CN111273695A - Control method of logistics unmanned aerial vehicle - Google Patents
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- G—PHYSICS
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Abstract
The invention provides a control method of a logistics unmanned aerial vehicle, which is characterized in that goods are conveyed to an unmanned aerial vehicle take-off and landing field from an AGV, the unmanned aerial vehicle is controlled to land to the AGV through visual identification and accurate landing technologies to grab the goods, the unmanned aerial vehicle is controlled to fly to a destination through binocular vision or standard air line control in cooperation with an RTK-GPS technology, the unmanned aerial vehicle is controlled to land to a delivery platform through the visual identification and accurate landing technologies to automatically place the goods, a logistics state is sent to an express platform, a client is informed of completing delivery, and then the client autonomously returns to a machine library. According to the unmanned aerial vehicle maintenance system, the unmanned aerial vehicle equipment is specially maintained, so that the unmanned aerial vehicle is prevented from being improperly operated by non-professionals, the service life is prolonged, and potential safety hazards are reduced; the unmanned aerial vehicle finishes fully autonomous grabbing and delivering in the operation process, and is seamlessly attached to the sorting process and the AGV trolley network in the existing logistics industry; through visual landing and RTK technology, realize accurate take off and land, reduce take off and land ground requirement and cost.
Description
Technical Field
The invention relates to a control method of a logistics unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicle control.
Background
The unmanned aerial vehicle is an unmanned flying device operated by utilizing wireless remote control equipment and a self-contained control device, and with the progress of the unmanned aerial vehicle control technology and the continuous development of the structure towards light weight and miniaturization, the unmanned aerial vehicle is gradually turned to the civil field by military reconnaissance aircraft and target drone, is widely applied to multiple industrial fields such as aerial photography, agriculture, transportation, surveying and mapping, and is more and more important and prominent under the background of modern social information.
The application of unmanned aerial vehicle in the logistics industry is the system that is just seen at present, and unmanned aerial vehicle distribution flow for amazon company is: personnel get unmanned aerial vehicle and goods, will be equipped with the many rotor unmanned aerial vehicle of goods and take to the standard place of taking off, and the backstage carries out the airline to unmanned aerial vehicle and sets for/uploads, and unmanned aerial vehicle carries out the airline flight through the GPS sensor. Goods are delivered to a specified delivery point (an open unmanned area which at least needs 10mx10m and a safety net influences the GPS positioning precision of the unmanned aerial vehicle), the goods are taken by personnel, a control center is informed to control return voyage, and the control center orders the unmanned aerial vehicle to return voyage again according to the specified longitude and latitude of the GPS. Along with the continuous deep application of unmanned aerial vehicle in the commodity circulation trade, when improving commodity circulation speed and degree of accuracy, its drawback that brings also shows gradually: for example, although the unmanned aerial vehicle saves personnel cost in the logistics distribution process, when the cargo allocation and boarding process of the unmanned aerial vehicle still needs manual assistance to take off, put in and land for goods, the human cost is repeatedly occupied for many times, and human resource waste is still caused; meanwhile, most of the existing unmanned aerial vehicles only navigate by the GPS satellite technology, so that the positioning precision is low, the safety risk is high, and the goods are not beneficial to effective storage and transportation; the unmanned aerial vehicle taking-off and landing place has higher requirements on the environment, needs a safe and open environment to provide the unmanned aerial vehicle with poorer precision for landing, is greatly influenced by weather indefinite factors such as strong wind, thunderstorm and the like, and has lower safety; moreover, the existing distribution flow of the logistics unmanned aerial vehicle lacks consideration of maintenance links of the unmanned aerial vehicle, the unmanned aerial vehicle inevitably has various system problems which are difficult to solve by common logistics personnel in the long-time running process, and the logistics potential safety hazard is further increased; and so on.
Disclosure of Invention
The invention aims to provide a control method of a logistics unmanned aerial vehicle, which aims to solve the problems of unmanned aerial vehicle application in the current logistics industry.
The technical solution of the invention is as follows: a control method of a logistics unmanned aerial vehicle specifically comprises the following steps:
1) after determining that the packages are allocated by an unmanned aerial vehicle, the logistics sorting center conveys the goods to a take-off and landing field of the unmanned aerial vehicle by an AGV trolley and uploads the longitude and latitude coordinates of the take-off and landing point to the unmanned aerial vehicle;
2) the unmanned aerial vehicle is maintained and powered on for standby by the hangar, takes off by a maintenance center, and controls the unmanned aerial vehicle to fly to the target longitude and latitude of the trolley through an RTK-GPS technology;
3) controlling the unmanned aerial vehicle to land to the AGV through a visual identification and accurate landing technology, automatically grabbing goods by the unmanned aerial vehicle through a grabbing mechanism and taking off, and informing the AGV to return after taking off;
4) the unmanned aerial vehicle is controlled by binocular vision or a standard air route, the unmanned aerial vehicle is controlled to fly to the sky of a destination by matching with an RTK-GPS technology, and the unmanned aerial vehicle is controlled to land to a distribution platform by a vision recognition and accurate landing technology;
5) the unmanned aerial vehicle automatically places goods, sends the logistics state to the express platform, informs the customer of completing delivery, and then the unmanned aerial vehicle autonomously returns to the air above the hangar and stops on the designated parking apron.
