CN108693891A - A kind of unmanned plane delivery system and delivery method - Google Patents
A kind of unmanned plane delivery system and delivery method Download PDFInfo
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- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The present invention relates to logistlcs technology fields, disclose a kind of unmanned plane delivery system and delivery method, when it carries out cargo delivery to target structures or target structures group, first generate surrounding target building or the driving path of target structures group, carrier vehicle is i.e. according to the driving path, surrounding target building or target structures group traveling.Unmanned plane sending point is marked on driving path according to the shortest distance between plane coordinates and driving path also according to the destination address acquisition plane coordinates corresponding with destination address of cargo to be delivered.In this way, when carrier vehicle passes through unmanned plane starting point, control unmanned plane carries the destination address that cargo to be delivered flies to cargo to be delivered.In this way, distance of the unmanned plane when flying to destination address can be made to become most short.In this way, greatly reducing flying distance of the unmanned plane when delivering cargo so that unmanned plane ensure that the carrying capacity of unmanned plane without carrying high capacity cell or carrying a large amount of fuel.
Description
Technical Field
The invention relates to the technical field of logistics, in particular to an unmanned aerial vehicle delivery system and a delivery method.
Background
Adopting unmanned aerial vehicle to deliver the goods is one of the directions of commodity circulation field development. Utilize unmanned aerial vehicle to deliver the goods, can directly send into the goods in addressee's office or the family, very big ground logistics efficiency has improved the problem that has existed for a long time in the logistics field "last kilometer". However, the cruising ability of the unmanned aerial vehicle is relatively limited, and the unmanned aerial vehicle is not suitable for transporting goods in a long distance. In order to improve the cruising ability of the unmanned aerial vehicle, the battery capacity or the fuel carrying capacity of the unmanned aerial vehicle needs to be increased, so that the no-load weight of the unmanned aerial vehicle is increased, the carrying capacity of the unmanned aerial vehicle is weakened, and the high-weight goods cannot be transported.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an unmanned aerial vehicle delivery system which can reduce the flight distance of an unmanned aerial vehicle in the delivery process, so that the unmanned aerial vehicle does not need to carry a large-capacity battery or carry a large amount of fuel, the carrying capacity of the unmanned aerial vehicle is ensured, and the unmanned aerial vehicle can transport goods with higher weight.
Another object of the present invention is to provide a method for delivering goods by an unmanned aerial vehicle, which can reduce the flight distance of the unmanned aerial vehicle during the delivery process, so that the unmanned aerial vehicle does not need to carry a large-capacity battery or carry a large amount of fuel, thereby ensuring the carrying capacity of the unmanned aerial vehicle and enabling the unmanned aerial vehicle to transport goods with high weight.
The embodiment of the invention is realized by the following technical scheme:
an unmanned aerial vehicle delivery system, comprising:
a plurality of drones;
a carrier vehicle for carrying the drone and the goods to be delivered;
a road information acquiring device for acquiring road information around a target building or a target building group;
the path planning device is used for generating a driving path surrounding the target building or the target building group according to the road information;
the plane coordinate acquisition device is used for acquiring a plane coordinate corresponding to the delivery address according to the delivery address of the goods to be delivered;
the unmanned aerial vehicle sending point marking device is used for marking an unmanned aerial vehicle sending point on the running path according to the shortest distance between the plane coordinate and the running path;
and the unmanned aerial vehicle sending device is used for controlling the unmanned aerial vehicle to carry the goods to be delivered to fly to the delivery address of the goods to be delivered when the carrying vehicle passes through the unmanned aerial vehicle sending point.
Further, the method also comprises the following steps:
the unmanned aerial vehicle recovery point marking device is used for marking an unmanned aerial vehicle recovery point on the running path according to the running speed of the carrier vehicle, the flight speed of the unmanned aerial vehicle and the flight distance between the delivery address and the unmanned aerial vehicle sending point of the unmanned aerial vehicle;
unmanned aerial vehicle recovery unit is used for the carrier vehicle process when unmanned aerial vehicle retrieves the point, control unmanned aerial vehicle fly to unmanned aerial vehicle delivery point, and the carrier vehicle process the in-process of unmanned aerial vehicle delivery point, control unmanned aerial vehicle descends to be in on the carrier vehicle.
Further, the unmanned aerial vehicle recovery point marking device comprises a distance calculation module and an unmanned aerial vehicle recovery point marking module;
the distance calculation module is used for obtaining the distance between the unmanned aerial vehicle recovery point and the unmanned aerial vehicle sending point through the following formula:
L=VC*（LF/VF）
wherein L represents the distance between the unmanned aerial vehicle recovery point and the unmanned aerial vehicle sending point, and the unit is m; vCRepresents the running speed of the carrier vehicle, and the unit is m/s; l isFRepresenting the flight distance of the unmanned aerial vehicle between the delivery address and the unmanned aerial vehicle sending point, and the unit is m; vFRepresenting the flight speed of the unmanned aerial vehicle, and the unit is m/s;
the unmanned aerial vehicle recovery point marking module is used for marking the unmanned aerial vehicle recovery point on the driving path according to the distance between the unmanned aerial vehicle recovery point and the unmanned aerial vehicle sending point.
