CN110968111B

CN110968111B - Method and device for receiving articles, storage medium and electronic equipment

Info

Publication number: CN110968111B
Application number: CN201811152392.8A
Authority: CN
Inventors: 王悦; 赵炳根; 赵自强
Original assignee: BYD Co Ltd
Current assignee: BYD Co Ltd
Priority date: 2018-09-29
Filing date: 2018-09-29
Publication date: 2022-07-15
Anticipated expiration: 2038-09-29
Also published as: CN110968111A

Abstract

The disclosure relates to a method, a device, a storage medium and an electronic device for receiving articles, wherein the method comprises the following steps: receiving object information of a target object sent by a first unmanned machine; determining whether to receive the target item according to the item information; when the target object is determined to be received, generating an object receiving control instruction, sending the object receiving control instruction to a second unmanned aerial vehicle, so that the second unmanned aerial vehicle moves to a target position indicated by the object receiving control instruction, is in butt joint with the first unmanned aerial vehicle at the target position, and receives the target object carried by the first unmanned aerial vehicle. Like this, after first unmanned aerial vehicle carried the target article and moved to the target location, can control second unmanned aerial vehicle through the target terminal and remove to the target location, and receive the target article that first unmanned aerial vehicle carried, need not the user and receive article in person, practiced thrift user's time, increased the intellectuality that article were received.

Description

Method and device for receiving articles, storage medium and electronic equipment

Technical Field

The present disclosure relates to the field of control, and in particular, to a method and an apparatus for receiving an article, a storage medium, and an electronic device.

Background

With the rapid development of the network, more and more users shop through the network platform, and at present, the following receiving methods exist for the items purchased by the users: the delivery is performed to the door by the delivery person, or the delivery person deposits the item in a designated deposit place, so that the user receives the item in the designated deposit place. For the above receiving method, there are obvious disadvantages: for the mode that the delivery person goes to the door, if the user goes out, the user cannot sign for the goods in time; for storing items in a designated storage location, a user is required to reach the designated storage location to manually receive the items. Therefore, the existing article receiving mode still needs to receive the article manually, which wastes time of a user, and the intelligence of receiving the article is low.

Disclosure of Invention

In order to solve the above problem, the present disclosure provides a method, an apparatus, a storage medium, and an electronic device for receiving an article.

According to a first aspect of the embodiments of the present disclosure, there is provided a method for receiving an article, which is applied to a target terminal, the method including: receiving object information of a target object sent by a first unmanned machine; determining whether to receive the target item according to the item information; when the target object is determined to be received, generating an object receiving control instruction, sending the object receiving control instruction to a second unmanned aerial vehicle, so that the second unmanned aerial vehicle moves to a target position indicated by the object receiving control instruction, is in butt joint with the first unmanned aerial vehicle at the target position, and receives the target object carried by the first unmanned aerial vehicle.

Optionally, when the target object is determined not to be received, a rejection control instruction is generated and sent to the first unmanned machine, so that the first unmanned machine moves to a preset parking position of the first unmanned machine.

Optionally, the determining whether to receive the target item according to the item information includes: determining whether a receiving confirmation instruction is acquired within first preset time or not according to the article information; when the receiving confirmation instruction is determined to be acquired, determining to receive the target object; when the article rejection instruction is determined to be acquired; or when the first preset time is reached, the receiving confirmation instruction is not acquired, and the target object is determined not to be received.

According to a second aspect of the embodiments of the present disclosure, there is provided a method for receiving an article, which is applied to a first drone carrying a target article, the method including: acquiring article information of a carried target article; moving to a target position corresponding to the target object according to the object information; when a second unmanned aerial vehicle is determined to exist within a preset range of the target position, the article information is sent to the target terminal, so that the second unmanned aerial vehicle is controlled to move to the target position when the target terminal determines to receive the target article; docking with the second drone at the target location and transferring the target item to the second drone for the second drone to deliver the target item to a target delivery location.

Optionally, before the target location is docked with a second drone, the method further comprises: determining whether a receiving confirmation instruction sent by the target terminal according to the article information is received within second preset time; docking with a second drone at the target location includes: docking with the second drone at the target location upon receipt of the receipt confirmation instruction.

Optionally, when the second preset time is reached and the reception confirmation instruction is not received, or when an article rejection instruction is received, the target position is moved to a preset parking position.

Optionally, said docking with a second drone at the target location comprises: sending a connection request message to the second drone to establish a network connection with the second drone; after the network connection is established, sending unmanned aerial vehicle identification information to the second unmanned aerial vehicle so that the second unmanned aerial vehicle can be in butt joint with the first unmanned aerial vehicle according to the unmanned aerial vehicle identification information.

According to a second aspect of the embodiments of the present disclosure, there is provided a method for receiving an article, applied to a second drone, including: receiving an article receiving control instruction sent by a target terminal; moving to a target position indicated by the article receiving control instruction; the target position is in butt joint with a first unmanned machine, and a target object carried by the first unmanned machine is received; and delivering the target object to a target delivery position.

Optionally, the docking with a first drone at the target location comprises: receiving a connection request message sent by the first unmanned machine, and establishing network connection with the first unmanned machine according to the connection request message; after network connection is established, receiving unmanned aerial vehicle identification information sent by the first unmanned aerial vehicle; and docking with the first unmanned aerial vehicle according to the unmanned aerial vehicle identification information.

Optionally, the delivering the target item to a target delivery location comprises: sending a receiving completion message to the target terminal; determining whether a target distribution position sent by the target terminal is received within a third preset time; and when the target distribution position sent by the target terminal is received within the third preset time, the target object is distributed to the target distribution position.

