CN114626775A

CN114626775A - Goods delivery method and device and computer storage medium

Info

Publication number: CN114626775A
Application number: CN202011460251.XA
Authority: CN
Inventors: 贝为炬
Original assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Current assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Priority date: 2020-12-11
Filing date: 2020-12-11
Publication date: 2022-06-14

Abstract

The embodiment of the application discloses a cargo delivery method, a cargo delivery device and a computer storage medium, wherein the cargo delivery device is provided with a first UWB module, and the cargo delivery method comprises the following steps: when the target dispatching area is moved according to the dispatching instruction, a first arrival notice is sent to the object to be dispatched; receiving a first UWB signal which is returned by the object to be dispatched and responds to the first arrival notice through a first UWB module; the first UWB positioning signal is sent by the object to be matched through the second UWB module; determining a target position corresponding to an object to be distributed according to the first UWB signal; dispatch processing is performed based on the target location.

Description

Goods delivery method and device and computer storage medium

Technical Field

The invention relates to the field of logistics of cargo delivery devices, in particular to a cargo delivery method and device and a computer storage medium.

Background

Nowadays, the popularization of the e-commerce has driven the rapid development of the logistics industry, and how to transport goods to the customers with the lowest cost and the highest speed is a core problem of each logistics company. Some practical express companies have started to deliver the express items by using the goods delivery device, and the technology has the advantages of improving the delivery efficiency and reducing the labor cost.

The existing cargo delivery device delivery technology generally adopts Global Positioning System (GPS) geographical Positioning, and is mainly implemented and applied in open outdoor environment. And under intensive environment, or during bad weather conditions such as fog, rain, haze, because the environment is complicated, shelter from the thing more, adopt GPS positioning technology will be difficult to guarantee the accuracy of location when goods dispatch device delivers, consequently can not realize the accurate delivery of goods.

Disclosure of Invention

The embodiment of the application provides a goods dispatching method and device and a computer storage medium, improves the positioning accuracy of a goods dispatching device, and further realizes the accurate dispatching of goods of the goods dispatching device.

The technical scheme of the embodiment of the application is realized as follows:

in a first aspect, an embodiment of the present application provides a cargo dispatching method, where the cargo dispatching method is applied to a cargo dispatching device, where the cargo dispatching device is configured with a first UWB module, and the method includes:

when the target dispatching area is moved according to the dispatching instruction, a first arrival notice is sent to the object to be dispatched;

receiving a first UWB signal which is returned by the object to be dispatched and responds to the first arrival notice; the first UWB positioning signal is sent by the object to be matched through a second UWB module;

determining a target position corresponding to the object to be matched according to the first UWB signal;

and dispatching processing is carried out based on the target position.

In a second aspect, an embodiment of the present application provides a cargo delivering device, where the cargo delivering device is configured with a first UWB module, and the cargo delivering device includes a sending unit, a receiving unit, a determining unit, and a delivering unit;

the sending unit is used for sending a first arrival notice to the object to be dispatched when the object moves to the target dispatching area according to the dispatching instruction;

the receiving unit is used for receiving a first UWB signal which is returned by the object to be dispatched and responds to the first arrival notice; the first UWB positioning signal is sent by the object to be matched through a second UWB module;

the determining unit is used for determining a target position corresponding to the object to be matched according to the first UWB signal;

and the dispatching unit is used for dispatching based on the target position.

In a third aspect, an embodiment of the present application provides a cargo shipping apparatus, where the cargo shipping apparatus includes a first UWB module, a processor, and a memory storing instructions executable by the processor, and when the instructions are executed by the processor, the cargo shipping method is implemented.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, on which a program is stored, and when the program is executed by a processor, the program implements the cargo delivery method as described above.

The embodiment of the application provides a cargo delivery method, a cargo delivery device and a computer storage medium, wherein the cargo delivery device is provided with a first UWB module, and when the cargo delivery device moves to a target delivery area according to a delivery instruction, a first arrival notice is sent to an object to be delivered; wherein the first arrival notification carries real-time geographic coordinates of the cargo delivery device; receiving a first UWB signal which is returned by an object to be dispatched and responds to a real-time geographic coordinate; the first UWB positioning signal is sent by the object to be matched through the second UWB module; determining a target position corresponding to an object to be distributed according to the first UWB signal; dispatch processing is performed based on the target location. That is to say, in the embodiment of the present application, the goods dispatching device may first arrive at a specific target dispatching area according to the dispatching instruction, and after sending a corresponding arrival notification to the object to be dispatched, the goods dispatching device may communicate with the second UWB module provided to the object to be dispatched through the first UWB module provided to the goods dispatching device, so as to determine an accurate target position of the object to be dispatched through receiving the UWB angle measurement signal, and then perform accurate dispatching of the goods according to the target position. It is thus clear that in this application, goods dispatch device can obtain the real-time accurate position of receiving goods customer based on UWB technique to fly to this position and carry out the accurate dispatch of goods, need not to get the piece downstairs, overcome indoor intensive environment, perhaps defect that location accuracy is low during bad weather conditions such as fog, rain, haze, improved the accuracy that goods dispatch device location, further realized the accurate dispatch of goods dispatch device goods.

