CN109696923A - Intelligent delivery method and device - Google Patents
Intelligent delivery method and device Download PDFInfo
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- CN109696923A CN109696923A CN201710982796.9A CN201710982796A CN109696923A CN 109696923 A CN109696923 A CN 109696923A CN 201710982796 A CN201710982796 A CN 201710982796A CN 109696923 A CN109696923 A CN 109696923A
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- 238000002716 delivery method Methods 0.000 title claims abstract description 20
- 238000000034 method Methods 0.000 claims abstract description 36
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 230000005622 photoelectricity Effects 0.000 claims description 13
- 238000012790 confirmation Methods 0.000 claims description 8
- 238000005303 weighing Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000007726 management method Methods 0.000 abstract description 4
- 238000010276 construction Methods 0.000 abstract description 2
- 238000003384 imaging method Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 241001062009 Indigofera Species 0.000 description 2
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- 239000003086 colorant Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 235000009566 rice Nutrition 0.000 description 2
- 230000003796 beauty Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
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- 238000006243 chemical reaction Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
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Abstract
This intelligent delivery method and device, including unmanned plane, cargo reception device, it is characterised in that: cargo reception device includes at least one indicating label, and unmanned plane includes radar sensor, at least one video camera.Owner of cargo's location information, indicating label information input are envisaged for delivering the unmanned plane of owner of cargo's cargo by deliverer delivery system, unmanned plane self-navigation, which reaches cargo reception device nearby and starts video camera, searches indicating label, unmanned plane discharges cargo to target area according to the indicating label information of detection, and will deliver successful information or abandon delivery information and be sent to the owner of cargo by delivery system by unmanned plane.Realize that delivery is accurate, convenient, high-efficient, expense is low, process and intellectual management, this cargo reception device have versatility, meet the shared use of different deliverers, be not required to repeated construction.
Description
Technical field
The present invention relates to a kind of cargo delivering method and devices, belong to logistical applications direction, information technology field.
Background technique
With the prosperity of internet, logistics is more and more flourishing, express delivery quantity is more and more, but express delivery is substantially by place
Then express company, by manually consigning to residential area, will deliver in logistics cabinet after express delivery automotive to the section of cargo Relatively centralized
It is taken away by the owner of cargo, or is sent in owner of cargo family by courier within a certain period of time.Current this mode, there are Railway Projects: not having
There is logistics cabinet or be reluctant in the case of payment logistics cabinet, there are the owners of cargo to be difficult the face-to-face addressee of right times, reduces and delivers effect
Rate, there is also the hidden danger of owner of cargo's safety；In a manner of logistics cabinet, it is limited by the confined space and cost issues of logistics cabinet；Mould at present
Formula manual intervention is more, and because labour cost is higher and higher, it is higher and higher to deliver expense.
The satellite navigation of existing unmanned plane routine is transported, and because precision is inadequate, can not achieve the delivery of accurate location.And it is fast
It passs delivery not only to have needed accurately to deliver, but also with needing to deliver overall cost expense.
Summary of the invention
It is an object of the invention to overcome the above problem of the existing technology, a kind of cargo delivering method and dress are provided
It sets, realizes and deliver that accurate, convenient, high-efficient, expense is low, process and intellectual management.
To achieve the above object, The technical solution adopted by the invention is as follows:
This intelligent delivery method and device, including unmanned plane, cargo reception device, it is characterised in that: cargo reception device
Including owner of cargo's location information, at least one indicating label, unmanned plane includes radar sensor, at least one video camera；Owner of cargo position
Information is the satellite or base station or 3D digital map navigation information for including height above sea level.Its working method is that deliverer is in advance by cargo
Owner of cargo's location information of reception device, indicating label information, which are stored in, delivers in customer data base, when deliverer has the owner of cargo to wait throwing
When passing cargo and UAV Intelligent being needed to deliver, deliverer delivery system intends owner of cargo's location information, indicating label information input
For delivering the unmanned plane of owner of cargo's cargo, unmanned plane self-navigation, which reaches cargo reception device nearby and starts video camera search, to be referred to
Indicating label, unmanned plane discharge cargo to target area according to the indicating label information of detection, if do not examined in certain time
It measures indicating label information then to abandon delivering, and successful information will be delivered or abandon delivery information, delivery system is passed through by unmanned plane
It is sent to the owner of cargo, unmanned plane directly makes a return voyage next designated position to deliverer or delivery system arrangement after the completion of delivery.
The cargo reception device includes bluetooth module, power module, and blue module is connected with power module, and unmanned plane includes
Bluetooth module.Its working method is, deliverer in advance by the bluetooth module information of cargo reception device and owner of cargo's location information, refer to
Show that label information is stored in deliver in customer data base, when deliverer has owner of cargo's cargo to be delivered and UAV Intelligent is needed to deliver
When, deliverer delivery system intends owner of cargo's location information of cargo reception device, bluetooth module information, indicating label information input
For delivering the unmanned plane of owner of cargo's cargo, unmanned plane self-navigation reaches cargo reception device nearby and starts bluetooth module connection
The bluetooth module of cargo reception device, the not connected upper bluetooth module of unmanned plane is then abandoned delivering in certain time, bluetooth in connection
The distance relation and distance for judging unmanned plane Yu cargo reception device after module by signal strength, apart from it is close when start video camera
Indicating label is searched, unmanned plane discharges cargo to target area according to the indicating label information of detection, if in certain time
It does not detect that indicating label information is then abandoned delivering, and successful information will be delivered or put delivery information, delivery is passed through by unmanned plane
System is sent to the owner of cargo.
The cargo reception device includes two indicating labels, first finds cargo by an indicating label guidance unmanned plane and connects
Receiving apparatus, the specific location for then being discharged cargo by another indicating label instruction unmanned plane；The bluetooth module can be with
It is replaced by wifi module.
The indicating label is symbol code label or pattern label.
The indicating label is photoelectricity indicating label, and the photoelectricity indicating label is made of 3 and the above light emitting diode,
Power module is connected with light emitting diode.
