity recognition request is confirmed to be successful, establishing wireless connection with the unmanned aerial vehicle.
15. The method of any of claims 11-14, wherein the controlling the drone to complete delivery operations comprises:
receiving a touch operation instruction of a touch screen;
and controlling the unmanned aerial vehicle to finish delivery operation according to the touch operation instruction.
16. The method of claim 15, wherein when the touch screen is a pressure screen, the method further comprises:
receiving a pressure value of a touch operation instruction of the pressure screen;
and controlling the speed of the unmanned aerial vehicle for completing delivery operation according to the received pressure value.
17. A control device is applied to a wireless terminal and is characterized by comprising a confirmation module, a sending module and a control module; wherein the content of the first and second substances,
the confirmation module is used for receiving and confirming the request information sent by the unmanned aerial vehicle;
the sending module is used for feeding back the confirmation information and the current position information to the unmanned aerial vehicle; wherein the confirmation information and the location information are received at the drone and instruct the drone to perform a delivery operation;
and the control module is used for controlling the unmanned aerial vehicle to finish delivery operation when the distance between the unmanned aerial vehicle and the wireless terminal position meets the preset condition.
18. The apparatus of claim 17, wherein the request message received by the confirmation module comprises: receiving a request and a first identity recognition request;
the control device further comprises an identification module for receiving first identity confirmation information, wherein the first identity confirmation information is used for matching the identity identification request; wherein the identity confirmation information includes but is not limited to: the identity information confirms input information, fingerprint confirmation information, touch operation confirmation information or pattern confirmation information.
19. The apparatus of claim 17, further comprising: a wireless communication module;
when the distance between the unmanned aerial vehicle and the wireless terminal position meets the preset conditions, the distance is: when the distance between the unmanned aerial vehicle and the position of the wireless terminal is equal to or smaller than a preset distance threshold value;
when the control module receives and confirms the control request sent by the unmanned aerial vehicle;
the wireless communication module is used for establishing wireless connection with the unmanned aerial vehicle;
the control module sends a control instruction to the unmanned aerial vehicle through the wireless communication module; the control instruction is used for controlling the unmanned aerial vehicle to finish delivery operation.
20. The apparatus of any one of claims 17-19, wherein the control module further comprises: a receiving unit and a control unit;
the receiving unit is used for receiving a touch operation instruction of the touch screen;
and the control unit is used for controlling the unmanned aerial vehicle to finish delivery operation according to the touch operation instruction.
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| PCT/CN2016/093735 WO2017201880A1 (en) | 2016-05-25 | 2016-08-05 | Delivery method utilized by unmanned aerial vehicle, control method, control device, data storage medium |
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| CN201610356510.1A CN107438227B (en) | 2016-05-25 | 2016-05-25 | Unmanned aerial vehicle delivery method |
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| KR101959366B1 (en) * | 2018-04-10 | 2019-03-21 | 주식회사 아르고스다인 | Mutual recognition method between UAV and wireless device |
| CN109845715B (en) * | 2019-03-06 | 2020-12-18 | 广州极飞科技有限公司 | Pesticide spraying control method, device, equipment and storage medium |
| CN110091992A (en) * | 2019-05-22 | 2019-08-06 | 成都工业学院 | Cargo launches the control method of case, unmanned plane and chamber door |
| CN110334999A (en) * | 2019-07-12 | 2019-10-15 | 黑梭智慧技术(北京)有限公司 | The processing method of landing point Iterim Change in unmanned plane operation |
| CN110456818A (en) * | 2019-07-30 | 2019-11-15 | 恒大智慧科技有限公司 | Goods delivery method, apparatus, unmanned plane and storage medium based on unmanned plane |
| CN111091333A (en) * | 2019-12-25 | 2020-05-01 | 惠州Tcl移动通信有限公司 | Express delivery method, device and storage medium |
| WO2021134778A1 (en) * | 2020-01-03 | 2021-07-08 | 深圳市大疆创新科技有限公司 | Method, apparatus and system for controlling unmanned aerial vehicle, and unmanned aerial vehicle and storage medium |
| CN113759945A (en) * | 2021-08-25 | 2021-12-07 | 深圳市道通智能航空技术股份有限公司 | Remote control method and device and first control end and second control end |
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