Drawings

FIG. 1 is a schematic diagram of angle measurement of UWB technology in the related art;

fig. 2 is a first schematic flow chart illustrating an implementation of a cargo delivery method according to an embodiment of the present application;

fig. 3 is a schematic view illustrating an implementation process of a cargo dispatching method according to an embodiment of the present application;

fig. 4 is a schematic flow chart illustrating a third implementation of the cargo delivery method according to the embodiment of the present application;

fig. 5 is a schematic flow chart illustrating an implementation of the cargo delivery method according to the embodiment of the present application;

fig. 6 is a schematic flow chart illustrating an implementation of the cargo delivery method according to the embodiment of the present application;

fig. 7 is a schematic flow chart illustrating an implementation of the cargo dispatching method according to the embodiment of the present application;

fig. 8A is a schematic view illustrating an application scenario of the cargo dispatching method according to the embodiment of the present application;

fig. 8B is a schematic view of an application scenario of the cargo delivery method according to the embodiment of the present application;

fig. 9 is a first schematic structural diagram of a cargo delivery device according to an embodiment of the present application;

fig. 10 is a schematic structural diagram of a cargo handling device according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the specific embodiments described herein are illustrative of the relevant application and are not limiting of the application. It should be noted that, for the convenience of description, only the parts related to the related applications are shown in the drawings.

Before further detailed description of the embodiments of the present invention, terms and expressions mentioned in the embodiments of the present invention are explained, and the terms and expressions mentioned in the embodiments of the present invention are applied to the following explanations.

1) Ultra Wide Band (UWB) technology: a wireless carrier communication technique, it does not adopt the sine carrier, but utilizes the narrow pulse transmission data of non-sine wave of nanosecond level, it is simple in construction that it has systems, transmit the signal power spectral density low, insensitive to the channel fading, capture the ability low, advantage such as being high of the positioning accuracy, UWB technique utilizes the extremely wide ultra wide baseband pulse of frequency spectrum to communicate, so also called the baseband communication technique, mainly used in the communication system of military radar, location and low capture rate/low detection rate.

Exemplarily, fig. 1 is a schematic angle measurement diagram of a UWB technology in the related art, as shown in fig. 1, based on the characteristic that when the UWB is measured in angle, a device to be measured is a signal transmitting side, and a device for measuring angle is a signal receiving side, when a terminal 2 wants to determine a relative position of the terminal 1, the terminal 1 is a device to be measured, i.e., a signal transmitting side; accordingly, the terminal 2 is a signal receiving side. As shown in fig. 1, the terminal 1 is configured with a transmitting module, i.e. a transmitting antenna T, which transmits UWB signals to the terminal 2 at corresponding transmission times; the terminal 2 is configured with two receiving modules with a specific distance d, a first receiving module is a receiving antenna a, a second receiving module is a receiving antenna B, when the terminal 2 receives a UWB signal sent by a transmitting antenna T through the receiving antenna a and the receiving antenna B, the terminal 2 can measure the phase of the UWB signal received by the antenna a and the antenna B through the UWB module, and thus calculate the phase difference pdoa. Further, the path difference p between the transmitting antenna T and the receiving antenna a and the receiving antenna B of the terminal 1 is calculated by pdoa, and the arrival angle θ (i.e. the azimuth angle of the terminal 1 relative to the terminal 2) is calculated by a (trigonometric) functional relationship according to p and d. Specifically, it can be obtained by the formula (1).

2) Unmanned aerial vehicle express delivery: the package is carried by the unmanned low-altitude aircraft operated by the radio remote control equipment and the self-contained program control device, the package is automatically delivered to the destination, the delivery efficiency is improved, and the labor cost is reduced. The defects mainly lie in that no one can deliver goods in bad weather, and the artificial damage can not be avoided in the flying process.

Nowadays, the popularization of the e-commerce drives the rapid development of the logistics industry, and how to transport goods to the customers with the lowest cost and the highest speed is a core problem of each logistics company. And some express companies that have strength have begun to use unmanned aerial vehicle to carry out the express delivery, and the advantage of this technique lies in can improving delivery efficiency, reduces the human cost.