The invention has the advantages that:
1) the unmanned aerial vehicle equipment is specially maintained, so that the unmanned aerial vehicle is prevented from being improperly operated by non-professionals, the service life is prolonged, and potential safety hazards are reduced;
2) the unmanned aerial vehicle finishes fully autonomous grabbing and delivering in the operation process, and is seamlessly attached to the sorting process and the AGV trolley network in the existing logistics industry;
3) through visual landing and RTK technology, realize accurate take off and land, reduce take off and land ground requirement and cost.
Detailed Description
The technical solution of the present invention is further illustrated by the following examples.
A control method of a logistics unmanned aerial vehicle specifically comprises the following steps:
1) after confirming that the packages are allocated by the unmanned aerial vehicle, the logistics sorting center transports the goods to a take-off and landing field of the unmanned aerial vehicle by an AGV (automatic guided transport vehicle) and uploads the longitude and latitude coordinates of the take-off and landing point to the unmanned aerial vehicle.
The AGV is a transport vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path, and has safety protection and various transfer functions, and is equipped with an automatic guide system, which can ensure that the system can automatically travel along a predetermined route without manual navigation, and automatically transport goods or materials from a starting point to a destination. The travel path of the AGV trolley can be flexibly changed according to the storage goods space requirement, the production process flow and the like, and the cost of changing the travel path is very low compared with the traditional conveying belt and a rigid conveying line.
2) The unmanned aerial vehicle is a blue whale Aurora unmanned aerial vehicle, is loaded with an S1_ V2020 onboard computer, and adopts an NXP.IMX6Q processor, a 2G ROM and an 8G RAM; the unmanned aerial vehicle is maintained and powered on for standby by a professional hangar (maintenance center), takes off by the maintenance center, and controls the unmanned aerial vehicle to fly to the target longitude and latitude of the trolley through an RTK-GPS technology.
The RTK (real-time kinematic positioning) technology is the most widely used high-precision positioning technology at present, and the key point of the RTK technology is that carrier phase observation quantity of a GPS (global positioning system) navigation system is used, the spatial correlation of observation errors between a reference station and a mobile station is utilized, and most errors in observation data of the mobile station are removed in a differential mode, so that high-precision positioning is realized; in the logistics transportation process, a plurality of GPS navigation base stations can be arranged at each logistics transit point through the method, GPS differential data are sent to the unmanned aerial vehicle through a wireless data link, a navigation system of the unmanned aerial vehicle obtains navigation information with centimeter-level precision through an RTK-GPS technology differential technology, and meanwhile, the flight control system realizes real-time monitoring on the unmanned aerial vehicle and each base station through a wireless communication technology.
3) Through visual identification and accurate descending technique, control unmanned aerial vehicle descends to the AGV dolly, and unmanned aerial vehicle independently snatchs the goods and takes off through snatching the mechanism, and unmanned aerial vehicle informs the AGV dolly to return voyage after taking off.
Unmanned aerial vehicle visual identification and accurate descending technique are based on the new technology that the image recognition technique realized, through set up the target pattern of strong contrast nature at unmanned aerial vehicle landing point, like two-dimensional code, color image, sign etc. unmanned aerial vehicle navigates to the target location through GPS earlier, and rethread camera acquires the target pattern, contrasts its positional relationship and spreads into flight control system, controls unmanned aerial vehicle and accomplishes independently accurate descending. According to the invention, the two-dimension code recognition camera is arranged at the bottom of the unmanned aerial vehicle, the unmanned aerial vehicle shutdown platform with the two-dimension code identification is arranged at the top of the AGV trolley, and the close fit between the unmanned aerial vehicle and the AGV trolley is realized by carrying out pattern recognition and control through Open Cv3+ LJ EDU SDK V2.0 software.
4) The unmanned aerial vehicle is controlled by binocular vision or a standard air route, the unmanned aerial vehicle is controlled to fly to the sky of a destination by matching with an RTK-GPS technology, the unmanned aerial vehicle is controlled to land to a distribution platform by a vision recognition and accurate landing technology, and the distribution platform is required to meet the requirement of a circular take-off and landing place with the diameter of at least 1.5 m.
The flight control process of the unmanned aerial vehicle can be selected according to the logistics transportation condition, if the terrain is complex or the weather factors are variable in the logistics process, the route needs to be adjusted flexibly, a binocular vision system can be adopted for real-time control, and meanwhile, the three-dimensional information of a target object is obtained by utilizing two imaging devices, so that flexible obstacle avoidance is realized; if the logistics route is fixed and the operation environment is good, the mode control of pre-inputting a standard route can be adopted, and the unmanned aerial vehicle flies according to the preset route.
5) The unmanned aerial vehicle automatically places goods, sends the logistics state to the express platform, informs the customer of completing delivery, and then the unmanned aerial vehicle autonomously returns to the air above the hangar and stops on the designated parking apron.