Further, the method also comprises the following steps:
a carrier vehicle maximum traveling speed obtaining device for obtaining a maximum traveling speed of the carrier vehicle according to the following formula:
（D/Vmax）-T=（Lmax*2）/VF
wherein D represents the length of the driving path and has the unit of m; vmaxRepresents the maximum travel speed of the carrier vehicle in m/s; l ismaxRepresenting the maximum flight distance of the unmanned aerial vehicle between the delivery address and the unmanned aerial vehicle sending point, and the unit is m; vFRepresenting the flight speed of the unmanned aerial vehicle, and the unit is m/s; t represents a preset buffering time in units of s.
An unmanned aerial vehicle delivery method is used for an unmanned aerial vehicle delivery system, the unmanned aerial vehicle delivery system comprises a carrier vehicle, and a plurality of unmanned aerial vehicles and goods to be delivered are carried on the carrier vehicle; the method comprises the following steps:
s01: acquiring road information around a target building or a target building group;
s02: generating a driving path around the target building or the target building group according to the road information;
s03: acquiring a plane coordinate corresponding to the delivery address according to the delivery address of the goods to be delivered;
s04: marking an unmanned aerial vehicle sending point on the driving path according to the shortest distance between the plane coordinate and the driving path;
s05: controlling the carrier vehicle to travel along the travel path;
s06: when the carrying vehicle passes through the unmanned aerial vehicle sending point, the unmanned aerial vehicle is controlled to carry the goods to be delivered to fly to the delivery address of the goods to be delivered.
Further, step S042 is further included between step S04 and step S05: marking a unmanned aerial vehicle recovery point on the running path according to the running speed of the carrying vehicle, the flight speed of the unmanned aerial vehicle and the flight distance of the unmanned aerial vehicle between the delivery address and the unmanned aerial vehicle sending point;
after step S06, step S07 is further included: when the delivery vehicle passes through unmanned aerial vehicle recovery point, control unmanned aerial vehicle fly to unmanned aerial vehicle delivery point, and the delivery vehicle passes through the in-process of unmanned aerial vehicle delivery point, control unmanned aerial vehicle descends to be in on the delivery vehicle.
Further, in step S042, the distance between the unmanned aerial vehicle recovery point and the unmanned aerial vehicle sending point is obtained by the following formula:
L=VC*（LF/VF）
wherein L represents the distance between the unmanned aerial vehicle recovery point and the unmanned aerial vehicle sending point, and the unit is m; vCRepresents the running speed of the carrier vehicle, and the unit is m/s; l isFRepresenting the flight distance of the unmanned aerial vehicle between the delivery address and the unmanned aerial vehicle sending point, and the unit is m; vFRepresenting the flight speed of the unmanned aerial vehicle, and the unit is m/s;
in step S042, marking the unmanned aerial vehicle recovery point on the travel path according to a distance between the unmanned aerial vehicle recovery point and the unmanned aerial vehicle transmission point.
Further, step S041 is further included between step S04 and step S05: the maximum travel speed of the carrier vehicle is obtained according to the following formula:
（D/Vmax）-T=（Lmax*2）/VF
wherein D represents the length of the driving path and has the unit of m; vmaxRepresents the maximum travel speed of the carrier vehicle in m/s; l ismaxRepresenting the maximum flight distance of the unmanned aerial vehicle between the delivery address and the unmanned aerial vehicle sending point, and the unit is m; vFRepresenting the flight speed of the unmanned aerial vehicle, and the unit is m/s; t represents preset buffering time with the unit of s;
in step S05, the carrier vehicle is controlled to travel along the travel path at a speed not higher than the maximum travel speed.
The technical scheme of the invention at least has the following advantages and beneficial effects:
according to the unmanned aerial vehicle delivery system and the delivery method provided by the embodiment of the invention, when delivering goods to a target building or a target building group, a driving path surrounding the target building or the target building group is generated firstly, and a carrying vehicle drives around the target building or the target building group according to the driving path. And further acquiring a plane coordinate corresponding to the delivery address according to the delivery address of the goods to be delivered, and marking an unmanned aerial vehicle sending point on the driving path according to the shortest distance between the plane coordinate and the driving path. Therefore, when the carrying vehicle passes through the departure point of the unmanned aerial vehicle, the unmanned aerial vehicle is controlled to carry the goods to be delivered to fly to the delivery address of the goods to be delivered. In this way, the distance of the drone when flying to the delivery address can be made the shortest. In addition, since the carrier vehicle is driven around the target building or the target building group, the distance from the drone to the carrier vehicle after completing the delivery of the goods can be controlled within a short range. So, greatly reduced unmanned aerial vehicle the flight distance when delivering the goods for unmanned aerial vehicle need not to carry on the large capacity battery or carry on a large amount of fuel, has guaranteed unmanned aerial vehicle's carrying capacity, makes unmanned aerial vehicle can transport the goods of higher weight.
Drawings
In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings needed to be used in the embodiment are briefly described below. It is appreciated that the following drawings depict only certain embodiments of the invention and are therefore not to be considered limiting of its scope. From these figures, other figures can be derived by those skilled in the art without inventive effort.
FIG. 1 is a schematic diagram of a usage scenario provided by an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a part of a cargo delivery system of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a schematic block diagram of an unmanned aerial vehicle delivery system provided by an embodiment of the present invention;
fig. 4 is a flowchart of a method for delivering goods by an unmanned aerial vehicle according to an embodiment of the present invention.