Optionally, the target delivery location comprises: the position of the target terminal; alternatively, the delivery position is preset.

Optionally, the method further comprises: and when the third preset time is reached, if the target delivery position is not received, delivering the target object to a preset delivery position.

According to a fourth aspect of the embodiments of the present disclosure, there is provided an apparatus for receiving an article, which is applied to a target terminal, the apparatus including: the article information receiving module is used for receiving article information of a target article sent by a first unmanned machine; the receiving and judging module is used for determining whether to receive the target object according to the object information; and the receiving processing module is used for generating an article receiving control instruction when the target article is determined to be received, and sending the article receiving control instruction to the second unmanned aerial vehicle so that the second unmanned aerial vehicle moves to a target position indicated by the article receiving control instruction, is in butt joint with the first unmanned aerial vehicle at the target position, and receives the target article carried by the first unmanned aerial vehicle.

Optionally, the receiving and processing module is further configured to generate a rejection control instruction when it is determined that the target item is not received, and send the rejection control instruction to the first unmanned machine, so that the first unmanned machine moves to a preset parking position of the first unmanned machine.

Optionally, the receiving and judging module is configured to determine whether a receiving confirmation instruction is obtained within a first preset time according to the article information; when the receiving confirmation instruction is determined to be acquired, determining to receive the target object; when the article rejection instruction is determined to be acquired; or when the first preset time is reached, the receiving confirmation instruction is not acquired, and the target object is determined not to be received.

According to a fifth aspect of the embodiments of the present disclosure, there is provided a method for receiving an article, which is applied to a first drone carrying a target article, the method including: the article information acquisition module is used for acquiring article information of a carried target article; the movement control module is used for moving to a target position corresponding to the target article according to the article information; the article information sending module is used for sending the article information to the target terminal when a second unmanned aerial vehicle is determined to exist in a preset range of the target position, so that the target terminal controls the second unmanned aerial vehicle to move to the target position when the target terminal determines to receive the target article; the first docking control module is used for docking with the second unmanned aerial vehicle at the target position and transferring the target article to the second unmanned aerial vehicle so that the second unmanned aerial vehicle can deliver the target article to a target delivery position.

Optionally, the apparatus further comprises: the receiving determining module is used for determining whether a receiving confirmation instruction sent by the target terminal according to the article information is received within second preset time; and the first docking control module is used for docking with the second unmanned aerial vehicle at the target position when the receiving confirmation instruction is received.

Optionally, the first docking control module is further configured to move from the target location to a preset docking location when the second preset time is reached and the reception confirmation instruction is not received, or when an article rejection instruction is received.

Optionally, the first docking control module is configured to send a connection request message to the second drone so as to establish a network connection with the second drone, and send drone identification information to the second drone after the network connection is established, so that the second drone docks with the first drone according to the drone identification information.

According to a sixth aspect of the embodiments of the present disclosure, there is provided an apparatus for receiving an article, applied to a second drone, the apparatus including: the instruction receiving module is used for receiving an article receiving control instruction sent by the target terminal; the moving module is used for moving to a target position indicated by the article receiving control instruction; the second butt joint control module is used for butt joint with a first unmanned machine at the target position and receiving the target object carried by the first unmanned machine; and the distribution module is used for distributing the target objects to the target distribution positions.

Optionally, the second docking control module is configured to receive a connection request message sent by the first drone, establish a network connection with the first drone according to the connection request message, receive the drone identification information sent by the first drone after establishing the network connection, and dock with the first drone according to the drone identification information.

Optionally, the distribution module is configured to send a reception completion message to the target terminal; determining whether a target distribution position sent by the target terminal is received within a third preset time; and when the target distribution position sent by the target terminal is received within the third preset time, the target object is distributed to the target distribution position.

Optionally, the delivery module is configured to deliver the target item to a preset delivery location when the third preset time is reached and if the target delivery location is not received.

According to a seventh aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, performs the steps of the method of the first aspect described above; or, the program is executed by a processor to implement the steps of the method of the second aspect; alternatively, the program is adapted to implement the steps of the method according to the third aspect when executed by a processor.

According to an eighth aspect of an embodiment of the present disclosure, there is provided an electronic apparatus including: a memory having a computer program stored thereon; a processor for executing the computer program in the memory to implement the steps of the method of the first aspect; or to implement the steps of the method of the second aspect; or to implement the steps of the method of the third aspect.

Through the technical scheme, after the first unmanned aerial vehicle carries the target object to move to the target position, the second unmanned aerial vehicle can be controlled to move to the target position through the target terminal, the target object carried by the first unmanned aerial vehicle is received, a user does not need to receive the object personally, the time of the user is saved, and the intelligence of object receiving is increased.

Additional features and advantages of the present disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure, but do not constitute a limitation of the disclosure. In the drawings:

FIG. 1 is a flow chart diagram illustrating a method of receiving an item in accordance with an exemplary embodiment of the present disclosure;

FIG. 2 is a flow chart diagram illustrating another method of receiving an item in accordance with an exemplary embodiment of the present disclosure;

FIG. 3 is a flow chart diagram illustrating yet another method of receiving an item in accordance with an exemplary embodiment of the present disclosure;

FIG. 4 is a flowchart illustrating a fourth method of receiving an item in accordance with an exemplary embodiment of the present disclosure;

fig. 5 is a block diagram of a drone shown in an exemplary embodiment of the present disclosure;

FIG. 6 is a schematic view of a first scenario for receiving an item, according to an exemplary embodiment of the disclosure;