The cargo reception device includes two indicating labels, wherein guidance unmanned plane finds the instruction of cargo reception device
Label is symbol code label or pattern label, another label is photoelectricity indicating label.
The cargo reception device includes microprocessor, microprocessor be connected with bluetooth module and respectively with power module phase
Even；The cargo reception device includes memory；The microprocessor can also be arranged in bluetooth module.Its working method
It is that owner of cargo's location information, indicating label information are sent to goods by bluetooth module using mobile phone or tablet computer in advance by the owner of cargo
Object reception device, and be stored in cargo reception device with the bluetooth module information of cargo reception device, when unmanned plane is with bluetooth
Read when module booting enters cargo reception device range owner of cargo's location information in cargo reception device, indicating label information,
Bluetooth module information, with prestored in unmanned plane owner of cargo's location information, indicating label information, bluetooth module information implementation compare,
Continue to deliver if consistent, no person, which is judged as, to deliver.
When the unmanned plane delivers multiple owner of cargo's cargos, multiple owner of cargo's location informations, indicating label information, indigo plant can be set
Tooth module information.
The cargo reception device realizes that the owner of cargo sends cargo, and unmanned plane configures weighing sensor.Its method is that the owner of cargo is first
The solicited message that mobile phone or tablet computer send cargo to delivery system is first passed through, delivery system is received to unmanned plane sending
It instructs and to indicate that unmanned plane reaches the hovering of cargo reception device as cargo delivering method aerial, while or passing through delivery slightly before
System reaches information to owner of cargo's mobile phone or tablet computer transmitting unmanned plane, and required transmission cargo is hung up unmanned plane by the owner of cargo, nobody
Machine weighs automatically and weight information is transmitted to delivery system, and the Shipping Information including the amount of money is sent to goods by delivery system
Main confirmation, delivery system instruction unmanned plane directly makes a return voyage next specific bit to deliverer or delivery system arrangement after confirmation
It sets.
The pattern label is at least 1 group of rectangular edges wire, and each group rectangular edges wire is respectively red green or blue
And it staggers successively；The pattern label can also be at least 1 group of circular frame line, and each group circular frame line is respectively red or green
Color or blue simultaneously stagger successively.
Using the present invention has the advantages that
1, this intelligent delivery method and device, including unmanned plane, cargo reception device, it is characterised in that: cargo receives dress
It sets including owner of cargo's location information, at least one indicating label, unmanned plane includes radar sensor, at least one video camera；Owner of cargo position
Confidence breath is the satellite or base station or 3D digital map navigation information for including height above sea level.Its working method is that deliverer is in advance by goods
Owner of cargo's location information of object reception device, indicating label information, which are stored in, delivers in customer data base, when deliverer has the owner of cargo to wait for
Deliver cargo and when UAV Intelligent being needed to deliver, deliverer delivery system is by owner of cargo's location information, indicating label information input
It is envisaged for delivering the unmanned plane of owner of cargo's cargo, unmanned plane self-navigation reaches owner of cargo position nearby and starts video camera search instruction
Label, unmanned plane discharge cargo to target area according to the indicating label information of detection, if do not detected in certain time
It then abandons delivering to indicating label information, and successful information will be delivered or abandon delivery information and sent out by unmanned plane by delivery system
It send to the owner of cargo, unmanned plane directly makes a return voyage next designated position to deliverer or delivery system arrangement after the completion of delivery.
Using apparatus above and method, realize that delivery is accurate, convenient, expense is low, process is intelligent.
2, in the present invention, the cargo reception device includes bluetooth module, power module, blue module and power module phase
Even, unmanned plane includes bluetooth module.Its working method is that deliverer is in advance by the bluetooth module information and goods of cargo reception device
Primary location information, indicating label information, which are stored in, delivers in customer data base, when deliverer has owner of cargo's cargo to be delivered and needs
UAV Intelligent deliver when, deliverer delivery system by owner of cargo's location information of cargo reception device, bluetooth module information, instruction
Label information input is envisaged for delivering the unmanned plane of owner of cargo's cargo, and unmanned plane self-navigation reaches cargo reception device nearby and opens
Dynamic bluetooth module connects the bluetooth module of cargo reception device, and the not connected upper bluetooth module of unmanned plane is then abandoned throwing in certain time
It passs, judges the distance relation and distance of unmanned plane Yu cargo reception device, distance in connection after bluetooth module by signal strength
Starting video camera searches indicating label when close, and unmanned plane discharges cargo to target area according to the indicating label information of detection,
Abandons delivering if not detecting indicating label information in certain time, and successful information will be delivered or put delivery information by
Unmanned plane is sent to the owner of cargo by delivery system.
Using apparatus above and method, realize that delivery is accurate, convenient, more efficient, expense is low, process and management are intelligent
Change；Using bluetooth module, be conducive to carry out intelligent communication using owner of cargo's existing equipment, do not increase the owner of cargo and use input cost.
3, in the present invention, the cargo reception device includes two indicating labels, first by an indicating label guides nobody
Machine finds cargo reception device, the specific location for then being discharged cargo by another indicating label instruction unmanned plane；It is described
Bluetooth module can be replaced by wifi module.
Using wifi module, be conducive to using owner of cargo's existing equipment carry out intelligent communication, do not increase the owner of cargo using investment at
This.
4, the present invention in, the indicating label be symbol code label or pattern label.
Realize that the diversity of label, the selectivity of the beauty and the owner of cargo that are conducive to label are wide.
5, in the present invention, the indicating label is photoelectricity indicating label, and the photoelectricity indicating label shines by 3 or more
Diode composition, power module are connected with light emitting diode.
Realize photoelectricity label, label service life is more longlasting, more intelligent.
6, in the present invention, the cargo reception device includes two indicating labels, wherein guidance unmanned plane finds cargo and connects
The indicating label of receiving apparatus is symbol code label or pattern label, another label is photoelectricity indicating label.Facilitate basis
Environment delivers environment reasonable selection and is more convenient for installing or being easier the indicating label of identification.
