CN113748391A

CN113748391A - Unmanned aerial vehicle control method, device and system, unmanned aerial vehicle and storage medium

Info

Publication number: CN113748391A
Application number: CN202080026136.3A
Authority: CN
Inventors: 张伟
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-01-03
Filing date: 2020-01-03
Publication date: 2021-12-03
Also published as: WO2021134778A1

Abstract

A control method, device and system for an unmanned aerial vehicle, the unmanned aerial vehicle (23, 110) and a storage medium. The unmanned aerial vehicle (23, 110) receives the position information (S101) of the destination and flies to the destination according to the position information (S102) of the destination, furthermore, the unmanned aerial vehicle (23, 110) can also determine the positioning information (S103) of the first terminal device (31) through the network device (42) which is in communication connection with the first terminal device (31) of the user (71, 72, 81, 83), and determine the target flying position (S104) of the unmanned aerial vehicle (23, 110) according to the positioning information of the first terminal device (31), so that the user (71, 72, 81, 83) around the target flying position can receive and send the express delivery (S104) through the unmanned aerial vehicle (23, 110), and the unmanned aerial vehicle (23, 110) can land around the user (71, 72, 81, 83) when receiving and sending the express delivery without the unmanned aerial vehicle (23, 110) flying to a special landing platform, that is to say, the user (71, 72, 81, 83) does not need to arrive at the location point of the landing platform to receive and send the express, and the user (71, 72, 81, 83) can receive and send the express at the location of the user, so that the convenience of receiving and sending the express by the user (71, 72, 81, 83) is improved.

Description

Unmanned aerial vehicle control method, device and system, unmanned aerial vehicle and storage medium

Technical Field

The embodiment of the application relates to the field of unmanned aerial vehicles, in particular to a control method, a control device, a control system, an unmanned aerial vehicle and a storage medium for the unmanned aerial vehicle.

Background

Unmanned aerial vehicle's application field is more and more extensive among the prior art, for example, can use unmanned aerial vehicle in express delivery field of receiving and dispatching. However, when present unmanned aerial vehicle descended at the user side, there was special landing platform required for the user need receive and dispatch the express delivery to the position point that the landing platform was located, and in addition, a plurality of users probably need a landing platform of sharing, thereby lead to the user to receive and dispatch the express delivery comparatively inconvenient.

Disclosure of Invention

The embodiment of the application provides a control method, a control device and a control system for an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium, so that convenience of receiving and sending express is improved for a user.

A first aspect of an embodiment of the present application provides a method for controlling an unmanned aerial vehicle, including:

receiving location information of a destination;

controlling the unmanned aerial vehicle to reach the destination according to the position information of the destination;

determining positioning information of a first terminal device of a user through a network device, wherein the network device is in communication connection with the first terminal device;

and determining the target flight position of the unmanned aerial vehicle according to the positioning information of the first terminal equipment.

A second aspect of the embodiments of the present application provides a control device for an unmanned aerial vehicle, including:

a memory, a processor and a communication interface;

the memory is used for storing program codes;

the processor, invoking the program code, when executed, is configured to:

receiving the position information of the destination through the communication interface;

A third aspect of the embodiments of the present application provides an unmanned aerial vehicle, including:

a body;

the power system is arranged on the fuselage and used for providing flight power;

and the control device of the second aspect.

A fourth aspect of embodiments of the present application provides a communication system, including:

a first terminal device, a network device, and a drone as described in the third aspect above;

the network equipment is used for positioning the first terminal equipment;

the unmanned aerial vehicle is provided with an object storage box and is used for collecting or delivering objects at the target flight position.

A fifth aspect of embodiments of the present application is to provide a computer-readable storage medium, on which a computer program is stored, the computer program being executed by a processor to implement the method of the first aspect.

The method, apparatus, system, unmanned aerial vehicle and storage medium for controlling an unmanned aerial vehicle provided in this embodiment receive location information of a destination by the unmanned aerial vehicle, and fly to the destination according to the location information of the destination, further, the unmanned aerial vehicle may determine location information of a first terminal device of a user by using a network device in communication connection with the first terminal device, and determine a target flight location of the unmanned aerial vehicle according to the location information of the first terminal device, so that the user around the target flight location can send and receive an express delivery by the unmanned aerial vehicle, and the unmanned aerial vehicle can land around the user when sending and receiving the express delivery without the unmanned aerial vehicle flying to a special landing platform, that is, the user can send and receive the express delivery without reaching a location point where the landing platform is located, and the user can send and receive the express delivery at the location of the user, thereby the convenience of user's receiving and dispatching express delivery has been improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

Fig. 1 is a flowchart of a control method for an unmanned aerial vehicle according to an embodiment of the present application;

fig. 2 is a schematic diagram of an application scenario provided in an embodiment of the present application;

fig. 3 is a schematic diagram of another application scenario provided in the embodiment of the present application;

fig. 4 is a schematic diagram of another application scenario provided in the embodiment of the present application;

fig. 5 is a schematic diagram of another application scenario provided in the embodiment of the present application;

fig. 6 is a schematic diagram of another application scenario provided in the embodiment of the present application;

fig. 7 is a schematic diagram of another application scenario provided in the embodiment of the present application;

fig. 8 is a schematic diagram of another application scenario provided in an embodiment of the present application;

fig. 9 is a flowchart of a control method for a drone according to another embodiment of the present application;

fig. 10 is a structural diagram of a control device of an unmanned aerial vehicle according to an embodiment of the present application;

fig. 11 is the structure diagram of unmanned aerial vehicle that this application embodiment provided.

Reference numerals:

21: a terminal device; 22: a service platform; 23: an unmanned aerial vehicle;

31: a terminal device; 24: an article storage box; 40: an area;

41: a sender; 42: a network device; 43: presetting an area;

71: a user; 72: a user; 73: a terminal device;

81: a user; 82: a terminal device; 83: a user;

84: a terminal device; 100: a control device; 101: a memory;

102: a processor; 103: a communication interface; 110: an unmanned aerial vehicle;

1107: a motor; 1106: a propeller; 1117: an electronic governor;

1118: a control device; 1108: a detection device; 1110: a communication system;

1102: a support device; 1104: a photographing device.

Detailed Description

The technical solutions in the embodiments of the present application will be described below clearly with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

The application field of current unmanned aerial vehicle is more and more extensive, for example, can use unmanned aerial vehicle in express delivery receiving and dispatching field. However, when present unmanned aerial vehicle descended at the user side, there was special landing platform required for the user need receive and dispatch the express delivery to the position point that the landing platform was located, and in addition, a plurality of users probably need a landing platform of sharing, thereby lead to the user to receive and dispatch the express delivery comparatively inconvenient. In order to solve the problem, the embodiment of the application provides a control method of an unmanned aerial vehicle, and the unmanned aerial vehicle is controlled to land in a place designated by a user or a preset area around the user when receiving and sending the express, so that the user can receive and send the express more conveniently.

The embodiment of the application provides a control method of an unmanned aerial vehicle. Fig. 1 is a flowchart of a control method for an unmanned aerial vehicle according to an embodiment of the present application. As shown in fig. 1, the method in this embodiment may include:

s101, receiving the position information of the destination.

The execution subject of the method of this embodiment may be a control device of the drone, and the control device may perform flight control on the drone, for example, the control device may be a flight controller of the drone. Or the control device may be a ground control end corresponding to the unmanned aerial vehicle, and the ground control end may be a remote controller, a smart phone, a tablet computer, a ground control station, a laptop computer, a watch, a bracelet, and the like, and combinations thereof.

In a possible application scenario, a user needs to use a mail service of an unmanned aerial vehicle, at this time, the user is a sender, the sender can make a mail reservation through a terminal device of the sender, the terminal device of the sender may be the terminal device 21 shown in fig. 2, the terminal device 21 may specifically be a mobile phone, a tablet computer, a notebook computer, a personal computer, and the like, and here, a notebook computer is taken as an example. In the mail booking process, the terminal device 21 may send the location information of the destination input by the sender to the service platform 22, where the location information of the destination may specifically be address information of the sender. Further, the service platform 22 may send the location information of the destination to the drone 23, so that the drone 23 may receive the location information of the destination, where the location information of the destination may specifically be Global Positioning System (GPS) location information of the destination. The service platform 22 may be a single server or a server cluster including a plurality of servers.

In another possible application scenario, the user needs to use the receiving service of the drone, and in this case, the user is the recipient. As shown in fig. 3, the terminal device 31 is a terminal device of a sender, and after the sender puts a sender object into the object storage box 24 of the unmanned aerial vehicle 23, the sender may send the location information of the destination to the unmanned aerial vehicle 23 through the terminal device 31, where the location information of the destination may specifically be address information of the recipient.