FIG. 7 is a schematic diagram illustrating a second scenario for receiving an item in accordance with an exemplary embodiment of the present disclosure;

FIG. 8(a) is a schematic two-dimensional plan view of a receiving article shown in an exemplary embodiment of the present disclosure;

FIG. 8(b) is a three-dimensional schematic view of a receiving article shown in an exemplary embodiment of the present disclosure;

FIG. 9 is a schematic two-dimensional plan view of yet another receiving article shown in an exemplary embodiment of the present disclosure;

FIG. 10 is a block diagram of a first apparatus for receiving items, shown in an exemplary embodiment of the present disclosure;

FIG. 11 is a block diagram of a second article receiving apparatus according to an exemplary embodiment of the present disclosure;

FIG. 12 is a block diagram of a third article receiving apparatus according to an exemplary embodiment of the present disclosure;

Fig. 13 is a block diagram illustrating an electronic device according to an exemplary embodiment of the present disclosure.

Detailed Description

The following detailed description of the embodiments of the disclosure refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

The present disclosure can be applied to a scenario of receiving an article, in which, in consideration of the increasing standardization and cost reduction of the unmanned aerial vehicle, a target article can be delivered to a target location designated by a user by the first unmanned aerial vehicle, and since the target location is generally a shared storage area near a house, the user still needs to go to the target location to receive the target article, thereby consuming user time. In addition, considering that the first unmanned machine for delivering goods may carry a plurality of target objects, the first unmanned machine may have a relatively large model, may not move flexibly, and may have a relatively slow moving speed, which may cause that the first unmanned machine may not reach a receiving position designated by a user accurately in time, thereby affecting user experience, and in addition, if the receiving position is remote, the first unmanned machine may consume more electric power due to a relatively long moving distance when delivering the target objects, in order to solve the above problems, in the present disclosure, after the first unmanned machine carries the target objects to the target position, the second unmanned machine may be controlled by the target terminal to move to the target position, and the target objects carried by the first unmanned machine are received, without the user receiving the objects in person, thereby saving user time, increasing intelligence of receiving the objects, and because the second unmanned machine is usually directed to a small number of users (such as one user), so need not to carry a large amount of article, consequently, the size is less, is convenient for remove, and this second unmanned aerial vehicle when receiving the target article from first unmanned aerial vehicle, only needs to remove to the appointed receiving position of user from the target location, has shortened the migration distance, has reduced the electric quantity consumption to the receiving efficiency of user to the target article has been improved.

The present disclosure is described in detail below with reference to specific examples.

Fig. 1 is a flowchart illustrating a method for receiving an article according to an exemplary embodiment of the present disclosure, which is applied to a target terminal, and as shown in fig. 1, the method includes:

s101, receiving the object information of the target object sent by the first unmanned machine.

The delivery request message including the item information may be received to obtain the item information, and the item information may include logistics information (such as a name of a logistics company, a logistics number, and the like) of the target item, sender information and recipient information (such as names, addresses, and the like of a sender and a recipient), identification information (such as a name, a type, a model, and the like of the target item), and the like.

And S102, determining whether to receive the target item according to the item information.

In this step, it may be determined whether a reception confirmation instruction is received within a first preset time, and when it is determined that the reception confirmation instruction is received, it is determined that the target item is received, and when it is determined that an item rejection instruction is received; or when the first preset time is reached, the receiving confirmation instruction is not received, and the target object is determined not to be received. Therefore, the target object can be flexibly controlled to be received according to different instructions, the intelligence of receiving the object is improved, and the user experience is improved.

For example, after receiving the item information, the target terminal may display the item information through a display interface, where the display interface includes a receive button and a reject button, and when the receive button is triggered, the target terminal determines to receive the reception confirmation instruction, and when the reject button is triggered, the target terminal determines to receive the item reject instruction, which is only by way of example and is not limited herein.

S103, when the target object is determined to be received, generating an object receiving control instruction, and sending the object receiving control instruction to a second unmanned aerial vehicle, so that the second unmanned aerial vehicle moves to a target position indicated by the object receiving control instruction, is in butt joint with the first unmanned aerial vehicle at the target position, and receives the target object carried by the first unmanned aerial vehicle.

In this step, the delivery request message may further include location information of a target location where the first drone is located, so that the target terminal may instruct, according to the location information, the second drone to move to the target location through the article reception control instruction.

In addition, when the target object is determined not to be received, a rejection control instruction is generated and sent to the first unmanned machine, so that the first unmanned machine can move to the preset parking position of the first unmanned machine, and therefore when a user selects not to receive the object, the first unmanned machine does not need to wait for the second unmanned machine to receive the object and can control the first unmanned machine to return, and therefore the first unmanned machine is prevented from being lost or damaged manually.

Wherein, this preset parking position can be the storage position of target article when not having passed through unmanned aerial vehicle delivery yet, like depositing the position in the warehouse of this target article, or, deposit the position etc. of the vehicle of this target article.

It should be noted that the target location may be a designated area in a cell or an office area where items are received in a centralized manner, for example, a location in an area where a home is located or a location in an office area, but in consideration of user privacy, information such as a home address or an office address of the user is prevented from being exposed, and the target location may be a doorway of the cell where the home is located or a doorway of a work park where the office area is located, so that leakage of the user privacy is avoided.

By adopting the method, after the first unmanned aerial vehicle carries the target object to move to the target position, the second unmanned aerial vehicle can be controlled to move to the target position through the target terminal, and the target object carried by the first unmanned aerial vehicle is received, so that the user does not need to receive the object in person, the user time is saved, the intelligence of receiving the object is increased, in addition, the second unmanned aerial vehicle is usually aimed at a small number of users (such as one user), so that the second unmanned aerial vehicle does not need to carry a large number of objects, the size is small, the movement is convenient, the energy consumption in the moving process is low, and the receiving efficiency of the user on the target object is improved.