In the figure: 101-a first road; 102-a second road; 103-a third road; 104-a fourth road; 201-a first building; 202-a second building; 203-third building; 204-fourth building; 300-a carrier vehicle; 300 a-travel path; 301-first unmanned machine; 302-a second drone; 303-a third drone; 304-a fourth drone; 305-road information obtaining means; 306-path planning means; 307-plane coordinate acquisition means; 308-unmanned aerial vehicle sending point marking device; 309-unmanned aerial vehicle transmitting means; 310-unmanned aerial vehicle recovery point marking device; 310 a-distance calculation module; 310 b-unmanned aerial vehicle recovery point marking module; 311-unmanned aerial vehicle recovery means; 312-highest traveling speed of carrier vehicle obtaining means; 401-a first unmanned sending point; 402-a second drone transmission point; 403-a third drone transmission point; 404-a fourth drone send point; 501-a first unmanned recycling point; 502-a second drone recovery point; 503-a third drone recovery point; 504-fourth drone recovery point.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments.
Thus, the following detailed description of the embodiments of the invention is not intended to limit the scope of the invention as claimed, but is merely representative of some embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments of the present invention and the features and technical solutions thereof may be combined with each other without conflict.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Example 1:
the embodiment provides an unmanned aerial vehicle delivery system and an unmanned aerial vehicle delivery method. For ease of understanding, and for fully explaining the unmanned aerial vehicle delivery system and the unmanned aerial vehicle delivery method provided in this embodiment, a usage scenario of the unmanned aerial vehicle delivery system and the unmanned aerial vehicle delivery method is first described. It should be noted that the usage scenario described in this embodiment is merely an example, which does not mean that the unmanned aerial vehicle delivery system and the unmanned aerial vehicle delivery method provided in this embodiment can only be used in the usage scenario described below. For example, the usage scenario to be described below includes a building group composed of a plurality of buildings, and it is understood that the unmanned aerial vehicle delivery system and the unmanned aerial vehicle delivery method provided in this embodiment can also be used in a scenario containing only a single building.
Referring to fig. 1, fig. 1 is a schematic view of a usage scenario provided in the present embodiment. The usage scenario provided by the present embodiment includes four roads, namely a first road 101, a second road 102, a third road 103, and a fourth road 104. The first road 101, the second road 102, the third road 103 and the fourth road 104 are staggered to form a Chinese character 'jing'. The use scene also comprises four high-rise buildings, each high-rise building is 10 layers, the layer height is 3m, and each layer is provided with a window for the unmanned aerial vehicle to enter and exit. All windows on each high-rise building are opened towards the same direction. The four high-rise buildings are respectively a first building body 201, a second building body 202, a third building body 203 and a fourth building body 204. The first building 201, the second building 202, the third building 203 and the fourth building 204 are located in a field surrounded by the first road 101, the second road 102, the third road 103 and the fourth road 104. Wherein, the first building 201 is close to the crossing position of the first road 101 and the third road 103, the window of the first building 201 is opened towards the first road 101, and the distance between the first building 201 and the first road 101 is 20 m. The second building 202 is close to the position where the second road 102 and the third road 103 intersect, the window of the second building 202 opens toward the second road 102, and the distance between the second building 202 and the second road 102 is 20 m. The third building 203 is close to the position where the first road 101 and the fourth road 104 intersect, the window of the third building 203 opens toward the third road 103, and the distance between the third building 203 and the third road 103 is 20 m. The fourth building 204 is close to the position where the second road 102 and the fourth road 104 intersect, the window of the fourth building 204 opens towards the fourth road 104, and the distance between the fourth building 204 and the fourth road 104 is 20 m.
In this embodiment, there are four goods to be delivered, namely the first goods to be delivered, the second goods to be delivered, the third goods to be delivered and the fourth goods to be delivered. The delivery address of the first ready-to-deliver cargo is the third floor of the first building 201. The delivery address for the second to-be-delivered cargo is the fifth floor of the second building 202. The delivery address of the third to-be-delivered cargo is the seventh floor of the third building 203. The delivery address of the fourth to-be-delivered goods is the tenth floor of the fourth building 204.
Referring to fig. 2, fig. 2 is a schematic view of a partial structure of the unmanned aerial vehicle delivery system provided in this embodiment. The unmanned aerial vehicle delivery system that this embodiment provided includes carrier vehicle 300 and four unmanned aerial vehicles. The four drones are a first drone 301, a second drone 302, a third drone 303 and a fourth drone 304, respectively. In the present embodiment, the bed of carrier vehicle 300 is open-topped, and first drone 301, second drone 302, third drone 303, and fourth drone 304 are all located in the bed of carrier vehicle 300 and are capable of taking off from or landing on the bed of carrier vehicle 300. Four goods to be delivered are also located in the bed of the carrier vehicle 300. Can load four goods to be delivered respectively on four unmanned aerial vehicles in advance, also can control unmanned aerial vehicle and snatch corresponding goods to be delivered when carrying out goods delivery. In this embodiment, a first to-be-delivered cargo is preloaded on first drone 301, a second to-be-delivered cargo is preloaded on second drone 302, a third to-be-delivered cargo is preloaded on third drone 303, and a fourth to-be-delivered cargo is preloaded on fourth drone 304.