S102, controlling the unmanned aerial vehicle to reach the destination according to the position information of the destination.

When the drone 23 receives the location information of the destination, the control device of the drone 23 may control the drone 23 to reach the destination, for example, a GPS positioning point corresponding to the address information of the sender or a GPS positioning point corresponding to the address information of the recipient, according to the location information of the destination, for example, GPS positioning information of the destination.

Optionally, after the unmanned aerial vehicle reaches the destination, if the user does not appear within a preset time, controlling the unmanned aerial vehicle to return to the home.

For example, after the drone 23 reaches the GPS location point corresponding to the address information of the sender, if the sender does not appear within a preset time, for example, 5 minutes, the control device of the drone 23 may control the drone to return. Or after the unmanned aerial vehicle 23 reaches the GPS positioning point corresponding to the address information of the receiver, if the receiver does not appear within the preset time, the control device of the unmanned aerial vehicle 23 may control the unmanned aerial vehicle to return.

S103, determining positioning information of a first terminal device of a user through a network device, wherein the network device is in communication connection with the first terminal device.

It will be appreciated that the destination and the location of the user may be significantly different, for example, when the sender is sending, the address information of the sender input by the sender is the address information of a company, the office area of the company may be a larger area, such as the area 40 shown in fig. 4, and the sender 41 is located at a certain position in the office area. When the drone 23 reaches the GPS positioning point, for example, point a, corresponding to the address information of the company, the drone 23 needs to further determine the location of the sender 41. Specifically, the drone 23 may determine the location information of the first terminal device through a network device in communication connection with the first terminal device of the sender 41, and the location information of the first terminal device of the sender may be used as the location information of the sender.

As shown in fig. 5, the terminal device 21 and the terminal device 31 belong to the sender 41, and here, the terminal device 21 may be referred to as a second terminal device, and the terminal device 31 may be referred to as a first terminal device. The sender submits a mail order to the service platform 22 through the terminal device 21, wherein the mail order comprises address information of the sender. The terminal device 31 may specifically be a mobile terminal, such as a mobile phone. Terminal device 31 is communicatively coupled to network device 42, and network device 42 may determine location information for terminal device 31. The network device 42 may specifically be a fifth generation mobile communication technology 5G base station. The 5G base station can adopt the cellular communication technology to carry out accurate positioning on the terminal equipment. Therefore, the drone 23 can determine the location information of the terminal device 31 of the sender through the network device 42, and the location information of the terminal device 31 can be used as the location information of the sender 41.

It is understood that in some embodiments, the first terminal device and the second terminal device may be the same terminal device, for example, the first terminal device and the second terminal device are both terminal devices 31, that is, the sender may not only submit a mail order to the service platform 22 through the terminal devices 31, but the drone 23 may also locate the terminal device 31 through the network device 42 to determine the location of the sender. Additionally, in other embodiments, the network device 42 may also be the service platform 22.

In other scenarios, after a sender makes a mail order, the sender may move elsewhere, resulting in the sender entering the address information of the sender and the location information of the sender being different. As shown in fig. 6, the address information of the sender is the address information of the area 40, and the sender may move out of the area 40 after the mail order. When the drone 23 reaches a destination, for example, a GPS positioning point a corresponding to the address information of the sender, the sender may be outside the area 40, where the drone 23 may determine the positioning information of the terminal device 31 of the sender through the network device 42 as shown in fig. 5, and the positioning information of the terminal device 31 may be used as the position information of the sender 41.

Similarly, the address information of the recipient may be greatly different from the location information of the location where the recipient is located, in this case, the location information of the recipient may be determined by a method similar to the method for determining the location information of the sender, and the detailed process is not described here again.

S104, determining the target flight position of the unmanned aerial vehicle according to the positioning information of the first terminal device.

As shown in fig. 4 or fig. 6, when the drone 23 determines the positioning information of the terminal device 31 of the sender, the target flight position of the drone 23 may be determined according to the positioning information of the terminal device 31. In one possible approach, the drone 23 may use the positioning information of the terminal device 31 as the position information of the target flight position. In another possible manner, the drone 23 may need to compare the location information of the destination with the location information of the terminal device 31, and then determine the target flight location according to the location information of the destination and the location information of the terminal device 31.

Optionally, the target flight position is a position in a preset area based on the positioning information. For example, the preset area 43 is a preset area based on the positioning information of the terminal device 31, the preset area 43 may specifically be an area within a preset distance range around the terminal device 31, and the target flight position may be a position within the preset area 43, for example, a B point position.

Optionally, the method further includes: controlling the drone to fly from the destination to the target flight location.

For example, when the unmanned aerial vehicle 23 determines the target flight position of the unmanned aerial vehicle 23 according to the positioning information of the terminal device 31, for example, when the position of the point B is located, the control device of the unmanned aerial vehicle 23 may also control the unmanned aerial vehicle 23 to fly from the point a to the point B in the area 40.

Optionally, the determining the target flight position of the unmanned aerial vehicle according to the positioning information of the first terminal device includes: and determining the target flight position of the unmanned aerial vehicle according to the position information of the destination and the positioning information of the first terminal device.

As shown in fig. 4 or fig. 6, when the control device in the unmanned aerial vehicle 23 determines the target flight position of the unmanned aerial vehicle 23 according to the positioning information of the terminal device 31, the control device may specifically determine the target flight position of the unmanned aerial vehicle 23 according to the position information of the point a and the positioning information of the terminal device 31.

Optionally, the determining the target flight position of the unmanned aerial vehicle according to the location information of the destination and the location information of the first terminal device includes: when the difference between the position information of the destination and the positioning information of the first terminal device exceeds a preset difference range, acquiring a user instruction, wherein the user instruction is used for indicating the target flight position of the unmanned aerial vehicle; and determining the target flight position of the unmanned aerial vehicle according to the user instruction. Optionally, the target flight position is a position in a preset area based on the positioning information, or a position in a preset area based on the position information of the destination.

For example, when determining the target flight position of the drone 23 according to the position information of the point a and the positioning information of the terminal device 31, the control device may specifically determine whether the difference between the position information of the point a and the positioning information of the terminal device 31 exceeds a preset difference range, where the difference between the position information of the point a and the positioning information of the terminal device 31 may be a difference between a coordinate value of the position information of the point a and a coordinate value of the positioning information of the terminal device 31, and when the difference exceeds the preset difference range, it indicates that the point a and the terminal device 31 are far apart. Or the difference between the location information of the point a and the location information of the terminal device 31 may also be a distance between the point a and the terminal device 31 determined according to the location information of the point a and the location information of the terminal device 31, where the corresponding preset difference range may specifically be a preset distance range, and when the distance between the point a and the terminal device 31 exceeds the preset distance range, it indicates that the point a and the terminal device 31 are far apart. In this case, the drone 23 may send a prompt message to the terminal device 31, where the prompt message may include location information of the point a, and the prompt message may be used to prompt the user to determine the target flight location of the drone 23. When receiving the prompt information, the terminal device 31 may prompt the user in any prompt manner, and the user may send a user instruction to the drone 23 through the terminal device 31 to indicate a target flight position of the drone 23, where the target flight position may be a B point position within the preset area 43 based on the positioning information of the terminal device 31 as described above. Or the target flight position may be a position within a preset area based on the position information of the point a, for example, a certain position point within a preset area around the point a. Still alternatively, the target flight position may be a position of point a, for example, the user may instruct the drone 23 to remain at point a by a user instruction, and the user may move from the position of point B to the vicinity of point a for mailing or receiving. Or, the first terminal device may be another terminal device indicated by the terminal device 31, and the target flight position may also be positioning information of the other terminal device, that is, the user indicates the unmanned aerial vehicle 23 to acquire the positioning information of the other terminal device through the terminal device 31, and a manner in which the unmanned aerial vehicle 23 acquires the positioning information of the other terminal device is the same as a manner in which the positioning information of the terminal device 31 is acquired, where the positioning information of the other terminal device may be closer to the position information of the destination than the positioning information of the terminal device 31.

Furthermore, in some other embodiments, the difference between the location information of the destination and the location information of the first terminal device may not exceed the preset difference range, that is, the difference between the location information of the destination and the location information of the first terminal device is not large, for example, the difference between the location information of point a and the location information of terminal device 31 shown in fig. 4 or fig. 6 is small, in which case, in order to make the target flight position of the drone 23 more accurate, the point B position in the preset area 43 based on the location information of the terminal device 31 may be used as the target flight position.

It can be understood that 41 shown in fig. 4, fig. 5, or fig. 6 may also represent a receiver, the address information of the area 40 may also be address information of the receiver, and when the unmanned aerial vehicle 23 reaches a GPS positioning point, for example, point a, corresponding to the address information of the receiver, the target flight position may be determined by using the method described in this embodiment, and the specific process is as described above and is not described herein again.