Fig. 2 is a flowchart illustrating a method for receiving an article according to an exemplary embodiment of the present disclosure, which is applied to a first drone carrying a target article, and as shown in fig. 2, the method includes:

s201, acquiring the article information of the carried target article.

The article information may include logistics information (such as a logistics company name, a logistics number, and the like) of the target article, sender information, recipient information (such as names, addresses, and the like of a sender and a recipient), identification information (such as a name, a type, a model, and the like) of the target article, and other information.

And S202, moving to a target position corresponding to the target article according to the article information.

In this step, it may be determined that the first unmanned machine can reach the target location according to the address of the recipient in the item information, and the location closest to the address of the recipient is the target location, and move to the target location, or a location preset by the item delivery staff according to the address of the recipient is the target location, and move to the target location, for example, the target location may be a designated area in which the items are intensively received in a cell or an office, for example, the target location may be a location in an area where the user is located in the home or a location in an office area, but, in consideration of user privacy, information such as a home address or an office address of the user is prevented from being exposed, and the target location may be a doorway of a cell where the user is located in the home or a doorway of a work park where the office area is located in the office area, so as to prevent leakage of user privacy.

S203, when the second unmanned aerial vehicle is determined to exist in the preset range of the target position, the article information is sent to the target terminal, so that the second unmanned aerial vehicle is controlled to move to the target position when the target terminal determines to receive the target article.

In this step, can search for the exclusive signal of unmanned aerial vehicle within the scope of predetermineeing to after searching this exclusive signal of unmanned aerial vehicle, confirm that there is this second unmanned aerial vehicle.

S204, docking with the second unmanned aerial vehicle at the target position, and transferring the target object to the second unmanned aerial vehicle so that the second unmanned aerial vehicle can deliver the target object to a target delivery position.

Wherein, before this target location docks with the second unmanned aerial vehicle, can confirm whether receive this target terminal according to this article information sending's receipt confirmation instruction in the second preset time, in this step, when receiving this receipt confirmation instruction, dock with this second unmanned aerial vehicle at this target location, like this, first unmanned aerial vehicle can confirm whether dock with the second unmanned aerial vehicle according to whether receiving the receipt confirmation instruction, and transmit article, thereby first unmanned aerial vehicle's controllability has been increased, the intelligence of article receipt has been improved.

Here, after receiving the article information sent by the first unmanned machine, the target terminal may display the article information through a display interface, where the display interface includes a receive button and a reject button, and when the receive button is triggered, the target terminal determines to receive the reception confirmation instruction, and when the reject button is triggered, the target terminal determines to receive the article reject instruction, which is by way of example and is not limited herein.

When the second preset time is reached and the receiving confirmation instruction is not received, or when the article rejection instruction is received, the first unmanned aerial vehicle can move to the preset stop position from the target position, so that when the receiving confirmation instruction is not received, the first unmanned aerial vehicle does not need to wait for the second unmanned aerial vehicle to receive articles and can return to the preset stop position, and therefore the first unmanned aerial vehicle is prevented from being lost or damaged manually, or the first unmanned aerial vehicle is prevented from waiting for a certain user for a long time and the piece dispatching efficiency is not influenced.

Wherein, this preset parking position can be the storage position of target article when not having passed through unmanned aerial vehicle delivery yet, like the position of the warehouse of depositing this target article, or, deposit the position etc. of the vehicle of this target article.

When docking with a second unmanned aerial vehicle, a connection request message can be sent to the second unmanned aerial vehicle, so that network connection can be established with the second unmanned aerial vehicle, after the network connection is established, unmanned aerial vehicle identification information is sent to the second unmanned aerial vehicle, so that the second unmanned aerial vehicle can be docked with the first unmanned aerial vehicle according to the unmanned aerial vehicle identification information, and thus, through the establishment of the network connection, information interaction can be directly carried out between the first unmanned aerial vehicle and the second unmanned aerial vehicle according to the network connection, the docking is convenient, and the docking efficiency and the docking accuracy are improved.

Fig. 3 is a flowchart illustrating a method for receiving an article according to an exemplary embodiment of the present disclosure, applied to a second drone, as shown in fig. 3, the method includes:

And S301, receiving an article receiving control instruction sent by the target terminal.

And S302, moving to a target position indicated by the article receiving control instruction.

S303, the target position is in butt joint with a first unmanned machine, and the target object carried by the first unmanned machine is received.

In this step, can receive the connection request message that this first unmanned aerial vehicle sent, and establish network connection with this first unmanned aerial vehicle according to this connection request message, after establishing network connection, receive the unmanned aerial vehicle identification information that this first unmanned aerial vehicle sent, and dock with this first unmanned aerial vehicle according to this unmanned aerial vehicle identification information, like this, through establishing network connection, can make first unmanned aerial vehicle and second unmanned aerial vehicle directly carry out information interaction according to this network connection, convenient butt joint has improved the efficiency and the rate of accuracy of butt joint.

S304, the target object is delivered to the target delivery position.

In this step, after receiving a target article carried by a first unmanned machine, a reception completion message may be sent to the target terminal, and it is determined whether a target delivery location sent by the target terminal is received within a third preset time, and when the target delivery location sent by the target terminal is received within the third preset time, the target article is delivered to the target delivery location, where the target delivery location includes: the location of the target terminal; alternatively, the delivery position is preset.