Referring to fig. 3, fig. 3 is a schematic block diagram of the unmanned aerial vehicle delivery system provided in this embodiment. In this embodiment, the unmanned aerial vehicle delivery system further includes a road information acquiring device 305, a path planning device 306, a plane coordinate acquiring device 307, an unmanned aerial vehicle delivery point marking device 308, and an unmanned aerial vehicle delivery device 309.
The road information acquiring device 305 is used to acquire road information around a target building or a target building group. In the present embodiment, the road information acquisition means 305 acquires information of the first road 101, the second road 102, the third road 103, and the fourth road 104 through the electronic map.
The path planning device 306 is configured to generate a driving path around the target building or the target building group according to the road information. In the present embodiment, the route planning apparatus 306 generates a travel route 300a around a building group including the first building 201, the second building 202, the third building 203, and the fourth building 204. The travel path 300a is indicated by a dashed line in fig. 1.
And a plane coordinate acquiring device 307, configured to acquire a plane coordinate corresponding to the delivery address according to the delivery address of the goods to be delivered. The plane coordinate represents the coordinate of the delivery address in the three-dimensional coordinate system after the height coordinate is taken out. In the present embodiment, the plane coordinate acquiring apparatus 307 acquires the plane coordinate of the window of the third floor of the first building 201, the plane coordinate of the window of the fifth floor of the second building 202, the plane coordinate of the window of the seventh floor of the third building 203, and the plane coordinate of the tenth floor of the fourth building 204, respectively.
And the unmanned aerial vehicle sending point marking device 308 is used for marking the unmanned aerial vehicle sending point on the traveling path according to the shortest distance between the plane coordinates and the traveling path 300 a. In this embodiment, the drone transmission point marking device 308 marks four drone transmission points, which are a first drone transmission point 401, a second drone transmission point 402, a third drone transmission point 403, and a fourth drone transmission point 404, respectively. The first unmanned aerial vehicle transmission point 401 is located along the Y direction in fig. 1 on the third road 103 at a position facing the window of the third floor of the first building 201. The second drone transmitting point 402 is located along the X direction in fig. 1 on the second road 102 opposite the window of the fifth floor of the second building 202. The third drone transmitting point 403 is located along the direction X in fig. 1 on the first road 104 directly opposite the window on the seventh floor of the third building 203. The fourth drone transmitting point 404 is located along the Y direction in fig. 1 on the fourth road 104, just opposite the window on the tenth floor of the fourth building 204.
The unmanned aerial vehicle sending device 309 is used for controlling the unmanned aerial vehicle to carry the delivery goods to fly to the delivery address of the delivery goods when the carrying vehicle 300 passes through the unmanned aerial vehicle sending point. In the present embodiment, the carrier vehicle 300 travels along the travel path 300a and in the clockwise direction in fig. 1. When the carrier vehicle 300 passes through the first drone transmitting point 401, the drone transmitting device 309 controls the first drone 301 to take off with the first cargo to be delivered and fly to the third floor of the first building 201. When the carrier vehicle 300 passes through the second drone transmitting point 402, the drone transmitting device 309 controls the second drone 302 to take off with the second cargo to be delivered and to fly to the fifth floor of the second building 202. When the carrier vehicle 300 passes through the fourth drone transmitting point 404, the drone transmitting device 309 controls the fourth drone 304 to take off with the fourth cargo to be delivered, and to fly to the tenth floor of the fourth building 204. When the carrier vehicle 300 passes through the third drone transmitting point 403, the drone transmitting device 309 controls the third drone 303 to take off with the third cargo to be delivered and fly to the seventh floor of the third building 203. The trajectory of the delivery address of the unmanned aerial vehicle flying to the goods to be delivered is that firstly the unmanned aerial vehicle vertically flies upwards to the same height of the delivery address of the goods to be delivered, and then the unmanned aerial vehicle horizontally flies to the delivery address of the goods to be delivered.
When the unmanned aerial vehicle delivery system provided by the embodiment delivers goods to a target building or a target building group, a traveling path surrounding the target building or the target building group is generated firstly, and a carrying vehicle travels around the target building or the target building group according to the traveling path. And further acquiring a plane coordinate corresponding to the delivery address according to the delivery address of the goods to be delivered, and marking an unmanned aerial vehicle sending point on the driving path according to the shortest distance between the plane coordinate and the driving path. Therefore, when the carrying vehicle passes through the departure point of the unmanned aerial vehicle, the unmanned aerial vehicle is controlled to carry the goods to be delivered to fly to the delivery address of the goods to be delivered. In this way, the distance of the drone when flying to the delivery address can be made the shortest. In addition, since the carrier vehicle is driven around the target building or the target building group, the distance from the drone to the carrier vehicle after completing the delivery of the goods can be controlled within a short range. So, greatly reduced unmanned aerial vehicle the flight distance when delivering the goods for unmanned aerial vehicle need not to carry on the large capacity battery or carry on a large amount of fuel, has guaranteed unmanned aerial vehicle's carrying capacity, makes unmanned aerial vehicle can transport the goods of higher weight.