This embodiment receives the positional information of destination through unmanned aerial vehicle, and fly to this destination according to the positional information of this destination, furthermore, this unmanned aerial vehicle can also confirm this first terminal equipment's locating information through the network equipment with user's first terminal equipment communication connection, and according to this first terminal equipment's locating information, confirm this unmanned aerial vehicle's target flight position, thereby make the user around this target flight position can receive and dispatch the express delivery through this unmanned aerial vehicle, thereby make unmanned aerial vehicle can descend around the user when receiving and dispatching the express delivery, need not unmanned aerial vehicle and fly to special landing platform on, that is to say, the user need not arrive the position point at landing platform place and receive and dispatch the express delivery, the user can receive and dispatch the express delivery at own position, thereby the convenience of user receiving and dispatching express delivery has been improved.

The embodiment of the application provides a control method of an unmanned aerial vehicle. The determining, by the network device, the location information of the first terminal device of the user includes: and acquiring the positioning information of the first terminal equipment from network equipment according to the identification information of the first terminal equipment.

For example, when the drone 23 determines the location information of the terminal device 31 of the sender through the network device 42, the drone 23 may acquire the location information of the terminal device 31 from the network device 42 according to the identification information of the terminal device 31.

In a possible implementation manner, the acquiring, from the network device, the positioning information of the first terminal device according to the identification information of the first terminal device includes: according to the identification information of the first terminal device, the network device is communicated with the first terminal device, and the network device is used for determining the positioning information of the first terminal device in the communication process of the unmanned aerial vehicle and the first terminal device; and acquiring the positioning information of the first terminal equipment from the network equipment. The network equipment comprises a fifth generation mobile communication technology 5G base station.

As shown in fig. 5, the mail order submitted by the sender 41 through the terminal device 21 may further include identification information of the terminal device 31, and the identification information of the terminal device 31 may be a device identification of the terminal device 31. In addition, if the terminal device 31 is a cellular phone, the identification information of the terminal device 31 may also be a telephone number of the terminal device 31. When the drone 23 reaches a destination, e.g., point a within the area 40 shown in fig. 4 or 6, it hovers, further, the drone 23 may communicate with the terminal device 31 through the network device 42, during which the network device 42 determines the location information of the terminal device 31. Further, the drone 23 may obtain the location information of the terminal device 31 from the network device 42. The network device 42 may specifically be a 5G base station, and when the 5G base station communicates with the terminal device, the 5G base station locates the terminal device by using a cellular communication technology.

Optionally, the identification information of the first terminal device includes a phone number of the first terminal device; the communicating with the first terminal device through the network device according to the identification information of the first terminal device includes: and according to the telephone number of the first terminal equipment, communicating with the first terminal equipment through the network equipment.

The identification information of the terminal device 31 is, for example, a telephone number of the terminal device 31. When the drone 23 reaches the destination, for example, point a in the area 40 shown in fig. 4 or fig. 6, it hovers, further, the drone 23 may call the terminal device 31 through the network device 42 according to the phone number of the terminal device 31, and when the user connects the call on the terminal device 31, the drone 23 talks with the terminal device 31 through the network device 42, and during the talking, the network device 42 may locate the terminal device 31. Further, the network device 42 may send the location information of the terminal device 31 to the drone 23, or the drone 23 sends the phone number of the terminal device 31 to the network device 42, and the network device 42 queries the location information of the terminal device 31 according to the phone number of the terminal device 31 and sends the location information of the terminal device 31 to the drone 23.

In another possible implementation manner, a cellular network connection is established between the network device and the first terminal device, and the network device is configured to determine the positioning information of the first terminal device. Optionally, the network device includes a fifth generation mobile communication technology 5G base station.

As shown in fig. 5, the network device 42 may establish a cellular network connection with the terminal device 31, and in the connected state, the network device 42 may also determine the location information of the terminal device 31. The network device 42 may be specifically a 5G base station, that is, the 5G base station may also use the cellular communication technology to locate the terminal device 31 in a state that the 5G base station establishes a cellular network connection with the terminal device 31, but not in a call state.

Optionally, the obtaining, according to the identifier information of the first terminal device, the positioning information of the first terminal device from the network device includes: sending the identification information of the first terminal device to the network device, so that the network device determines the positioning information of the first terminal device based on the identification information of the first terminal device; receiving positioning information of the first terminal device from the network device; wherein the identification information of the first terminal device includes at least one of: the telephone number of the first terminal device and the device identification of the first terminal device.

Specifically, when the drone 23 acquires the positioning information of the terminal device 31 from the network device 42 according to the identification information of the terminal device 31, the drone 23 may send the identification information of the terminal device 31, for example, the device identification or the phone number of the terminal device 31 to the network device 42, so that the network device 42 may determine the positioning information of the terminal device 31 according to the device identification or the phone number of the terminal device 31. Further, the network device 42 sends the positioning information of the terminal device 31 to the drone 23, and accordingly, the drone 23 receives the positioning information of the terminal device 31.

In yet another possible implementation manner, the first terminal device determines, by a positioning system of the first terminal device, real-time positioning information of the first terminal device, where the first terminal device is configured to send the real-time positioning information of the first terminal device to the network device. Optionally, the network device includes a service platform.

For example, the network device 42 shown in fig. 5 may also be the service platform 22, and the service platform 22 may specifically be a server or a server cluster of an express company. In the mail service, the service platform 22 may issue a mail task to the unmanned aerial vehicle according to a mail order submitted by a user, and in addition, the service platform 22 may further store related information of the sender in the mail order, for example, address information of the sender, a telephone number of the sender, a reservation time of the mail, and the like. In the receiving service, the service platform 22 may receive information related to the receiver, such as address information of the receiver, phone number of the receiver, and reservation time of the receiver, sent by the terminal device of the sender. In addition, the service platform 22 may record the mail or mail tasks performed by each drone and schedule the drones.

Specifically, the terminal device 31 may be installed with a positioning system or a positioning module, and the positioning system or the positioning module may perform real-time positioning on the terminal device 31, and in addition, the terminal device 31 may also send real-time positioning information of the terminal device 31 to the network device 42. Network device 42 may store location information for terminal device 31 in real-time.

It can be understood that 41 shown in fig. 4, fig. 5, or fig. 6 may also represent a receiver, the address information of the area 40 may also be address information of the receiver, and when the unmanned aerial vehicle 23 reaches a GPS positioning point, for example, point a, corresponding to the address information of the receiver, the method described in this embodiment may be adopted to determine the positioning information of the terminal device 31, and the specific process is as described above and is not described herein again.

This embodiment fixes a position first terminal equipment through 5G basic station, can improve first terminal equipment's location accuracy, consequently, the target flight position of unmanned aerial vehicle that determines according to this first terminal equipment's locating information can make unmanned aerial vehicle accurate arrival near the user. In addition, the network device carries out communication with the first terminal device or establishes cellular network connection with the first terminal device, the network device positions the first terminal device, or the network device stores real-time positioning information of the first terminal device determined by a positioning system of the first terminal device, so that the flexibility of determining the positioning information of the first terminal device through the network device is improved.

Another embodiment of the present application provides a flowchart of a method for controlling an unmanned aerial vehicle. On the basis of the above embodiment, the user is a sender; the location information of the destination includes at least one of: the address information of the sender input by the sender; the sender sends the positioning information of the second terminal equipment when sending the mail through the second terminal equipment; the sender selects the position information of the sender on the electronic map.

As shown in fig. 5, when 41 denotes a sender, the sender submits a mail order to the service platform 22 through the terminal device 21, which may include location information of the destination.

In one possible case, the location information of the destination is address information of the sender entered by the sender on the terminal device 21.

In another possible case, the location information of the destination is positioning information of the terminal device 21.

In yet another possible case, the terminal device 21 may be displayed with an electronic map, and the location information of the destination may be the location information of the sender selected on the electronic map by the sender.

Optionally, the user issues a mail sending task through the service platform; the receiving the location information of the destination includes: and receiving the sending task issued by the service platform, wherein the sending task comprises the position information of the destination.

As shown in fig. 5, after the sender submits the sending order to the service platform 22 through the terminal device 21, the sender may also issue a sending task through the service platform 22, specifically, the service platform 22 may issue the sending task to the unmanned aerial vehicle 23, and correspondingly, the unmanned aerial vehicle 23 receives the sending task. Specifically, the mail task includes location information of the destination.