7, the present invention in, the cargo reception device includes microprocessor, and microprocessor is connected and distinguishes with bluetooth module
It is connected with power module；The cargo reception device includes memory；The microprocessor can also be arranged in bluetooth module.
Its working method: owner of cargo's location information, indicating label information are passed through bluetooth module using mobile phone or tablet computer in advance by the owner of cargo
It is sent to cargo reception device, and is stored in cargo reception device with the bluetooth module information of cargo reception device, when nobody
Machine reads owner of cargo's location information, indicateing arm in cargo reception device when leading into cargo reception device range with bluetooth module
Owner of cargo's location information for prestoring in label information, with unmanned plane, the implementation of indicating label information compare, and continue to deliver if consistent,
No person, which is judged as, to deliver.
Be able to achieve more accurate owner of cargo's authentication, be able to achieve cargo reception device storage receive, send goods information with
Pass through the inquiry such as mobile phone afterwards convenient for the owner of cargo.
8, in the present invention, when the unmanned plane delivers multiple owner of cargo's cargos, multiple owner of cargo's location informations, instruction can be set
Label information is conducive to improve and delivers efficiency.
9, in the present invention, the unmanned plane configures weighing sensor.Its method is that the owner of cargo passes through mobile phone or plate electricity first
Brain to delivery system send send cargo solicited message, delivery system to unmanned plane sending receive instruction and indicate unmanned plane with
It is aerial that cargo delivering method equally reaches the hovering of cargo reception device, while passing through delivery system to owner of cargo's mobile phone or tablet computer
It transmits unmanned plane and reaches information, required transmission cargo is hung up unmanned plane by the owner of cargo, and unmanned plane weighs automatically and passes weight information
Delivery system is transported to, the Shipping Information including the amount of money is sent to the owner of cargo and confirms that delivery system refers to after confirmation by delivery system
Show next designated position that unmanned plane directly makes a return voyage to deliverer or delivery system arrangement.Delivery of goods function is realized in this way
Energy.
It may be implemented not increase or reduce under oil (gas) filling device cost, can send with charge free but also receive express delivery and other items.
10, in the present invention, the pattern label be at least 1 group of rectangular edges wire, and each group rectangular edges wire is respectively red
It is green or blue and stagger successively；The pattern label can also be at least 1 group of circular frame line, each group circular frame line point
It Wei not be red green or blue and staggers successively.
Above-mentioned color is strong convenient for video camera identification, environment resistant light ability；Frame line, especially regular rectangular edges wire,
Circular frame line easily identifies, recognition efficiency is high；On frame linear dimension and unmanned plane under focal length of camera known case, unmanned plane
Unmanned plane can be accurately obtained at a distance from target by the image of acquisition, facilitate realization is accurate to deliver.
By above scheme, realizes and deliver that accurate, convenient, high-efficient, expense is low, process and intellectual management, this cargo
Reception device tool versatility, is not required to repeated construction at the shared use for meeting different deliverers, and required unmanned plane is at low cost.Cargo
Reception device solves accuracy, high efficiency and the owner of cargo's authentication for delivering end.
Detailed description of the invention
Fig. 1 is functional block diagram；
Fig. 2 is one kind of indicating label；
Fig. 3 is the another kind of indicating label.
In the figure, it is marked as 1, unmanned plane, 2, radar sensor, 3, video camera, 4, bluetooth module, 5, cargo reception device,
6, indicating label, 7, bluetooth module, 8, power module, 9, indicating label, 10, microprocessor.
Specific embodiment
This intelligent delivery method and device, including unmanned plane 1, cargo reception device 5, it is characterised in that: cargo receives dress
Setting 5 includes owner of cargo's location information, at least one indicating label 6, and unmanned plane 1 includes radar sensor 2, at least one video camera 3；
Owner of cargo's location information is the satellite or base station or 3D digital map navigation information for including height above sea level.
Its working method is that deliverer in advance deposits owner of cargo's location information of cargo reception device 5,6 information of indicating label
Storage is in delivering customer data base, and when deliverer has the owner of cargo when delivering cargo and needing 1 intelligent delivery of unmanned plane, deliverer is thrown
Owner of cargo's location information, 6 information input of indicating label are envisaged for delivering the unmanned plane 1 of owner of cargo's cargo by delivery system, and unmanned plane 1 is automatic
Navigation, which reaches cargo reception device 5 nearby and starts video camera 3, searches indicating label 6, and unmanned plane 1 is according to the indicating label of detection
6 information discharge cargo to target area, abandon delivering if not detecting 6 information of indicating label in certain time, and
Successful information will be delivered or abandon delivery information, the owner of cargo is sent to by delivery system by unmanned plane 1, unmanned plane 1 after the completion of delivery
The next designated position directly maked a return voyage to deliverer or delivery system arrangement.
One of still more preferably, cargo reception device 5 includes bluetooth module 7, power module 8, blue module 7 and power supply mould
Block 8 is connected, and unmanned plane includes bluetooth module 4.Its working method is that deliverer is in advance by the bluetooth module 7 of cargo reception device 5
Information and owner of cargo's location information, 6 information of indicating label, which are stored in, delivers in customer data base, when deliverer has owner of cargo's goods to be delivered
Object and when needing 1 intelligent delivery of unmanned plane, deliverer delivery system is by owner of cargo's location information of cargo reception device 5, bluetooth mould
7 information of block, 6 information input of indicating label are envisaged for delivering the unmanned plane 1 of owner of cargo's cargo, and 1 self-navigation of unmanned plane reaches cargo
Reception device 5 nearby starts the bluetooth module 7 that bluetooth module 4 connects cargo reception device 5, and unmanned plane 1 does not connect in certain time
Bluetooth module 7 is connected then to abandon delivering, in connection bluetooth module 7 and afterwards by signal strength judge unmanned plane 1 and cargo reception
The distance relation and distance of device 5, apart from it is close when starting video camera 3 search indicating label 6, unmanned plane 1 is according to the instruction of detection
6 information of label discharges cargo to target area, abandons throwing if not detecting 6 information of indicating label in certain time
It passs, and successful information will be delivered or put delivery information, the owner of cargo is sent to by delivery system by unmanned plane 1.