Like this, after accomplishing the receipt of target article, can confirm whether receive the target delivery position that the target terminal sent to can control second unmanned aerial vehicle's delivery place in a flexible way, convenience of customers receives target article, has improved the receiving efficiency of user to target article.

In addition, when the third preset time is reached, if the target delivery position is not received, the target object can be delivered to the preset delivery position, wherein the preset delivery position can be a public object storage area such as an object cabinet, and therefore when the target delivery position is not received, the target object can be flexibly delivered to the preset delivery position, and the target object is prevented from being lost.

Fig. 4 is a flowchart illustrating a method of receiving an item according to an exemplary embodiment of the disclosure, where, as shown in fig. 4, the method includes:

first, the first drone and the second drone in the present disclosure are described with reference to fig. 5, and as shown in fig. 5, each of the first drone and the second drone in the present disclosure may include: flight module 1, signal transceiver module 2, image acquisition module 3, article fixed module 4 and processing module 5 to above-mentioned first unmanned aerial vehicle or second unmanned aerial vehicle can communicate through web server 6 and target terminal 7, thereby make target terminal 7 control above-mentioned first unmanned aerial vehicle or second unmanned aerial vehicle.

In addition, the first drone and the second drone may include a fixing module, the fixing module may be a suspension bracket, the suspension bracket may be a telescopic structure, the suspension bracket may carry the target object when in an extended state, and the suspension bracket may release the carried target object when in a retracted state, and the structure of the fixing module is only exemplary, and the disclosure does not limit this.

S401, the first unmanned machine obtains the article information of the target article to be distributed and moves to the target position after carrying the target article.

In this step, it is determined that the first unmanned machine can reach and a position closest to the address of the recipient is the target position based on the address of the recipient in the item information, planning a moving route according to the target position, moving to the target position according to the moving route, or setting a position preset by an article delivery person according to the address of a receiver as the target position, and plans a movement route according to the target position and moves to the target position according to the movement route, for example, the target location may be a location in an area where the home is located, or a location in an office area, but in consideration of user privacy, avoiding exposure of information such as a home address or an office address of the user, the target position can be the door of a cell where a home is located or the door of a work park where an office area is located, so that the privacy of a user is prevented from being leaked.

S402, when the second unmanned aerial vehicle is determined to exist in the preset range of the target position, the delivery request message is sent to the target terminal.

The delivery request message includes item information of a target item, where the item information may include logistics information (such as a logistics company name and a logistics number) of the target item, sender information and recipient information (such as names and addresses of a sender and a recipient), identification information (such as a name, a type, and a model of the target item), and other information of the target item.

For example, as shown in fig. 6, a cargo distribution scenario is taken as an example to illustrate, in which a delivery drone (corresponding to a first drone) needs to move to a target location with a target item in a logistics vehicle, and when the delivery drone moves to the target location, a drone-specific signal is searched within a preset range (such as a circle shown in fig. 5) of the target location, as shown in fig. 6, since a stop point of a receiving drone (corresponding to a second drone) is located within the preset range, the receiving drone can be searched, so that the presence of the second drone is determined.

S403, the target terminal determines whether to receive the target item according to the item information in the delivery request message.

In this step, after the item information is acquired, it may be determined whether a reception confirmation instruction is received within a first preset time, when it is determined that the reception confirmation instruction is received, it is determined that the target item is received, and when it is determined that an item rejection instruction is received; or when the first preset time is reached, the receiving confirmation instruction is not received, and the target object is determined not to be received. Therefore, the target object can be flexibly controlled to be received according to different instructions, the intelligence of receiving the object is improved, and the user experience is improved.

For example, after receiving the item information, the target terminal may display the item information through a display interface, and a user may view logistics information, sender information, receiver information, and an item type of the target item through the display interface, so as to determine whether to receive the target item according to the information, if the user can receive the target item, trigger a receive button on the display interface, when the target terminal determines that the receive button is triggered, determine to receive the reception confirmation instruction, if the user is currently inconvenient to receive the target item, trigger a reject button on the display interface, and when the target terminal determines that the reject button is triggered, determine to receive the item rejection instruction, which is merely by way of example and is not limited.

Executing step S404 to step S408 when it is determined to receive the target item;

when it is determined that the target item is not received, steps S409 and S410 are performed.

S404, the target terminal sends a receiving confirmation message to the first unmanned machine.

S405, the target terminal generates an article receiving control instruction and sends the article receiving control instruction to the second unmanned aerial vehicle.

In this step, the delivery request message may further include location information of a target location where the first drone is located, so that the target terminal may instruct the second drone to move to the target location through the article reception control instruction according to the location information.

S406, the second unmanned aerial vehicle moves to the target position indicated by the article receiving control instruction.

For example, as shown in fig. 7, still taking the scenario of cargo delivery as an example, after receiving the article receiving control command, the receiving drone (corresponding to the second drone) moves from the stop point of the receiving drone to the target position, and joins with the delivery drone (corresponding to the first drone).

S407, the second unmanned aerial vehicle is in butt joint with the first unmanned aerial vehicle at the target position, and after the butt joint is successful, the first unmanned aerial vehicle transmits the carried target object to the second unmanned aerial vehicle.

When the second preset time is reached, the receiving confirmation instruction is not received, or when the article rejection instruction is received, the first unmanned aerial vehicle can move to the preset stop position from the target position, so that when the receiving confirmation instruction is not received, the first unmanned aerial vehicle does not need to wait for the second unmanned aerial vehicle to receive articles and can return to the preset stop position, the first unmanned aerial vehicle is prevented from being lost or artificially damaged, or the first unmanned aerial vehicle is prevented from waiting for a certain user for a long time, and the piece sending efficiency is influenced.