Further, in this embodiment, the unmanned aerial vehicle delivery system further includes a carrier vehicle maximum traveling speed obtaining device 312, configured to obtain the maximum traveling speed of the carrier vehicle 300 according to the following formula:
（D/Vmax）-T=（Lmax*2）/VF
wherein,d represents the length of the travel path 300a in m; vmaxRepresents the maximum traveling speed of the carrier vehicle 300 in m/s; l ismaxThe maximum flight distance between the delivery address and the unmanned aerial vehicle sending point is represented and the unit is m; vFThe flight speed of the unmanned aerial vehicle is represented, and the unit is m/s; t represents a preset buffering time in units of s. The buffering time is the time required for delivering the goods after the unmanned aerial vehicle arrives at the delivery address. After the drone completes delivery of the goods, if the drone receives no further instructions, the drone stops at the delivery address.
In this embodiment, the flight speeds V of four dronesFAre all 4 m/s; the length of the travel path 300a is 400 m; l ismaxThe flight distance for the fourth drone 304 to fly from the fourth drone starting point 404 to the tenth floor of the fourth building 204 is 50 m; the preset buffer time T is 25 s. The maximum traveling speed V of the carrier vehicle 300 is calculatedmax=8m/s。
Further, in this embodiment, the unmanned aerial vehicle delivery system further includes an unmanned aerial vehicle recovery point marking device 310 and an unmanned aerial vehicle recovery device 311.
Wherein, unmanned aerial vehicle retrieves some mark device 310, according to the speed of travel of carrier vehicle 300, unmanned aerial vehicle's flying speed and unmanned aerial vehicle at the distance of flight between delivery address and unmanned aerial vehicle sending point, marks out unmanned aerial vehicle on route 300a and retrieves some. Specifically, the unmanned aerial vehicle recovery point marking device 310 includes a distance calculation module 310a and an unmanned aerial vehicle recovery point marking module 310 b.
The distance calculation module 310a is configured to obtain a distance between the unmanned aerial vehicle recovery point and the unmanned aerial vehicle sending point according to the following formula:
L=VC*（LF/VF）
wherein L represents the distance between the unmanned aerial vehicle recovery point and the unmanned aerial vehicle sending point, and the unit is m; vCRepresents the traveling speed of the carrier vehicle 300 in m/s; l isFIndicating that the unmanned aerial vehicle is at the delivery address and is unmannedThe flying distance between the sending points of the machine is m; vFRepresenting the flight speed of the drone in m/s.
In this embodiment, the flight speeds V of four dronesFAre all 4 m/s. In the present embodiment, the running speed V of the carrier vehicle 300CAnd =6 m/s. Flight distance L between delivery address and unmanned aerial vehicle sending point of unmanned aerial vehicleFThe horizontal flight distance of the unmanned aerial vehicle and the vertical flight distance of the unmanned aerial vehicle are added. For the first drone 301, LF=35m, L =52.5m, the drone retrieval point marking module 310b marks the first drone retrieval point 501 on the travel path 300a at a distance of 52.5m from the first drone transmission point 401. For the second drone 302, LF=45m, L =67.5m, drone recovery point marking module 310b marks a second drone recovery point 502 at a distance of 67.5m from second drone dispatch point 402 on travel path 300 a. For the third drone 303, LF=55m, L =82.5m, drone recovery point marking module 310b marks a third drone recovery point 503 on travel path 300a at a distance of 82.5m from third drone transit point 403. For fourth drone 304, LF=70m, L =105m, the drone recovery point marking module 310b marks the fourth drone recovery point 504 on the travel path 300a at a distance of 105m from the fourth drone sending point 404.
Unmanned aerial vehicle recovery unit 311 for when carrier vehicle 300 is through unmanned aerial vehicle recovery point, control unmanned aerial vehicle flies to unmanned aerial vehicle delivery point, and at carrier vehicle 300 through the in-process of unmanned aerial vehicle delivery point, control unmanned aerial vehicle descends on carrier vehicle 300. In the present embodiment, after the carrier vehicle 300 passes through the first drone transmitting point 401, when the carrier vehicle 300 passes through the first drone collecting point 501, the drone collecting device 311 controls the first drone 301 to fly to the first drone transmitting point 401, and controls the first drone 301 to land on the carrier vehicle 300 when the carrier vehicle 300 passes through the first drone transmitting point 401 again. After carrier vehicle 300 passes second drone delivery point 402, when carrier vehicle 300 passes second drone recovery point 502, drone recovery device 311 controls second drone 302 to fly to second drone delivery point 402, and when carrier vehicle 300 passes second drone delivery point 402 again, controls first drone 302 to land on carrier vehicle 300. After the carrier vehicle 300 passes through the third drone sending point 403, when the carrier vehicle 300 passes through the third drone recovery point 503, the drone recovery device 311 controls the third drone 303 to fly to the third drone sending point 403, and when the carrier vehicle 300 passes through the third drone sending point 403 again, controls the third drone 303 to land on the carrier vehicle 300. After carrier vehicle 300 passes fourth drone delivery point 404, when carrier vehicle 300 passes fourth drone recovery point 504, drone recovery device 311 controls fourth drone 304 to fly to fourth drone delivery point 404, and when carrier vehicle 300 passes fourth drone delivery point 404 again, fourth drone 304 is controlled to land on carrier vehicle 300.
The unmanned aerial vehicle cargo delivery system that this embodiment provided, it can reduce unmanned aerial vehicle greatly and is transporting the flight distance of goods in-process, and then makes unmanned aerial vehicle need not to carry on large capacity battery or carry on a large amount of fuel, has guaranteed unmanned aerial vehicle's carrying capacity, makes unmanned aerial vehicle can transport the goods of higher weight.