One of still more preferably, cargo reception device 5 includes indicating label 6, indicating label 9, first by an indicateing arm
6 guidance unmanned plane of label finds cargo reception device 5, is then discharged cargo by another indicating label 9 instruction unmanned plane 1
Specific location；The bluetooth module 3, bluetooth module 7 can be replaced by wifi module.
One of still more preferably, indicating label 6, indicating label 9 are symbol code label or pattern label.
One of still more preferably, indicating label 6, indicating label 9 are photoelectricity indicating label, the photoelectricity indicating label by
3 and above light emitting diode composition, power module is connected with light emitting diode.
One of still more preferably, cargo reception device 5 includes two indicating labels 6, wherein guidance unmanned plane finds goods
The indicating label 6 of object reception device 5 is symbol code label or pattern label, another indicating label 6 is photoelectricity indicateing arm
Label.
One of still more preferably, cargo reception device 5 includes microprocessor 10, microprocessor 10 and 7 phase of bluetooth module
It is connected even and with power module 8 respectively；The cargo reception device 5 further includes memory；The microprocessor 9 can also be arranged
In bluetooth module 7.
The owner of cargo uses mobile phone or tablet computer to pass owner of cargo's location information, 6 information of indicating label by bluetooth module 7 in advance
It send to cargo reception device 5, and is stored in cargo reception device 5 with 7 information of the bluetooth module of cargo reception device 5, work as nothing
Man-machine 1 read when leading into cargo 5 range of reception device with bluetooth module 7 owner of cargo's location information in cargo reception device 5,
Indicating label information, 7 information of bluetooth module, with prestored in unmanned plane 1 owner of cargo's location information, 6 information of indicating label, bluetooth mould
7 information of block is implemented to compare, and continues to deliver if consistent, no person, which is judged as, to deliver.
One of still more preferably, when unmanned plane 1 delivers multiple owner of cargo's cargos, can be set multiple owner of cargo's location informations,
6 information of indicating label.
One of still more preferably, unmanned plane 1 configures weighing sensor, and cargo reception device 5 realizes that the owner of cargo sends cargo.
Its method is that the owner of cargo passes through the solicited message that mobile phone or tablet computer send cargo to delivery system, delivery system first
It receives to the sending of unmanned plane 1 and instruction and indicates that unmanned plane 1 reaches cargo reception device 5 as cargo delivering method and hovers sky
In, while or unmanned plane 1 transmitted to owner of cargo's mobile phone or tablet computer by delivery system slightly before reach information, the owner of cargo is by required hair
Delivery object hangs up the hook of cargo indicated by unmanned plane 1, and unmanned plane 1 weighs automatically and weight information is transmitted to delivery system,
Shipping Information including the amount of money is sent to owner of cargo's confirmation by delivery system, and delivery system instruction unmanned plane 1 is direct after confirmation
The next designated position maked a return voyage to deliverer or delivery system arrangement.
One of still more preferably, pattern label is at least 1 group of rectangular edges wire, and each group rectangular edges wire is respectively red
It is green or blue and stagger successively；The pattern label can also be at least 1 group of circular frame line, each group circular frame line point
It Wei not be red green or blue and staggers successively.
The deliverer, refers to the operation enterprise for possessing delivery system, such as logistics company, express company or needs to transport
Other enterprises of cargo are delivered with unmanned plane；
The delivery system refers to delivery operation enterprise existing business system, including hardware, software, communication and network etc.,
There are server, database, existing Information of owners of goods interface and owner of cargo's electronization interactive information, and has unmanned plane information interface and nothing
Human-machine interactive information, more basic is the interconnection for delivering each link business of enterprises.
The delivery customer data base refers in delivery system for storing the data of Information of owners of goods and owner of cargo's goods information
Library.
The radar sensor 2 refers to the sensor that the functions such as ranging, unmanned plane anticollision are realized based on thunder degree principle.
Owner of cargo's location information is the satellite or base station navigation information for including height above sea level, generally by deliverer or other
Third party obtains the location information of the cargo reception device as the owner of cargo using high accuracy positioning equipment, can also be had by oneself by the owner of cargo
Having the mobile devices such as the mobile phone of navigation feature to obtain includes location information, but the precision low time for being unfavorable for delivering cargo imitates
Rate.
The bluetooth module information refers to the address of bluetooth module, broadcast name, connection password and other expression owner of cargos'
The distinctive information general name being pre-stored in bluetooth module.
The indicating label information refers to the contents such as the specific symbol, code, figure on indicating label surface and related spy
Levy the parameters such as the physical size between dimensional parameters or photodiode.
The certain time refers to according to device ability and satisfaction of consignor, the right times of setting, such as 1 point
Clock was to 5 minutes.
The present invention achievees the effect that accurate, efficient delivery, unmanned plane deliver cargo using two kinds or more of location technology
In the remote stage using GPS or Beidou satellite navigation or cellular base station navigation, camera review is used when reaching near the owner of cargo
Identification, location technology, which are realized, to be accurately positioned, and can also use bluetooth or wifi before obtaining being accurately positioned to improve location efficiency
Realize the positioning of meter level so that unmanned plane is rapidly achieved cargo reception device.
Indicating label 6 or indicating label 9 are using rectangular shaped rim lines and 3 rectangular target surface of video camera and indicating label 6 or refer to
The rectangular shaped rim of indicating label 9 has angle when being 0 degree, it is assumed that indicating label 6 or 6 rectangular shaped rim length of indicating label is a, width is
B, re-imaging length is l, width w on the despot face of the video camera 3 of unmanned plane 1, and the focal length of video camera is f, and video camera 3 is apart from rectangular edges
The distance of frame is d, and the value for obtaining d has following formula:
D=a*f/l or d=b*f/w
Wherein f is camera lens known parameters, and re-imaging length l or width w can be with the known target surface sizes of video camera, target
The total pixel in face and the rectangular shaped rim image pixel of indicating label 6 or indicating label 9 acquire.