Optionally, the mail task further includes at least one of the following: the identification information of the first terminal equipment, the booking time of the mail and the related information of the mail object. For example, the sending task issued by the service platform 22 to the drone 23 may include at least one of identification information of the terminal device 31, a reservation time of the sending, and related information of the sending object, in addition to the location information of the destination. The identification information of the terminal device 31 may be a device identification or a telephone number of the terminal device 31. The reserved time of the sending is specifically the sending time of the sender or the time that the unmanned aerial vehicle 23 needs to reach the destination. The information about the mailed object may include the size, weight, type, etc. of the mailed object.

After the unmanned aerial vehicle 23 receives the dispatch task, the control device corresponding to the unmanned aerial vehicle 23 controls the unmanned aerial vehicle 23 to reach the destination according to the location information of the destination.

In one possible case, the controlling the drone to reach the destination according to the location information of the destination includes: and if the time interval between the reserved time and the current time is less than the preset time, controlling the unmanned aerial vehicle to reach the destination according to the position information of the destination.

For example, if the time interval between the reserved time and the current time of the mail is less than the preset time length, the control device of the unmanned aerial vehicle 23 may control the unmanned aerial vehicle 23 to reach the GPS positioning point corresponding to the address information of the mail sender according to the address information of the mail sender, thereby completing the pickup.

In another possible case, the controlling the drone to reach the destination according to the location information of the destination includes: if the time interval between the reserved time and the current time is greater than the preset time, controlling the unmanned aerial vehicle to return to the home; and after planning the starting flight position and/or the starting flight time of the unmanned aerial vehicle based on the reservation time and/or the position information of the destination, controlling the unmanned aerial vehicle to reach the destination according to the position information of the destination according to the planned starting flight position and/or the planned starting flight time.

For example, if the time interval between the appointment time of sending the package and the current time is greater than the preset duration, that is, the current time is longer than the appointment time of sending the package, at this time, the control device of the unmanned aerial vehicle 23 may control the unmanned aerial vehicle 23 to return to the home, for example, return to an express company. Further, the control device may plan the starting flight position and/or the starting flight time of the unmanned aerial vehicle 23 according to the reservation time of the delivery and/or the address information of the sender, where the starting flight position may be a position of the delivery company, or a certain position where the delivery vehicle carried by the unmanned aerial vehicle 23 arrives at the delivery company. Further, the control device may control the unmanned aerial vehicle 23 to reach the GPS positioning point corresponding to the address information of the sender according to the planned initial flight position and/or the planned initial flight time.

In yet another possible case, the controlling the drone to reach the destination according to the location information of the destination includes: if the time interval between the reserved time and the current time is longer than a preset time length and/or the distance between the current position of the unmanned aerial vehicle and the destination is longer than a preset distance, planning a flight path from the current position of the unmanned aerial vehicle to the destination; and controlling the unmanned aerial vehicle to reach the destination according to the planned flight path and the position information of the destination. Optionally, the flight path includes a location point of a ground charging station.

For example, if the time interval between the reserved time and the current time of the sender is greater than the preset time length, and/or the distance between the current position of the unmanned aerial vehicle 23 and the GPS positioning point corresponding to the address information of the sender is greater than the preset distance, the control device of the unmanned aerial vehicle 23 may plan a flight path from the current position of the unmanned aerial vehicle 23 to the GPS positioning point corresponding to the address information of the sender, and further, control the unmanned aerial vehicle 23 to reach the GPS positioning point corresponding to the address information of the sender according to the planned flight path and the address information of the sender. The flight path may include a location point of the ground charging station, that is, when the drone 23 is far away from the destination, since the power of the drone 23 is limited, the drone 23 needs to be charged one or more times during the flight from the current location to the destination, for example, according to the location point of the ground charging station, the drone flies near the ground charging station so that the ground charging station charges the drone 23. Wherein the flight path from the current location of the drone 23 to the destination may include location points for a plurality of ground charging stations.

The address information of the sender is determined by the sender in various modes, so that the flexibility of the address information of the sender is improved. In addition, according to the mail sending appointment time and/or the address information of the mail sender, the starting flight position and/or the starting flight time of the unmanned aerial vehicle are re-planned, or the flight path of the unmanned aerial vehicle from the current position to the destination is planned, so that the mail sender can send the mail according to the mail sending appointment time of the mail sender, and the convenience of sending the mail is further improved.

Yet another embodiment of the present application provides a control method for an unmanned aerial vehicle. On the basis of the above embodiment, the user is a recipient; the location information of the destination includes address information of the recipient. The receiving the location information of the destination includes: and receiving the address information of the receiver sent by the third terminal equipment of the sender.

As shown in fig. 5, when the drone 23 reaches the vicinity of the sender 41 according to the target flight position described in the above embodiment, the drone 23 may select a flat area for landing in the vicinity of the sender 41. The drone 23 may also hover near the sender 41, waiting for the sender 41 to control the drone 23 to land, if there is no flat area near the sender 41. When the drone 23 is descending, the sender 41 may open the item holding box 24 of the drone 23 and place the mailed item in the item holding box 24. Further, the sender 41 may send the location information of the destination, which is specifically the address information of the recipient, to the drone 23 through the third terminal device. The third terminal device of the sender may be the first terminal device or the second terminal device of the sender, for example, the terminal device 21 or the terminal device 31. In other embodiments, the third terminal device of the sender 41, for example, the terminal device 21 or the terminal device 31, may also send the address information of the recipient to the service platform 22, and the service platform 22 issues the address information of the recipient to the drone 23.

In other embodiments, after the sender submits the order for the sender, the service platform 22 may further send a control password to the terminal device 21 or the terminal device 31 of the sender, where the control password may be recorded as a control password E, and the control password E is generated by the service platform 22. When the drone 23 arrives near the sender, the sender can control the drone 23 through the control code E, for example, control the drone 23 to land through the control code E, and/or control the drone 23 to open the item holding box 24 through the control code E. Specifically, the sender may send a control instruction to the drone 23 through the terminal device 21 or the terminal device 31, where the control instruction includes the control password E. After the unmanned aerial vehicle 23 receives the control instruction, the control password E is verified first, for example, whether the control password E is matched with a control password pre-stored in the unmanned aerial vehicle 23 is detected, or the unmanned aerial vehicle 23 sends the control password E to the service platform 22, and the service platform 22 verifies the control password E. If the control password E passes the verification, the drone 23 executes the control instruction, otherwise the control instruction is not executed. After the sender successfully opens the item holding box 24 by the control code E and places the sender object into the item holding box 24, the sender may also reset the control code, for example, the control code reset by the sender is the control code F.

Optionally, the method further includes: and receiving at least one of a first control password, identification information of the first terminal equipment and reserved time of the receiving sent by the third terminal equipment. Since the user in the embodiment of the present application is the recipient, the first terminal device of the user is the terminal device of the recipient, that is, the first terminal device is the terminal device of the recipient here. In addition, the first control password may be specifically the control password F.

For example, the sender may transmit at least one of the control password F, the identification information of the terminal device of the recipient, and the reservation time of the recipient to the drone 23 through the terminal device 21 or the terminal device 31. Or, the terminal device 21 or the terminal device 31 sends at least one of the control password F, the identification information of the terminal device of the recipient, and the reservation time of the recipient to the service platform 22, and the service platform 22 sends at least one of the control password F, the identification information of the terminal device of the recipient, and the reservation time of the recipient to the unmanned aerial vehicle 23. In addition, the sender can also send a control password F to the terminal device of the recipient through the terminal device 21 or the terminal device 31, where the control password F is used for the recipient to control the unmanned aerial vehicle 23. For example, when the drone 23 flies near the recipient, the recipient may control the drone 23 to land and/or open the item holding box 24 by controlling the password F so that the recipient may take out the objects in the item holding box 24.

Further, when the unmanned aerial vehicle 23 receives the location information of the destination, for example, the address information of the recipient, the control device corresponding to the unmanned aerial vehicle 23 controls the unmanned aerial vehicle 23 to reach the destination according to the location information of the destination.

For example, if the time interval between the reservation time of the receiving and the current time is less than the preset time, the control device of the unmanned aerial vehicle 23 may control the unmanned aerial vehicle 23 to reach the GPS positioning point corresponding to the address information of the receiver according to the address information of the receiver, thereby completing the delivery.

For example, if the time interval between the reservation time of the addressee and the current time is greater than the preset duration, that is to say, the current time is longer than the reservation time of the addressee, at this moment, the control device of the unmanned aerial vehicle 23 can control the unmanned aerial vehicle 23 to return to the air, for example, return to an express company, and the express company can temporarily store the object storage box 24 of the unmanned aerial vehicle 23. Further, the control device or the service platform 22 may plan the starting flight position and/or the starting flight time of the drone 23 according to the reservation time of the recipient and/or the address information of the recipient. The initial flight position may be a position of an express company, or a certain position where the unmanned aerial vehicle 23 is carried by an express vehicle of the express company. When the planned starting flight position and/or the planned starting flight time is reached, the object storage box 24 is re-loaded on the drone 23. The control device controls the unmanned aerial vehicle 23 to reach the GPS positioning point corresponding to the address information of the receiver according to the planned initial flight position and/or the planned initial flight time.