The embodiment also provides an unmanned aerial vehicle delivery method. Referring to fig. 4, fig. 4 is a flowchart of the unmanned aerial vehicle delivery method according to the embodiment. The unmanned aerial vehicle delivery method provided by the embodiment is realized based on the unmanned aerial vehicle delivery system, and comprises the following steps:
s01: and acquiring road information around the target building or the target building group.
The road information acquiring device 305 is used to acquire road information around a target building or a target building group. In the present embodiment, the road information acquisition means 305 acquires information of the first road 101, the second road 102, the third road 103, and the fourth road 104 through the electronic map.
S02: and generating a driving path around the target building or the target building group according to the road information.
The path planning device 306 is configured to generate a driving path around the target building or the target building group according to the road information. In the present embodiment, the route planning apparatus 306 generates a travel route 300a around a building group including the first building 201, the second building 202, the third building 203, and the fourth building 204. The travel path 300a is indicated by a dashed line in fig. 1.
S03: and acquiring plane coordinates corresponding to the delivery address according to the delivery address of the goods to be delivered.
And a plane coordinate acquiring device 307, configured to acquire a plane coordinate corresponding to the delivery address according to the delivery address of the goods to be delivered. The plane coordinate represents the coordinate of the delivery address in the three-dimensional coordinate system after the height coordinate is taken out. In the present embodiment, the plane coordinate acquiring apparatus 307 acquires the plane coordinate of the window of the third floor of the first building 201, the plane coordinate of the window of the fifth floor of the second building 202, the plane coordinate of the window of the seventh floor of the third building 203, and the plane coordinate of the tenth floor of the fourth building 204, respectively.
S04: and marking an unmanned aerial vehicle sending point on the driving path according to the shortest distance between the plane coordinate and the driving path.
And the unmanned aerial vehicle sending point marking device 308 is used for marking the unmanned aerial vehicle sending point on the traveling path according to the shortest distance between the plane coordinates and the traveling path 300 a. In this embodiment, the drone transmission point marking device 308 marks four drone transmission points, which are a first drone transmission point 401, a second drone transmission point 402, a third drone transmission point 403, and a fourth drone transmission point 404, respectively. The first unmanned aerial vehicle transmission point 401 is located along the Y direction in fig. 1 on the third road 103 at a position facing the window of the third floor of the first building 201. The second drone transmitting point 402 is located along the X direction in fig. 1 on the second road 102 opposite the window of the fifth floor of the second building 202. The third drone transmitting point 403 is located along the direction X in fig. 1 on the first road 104 directly opposite the window on the seventh floor of the third building 203. The fourth drone transmitting point 404 is located along the Y direction in fig. 1 on the fourth road 104, just opposite the window on the tenth floor of the fourth building 204.
S041: the maximum travel speed of the carrier vehicle is obtained according to the following formula:
（D/Vmax）-T=（Lmax*2）/VF
wherein D represents the length of the driving path and has the unit of m; vmaxRepresents the maximum traveling speed of the carrier vehicle in m/s; l ismaxThe maximum flight distance between the delivery address and the unmanned aerial vehicle sending point is represented and the unit is m; vFThe flight speed of the unmanned aerial vehicle is represented, and the unit is m/s; t represents a preset buffering time in units of s.
The buffering time is the time required for delivering the goods after the unmanned aerial vehicle arrives at the delivery address. After the drone completes delivery of the goods, if the drone receives no further instructions, the drone stops at the delivery address.
In this embodiment, the flight speeds V of four dronesFAre all 4 m/s; the length of the travel path 300a is 400 m; l ismaxThe flight distance for the fourth drone 304 to fly from the fourth drone starting point 404 to the tenth floor of the fourth building 204 is 50 m; the preset buffer time T is 25 s. The maximum traveling speed V of the carrier vehicle 300 is calculatedmax=8m/s。
S042: according to the running speed of the carrying vehicle 300, the flight speed of the unmanned aerial vehicle and the flight distance between the delivery address and the unmanned aerial vehicle sending point of the unmanned aerial vehicle, marking the unmanned aerial vehicle recovery point on the running path.
Specifically, in step S042, the distance between the unmanned aerial vehicle recovery point and the unmanned aerial vehicle sending point is obtained by the following formula:
L=VC*（LF/VF）
wherein L represents the distance between the unmanned aerial vehicle recovery point and the unmanned aerial vehicle sending point, and the unit is m; vCRepresents the running speed of the carrier vehicle, and the unit is m/s; l isFIndicating that the drone is at the delivery siteThe flying distance between the address and the unmanned aerial vehicle sending point is m; vFRepresenting the flight speed of the drone in m/s.
In step S042, the unmanned aerial vehicle recovery point is marked on the travel path according to the distance between the unmanned aerial vehicle recovery point and the unmanned aerial vehicle transmission point.