It, can be with by angle when the rectangular shaped rim of 3 rectangular target surface of video camera and indicating label 6 or indicating label 9 has angle
Conversion obtains d.
Similarly, when indicating label 6 or indicating label 9 are other forms, same principle, which calculates, to be obtained.
By the above method, unmanned plane 1 is acquired at a distance from cargo reception device 5, to achieve the purpose that accurately to deliver.
Similarly, water between unmanned plane 1 and indicating label 6 can also be confirmed in 3 imaging region of video camera according to indicating label 6
Square to the left and right, upper and lower position and positional relationship, to achieve the purpose that accurately to deliver.
Indicating label 6 or or indicating label 9 when being character code, such as AB1234 can use existing Car license recognition
Method implementation accurately identifies.
Other data for embodying owner of cargo's uniqueness that cargo reception device 5 can also store other than Bluetooth address code are believed
Breath, the information can be pre-stored in delivery system in advance, when unmanned plane 1 delivers cargo starting by delivery system and other to the owner of cargo
Owner of cargo's goods information is input to unmanned plane together, with the authentication for being the owner of cargo when delivering.
Embodiment 1
This intelligent delivery method and device, including unmanned plane 1, cargo reception device 5, cargo reception device 5 include the owner of cargo
Location information, (wherein 1 is used to guide unmanned plane 1 close to cargo device 5, abbreviation guide tag two indicating labels 6；Other 1
The position that a guidance unmanned plane 1 accurately delivers cargo, referred to as delivers label), unmanned plane 1 includes radar sensor 2,1 and takes the photograph
Camera 3；Owner of cargo's location information is the satellite or base station navigation information for including height above sea level.
Its working method is that deliverer in advance deposits owner of cargo's location information of cargo reception device 5,6 information of indicating label
Storage is in delivering customer data base, and when deliverer has the owner of cargo when delivering cargo and needing 1 intelligent delivery of unmanned plane, deliverer is thrown
Owner of cargo's location information, 6 information input of indicating label are envisaged for delivering the unmanned plane 1 of owner of cargo's cargo by delivery system, and unmanned plane 1 is automatic
Navigation, which reaches cargo reception device 5 nearby and starts video camera 3, searches indicating label 6, and unmanned plane 1 is according to the indicating label of detection
6 information discharge cargo to target area, abandon delivering if not detecting 6 information of indicating label in certain time, and
Successful information will be delivered or abandon delivery information, the owner of cargo is sent to by delivery system by unmanned plane 1, unmanned plane 1 after the completion of delivery
The next designated position directly maked a return voyage to deliverer or delivery system arrangement.
Guide tag in above-mentioned indicating label 6 use three closely coupled rectangular shaped rim lines, from outside to inside color for
Red, green, blue, red rectangle frame line take that 0.5 meter of length, 0.5 meter wide, lines are wide takes 0.1 meter (to be conducive to letter using the wide line item
It is single, easily identify frame), green rectangular edges wire takes that 0.4 meter of length, 0.4 meter wide, lines are wide takes 0.1 meter, blue rectangle frame
Line takes that 0.3 meter of length, 0.3 meter wide, lines are wide takes 0.1 meter.The focal length of the video camera 3 of unmanned plane 1 use fixed focal length or for
Unmanned plane 1 can get the zoom focal length of focal length number in real time, and 3 target surface size of simultaneous camera is also known, then unmanned plane
According to area accounting of the collected rectangular shaped rim of video camera 3 in the acquired image of video camera 3, (or length accounting, width are accounted for
Than), distance of the unmanned plane 1 apart from guide tag can be calculated in real time, can also according to indicating label 6 video camera 3 at
As horizontal direction or so, overlying relation between region confirmation unmanned plane 1 and indicating label 6, guidance unmanned plane 1 is not being collided
In the case of close to guide tag.Guide tag and the positional relationship for delivering label are known, and defeated by delivery system in advance
Enter to unmanned plane 1, unmanned plane 1 can search delivery label according to this positional relationship quickly.Label is delivered to be arranged to
The suitable size of the surface area of arrangement of goods delivers label and uses three closely coupled rectangular shaped rim lines, from outside to inside colors
For red, green, blue, red rectangle frame line take 1 meter of length, 1 meter, lines are wide takes 0.1 meter, green rectangular edges wire takes length 0.9
Rice, 0.9 meter wide, lines are wide to take 0.1 meter, and blue rectangle frame line takes that 0.8 meter of length, 0.8 meter wide, lines are wide takes 0.1 meter.Nobody
Machine 1 by with identify above-mentioned guide tag same procedure, accurate reach delivers label area, and cargo is accurately delivered to delivery mark
Range is signed, completes to deliver work.
Embodiment 2
This intelligent delivery method and device, including unmanned plane 1, cargo reception device 5, cargo reception device 5 include the owner of cargo
Location information, (wherein 1 is used to guide unmanned plane 1 close to cargo device 5, abbreviation guide tag two indicating labels 6；Other 1
The position that a guidance unmanned plane 1 accurately delivers cargo, referred to as delivers label), unmanned plane 1 includes radar sensor 2,1 and takes the photograph
Camera 3, cargo reception device 5 include bluetooth module 7, power module 8, and blue module 7 is connected with power module 8, and unmanned plane includes
Bluetooth module 4；Owner of cargo's location information is the satellite or base station navigation information for including height above sea level.