In this step, the first unmanned aerial vehicle can send a connection request message to the second unmanned aerial vehicle so as to establish network connection with the second unmanned aerial vehicle, after the network connection is established, the first unmanned aerial vehicle sends unmanned aerial vehicle identification information to the second unmanned aerial vehicle, and the second unmanned aerial vehicle is in butt joint with the second unmanned aerial vehicle according to the unmanned aerial vehicle identification information.

In a possible implementation manner, first, a two-dimensional code or two crosses (corresponding to the unmanned aerial vehicle identification information) with different lengths and different line widths are arranged in the top area of a first unmanned aerial vehicle, the second unmanned aerial vehicle and the first unmanned aerial vehicle send the identification information of the two-dimensional code or the crosses of the first unmanned aerial vehicle to the second unmanned aerial vehicle after being connected with the network, the bottom of the second unmanned aerial vehicle is provided with a high-definition camera, when the first unmanned aerial vehicle and the second unmanned aerial vehicle converge at a target position, the second unmanned aerial vehicle moves to the upper side of the first unmanned aerial vehicle, the high-definition camera at the bottom of the second unmanned aerial vehicle starts a scanning mode, the identification information of the unmanned aerial vehicle is collected by continuously adjusting the horizontal position, the horizontal position is stopped to be adjusted after the identification information of the unmanned aerial vehicle is collected, then, the height of the second unmanned aerial vehicle in the vertical direction is adjusted, so that the height distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle is a preset height distance, for accurate adjustment height, can set up the high accuracy radar on this second unmanned aerial vehicle to can detect the high distance between first unmanned aerial vehicle and the second unmanned aerial vehicle through the high accuracy radar.

Next, as shown in fig. 8, fig. 8(a) is a schematic two-dimensional plane view of the received article, fig. 8(b) is a schematic three-dimensional view of the received article, and the suspension bracket of the second drone is changed from the retracted state to the extended state (i.e., the brackets at both ends of the suspension bracket of the second drone are extended and engaged), and at this time, the second drone and the first drone both carry the target cargo.

Finally, as shown in fig. 9, the first unmanned suspension bracket changes from the extended state to the retracted state (i.e. the brackets at both ends of the first unmanned suspension bracket are retracted and disconnected), so that the target object is transmitted from the first unmanned aerial vehicle to the second unmanned aerial vehicle, and after the second unmanned aerial vehicle receives the object, the target object can be disconnected from the first unmanned aerial vehicle and return to the preset parking position, thereby saving electric quantity.

S408, the second unmanned aerial vehicle delivers the carried target articles to the target delivery position.

In this step, after receiving a target article carried by a first unmanned machine, a reception completion message may be sent to the target terminal, and it is determined whether a target delivery location sent by the target terminal is received within a third preset time, and when the target delivery location sent by the target terminal is received within the third preset time, the target article is delivered to the target delivery location, where the target delivery location includes: the location of the target terminal; or, a preset delivery position is preset, wherein the preset delivery position can be a public goods storage area such as a goods cabinet.

In addition, when the third preset time is reached, if the target delivery position is not received, the target object can be delivered to the preset delivery position, so that when the target delivery position is not received, the target object can be flexibly delivered to the preset delivery position, and the target object is prevented from being lost.

In a possible implementation manner, after completing the distribution of the target object, the second drone may return to a charging station closest to the target distribution location or the preset distribution location, so as to charge the second drone through the charging station, so as to receive the object next time.

And S409, the target terminal generates a rejection control instruction and sends the rejection control instruction to the first unmanned machine.

And S410, returning the first unmanned machine to the preset parking position from the target position.

Adopt above-mentioned device, after first unmanned aerial vehicle carried the target article and moved to the target location, can move to the target location through target terminal control second unmanned aerial vehicle, and receive the target article that first unmanned aerial vehicle carried, need not the user and receive article in person, user time has been practiced thrift, the intellectuality of article receipt has been increased, in addition, because second unmanned aerial vehicle often is to a small amount of users (like a user), so need not to carry a large amount of article, therefore, the size is less, be convenient for remove, and remove in-process energy consumption lower, thereby the receiving efficiency of user to the target article has been improved.

Fig. 10 is a device for receiving an article according to an embodiment of the present disclosure, as shown in fig. 10, applied to a target terminal, including:

an article information receiving module 1001, configured to receive article information of a target article sent by a first unmanned machine;

a receiving and judging module 1002, configured to determine whether to receive the target item according to the item information;

the receiving and processing module 1003 is configured to generate an article receiving control instruction when the target article is determined to be received, and send the article receiving control instruction to the second unmanned aerial vehicle, so that the second unmanned aerial vehicle moves to a target position indicated by the article receiving control instruction, and is docked with the first unmanned aerial vehicle at the target position, and receives the target article carried by the first unmanned aerial vehicle.

Optionally, the receiving processing module 1003 is further configured to generate a rejection control instruction when it is determined that the target item is not received, and send the rejection control instruction to the first unmanned machine, so that the first unmanned machine moves to a preset parking position of the first unmanned machine.

Optionally, the receiving and determining module 1002 is configured to determine whether a receiving confirmation instruction is obtained within a first preset time according to the article information; when the receiving confirmation instruction is determined to be acquired, determining to receive the target object; when the article rejection instruction is determined to be acquired; or when the first preset time is reached, the receiving confirmation instruction is not acquired, and the target object is determined not to be received.