For example, if the time interval between the reserved time of the receiver and the current time is greater than the preset time length, and/or the distance between the current position of the unmanned aerial vehicle 23 and the GPS positioning point corresponding to the address information of the receiver is greater than the preset distance, the control device of the unmanned aerial vehicle 23 may plan a flight path from the current position of the unmanned aerial vehicle 23 to the GPS positioning point corresponding to the address information of the receiver, and further, control the unmanned aerial vehicle 23 to reach the GPS positioning point corresponding to the address information of the receiver according to the planned flight path and the address information of the receiver. The flight path may include a location point of the ground charging station, that is, when the drone 23 is far away from the destination, since the power of the drone 23 is limited, the drone 23 needs to be charged one or more times during the flight from the current location to the destination, for example, according to the location point of the ground charging station, the drone flies near the ground charging station so that the ground charging station charges the drone 23. Wherein the flight path from the current location of the drone 23 to the destination may include location points for a plurality of ground charging stations.

The unmanned aerial vehicle is controlled to land and/or the object storage box of the unmanned aerial vehicle is opened through the control password issued by the sender through the service platform, and the safety of the sender to the unmanned aerial vehicle is improved. In addition, after the sender puts the object into the object storage box, the sender can also reset the control password, and the control password reset by the sender can be used for the receiver to control the unmanned aerial vehicle, so that the object storage box is prevented from being maliciously opened to intercept the object in the object storage box in the process of receiving and sending the express by the unmanned aerial vehicle, and the safety of the object is improved.

The embodiment of the application provides a control method of an unmanned aerial vehicle. On the basis of the above embodiment, it may happen that the user who submits the order for sending is not the same user as the user who actually sends, as shown in fig. 7, the user 71 is the user who submits the order for sending, and the user 72 is the user who actually sends. The mail order submitted by the user 71 to the service platform 22 through the terminal device 21 or the terminal device 31 includes address information of the user 72 and identification information of the terminal device 73 of the user 72. The drone 23 may fly to a GPS positioning point, i.e. a destination, corresponding to the address information of the user 72 by using the method described in the above embodiment, determine the positioning information of the terminal device 73 by using the network device 42, and further determine a target flight position according to the positioning information of the terminal device 73, for example, the target flight position is a certain position around the terminal device 73, such as a position C shown in fig. 7.

When the user 72 places the mail object into the object storage box 24 of the drone 23, the user 72 sends the control password, e.g., the control password F, reset by the user 72 to the terminal device 82 of the user 81 as shown in fig. 8. The address information of the receiver sent by the service platform 22 to the unmanned aerial vehicle 23 is the address information of the user 81 shown in fig. 8, and the identification information of the terminal device of the receiver sent by the service platform 22 to the unmanned aerial vehicle 23 is the identification information of the terminal device 82 of the user 81. The unmanned aerial vehicle 23 may fly to a GPS positioning point corresponding to the address information of the user 81, for example, the point a shown in fig. 8, and determine the positioning information of the terminal device 82 through the network device 42, and further determine a target flight position according to the positioning information of the terminal device 82, for example, the target flight position is the point a position. Further, the user 81 can also transmit the control password F to the terminal device 84 of the user 83 near the point a through the terminal device 82, so that the user 83 near the point a can receive the mail object instead of the user 81. That is, the actual recipient may change.

Fig. 9 is a flowchart of a control method for a drone according to another embodiment of the present application. After the controlling the drone to fly from the destination to the target flight location, the method further includes:

s901, receiving a control instruction sent by a fourth terminal device at the target flight position, wherein the control instruction comprises a second control password.

As shown in fig. 7 or fig. 8, the terminal device 73 of the actual sender 72 or the terminal device 84 of the actual recipient 83 may be denoted as a fourth terminal device, and after the drone 23 flies to the target flight location, the drone 23 may receive a control command of the terminal device 73 or the terminal device 84. The control instruction includes a second control password.

For example, the user 72 shown in fig. 7 is an actual sender, and after the user 71 submits a mail order, the service platform 22 may generate a control password, for example, the control password E, and send the control password E to the terminal device 21 or the terminal device 31 of the user 71, and the terminal device 21 or the terminal device 31 may further send the control password E to the terminal device 73. Alternatively, after the user 71 submits the order for mail, the service platform 22 may send the control password E directly to the terminal device 73. When the unmanned aerial vehicle 23 flies to the target flight position C, the terminal device 73 sends a control command to the unmanned aerial vehicle 23, where the control command includes a control password E, and the control password E may be recorded as a second control password. That is, when the user is the sender, the second control password is set by the service platform, and the second control password is used for the sender to control the unmanned aerial vehicle.

As shown in fig. 8, after the terminal device 84 of the user 83 receives the control password F sent by the terminal device 82, the terminal device 84 may send a control instruction to the drone 23, where the control instruction includes the control password F, and the control password F may be referred to as a second control password. That is to say, when the user is the addressee, this second control password sets up behind the object save box that the sender will send the article object into unmanned aerial vehicle, and this second control password is used for the addressee to control this unmanned aerial vehicle.

And S902, controlling the unmanned aerial vehicle to execute the control command after the second control password passes the verification.

For example, after the unmanned aerial vehicle 23 receives the control command sent by the terminal device 73 or the terminal device 84, the second control password in the control command is extracted and verified, and if the second control password passes the verification, the unmanned aerial vehicle 23 further executes the control command.

Optionally, after the second control password passes the verification, the unmanned aerial vehicle is controlled to execute the control instruction, including: verifying the authority of the fourth terminal device for controlling the unmanned aerial vehicle according to the second control password; and if the fourth terminal equipment has the authority to control the unmanned aerial vehicle, controlling the unmanned aerial vehicle to execute the control instruction.

For example, as shown in fig. 7, when the service platform 22 issues a mail task to the drone 23, the mail task may further include a control password set by the service platform 22. When the unmanned aerial vehicle 23 receives the control command sent by the terminal device 73, it is detected whether a second control password in the control command is the same as the control password set by the service platform 22, if so, the unmanned aerial vehicle 23 determines that the terminal device 73 has the authority to control the unmanned aerial vehicle 23, and the unmanned aerial vehicle 23 further executes the control command. If the second control password in the control instruction is different from the control password set by the service platform 22, the drone 23 determines that the terminal device 73 does not have the authority to control the drone 23, and the drone 23 may not execute the control instruction at this time.

Optionally, the control instruction is used for controlling the unmanned aerial vehicle to land. Or, the control instruction is used for controlling the unmanned aerial vehicle to open the object storage box carried by the unmanned aerial vehicle. For example, when the drone 23 reaches the target flight position C, the terminal device 73 may control the drone 23 to land by sending a control instruction to the drone 23, or control the drone 23 to open the item holding box 24. Further, after the user 72 places the mailer object into the article holding bin 24, the user 72 resets the control code, for example, the reset control code is the control code F. Further, the user 72 may also send the control password F to the drone 23 through the terminal device 73 or the service platform 22, so that only the user who owns the control password F can open the item holding box 24.

As shown in fig. 8, when the drone 23 flies to a GPS positioning point corresponding to the address information of the receiver, for example, point a, since the terminal device 84 of the user 83 near point a receives the control password F from the terminal device 82, the terminal device 84 may send a control instruction to the drone 23, the control instruction including the second control password. The drone 23 detects whether the second control password in the control instruction is the same as the control password F, and if so, the drone 23 determines that the terminal device 84 has the authority to control the drone 23, and the drone 23 further executes the control instruction. For example, the terminal device 84 may control the drone 23 to land or control the drone 23 to open the item holding box 24 by the control instruction, so that the user 83 near the point a may receive the mailed object instead of the user 81.

Optionally, the control instruction is the control instruction encrypted by the fourth terminal device using a preset key.

For example, in order to improve the security of communication between the terminal device 84 or the terminal device 73 and the drone 23, before the terminal device 84 or the terminal device 73 sends the control instruction to the drone 23, the terminal device 84 or the terminal device 73 may further encrypt the control instruction by using a preset key, and further send the encrypted control instruction to the drone 23. The unmanned aerial vehicle 23 can decrypt the encrypted control instruction by using a decryption key corresponding to the preset key, so as to obtain the control instruction.

It is understood that the fourth terminal device may specifically be the terminal device 21 or the terminal device 31 if the actual sender or the actual recipient does not change, for example, the user 71 in fig. 7 is both the user who submitted the order for the mail and the actual sender. When the user 81 shown in fig. 8 is an actual recipient, the fourth terminal device may specifically be the terminal device 82.