Deliverer is in advance by 7 information of bluetooth module of cargo reception device 5 and owner of cargo's location information, 6 information of indicating label
It is stored in and delivers in customer data base, when deliverer has the owner of cargo wait delivering cargo and when needing 1 intelligent delivery of unmanned plane, deliverer
Owner of cargo's location information of cargo reception device 5,7 information of bluetooth module, 6 information input of indicating label are envisaged for throwing by delivery system
The unmanned plane 1 of owner of cargo's cargo is passed, 1 self-navigation of unmanned plane reaches cargo reception device 5 and nearby starts the connection cargo of bluetooth module 4
The bluetooth module 7 of reception device 5, the not connected upper bluetooth module 7 of unmanned plane 1 is then abandoned delivering in certain time, bluetooth in connection
The distance relation and distance for judging unmanned plane 1 Yu cargo reception device 5 after module 7 by signal strength, apart from it is close when starting take the photograph
Camera 3 searches indicating label 6, and unmanned plane 1 discharges cargo to target area according to 6 information of indicating label of detection, a timing
It is interior to abandon delivering if not detecting 6 information of indicating label, and successful information will be delivered or abandon delivery information by nothing
Man-machine 1 is sent to the owner of cargo by delivery system.
Guide tag in above-mentioned indicating label 6 use three closely coupled rectangular shaped rim lines, from outside to inside color for
Red, green, blue, red rectangle frame line take that 0.5 meter of length, 0.5 meter wide, lines are wide takes 0.1 meter (to be conducive to letter using the wide line item
It is single, easily identify frame), green rectangular edges wire takes that 0.4 meter of length, 0.4 meter wide, lines are wide takes 0.1 meter, blue rectangle frame
Line takes that 0.3 meter of length, 0.3 meter wide, lines are wide takes 0.1 meter.The focal length of the video camera 3 of unmanned plane 1 use fixed focal length or for
Unmanned plane 1 can get the zoom focal length of focal length number in real time, and 3 target surface size of simultaneous camera is also known, then unmanned plane
According to area accounting of the collected rectangular shaped rim of video camera 3 in the acquired image of video camera 3, (or length accounting, width are accounted for
Than), distance of the unmanned plane 1 apart from guide tag can be calculated in real time, can also according to indicating label 6 video camera 3 at
As horizontal direction or so, overlying relation between region confirmation unmanned plane 1 and indicating label 6, guidance unmanned plane 1 is not being collided
In the case of close to guide tag.Guide tag and the positional relationship for delivering label are known, and defeated by delivery system in advance
Enter to unmanned plane 1, unmanned plane 1 can search delivery label according to this positional relationship quickly.Label is delivered to be arranged to
The suitable size of the surface area of arrangement of goods delivers label and uses three closely coupled rectangular shaped rim lines, from outside to inside colors
For red, green, blue, red rectangle frame line take 1 meter of length, 1 meter, lines are wide takes 0.1 meter, green rectangular edges wire takes length 0.9
Rice, 0.9 meter wide, lines are wide to take 0.1 meter, and blue rectangle frame line takes that 0.8 meter of length, 0.8 meter wide, lines are wide takes 0.1 meter.Nobody
Machine 1 by with identify above-mentioned guide tag same procedure, accurate reach delivers label area, and cargo is accurately delivered to delivery mark
Range is signed, completes to deliver work.
Embodiment 3
This intelligent delivery method and device, including unmanned plane 1, cargo reception device 5, cargo reception device 5 include the owner of cargo
Location information, (wherein 1 is used to guide unmanned plane 1 close to cargo device 5, abbreviation guide tag two indicating labels 6；Other 1
The position that a guidance unmanned plane 1 accurately delivers cargo, referred to as delivers label), unmanned plane 1 includes radar sensor 2,1 and takes the photograph
Camera 3, cargo reception device 5 include bluetooth module 7, power module 8, and blue module 7 is connected with power module 8, and unmanned plane includes
Bluetooth module 4；Owner of cargo's location information is the satellite or base station navigation information for including height above sea level.
Deliverer is in advance by 7 information of bluetooth module of cargo reception device 5 and owner of cargo's location information, 6 information of indicating label
It is stored in and delivers in customer data base, when deliverer has the owner of cargo wait delivering cargo and when needing 1 intelligent delivery of unmanned plane, deliverer
Owner of cargo's location information of cargo reception device 5,7 information of bluetooth module, 6 information input of indicating label are envisaged for throwing by delivery system
The unmanned plane 1 of owner of cargo's cargo is passed, 1 self-navigation of unmanned plane reaches cargo reception device 5 and nearby starts the connection cargo of bluetooth module 4
The bluetooth module 7 of reception device 5, the not connected upper bluetooth module 7 of unmanned plane 1 is then abandoned delivering in certain time, bluetooth in connection
The distance relation and distance for judging unmanned plane 1 Yu cargo reception device 5 after module 7 by signal strength, apart from it is close when starting take the photograph
Camera 3 searches indicating label 6, and unmanned plane 1 discharges cargo to target area according to 6 information of indicating label of detection, a timing
It is interior to abandon delivering if not detecting 6 information of indicating label, and successful information will be delivered or abandon delivery information by nothing
Man-machine 1 is sent to the owner of cargo by delivery system.
Guide tag in above-mentioned indicating label 6 use three closely coupled circular frame lines, from outside to inside color for
Red, green, blue, red rectangle frame line take 0.5 meter of diameter, lines are wide to take 0.1 meter (to be conducive to simple, easy knowledge using the wide line item
Other frame), green circular frame line takes 0.4 meter of diameter, lines are wide to take 0.1 meter, and blue circular frame line takes 0.3 meter of length, width
0.3 meter, lines are wide takes 0.1 meter.The focal length of the video camera 3 of unmanned plane 1 uses fixed focal length or can obtain in real time for unmanned plane 1
To the zoom focal length of focal length number, 3 target surface size of simultaneous camera is also known, then unmanned plane is collected according to video camera 3
Area accounting (or length accounting, width accounting) of the rectangular shaped rim in the acquired image of video camera 3, can calculate in real time
Distance to unmanned plane 1 apart from guide tag, and guide unmanned plane 1 under not collision situation close to guide tag.Guide tag
With deliver label positional relationship be it is known, can also according to indicating label 63 imaging region of video camera confirm unmanned plane 1
Horizontal direction or so, upper and lower position and positional relationship between indicating label 6, and unmanned plane is input to by delivery system in advance
1, unmanned plane 1 can search delivery label according to this positional relationship quickly.It delivers label and is arranged to arrangement of goods
The suitable size of surface area, delivers that label uses three closely coupled rectangular shaped rim lines, color is red, green, blue from outside to inside,
Red rectangle frame line take 1 meter of length, 1 meter, lines are wide takes 0.1 meter, green rectangular edges wire take 0.9 meter of length, it is 0.9 meter wide,
Lines are wide to take 0.1 meter, and blue rectangle frame line takes that 0.8 meter of length, 0.8 meter wide, lines are wide takes 0.1 meter.Unmanned plane 1 by with knowledge
Not above-mentioned guide tag same procedure, accurate reach deliver label area, cargo are accurately delivered to delivery label range, complete
Deliver work.