In this embodiment, the flight speeds V of four dronesFAre all 4 m/s. In the present embodiment, the running speed V of the carrier vehicle 300CAnd =6 m/s. Flight distance L between delivery address and unmanned aerial vehicle sending point of unmanned aerial vehicleFThe horizontal flight distance of the unmanned aerial vehicle and the vertical flight distance of the unmanned aerial vehicle are added. For the first drone 301, LF=35m, L =52.5m, the drone retrieval point marking module 310b marks the first drone retrieval point 501 on the travel path 300a at a distance of 52.5m from the first drone transmission point 401. For the second drone 302, LF=45m, L =67.5m, drone recovery point marking module 310b marks a second drone recovery point 502 at a distance of 67.5m from second drone dispatch point 402 on travel path 300 a. For the third drone 303, LF=55m, L =82.5m, drone recovery point marking module 310b marks a third drone recovery point 503 on travel path 300a at a distance of 82.5m from third drone transit point 403. For fourth drone 304, LF=70m, L =105m, the drone recovery point marking module 310b marks the fourth drone recovery point 504 on the travel path 300a at a distance of 105m from the fourth drone sending point 404.
S05: the carrier vehicle 300 is controlled to travel along the travel path 300 a.
Specifically, the brake vehicle 300 travels along the travel path 300a at a speed not higher than the maximum travel speed.
S06: when the carrier vehicle 300 passes through the unmanned aerial vehicle sending point, the unmanned aerial vehicle is controlled to carry the goods to be delivered to fly to the delivery address of the goods to be delivered.
In the present embodiment, the carrier vehicle 300 travels along the travel path 300a and in the clockwise direction in fig. 1. When the carrier vehicle 300 passes through the first drone transmitting point 401, the drone transmitting device 309 controls the first drone 301 to take off with the first cargo to be delivered and fly to the third floor of the first building 201. When the carrier vehicle 300 passes through the second drone transmitting point 402, the drone transmitting device 309 controls the second drone 302 to take off with the second cargo to be delivered and to fly to the fifth floor of the second building 202. When the carrier vehicle 300 passes through the fourth drone transmitting point 404, the drone transmitting device 309 controls the fourth drone 304 to take off with the fourth cargo to be delivered, and to fly to the tenth floor of the fourth building 204. When the carrier vehicle 300 passes through the third drone transmitting point 403, the drone transmitting device 309 controls the third drone 303 to take off with the third cargo to be delivered and fly to the seventh floor of the third building 203. The trajectory of the delivery address of the unmanned aerial vehicle flying to the goods to be delivered is that firstly the unmanned aerial vehicle vertically flies upwards to the same height of the delivery address of the goods to be delivered, and then the unmanned aerial vehicle horizontally flies to the delivery address of the goods to be delivered.
S07: when the delivery vehicle passes through the unmanned aerial vehicle recovery point, control unmanned aerial vehicle and fly to unmanned aerial vehicle delivery point to at the in-process of delivery vehicle through unmanned aerial vehicle delivery point, control unmanned aerial vehicle descends on the delivery vehicle.
In the present embodiment, after the carrier vehicle 300 passes through the first drone transmitting point 401, when the carrier vehicle 300 passes through the first drone collecting point 501, the drone collecting device 311 controls the first drone 301 to fly to the first drone transmitting point 401, and controls the first drone 301 to land on the carrier vehicle 300 when the carrier vehicle 300 passes through the first drone transmitting point 401 again. After carrier vehicle 300 passes second drone delivery point 402, when carrier vehicle 300 passes second drone recovery point 502, drone recovery device 311 controls second drone 302 to fly to second drone delivery point 402, and when carrier vehicle 300 passes second drone delivery point 402 again, controls first drone 302 to land on carrier vehicle 300. After the carrier vehicle 300 passes through the third drone sending point 403, when the carrier vehicle 300 passes through the third drone recovery point 503, the drone recovery device 311 controls the third drone 303 to fly to the third drone sending point 403, and when the carrier vehicle 300 passes through the third drone sending point 403 again, controls the third drone 303 to land on the carrier vehicle 300. After carrier vehicle 300 passes fourth drone delivery point 404, when carrier vehicle 300 passes fourth drone recovery point 504, drone recovery device 311 controls fourth drone 304 to fly to fourth drone delivery point 404, and when carrier vehicle 300 passes fourth drone delivery point 404 again, fourth drone 304 is controlled to land on carrier vehicle 300.
The above description is only a partial example of the present invention and is not intended to limit the present invention, and various modifications and changes may be made to the present invention by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. An unmanned aerial vehicle delivery system, comprising:
a plurality of drones;
a carrier vehicle for carrying the drone and the goods to be delivered;
a road information acquiring device for acquiring road information around a target building or a target building group;
the path planning device is used for generating a driving path surrounding the target building or the target building group according to the road information;
the plane coordinate acquisition device is used for acquiring a plane coordinate corresponding to the delivery address according to the delivery address of the goods to be delivered;
the unmanned aerial vehicle sending point marking device is used for marking an unmanned aerial vehicle sending point on the running path according to the shortest distance between the plane coordinate and the running path;
and the unmanned aerial vehicle sending device is used for controlling the unmanned aerial vehicle to carry the goods to be delivered to fly to the delivery address of the goods to be delivered when the carrying vehicle passes through the unmanned aerial vehicle sending point.