Optionally, when the user is a sender and the user issues a sending task through the service platform, the second control password is set by the service platform, and the second control password is used for controlling the unmanned aerial vehicle by the sender.

For example, when the user 71 is an actual sender, the user 71 issues a sending task through the service platform 22, and the service platform 22 may set a second control password and send the second control password to the terminal device 21 or the terminal device 31, so that when the unmanned aerial vehicle 23 takes a piece from the user 71, the user 71 controls the unmanned aerial vehicle 23 by using the second control password.

Optionally, when the user is a receiver, the second control password is set after the receiver puts a sender object into the object storage box of the unmanned aerial vehicle, and the second control password is used for controlling the unmanned aerial vehicle by the receiver.

For example, after the user 71 places the mailed object into the item holding bin 24 of the drone 23, the user 71 may reset the control code and send the reset control code to the recipient, such as the user 81. This control password after resetting is marked as the second control password, and when unmanned aerial vehicle 23 arrived around user 81, user 81 can adopt this second control password to control this unmanned aerial vehicle 23.

In the embodiment, when the unmanned aerial vehicle flies to the target flight position, the terminal device at the target flight position sends a control instruction to the unmanned aerial vehicle, the control instruction comprises a second control password, when the user is a sender, the second control password is set by the service platform, so that only the sender of the second control code can control the drone, and when the user is the recipient, the second control password is set after the sender puts the sending object into the object storage box of the unmanned aerial vehicle, thereby only the receiver of the second control password can control the unmanned aerial vehicle, the unmanned aerial vehicle is prevented from being controlled randomly, the safety of the unmanned aerial vehicle is improved, in addition, the object in the object storage box can be prevented from being maliciously opened, so that the object safety is improved.

The embodiment of the application provides an unmanned aerial vehicle's controlling means. Fig. 10 is a structural diagram of a control device of an unmanned aerial vehicle according to an embodiment of the present application, and as shown in fig. 10, the control device 100 includes: memory 101, processor 102, and communication interface 103; the memory 101 is used for storing program codes; a processor 102, invoking the program code, and when executed, performing the following: receiving location information of a destination through the communication interface 103; controlling the unmanned aerial vehicle to reach the destination according to the position information of the destination; determining positioning information of a first terminal device of a user through a network device, wherein the network device is in communication connection with the first terminal device; and determining the target flight position of the unmanned aerial vehicle according to the positioning information of the first terminal equipment.

Optionally, the processor 102 is further configured to: controlling the drone to fly from the destination to the target flight location.

Optionally, the target flight position is a position in a preset area based on the positioning information.

Optionally, when determining the target flight position of the unmanned aerial vehicle according to the positioning information of the first terminal device, the processor 102 is specifically configured to: and determining the target flight position of the unmanned aerial vehicle according to the position information of the destination and the positioning information of the first terminal device.

Optionally, when determining the target flight position of the unmanned aerial vehicle according to the location information of the destination and the location information of the first terminal device, the processor 102 is specifically configured to: when the difference between the position information of the destination and the positioning information of the first terminal device exceeds a preset difference range, acquiring a user instruction, wherein the user instruction is used for indicating the target flight position of the unmanned aerial vehicle; and determining the target flight position of the unmanned aerial vehicle according to the user instruction.

Optionally, the target flight position is a position in a preset area based on the positioning information, or a position in a preset area based on the position information of the destination.

Optionally, when determining the location information of the first terminal device of the user through the network device, the processor 102 is specifically configured to: and acquiring the positioning information of the first terminal equipment from network equipment according to the identification information of the first terminal equipment.

Optionally, when the processor 102 acquires the positioning information of the first terminal device from the network device according to the identification information of the first terminal device, the processor is specifically configured to: according to the identification information of the first terminal device, the network device is communicated with the first terminal device, and the network device is used for determining the positioning information of the first terminal device in the communication process of the unmanned aerial vehicle and the first terminal device; and acquiring the positioning information of the first terminal equipment from the network equipment.

Optionally, the identification information of the first terminal device includes a phone number of the first terminal device; the processor 102, when communicating with the first terminal device through the network device according to the identification information of the first terminal device, is specifically configured to: and according to the telephone number of the first terminal equipment, communicating with the first terminal equipment through the network equipment.

Optionally, a cellular network connection is established between the network device and the first terminal device, and the network device is configured to determine the location information of the first terminal device.

Optionally, the network device includes a fifth generation mobile communication technology 5G base station.

Optionally, the first terminal device determines real-time location information of the first terminal device through a location system of the first terminal device, where the first terminal device is configured to send the real-time location information of the first terminal device to the network device.

Optionally, the network device includes a service platform.

Optionally, when the processor 102 acquires the positioning information of the first terminal device from the network device according to the identification information of the first terminal device, the processor is specifically configured to: sending the identification information of the first terminal device to the network device through a communication interface 103, so that the network device determines the positioning information of the first terminal device based on the identification information of the first terminal device; receiving the positioning information of the first terminal equipment through a communication interface 103; wherein the identification information of the first terminal device includes at least one of: the telephone number of the first terminal device and the device identification of the first terminal device.

Optionally, the user is a sender; the location information of the destination includes at least one of: the address information of the sender input by the sender; the sender sends the positioning information of the second terminal equipment when sending the mail through the second terminal equipment; the sender selects the position information of the sender on the electronic map.

Optionally, the user issues a mail sending task through the service platform; when the processor 102 receives the location information of the destination through the communication interface 103, the processor is specifically configured to: and receiving the sending task issued by the service platform through a communication interface 103, wherein the sending task comprises the position information of the destination.

Optionally, the mail task further includes at least one of the following: the identification information of the first terminal equipment, the booking time of the mail and the related information of the mail object.

Optionally, the user is a recipient; the location information of the destination includes address information of the recipient.

Optionally, when the processor 102 receives the location information of the destination through the communication interface 103, the processor is specifically configured to: and receiving the address information of the receiver sent by the third terminal device of the sender through the communication interface 103.

Optionally, the processor 102 is further configured to: and receiving at least one of the first control password, the identification information of the first terminal device and the reserved time of the receiver sent by the third terminal device through a communication interface 103.

Optionally, the processor 102 is configured to, when controlling the unmanned aerial vehicle to reach the destination according to the location information of the destination, specifically: and if the time interval between the reserved time and the current time is less than the preset time, controlling the unmanned aerial vehicle to reach the destination according to the position information of the destination.

Optionally, the processor 102 is configured to, when controlling the unmanned aerial vehicle to reach the destination according to the location information of the destination, specifically: if the time interval between the reserved time and the current time is greater than the preset time, controlling the unmanned aerial vehicle to return to the home; and after planning the starting flight position and/or the starting flight time of the unmanned aerial vehicle based on the reservation time and/or the position information of the destination, controlling the unmanned aerial vehicle to reach the destination according to the position information of the destination according to the planned starting flight position and/or the planned starting flight time.

Optionally, the processor 102 is configured to, when controlling the unmanned aerial vehicle to reach the destination according to the location information of the destination, specifically: if the time interval between the reserved time and the current time is longer than a preset time length and/or the distance between the current position of the unmanned aerial vehicle and the destination is longer than a preset distance, planning a flight path from the current position of the unmanned aerial vehicle to the destination; and controlling the unmanned aerial vehicle to reach the destination according to the planned flight path and the position information of the destination.

Optionally, the flight path includes a location point of a ground charging station.

Optionally, after the controlling the drone to fly from the destination to the target flight location, the processor 102 is further configured to: receiving a control instruction sent by a fourth terminal device at the target flight position through a communication interface 103, wherein the control instruction comprises a second control password; and after the second control password passes the verification, controlling the unmanned aerial vehicle to execute the control instruction.

Optionally, after the second control password passes the verification, when the processor 102 controls the unmanned aerial vehicle to execute the control instruction, the processor is specifically configured to: verifying the authority of the fourth terminal device for controlling the unmanned aerial vehicle according to the second control password; and if the fourth terminal equipment has the authority to control the unmanned aerial vehicle, controlling the unmanned aerial vehicle to execute the control instruction.

Optionally, the control instruction is used for controlling the unmanned aerial vehicle to land.

Optionally, the control instruction is used for controlling the unmanned aerial vehicle to open the object storage box carried by the unmanned aerial vehicle.

Optionally, the processor 102 is further configured to: and after the unmanned aerial vehicle reaches the destination, if the user does not appear in the preset time, controlling the unmanned aerial vehicle to return to the home.

The specific principle and implementation of the control device provided in the embodiment of the present application are similar to those of the above embodiments, and are not described herein again.