Embodiment 4
This intelligent delivery method and device, including unmanned plane 1, cargo reception device 5, cargo reception device 5 include the owner of cargo
Location information, (wherein 1 is used to guide unmanned plane 1 close to cargo device 5, abbreviation guide tag two indicating labels 6；Other 1
The position that a guidance unmanned plane 1 accurately delivers cargo, referred to as delivers label), unmanned plane 1 includes radar sensor 2,1 and takes the photograph
Camera 3, cargo reception device 5 include bluetooth module 7, power module 8, and blue module 7 is connected with power module 8, and unmanned plane includes
Bluetooth module 4；Owner of cargo's location information is the satellite or base station navigation information for including height above sea level.
Deliverer is in advance by 7 information of bluetooth module of cargo reception device 5 and owner of cargo's location information, 6 information of indicating label
It is stored in and delivers in customer data base, when deliverer has the owner of cargo wait delivering cargo and when needing 1 intelligent delivery of unmanned plane, deliverer
Owner of cargo's location information of cargo reception device 5,7 information of bluetooth module, 6 information input of indicating label are envisaged for throwing by delivery system
The unmanned plane 1 of owner of cargo's cargo is passed, 1 self-navigation of unmanned plane reaches cargo reception device 5 and nearby starts the connection cargo of bluetooth module 4
The bluetooth module 7 of reception device 5, the not connected upper bluetooth module 7 of unmanned plane 1 is then abandoned delivering in certain time, bluetooth in connection
The distance relation and distance for judging unmanned plane 1 Yu cargo reception device 5 after module 7 by signal strength, apart from it is close when starting take the photograph
Camera 3 searches indicating label 6, and unmanned plane 1 discharges cargo to target area according to 6 information of indicating label of detection, a timing
It is interior to abandon delivering if not detecting 6 information of indicating label, and successful information will be delivered or abandon delivery information by nothing
Man-machine 1 is sent to the owner of cargo by delivery system.
Guide tag in above-mentioned indicating label 6 use two constant spacing rectangular shaped rim lines, from outside to inside color for it is red,
Indigo plant, red rectangle frame line take 0.5 meter of length, 0.5 meter wide, lines are wide to take 0.1 meter (it is simple, easy to be conducive to using the wide line item
Identify frame), blue rectangle frame line takes that 0.3 meter of length, 0.3 meter wide, lines are wide takes 0.1 meter.The video camera 3 of unmanned plane 1
Focal length uses fixed focal length or can get the zoom focal length of focal length number in real time for unmanned plane 1,3 target surface ruler of simultaneous camera
Very little to be also known, then unmanned plane is accounted for according to area of the collected rectangular shaped rim of video camera 3 in the acquired image of video camera 3
Than (or length accounting, width accounting), distance of the unmanned plane 1 apart from guide tag can be calculated in real time, it can also basis
Indicating label 6 confirms horizontal direction or so, upper and lower position and position between unmanned plane 1 and indicating label 6 in 3 imaging region of video camera
Relationship is set, and guides unmanned plane 1 under not collision situation close to guide tag.Guide tag and the positional relationship for delivering label are
It is known, and unmanned plane 1 is input to by delivery system in advance, unmanned plane 1, can be quickly to search according to this positional relationship
It seeks and delivers label.The suitable size of surface area that label is arranged to arrangement of goods is delivered, label is delivered and uses three close phases
Even rectangular shaped rim lines, from outside to inside color be it is red, blue, red rectangle frame line take 1 meter of length, 1 meter, lines are wide takes 0.1 meter,
Blue rectangle frame line takes that 0.8 meter of length, 0.8 meter wide, lines are wide takes 0.1 meter.Unmanned plane 1 by with identify above-mentioned guide tag
Same procedure, accurate reach deliver label area, cargo are accurately delivered to delivery label range, complete to deliver work.
Case study on implementation of the present invention is formed by limiting above-mentioned case study on implementation above but not only, can be simple by technical solution of the present invention
Diffraction goes out more kinds of case study on implementation.
Claims (10)
1. intelligent delivery method and device, including unmanned plane (1), cargo reception device (5), it is characterised in that: cargo receives
Device (5) includes at least one indicating label (6), and unmanned plane (1) includes radar sensor (2), at least one video camera (3).
Its working method is that deliverer in advance deposits owner of cargo's location information of cargo reception device (5), indicating label (6) information
Storage is in delivering customer data base, and when deliverer has the owner of cargo when delivery cargo needs unmanned plane (1) to deliver, deliverer delivers system
Owner of cargo's location information, indicating label (6) information input are envisaged for delivering the unmanned plane (1) of owner of cargo's cargo by system, and unmanned plane (1) is certainly
Dynamic navigation, which reaches cargo reception device (5) nearby and starts video camera (3), searches indicating label (6), and unmanned plane (1) is according to detection
Indicating label (6) information cargo is discharged to target area, if certain time in do not detect indicating label (6) information
It then abandons delivering, and successful information will be delivered or abandon delivery information, the owner of cargo is sent to by delivery system by unmanned plane (1), throw
Unmanned plane (1) directly makes a return voyage next designated position to deliverer or delivery system arrangement after the completion of passing.