2. The unmanned aerial vehicle delivery system of claim 1, further comprising:
the unmanned aerial vehicle recovery point marking device is used for marking an unmanned aerial vehicle recovery point on the running path according to the running speed of the carrier vehicle, the flight speed of the unmanned aerial vehicle and the flight distance between the delivery address and the unmanned aerial vehicle sending point of the unmanned aerial vehicle;
unmanned aerial vehicle recovery unit is used for the carrier vehicle process when unmanned aerial vehicle retrieves the point, control unmanned aerial vehicle fly to unmanned aerial vehicle delivery point, and the carrier vehicle process the in-process of unmanned aerial vehicle delivery point, control unmanned aerial vehicle descends to be in on the carrier vehicle.
3. The unmanned aerial vehicle delivery system of claim 2, wherein:
the unmanned aerial vehicle recovery point marking device comprises a distance calculation module and an unmanned aerial vehicle recovery point marking module;
the distance calculation module is used for obtaining the distance between the unmanned aerial vehicle recovery point and the unmanned aerial vehicle sending point through the following formula:
L=VC*（LF/VF）
wherein L represents the distance between the unmanned aerial vehicle recovery point and the unmanned aerial vehicle sending point, and the unit is m; vCRepresents the running speed of the carrier vehicle, and the unit is m/s; l isFRepresenting the flight distance of the unmanned aerial vehicle between the delivery address and the unmanned aerial vehicle sending point, and the unit is m; vFRepresenting the flight speed of the unmanned aerial vehicle, and the unit is m/s;
the unmanned aerial vehicle recovery point marking module is used for marking the unmanned aerial vehicle recovery point on the driving path according to the distance between the unmanned aerial vehicle recovery point and the unmanned aerial vehicle sending point.
4. The unmanned aerial vehicle delivery system of claim 1, further comprising:
a carrier vehicle maximum traveling speed obtaining device for obtaining a maximum traveling speed of the carrier vehicle according to the following formula:
（D/Vmax）-T=（Lmax*2）/VF
wherein D represents the length of the driving path and has the unit of m; vmaxRepresents the maximum travel speed of the carrier vehicle in m/s; l ismaxRepresenting the maximum flight distance of the unmanned aerial vehicle between the delivery address and the unmanned aerial vehicle sending point, and the unit is m; vFRepresenting the flight speed of the unmanned aerial vehicle, and the unit is m/s; t represents a preset buffering time in units of s.
5. An unmanned aerial vehicle delivery method is characterized in that the method is used for an unmanned aerial vehicle delivery system, the unmanned aerial vehicle delivery system comprises a carrier vehicle, and a plurality of unmanned aerial vehicles and goods to be delivered are carried on the carrier vehicle; the method comprises the following steps:
s01: acquiring road information around a target building or a target building group;
s02: generating a driving path around the target building or the target building group according to the road information;
s03: acquiring a plane coordinate corresponding to the delivery address according to the delivery address of the goods to be delivered;
s04: marking an unmanned aerial vehicle sending point on the driving path according to the shortest distance between the plane coordinate and the driving path;
s05: controlling the carrier vehicle to travel along the travel path;
s06: when the carrying vehicle passes through the unmanned aerial vehicle sending point, the unmanned aerial vehicle is controlled to carry the goods to be delivered to fly to the delivery address of the goods to be delivered.
6. The unmanned aerial vehicle delivery method of claim 5, wherein:
step S042 is further included between step S04 and step S05: marking a unmanned aerial vehicle recovery point on the running path according to the running speed of the carrying vehicle, the flight speed of the unmanned aerial vehicle and the flight distance of the unmanned aerial vehicle between the delivery address and the unmanned aerial vehicle sending point;
after step S06, step S07 is further included: when the delivery vehicle passes through unmanned aerial vehicle recovery point, control unmanned aerial vehicle fly to unmanned aerial vehicle delivery point, and the delivery vehicle passes through the in-process of unmanned aerial vehicle delivery point, control unmanned aerial vehicle descends to be in on the delivery vehicle.
7. The unmanned aerial vehicle delivery method of claim 6, wherein:
in step S042, the distance between the unmanned aerial vehicle recovery point and the unmanned aerial vehicle transmission point is obtained by the following formula:
L=VC*（LF/VF）
wherein L represents the distance between the unmanned aerial vehicle recovery point and the unmanned aerial vehicle sending point, and the unit is m; vCRepresents the running speed of the carrier vehicle, and the unit is m/s; l isFRepresenting the flight distance of the unmanned aerial vehicle between the delivery address and the unmanned aerial vehicle sending point, and the unit is m; vFRepresenting the flight speed of the unmanned aerial vehicle, and the unit is m/s;
in step S042, marking the unmanned aerial vehicle recovery point on the travel path according to a distance between the unmanned aerial vehicle recovery point and the unmanned aerial vehicle transmission point.
8. The unmanned aerial vehicle delivery method of claim 5, wherein:
step S041 is further included between step S04 and step S05: the maximum travel speed of the carrier vehicle is obtained according to the following formula:
（D/Vmax）-T=（Lmax*2）/VF
wherein D represents the length of the driving path and has the unit of m; vmaxRepresents the maximum travel speed of the carrier vehicle in m/s; l ismaxRepresenting the maximum flight distance of the unmanned aerial vehicle between the delivery address and the unmanned aerial vehicle sending point, and the unit is m; vFRepresenting the flight speed of the unmanned aerial vehicle, and the unit is m/s; t represents preset buffering time with the unit of s;
in step S05, the carrier vehicle is controlled to travel along the travel path at a speed not higher than the maximum travel speed.
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