The embodiment of the application provides a communication system, which comprises an unmanned aerial vehicle, first terminal equipment and network equipment; the first terminal device is in communication connection with the network device, and the network device is used for positioning the first terminal device; the unmanned aerial vehicle is provided with an object storage box, acquires the positioning information of the first terminal device from the network device, determines the target flight position of the unmanned aerial vehicle according to the positioning information of the first terminal device, and collects or delivers the object at the target flight position.

The unmanned aerial vehicle, the first terminal device and the network device are specifically as described in the above embodiments, the method for the network device to locate the first terminal device, the method for the unmanned aerial vehicle to obtain the location information of the first terminal device from the network device, and the process for the unmanned aerial vehicle to determine the target flight position of the unmanned aerial vehicle and receive or deliver the object by the unmanned aerial vehicle are specifically as described in the above embodiments, and are not repeated here.

The embodiment of the application provides an unmanned aerial vehicle. Fig. 11 is a structure diagram of the unmanned aerial vehicle provided in the embodiment of the present application, as shown in fig. 11, the unmanned aerial vehicle 110 includes: fuselage, power system and control device 1118, the power system includes at least one of the following: a motor 1107, a propeller 1106 and an electronic speed regulator 1117, wherein a power system is arranged on the airframe and used for providing flight power; the control device 1118 is in communication connection with the power system and used for controlling the unmanned aerial vehicle to fly; the control device 1118 may be configured to execute the technical solutions of the above method embodiments, and the implementation principles and technical effects thereof are similar and will not be described herein again.

In addition, as shown in fig. 11, the drone 110 further includes: the system comprises a detection device 1108, a communication system 1110, a support device 1102 and a camera 1104, wherein the support device 1102 may specifically be a pan-tilt, and the communication system 1110 may specifically include a receiver for receiving a wireless signal transmitted by a ground station. The ground station may specifically be a control terminal of the unmanned aerial vehicle as described in the above method embodiment.

The embodiment of the application provides another communication system, which comprises an unmanned aerial vehicle, a first terminal device and a network device; the drone may specifically be the drone shown in fig. 11, and the drone is configured to receive location information of a destination and arrive at the destination according to the location information of the destination; the first terminal device is in communication connection with the network device, and the network device is used for positioning the first terminal device; the unmanned aerial vehicle is provided with an object storage box, acquires the positioning information of the first terminal device through the network device, determines the target flight position of the unmanned aerial vehicle according to the positioning information of the first terminal device, and collects or sends the object to the target flight position.

In addition, the present embodiment also provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the control method of the unmanned aerial vehicle described in the above embodiment.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.

The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

A control method of an unmanned aerial vehicle is characterized by comprising the following steps:

receiving location information of a destination;

controlling the unmanned aerial vehicle to reach the destination according to the position information of the destination;

determining positioning information of a first terminal device of a user through a network device, wherein the network device is in communication connection with the first terminal device;

and determining the target flight position of the unmanned aerial vehicle according to the positioning information of the first terminal equipment.
The method of claim 1, further comprising:

controlling the drone to fly from the destination to the target flight location.
The method according to claim 1 or 2, wherein the target flight position is a position within a preset area based on the positioning information.
The method according to claim 1 or 2, wherein the determining the target flight position of the drone according to the positioning information of the first terminal device comprises:

and determining the target flight position of the unmanned aerial vehicle according to the position information of the destination and the positioning information of the first terminal device.
The method of claim 4, wherein determining the target flight position of the drone according to the location information of the destination and the positioning information of the first terminal device comprises:

when the difference between the position information of the destination and the positioning information of the first terminal device exceeds a preset difference range, acquiring a user instruction, wherein the user instruction is used for indicating the target flight position of the unmanned aerial vehicle;

and determining the target flight position of the unmanned aerial vehicle according to the user instruction.
The method according to claim 5, wherein the target flight position is a position within a preset area based on the positioning information, or a position within a preset area based on the position information of the destination.
The method according to any of claims 1-6, wherein determining, by the network device, the location information of the first terminal device of the user comprises:

and acquiring the positioning information of the first terminal equipment from network equipment according to the identification information of the first terminal equipment.
The method according to claim 7, wherein the obtaining the positioning information of the first terminal device from the network device according to the identification information of the first terminal device comprises:

according to the identification information of the first terminal device, the network device is communicated with the first terminal device, and the network device is used for determining the positioning information of the first terminal device in the communication process of the unmanned aerial vehicle and the first terminal device;

and acquiring the positioning information of the first terminal equipment from the network equipment.
The method of claim 8, wherein the identification information of the first terminal device comprises a telephone number of the first terminal device;

the communicating with the first terminal device through the network device according to the identification information of the first terminal device includes:

and according to the telephone number of the first terminal equipment, communicating with the first terminal equipment through the network equipment.
The method of claim 7, wherein a cellular network connection is established between the network device and the first terminal device, and wherein the network device is configured to determine location information of the first terminal device.
The method according to any of claims 7-10, wherein the network device comprises a fifth generation mobile communications technology 5G base station.
The method according to claim 7, wherein the first terminal device determines real-time location information of the first terminal device through a location system of the first terminal device, and the first terminal device is configured to send the real-time location information of the first terminal device to the network device.
The method of claim 12, wherein the network device comprises a service platform.
The method according to any one of claims 10-13, wherein the obtaining the location information of the first terminal device from the network device according to the identification information of the first terminal device comprises:

sending the identification information of the first terminal device to the network device, so that the network device determines the positioning information of the first terminal device based on the identification information of the first terminal device;

receiving positioning information of the first terminal device from the network device;

wherein the identification information of the first terminal device includes at least one of:

the telephone number of the first terminal device and the device identification of the first terminal device.
The method of any one of claims 1-14, wherein the user is a sender; the location information of the destination includes at least one of:

the address information of the sender input by the sender;

the sender sends the positioning information of the second terminal equipment when sending the mail through the second terminal equipment;

the sender selects the position information of the sender on the electronic map.
The method according to any one of claims 1 to 15, wherein the user issues a mail task through a service platform;

the receiving the location information of the destination includes:

and receiving the sending task issued by the service platform, wherein the sending task comprises the position information of the destination.
The method of claim 16, wherein the mail task further comprises at least one of:

the identification information of the first terminal equipment, the booking time of the mail and the related information of the mail object.
The method of any of claims 1-14, wherein the user is a recipient; the location information of the destination includes address information of the recipient.
The method of claim 18, wherein receiving location information of a destination comprises:

and receiving the address information of the receiver sent by the third terminal equipment of the sender.
The method of claim 19, further comprising:

and receiving at least one of a first control password, identification information of the first terminal equipment and reserved time of the receiving sent by the third terminal equipment.
The method of claim 17 or 20, wherein the controlling the drone to reach the destination according to the location information of the destination comprises:

and if the time interval between the reserved time and the current time is less than the preset time, controlling the unmanned aerial vehicle to reach the destination according to the position information of the destination.
The method of claim 17 or 20, wherein the controlling the drone to reach the destination according to the location information of the destination comprises:

if the time interval between the reserved time and the current time is greater than the preset time, controlling the unmanned aerial vehicle to return to the home;

and after planning the starting flight position and/or the starting flight time of the unmanned aerial vehicle based on the reservation time and/or the position information of the destination, controlling the unmanned aerial vehicle to reach the destination according to the position information of the destination according to the planned starting flight position and/or the planned starting flight time.
The method of claim 17 or 20, wherein the controlling the drone to reach the destination according to the location information of the destination comprises:

if the time interval between the reserved time and the current time is longer than a preset time length and/or the distance between the current position of the unmanned aerial vehicle and the destination is longer than a preset distance, planning a flight path from the current position of the unmanned aerial vehicle to the destination;

and controlling the unmanned aerial vehicle to reach the destination according to the planned flight path and the position information of the destination.
The method of claim 23, wherein the flight path comprises a location point of a ground charging station.
The method of any of claims 2-24, wherein after said controlling the drone to fly from the destination to the target flight location, the method further comprises:

receiving a control instruction sent by a fourth terminal device at the target flight position, wherein the control instruction comprises a second control password;

and after the second control password passes the verification, controlling the unmanned aerial vehicle to execute the control instruction.
The method of claim 25, wherein the controlling the drone to execute the control instruction after the second control password is verified comprises:

verifying the authority of the fourth terminal device for controlling the unmanned aerial vehicle according to the second control password;