Adopt above-mentioned device, carry the target article at first unmanned aerial vehicle and remove to the target location after, can remove to the target location through target terminal control second unmanned aerial vehicle, and receive the target article that first unmanned aerial vehicle carried, need not the user and receive article in person, user time has been practiced thrift, the intellectuality of article receipt has been increased, additionally, because second unmanned aerial vehicle often is to a small amount of users (like a user), so need not to carry a large amount of articles, therefore, the size is less, be convenient for remove, and it is lower to remove the in-process energy consumption, thereby the receiving efficiency of user to the target article has been improved.

Fig. 11 is a device for receiving an article according to an embodiment of the present disclosure, as shown in fig. 11, and is applied to a first unmanned machine carrying a target article, where the device includes:

an article information acquisition module 1101, configured to acquire article information of a carried target article;

a movement control module 1102, configured to move to a target location corresponding to the target item according to the item information;

an article information sending module 1103, configured to send the article information to the target terminal when it is determined that a second unmanned aerial vehicle exists within a preset range of the target location, so that the target terminal controls the second unmanned aerial vehicle to move to the target location when determining to receive the target article;

A first docking control module 1104 for docking with the second drone at the target location and transferring the target item to the second drone so that the second drone delivers the target item to a target delivery location.

Optionally, the apparatus further comprises:

the receiving determining module is used for determining whether a receiving confirmation instruction sent by the target terminal according to the article information is received within second preset time;

the first docking control module 1104 is configured to dock with the second drone at the target location when receiving the receiving confirmation instruction.

Optionally, the first docking control module 1104 is further configured to move from the target position to a preset docking position when the second preset time is reached, the reception confirmation instruction is not received, or the article rejection instruction is received.

Optionally, the first docking control module 1104 is configured to send a connection request message to the second drone so as to establish a network connection with the second drone, and after the network connection is established, send drone identification information to the second drone so that the second drone docks with the first drone according to the drone identification information.

Fig. 12 is a device for receiving an article according to an embodiment of the present disclosure, as shown in fig. 12, applied to a second drone, the device includes:

an instruction receiving module 1201, configured to receive an article receiving control instruction sent by a target terminal;

a moving module 1202, configured to move to a target location indicated by the article receiving control instruction;

a second docking control module 1203, configured to dock with a first wireless device at the target location, and receive the target object carried by the first wireless device;

a delivery module 1204 for delivering the target item to a target delivery location.

Optionally, the second docking control module 1203 is configured to receive the connection request message sent by the first drone, establish a network connection with the first drone according to the connection request message, receive the drone identification information sent by the first drone after establishing the network connection, and dock with the first drone according to the drone identification information.

Optionally, the distribution module 1204 is configured to send a reception completion message to the target terminal; determining whether a target distribution position sent by the target terminal is received within third preset time; and when the target delivery position sent by the target terminal is received within the third preset time, delivering the target article to the target delivery position.

Optionally, the target delivery location comprises:

the location of the target terminal; or,

and presetting a delivery position.

Optionally, the delivery module 1204 is configured to deliver the target item to a preset delivery location if the target delivery location is not received when the third preset time is reached.

With regard to the apparatus in the above embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be described in detail here.

Fig. 13 is a block diagram illustrating an electronic device 1300 in accordance with an example embodiment. For example, the electronic device may be a target terminal first drone or a second drone in the present disclosure. As shown in fig. 13, the electronic device 1300 may include: a processor 1301, a memory 1302. The electronic device 1300 may also include one or more of a multimedia component 1303, an input/output (I/O) interface 1304, and a communications component 1305.

The processor 1301 is configured to control the overall operation of the electronic apparatus 1300, so as to complete all or part of the steps in the method for receiving an article. The memory 1302 is configured to store various types of data to support operation at the electronic device 1300, such as instructions for any application or method operating on the electronic device 1300, as well as application-related data, such as contact data, messages sent or received, pictures, audio, video, and the like. The Memory 1302 may be implemented by any type or combination of volatile and non-volatile Memory devices, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk. The multimedia component 1303 may include a screen and an audio component. Wherein the screen may be, for example, a touch screen and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving an external audio signal. The received audio signal may further be stored in the memory 1302 or transmitted via the communication component 1305. The audio assembly also includes at least one speaker for outputting audio signals. The I/O interface 1304 provides an interface between the processor 1301 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 1305 is used for wired or wireless communication between the electronic device 1300 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, Near Field Communication (NFC), 2G, 3G, or 4G, or a combination of one or more of them, so that the corresponding Communication component 1305 may include: Wi-Fi module, bluetooth module, NFC module.

In an exemplary embodiment, the electronic Device 1300 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above-described method for receiving an article.

In another exemplary embodiment, a computer readable storage medium comprising program instructions which, when executed by a processor, implement the steps of the above-described method of receiving an item is also provided.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that, in the above embodiments, the various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various possible combinations will not be further described in the present disclosure.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims

1. A method for receiving an item, the method being applied to a target terminal, the method comprising:

receiving object information of a target object sent by a first unmanned machine;

determining whether to receive the target item according to the item information;

when the target object is determined to be received, generating an object receiving control instruction, and sending the object receiving control instruction to a second unmanned aerial vehicle so that the second unmanned aerial vehicle moves to a target position indicated by the object receiving control instruction, is in butt joint with the first unmanned aerial vehicle at the target position, and receives the target object carried by the first unmanned aerial vehicle;

wherein the first drone and the second drone each include a suspension mount for transferring the target item from the first drone to the second drone; the suspension bracket is of a telescopic structure and is used for carrying the target object when the suspension bracket is in an extending state, and is used for loosening the carried target object when the suspension bracket is in a retracting state.