The unmanned aerial vehicle can access an express logistics short message platform by additionally arranging a 4G communication module, automatically sends short messages to customers after distribution is completed, and can improve the signal connection strength with a hangar control center by utilizing the 4G communication module while intelligent distribution is completed, so that the logistics transportation accuracy and real-time performance are improved; in the hangar, through setting up the two-dimensional code sign at air park central authorities, provide the location for unmanned aerial vehicle's take off and land, simultaneously through also setting up the two-dimensional code sign on the AGV dolly route of traveling, provide the location navigation for the motion of AGV dolly.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields are included in the scope of the present invention.
Claims (7)
1. A control method of a logistics unmanned aerial vehicle is characterized by specifically comprising the following steps:
1) after determining that the packages are allocated by an unmanned aerial vehicle, the logistics sorting center conveys the goods to a take-off and landing field of the unmanned aerial vehicle by an AGV trolley and uploads the longitude and latitude coordinates of the take-off and landing point to the unmanned aerial vehicle;
2) the unmanned aerial vehicle is maintained and powered on for standby by the hangar, takes off by a maintenance center, and controls the unmanned aerial vehicle to fly to the target longitude and latitude of the trolley through an RTK-GPS technology;
3) controlling the unmanned aerial vehicle to land to the AGV through a visual identification and accurate landing technology, automatically grabbing goods by the unmanned aerial vehicle through a grabbing mechanism and taking off, and informing the AGV to return after taking off;
4) the unmanned aerial vehicle is controlled by binocular vision or a standard air route, the unmanned aerial vehicle is controlled to fly to the sky of a destination by matching with an RTK-GPS technology, and the unmanned aerial vehicle is controlled to land to a distribution platform by a vision recognition and accurate landing technology;
5) the unmanned aerial vehicle automatically places goods, sends the logistics state to the express platform, informs the customer of completing delivery, and then the unmanned aerial vehicle autonomously returns to the air above the hangar and stops on the designated parking apron.
2. The method as claimed in claim 1, wherein the AGV is a transport vehicle equipped with an electromagnetic or optical automatic guidance device, capable of traveling along a predetermined guidance route, having safety protection and various transfer functions, and equipped with an automatic guidance system, capable of automatically traveling along a predetermined route without manual navigation, and automatically transporting goods or materials from a starting point to a destination.
3. The control method of the logistics unmanned aerial vehicle as claimed in claim 1, wherein the unmanned aerial vehicle bottom is provided with a two-dimension code recognition camera, and the AGV trolley top is provided with an unmanned aerial vehicle stopping platform with a two-dimension code mark, so that the unmanned aerial vehicle and the AGV trolley are tightly matched.
4. The control method of the logistics unmanned aerial vehicle as claimed in claim 1, wherein the hangar provides positioning for taking off and landing of the unmanned aerial vehicle by setting the two-dimensional code mark at the center of the parking apron, and provides positioning navigation for movement of the AGV by setting the two-dimensional code mark on the travel route of the AGV.
5. The method as claimed in claim 1, wherein the step 2) includes setting a plurality of GPS navigation base stations at each logistics transit point, sending GPS differential data to the drone through a wireless data link, acquiring navigation information with centimeter-level accuracy by the navigation system of the drone through an RTK-GPS technology differential technology, and simultaneously monitoring the drone and each base station in real time by the flight control system through a wireless communication technology.
6. The method for controlling the logistics unmanned aerial vehicle according to claim 1, wherein the flight control process of the unmanned aerial vehicle in the step 4) is selected according to the logistics transportation situation, and if the terrain is complex in the logistics process, or the weather factors are variable, and the route needs to be adjusted flexibly, a binocular vision system is adopted for real-time control; if the logistics route is fixed and the operation environment is good, the mode control of pre-inputting a standard route is adopted.
7. The control method of the logistics unmanned aerial vehicle as claimed in any one of claims 1-6, wherein the unmanned aerial vehicle is additionally provided with a 4G communication module, is accessed to an express logistics short message platform, and automatically sends a short message to a customer after delivery is completed.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113148209A (en) * | 2021-03-29 | 2021-07-23 | 苏州臻迪智能科技有限公司 | Method for controlling unmanned aerial vehicle to return to hangar, unmanned aerial vehicle recovery device and system |
| CN113342043A (en) * | 2021-06-17 | 2021-09-03 | 安徽送变电工程有限公司 | Full-autonomous mobile carrying and storing method for fixed-wing unmanned aerial vehicle |
| CN113526158A (en) * | 2021-08-12 | 2021-10-22 | 东风悦享科技有限公司 | Cargo transferring method and system suitable for region where vehicle is not easy to run |
| CN114035612A (en) * | 2021-12-01 | 2022-02-11 | 江苏航空职业技术学院 | Unmanned vehicle and unmanned aerial vehicle intelligent delivery system in coordination based on 5G communication technology |
| WO2023138182A1 (en) * | 2022-01-18 | 2023-07-27 | 亿航智能设备（广州）有限公司 | Cargo transportation scheduling method and scheduling apparatus, storage medium and cargo transportation system |
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Application publication date: 20200612 |