2. intelligent delivery method and device according to claim 1, it is characterised in that: the cargo reception device (5) includes
Bluetooth module (7), power module (8), bluetooth module (7) are connected with power module (8), and unmanned plane includes bluetooth module (4).
Its working method is, deliverer in advance by bluetooth module (7) information of cargo reception device (5) and owner of cargo's location information,
Indicating label (6) information, which is stored in, delivers in customer data base, when deliverer has owner of cargo's cargo to be delivered that unmanned plane (1) is needed to throw
When passing, deliverer delivery system is by owner of cargo's location information of cargo reception device (5), bluetooth module (7) information, indicating label
(6) information input is envisaged for delivering the unmanned plane (1) of owner of cargo's cargo, and unmanned plane (1) self-navigation reaches cargo reception device (5)
Starting bluetooth module (4) nearby connects the bluetooth module (7) of cargo reception device (5), and unmanned plane (1) is not connected in certain time
Upper bluetooth module (7) then abandons delivering, and bluetooth module (7) judges that unmanned plane (1) connects with cargo by signal strength afterwards in connection
The distance relation and distance of receiving apparatus (5), apart from it is close when starting video camera (3) search indicating label (6), unmanned plane (1) basis
Indicating label (6) information of detection discharges cargo to target area, if not detecting indicating label (6) in certain time
Information is then abandoned delivering, and will deliver successful information or abandon delivery information and be sent to goods by delivery system by unmanned plane (1)
It is main.
3. according to claim 1, the 2 intelligent delivery method and device, it is characterised in that: cargo reception device (5) packet
Indicating label (6), indicating label (9) are included, cargo reception device (5) are first found by indicating label (6) guidance unmanned plane, so
Cargo is discharged into target position by another indicating label (9) instruction unmanned plane (1) afterwards；The bluetooth module (4), bluetooth
Module (7) can be replaced by wifi module.
4. according to claim 1,2, the 3 intelligent delivery method and device, it is characterised in that: the indicating label (6), instruction
Label (9) is symbol code label or pattern label.
5. according to claim 1,2, the 3 intelligent delivery method and device, it is characterised in that: the indicating label (6), instruction
Label (9) is photoelectricity indicating label, and the photoelectricity indicating label is made of 3 and the above light emitting diode, power module (8) with
Light emitting diode is connected.
6. according to the intelligent delivery method and device of claim 3,4,5, it is characterised in that: the cargo reception device (5)
Including two indicating labels (6), wherein the indicating label (6) that guidance unmanned plane finds cargo reception device (5) is symbol code
Label or pattern label, another indicating label (6) are photoelectricity indicating label.
7. according to claim 1,2,3, the 4 intelligent delivery method and device, it is characterised in that: the cargo reception device
It (5) include microprocessor (10), microprocessor (10) is connected with bluetooth module (7) and is connected respectively with power module (8)；It is described
Cargo reception device (5) further includes memory, and memory is connected with microprocessor (10) and power module (8)；The micro process
Device (10) can also be arranged in bluetooth module (7).
Its working method is that the owner of cargo uses mobile phone or tablet computer to pass through owner of cargo's location information, indicating label (6) information in advance
Bluetooth module (7) is sent to cargo reception device (5), and is stored in goods with bluetooth module (7) information of cargo reception device (5)
In object reception device (5), cargo is read when unmanned plane (1) leads into cargo reception device (5) range with bluetooth module (7)
Owner of cargo's location information, indicating label (6) information in reception device (5), bluetooth module (7) information, and prestore in unmanned plane (1)
Owner of cargo's location information, indicating label (6) information, bluetooth module (7) information implement to compare, continue to deliver if consistent, it is no
Person, which is judged as, to deliver.
8. according to claim 1, the 2 intelligent delivery method and device, it is characterised in that: the unmanned plane (1) is delivered multiple
When owner of cargo's cargo, multiple owner of cargo's location informations, indicating label (6) information, bluetooth module (7) information can be set.
9. according to claim 1 to the 8 intelligent delivery method and devices, it is characterised in that: the unmanned plane configuration weighing passes
Sensor.
Its working method is that the owner of cargo passes through the solicited message that mobile phone or tablet computer send cargo to delivery system first,
Delivery system is issued to unmanned plane (1) receives instruction and indicates that unmanned plane (1) reaches cargo reception device (5) hovering in the air, together
When or information is reached to owner of cargo's mobile phone or tablet computer transmitting unmanned plane (1) by delivery system in advance, the owner of cargo is by required transmission
Cargo hangs up the hook of cargo indicated by unmanned plane (1), and unmanned plane (1) weighs automatically and weight information is transmitted to delivery system
Shipping Information including the amount of money is sent to the owner of cargo and confirmed by system, delivery system, delivery system instruction unmanned plane (1) after confirmation
The next designated position directly maked a return voyage to deliverer or delivery system arrangement.
10. intelligent delivery method and device according to claim 4, it is characterised in that: the pattern label is at least 1 group of square
Shape frame line, each group rectangular edges wire are respectively red green or blue and stagger successively；The pattern label can also be
At least 1 group of circular frame line, each group circular frame line are respectively red green or blue and stagger successively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710982796.9A CN109696923A (en) | 2017-10-20 | 2017-10-20 | Intelligent delivery method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710982796.9A CN109696923A (en) | 2017-10-20 | 2017-10-20 | Intelligent delivery method and device |
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| CN109696923A true CN109696923A (en) | 2019-04-30 |
Family
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| CN201710982796.9A Withdrawn CN109696923A (en) | 2017-10-20 | 2017-10-20 | Intelligent delivery method and device |
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| CN (1) | CN109696923A (en) |
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| 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 |
| CN112312318A (en) * | 2020-10-09 | 2021-02-02 | 王英华 | Intelligent logistics accurate positioning and navigation method and intelligent logistics system |
| CN116229582A (en) * | 2023-05-06 | 2023-06-06 | 南京弘伍软件技术有限公司 | Logistics unmanned aerial vehicle and man-machine logistics interactive system based on human body gesture recognition |
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