2. The method of claim 1, further comprising:

and when the target object is determined not to be received, generating a rejection control instruction, and sending the rejection control instruction to the first unmanned machine so as to enable the first unmanned machine to move to a preset parking position of the first unmanned machine.

3. The method according to claim 1 or 2, wherein the determining whether to receive the target item according to the item information comprises:

determining whether a receiving confirmation instruction is acquired within first preset time or not according to the article information;

when the receiving confirmation instruction is determined to be acquired, determining to receive the target object;

when the article rejection instruction is determined to be acquired; or when the first preset time is reached, the receiving confirmation instruction is not acquired, and the target object is determined not to be received.

4. A method for receiving an item, the method being applied to a first drone carrying a target item, the method comprising:

acquiring article information of a carried target article;

moving to a target position corresponding to the target object according to the object information;

when a second unmanned aerial vehicle is determined to exist within the preset range of the target position, the article information is sent to a target terminal, so that the second unmanned aerial vehicle is controlled to move to the target position when the target terminal determines to receive the target article;

Docking with the second drone at the target location and transferring the target item to the second drone for the second drone to deliver the target item to a target delivery location;

wherein the first drone and the second drone each include a suspension mount for transferring the target item from the first drone to the second drone; the hanging support is of a telescopic structure and is used for carrying the target object when the hanging support is in an extending state, and is used for loosening the carried target object when the hanging support is in a retracting state.

5. The method of claim 4, wherein prior to docking the target location with a second drone, the method further comprises:

determining whether a receiving confirmation instruction sent by the target terminal according to the article information is received within second preset time;

docking with a second drone at the target location includes:

docking with the second drone at the target location upon receipt of the receipt confirmation instruction.

6. The method of claim 5, further comprising:

And when the second preset time is reached and the receiving confirmation instruction is not received, or when an article rejection instruction is received, moving the target position to a preset parking position.

7. The method of any of claims 4 to 6, wherein said docking with a second drone at the target location comprises:

sending a connection request message to the second drone to establish a network connection with the second drone;

after the network connection is established, sending unmanned aerial vehicle identification information to the second unmanned aerial vehicle so that the second unmanned aerial vehicle can be in butt joint with the first unmanned aerial vehicle according to the unmanned aerial vehicle identification information.

8. A method of receiving an item, applied to a second drone, comprising:

receiving an article receiving control instruction sent by a target terminal;

moving to a target position indicated by the article receiving control instruction;

the target position is in butt joint with a first unmanned machine, and a target object carried by the first unmanned machine is received;

delivering the target item to a target delivery location;

9. The method of claim 8, wherein said docking with a first drone at the target location comprises:

receiving a connection request message sent by the first unmanned machine, and establishing network connection with the first unmanned machine according to the connection request message;

after network connection is established, receiving unmanned aerial vehicle identification information sent by the first unmanned aerial vehicle;

and docking with the first unmanned aerial vehicle according to the unmanned aerial vehicle identification information.

10. The method of claim 8 or 9, wherein said delivering the target item to a target delivery location comprises:

sending a receiving completion message to the target terminal;

determining whether a target distribution position sent by the target terminal is received within a third preset time;

and when the target distribution position sent by the target terminal is received within the third preset time, the target object is distributed to the target distribution position.

11. The method of claim 10, wherein the target delivery location comprises:

the position of the target terminal; or,

and presetting a distribution position.

12. The method of claim 10, further comprising:

And when the third preset time is reached, if the target delivery position is not received, delivering the target object to a preset delivery position.

13. An apparatus for receiving an article, applied to a target terminal, comprising:

the article information receiving module is used for receiving article information of a target article sent by a first unmanned machine;

the receiving and judging module is used for determining whether to receive the target article according to the article information;

the receiving and processing module is used for generating an article receiving control instruction when the target article is determined to be received, sending the article receiving control instruction to a second unmanned aerial vehicle so that the second unmanned aerial vehicle can move to a target position indicated by the article receiving control instruction, be in butt joint with the first unmanned aerial vehicle at the target position, and receive the target article carried by the first unmanned aerial vehicle;

14. An apparatus for receiving an object, the apparatus being adapted to be used by a first drone carrying a target object, the apparatus comprising:

the article information acquisition module is used for acquiring article information of a carried target article;

the movement control module is used for moving to a target position corresponding to the target article according to the article information;

the article information sending module is used for sending the article information to a target terminal when a second unmanned aerial vehicle is determined to exist in a preset range of the target position, so that the target terminal controls the second unmanned aerial vehicle to move to the target position when the target terminal determines to receive the target article;

the first docking control module is used for docking with the second unmanned aerial vehicle at the target position and transferring the target article to the second unmanned aerial vehicle so that the second unmanned aerial vehicle can deliver the target article to a target delivery position;

15. The utility model provides a receive device of article which characterized in that is applied to second unmanned aerial vehicle, includes:

the instruction receiving module is used for receiving an article receiving control instruction sent by the target terminal;

the moving module is used for moving to a target position indicated by the article receiving control instruction;

the second docking control module is used for docking with a first unmanned machine at the target position and receiving a target object carried by the first unmanned machine;

the distribution module is used for distributing the target object to a target distribution position;

16. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 3; or the program when executed by a processor implements the steps of the method of any one of claims 4 to 7; alternatively, the program when executed by a processor implements the steps of the method of any one of claims 8 to 12.

17. An electronic device, comprising:

a memory having a computer program stored thereon;

a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 3; or to implement the steps of the method of any one of claims 4 to 7, or to implement the steps of the method of any one of claims 8 to 12.