and if the fourth terminal equipment has the authority to control the unmanned aerial vehicle, controlling the unmanned aerial vehicle to execute the control instruction.
The method according to claim 25 or 26, wherein the control command is a control command encrypted by the fourth terminal device using a preset key.
The method of any of claims 25-27, wherein the control instructions are used to control the drone to land.
The method of any one of claims 25-27, wherein the control instructions are configured to control the drone to open an item holding bin carried by the drone.
The method of any one of claims 25-29, wherein when the user is a sender and the user issues a sending task through a service platform, the second control password is set by the service platform, and the second control password is used for the sender to control the drone.
The method according to any one of claims 25 to 29, wherein the second control code is set by the sender after the sender places the mailed object in the object holding box of the drone when the user is the recipient, and the second control code is used by the recipient to control the drone.
The method of claims 1-31, further comprising:

and after the unmanned aerial vehicle reaches the destination, if the user does not appear in the preset time, controlling the unmanned aerial vehicle to return to the home.
A control device of an unmanned aerial vehicle, comprising: a memory, a processor and a communication interface;

the memory is used for storing program codes;

the processor, invoking the program code, when executed, is configured to:

receiving the position information of the destination through the communication interface;

controlling the unmanned aerial vehicle to reach the destination according to the position information of the destination;

determining positioning information of a first terminal device of a user through a network device, wherein the network device is in communication connection with the first terminal device;

and determining the target flight position of the unmanned aerial vehicle according to the positioning information of the first terminal equipment.
The control device of claim 33, wherein the processor is further configured to:

controlling the drone to fly from the destination to the target flight location.
The control device according to claim 33 or 34, wherein the target flight position is a position within a preset area based on the positioning information.
The control device according to claim 33 or 34, wherein the processor is configured to, when determining the target flight position of the drone according to the positioning information of the first terminal device, specifically:

and determining the target flight position of the unmanned aerial vehicle according to the position information of the destination and the positioning information of the first terminal device.
The control device according to claim 36, wherein the processor is configured to, when determining the target flight position of the drone according to the location information of the destination and the positioning information of the first terminal device, specifically:

when the difference between the position information of the destination and the positioning information of the first terminal device exceeds a preset difference range, acquiring a user instruction, wherein the user instruction is used for indicating the target flight position of the unmanned aerial vehicle;

and determining the target flight position of the unmanned aerial vehicle according to the user instruction.
The control device according to claim 37, wherein the target flight position is a position within a preset area based on the positioning information, or a position within a preset area based on the position information of the destination.
The control apparatus according to any one of claims 33 to 38, wherein the processor, when determining the positioning information of the first terminal device of the user through the network device, is specifically configured to:

and acquiring the positioning information of the first terminal equipment from network equipment according to the identification information of the first terminal equipment.
The control apparatus of claim 39, wherein the processor, when acquiring the positioning information of the first terminal device from the network device according to the identification information of the first terminal device, is specifically configured to:

according to the identification information of the first terminal device, the network device is communicated with the first terminal device, and the network device is used for determining the positioning information of the first terminal device in the communication process of the unmanned aerial vehicle and the first terminal device;

and acquiring the positioning information of the first terminal equipment from the network equipment.
The control apparatus of claim 40, wherein the identification information of the first terminal device comprises a telephone number of the first terminal device;

the processor, when communicating with the first terminal device through the network device according to the identification information of the first terminal device, is specifically configured to:

and according to the telephone number of the first terminal equipment, communicating with the first terminal equipment through the network equipment.
The control apparatus of claim 39, wherein a cellular network connection is established between the network device and the first terminal device, and wherein the network device is configured to determine location information of the first terminal device.
The control apparatus of any of claims 39-42, wherein the network device comprises a fifth generation mobile communications technology 5G base station.
The apparatus according to claim 39, wherein the first terminal device determines real-time location information of the first terminal device through a location system of the first terminal device, and the first terminal device is configured to send the real-time location information of the first terminal device to the network device.
The control apparatus of claim 44, wherein the network device comprises a service platform.
The control apparatus of any one of claims 42 to 45, wherein the processor, when acquiring the positioning information of the first terminal device from the network device according to the identification information of the first terminal device, is specifically configured to:

sending the identification information of the first terminal device to the network device through the communication interface, so that the network device determines the positioning information of the first terminal device based on the identification information of the first terminal device;

receiving positioning information of the first terminal equipment through the communication interface;

wherein the identification information of the first terminal device includes at least one of:

the telephone number of the first terminal device and the device identification of the first terminal device.
The control device of any one of claims 33-46, wherein the user is a sender; the location information of the destination includes at least one of:

the address information of the sender input by the sender;

the sender sends the positioning information of the second terminal equipment when sending the mail through the second terminal equipment;

the sender selects the position information of the sender on the electronic map.
The control device according to any one of claims 33-47, wherein the user issues a mail task through a service platform;

when the processor receives the location information of the destination through the communication interface, the processor is specifically configured to:

and receiving the mail sending task issued by the service platform through the communication interface, wherein the mail sending task comprises the position information of the destination.
The control device of claim 48, wherein the mail task further comprises at least one of:

the identification information of the first terminal equipment, the booking time of the mail and the related information of the mail object.
The control device of any one of claims 33-46, wherein the user is a recipient; the location information of the destination includes address information of the recipient.
The control device of claim 50, wherein the processor, when receiving location information of a destination via the communication interface, is further configured to:

and receiving the address information of the receiver sent by the third terminal equipment of the sender through the communication interface.
The control device of claim 51, wherein the processor is further configured to:

and receiving at least one of a first control password, identification information of the first terminal equipment and reserved time of the receiver sent by the third terminal equipment through the communication interface.
The control device according to claim 49 or 52, wherein the processor is configured to control the drone to reach the destination according to the location information of the destination, and specifically configured to:

and if the time interval between the reserved time and the current time is less than the preset time, controlling the unmanned aerial vehicle to reach the destination according to the position information of the destination.
The control device according to claim 49 or 52, wherein the processor is configured to control the drone to reach the destination according to the location information of the destination, and specifically configured to:

if the time interval between the reserved time and the current time is greater than the preset time, controlling the unmanned aerial vehicle to return to the home;

and after planning the starting flight position and/or the starting flight time of the unmanned aerial vehicle based on the reservation time and/or the position information of the destination, controlling the unmanned aerial vehicle to reach the destination according to the position information of the destination according to the planned starting flight position and/or the planned starting flight time.
The control device according to claim 49 or 52, wherein the processor is configured to control the drone to reach the destination according to the location information of the destination, and specifically configured to:

if the time interval between the reserved time and the current time is longer than a preset time length and/or the distance between the current position of the unmanned aerial vehicle and the destination is longer than a preset distance, planning a flight path from the current position of the unmanned aerial vehicle to the destination;

and controlling the unmanned aerial vehicle to reach the destination according to the planned flight path and the position information of the destination.
The control device of claim 55, wherein the flight path comprises a location point of a ground charging station.
The control device of any one of claims 34-56, wherein the processor, after said controlling the drone to fly from the destination to the target flight location, is further configured to:

receiving a control instruction sent by fourth terminal equipment at the target flight position through the communication interface, wherein the control instruction comprises a second control password;

and after the second control password passes the verification, controlling the unmanned aerial vehicle to execute the control instruction.
The control device according to claim 57, wherein the processor is configured to, when controlling the unmanned aerial vehicle to execute the control instruction after the second control password is verified, specifically:

verifying the authority of the fourth terminal device for controlling the unmanned aerial vehicle according to the second control password;

and if the fourth terminal equipment has the authority to control the unmanned aerial vehicle, controlling the unmanned aerial vehicle to execute the control instruction.
The control apparatus according to claim 57 or 58, wherein the control instruction is a control instruction encrypted by the fourth terminal device using a preset key.
The control device of any one of claims 57-59, wherein the control instructions are configured to control the drone to land.
The control device of any one of claims 57-59, wherein the control instructions are configured to control the drone to open an item holding bin carried by the drone.
The control device of any one of claims 57 to 61, wherein when the user is a sender and the user issues a sending task through a service platform, the second control password is set by the service platform, and the second control password is used for the sender to control the drone.
The control device of any one of claims 57 to 61, wherein when the user is an addressee, the second control code is set by the addressee after placing an addressee object in the object storage box of the unmanned aerial vehicle, and the second control code is used for the addressee to control the unmanned aerial vehicle.
The control device of any one of claims 33-63, wherein the processor is further configured to:

and after the unmanned aerial vehicle reaches the destination, if the user does not appear in the preset time, controlling the unmanned aerial vehicle to return to the home.
An unmanned aerial vehicle, comprising:

a body;

the power system is arranged on the fuselage and used for providing flight power;

and a control device as claimed in any one of claims 33 to 64.
A communication system, comprising: a first terminal device, a network device, and the drone of claim 65;

the network equipment is used for positioning the first terminal equipment;

the unmanned aerial vehicle is provided with an object storage box and is used for collecting or delivering objects at the target flight position.
A computer-readable storage medium, having stored thereon a computer program for execution by a processor to perform the method of any one of claims 1-32.