At present, the common unmanned aerial vehicle distribution technology in the related art mainly sets up a GPS autonomous navigation system, an iGPS receiver, various sensors and a wireless signal transceiver on an unmanned aerial vehicle, so that the unmanned aerial vehicle has multiple flight modes such as GPS autonomous navigation, fixed-point suspension, manual control and the like, and integrates various high-precision sensors such as a three-axis accelerometer, a three-axis gyroscope, a magnetometer, an air pressure altimeter and the like and advanced control algorithms. Specifically, the unmanned aerial vehicle can perform data transmission with a dispatching center, a self-service express cabinet and the like through a communication network and a radio communication remote sensing technology, sends geographic coordinates and state information of the unmanned aerial vehicle to the dispatching center in real time, flies in a GPS self-control navigation mode based on received target coordinates when receiving an instruction sent by the dispatching center, sends a landing request, a local machine task report and a local machine running state report to the target express cabinet after entering a target area, and guides the unmanned aerial vehicle to land, load and unload the express and perform quick charging on a shutdown platform at the top end of the express cabinet after receiving a response of the landing request by the express cabinet. And after the unmanned aerial vehicle sends a request no response overtime, the unmanned aerial vehicle sends the request to the target receiving and dispatching cabinet again, and sends a landing request exception report, a local machine task state report and a local machine running state report to the dispatching center after multiple overtime, and requests for instructions. The unmanned aerial vehicle flies to the express distribution point by itself after losing contact with the dispatching center or having abnormal faults.

However, the GPS geolocation commonly adopted by existing unmanned aerial vehicle delivery technologies is mainly implemented and applied in open outdoor environments. And under intensive environment, perhaps during bad weather conditions such as fog, rain, haze, because the environment is complicated, shelter from the thing more to GPS positioning accuracy is low own, the accuracy of location when adopting GPS positioning technology's unmanned aerial vehicle delivery will be difficult to guarantee the goods delivery, thereby can't realize the accurate delivery of goods.

In order to solve the problems of the existing unmanned aerial vehicle delivery mechanism, the cargo delivery method, the cargo delivery device and the computer storage medium in the embodiment of the application can reach a specific target delivery area according to a delivery instruction, and after sending a corresponding arrival notice to an object to be delivered, the cargo delivery device can communicate with a second UWB module arranged on the object to be delivered through a first UWB module arranged on the cargo delivery device, so that the accurate target position of the object to be delivered is determined through receiving a UWB angle measurement signal, and then the accurate delivery of the cargo is executed according to the target position. It is thus clear that in this application, goods dispatch device can obtain the real-time accurate position of receiving goods customer based on UWB technique to fly to this position and carry out the accurate dispatch of goods, need not to get the piece downstairs, overcome indoor intensive environment, perhaps defect that location accuracy is low during bad weather conditions such as fog, rain, haze, improved the accuracy that goods dispatch device location, further realized the accurate dispatch of goods dispatch device goods.

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.

An embodiment of the present application provides a network connection method, fig. 2 is a schematic view illustrating an implementation flow of a cargo dispatching method provided in an embodiment of the present application, and as shown in fig. 2, in an embodiment of the present application, a method for dispatching a cargo by a cargo dispatching device may include the following steps:

it should be understood that, when the goods are dispatched, the receiving customer needs to hold the electronic device to perform the processes of sending the goods dispatching instruction, sending the UWB positioning signal and subsequent position confirmation or position replacement, and therefore, in the embodiment of the present application, the position of the electronic device is always equivalent to the position of the receiving customer.

It should be understood that in the embodiment of the present application, the cargo delivery device may be an unmanned aerial vehicle capable of realizing unmanned delivery at present, and may also be any future autonomous flight equipment equipped with a communication module, a navigation module and a UWB positioning module. In the description of the following embodiments of the present application, the unmanned aerial vehicle is used for description of the cargo delivery method, and the description is only provided for reference.

Step 101, when moving to the target dispatch area according to the dispatch instruction, sending a first arrival notification to the object to be dispatched.

In the embodiment of the application, when the unmanned aerial vehicle navigates to the target delivery area according to the delivery instruction, the unmanned aerial vehicle can send an arrival notification carrying real-time geographic coordinates, namely a first arrival notification, to the object to be delivered.

It should be noted that, in the embodiment of the present application, the object to be delivered refers to an electronic device held by the receiving customer, and the position of the electronic device is always equivalent to the position of the receiving customer.

Optionally, the object to be delivered is a handheld displayable electronic device configured with a UWB module, and is not limited to a notebook computer, a tablet computer, a mobile device (e.g., UE, mobile phone, personal digital assistant, dedicated messaging device, wearable device), and other various types of user terminals.

Specifically, in the embodiment of the application, a receiving client can firstly perform receiving operation on a display interface of an object to be dispatched, and the object to be dispatched can respond to the operation to send a dispatching request to a goods dispatching center; wherein, the delivery request carries the information of the receiving address corresponding to the target delivery area; and the dispatch center can generate a dispatch instruction based on the address information and issue the dispatch instruction to the unmanned aerial vehicle.

It should be noted that, in the embodiment of the present application, the target delivery area can only be specified to the number of buildings where the consignee client is located, and cannot be specified to the precise location of the client in the buildings; such as which room the user is in, which balcony position.

In summary, although the dispatch instruction of the unmanned aerial vehicle is directly issued by the cargo dispatch center, the delivery address information corresponding to the target dispatch area carried in the dispatch instruction is carried in the dispatch request uploaded to the cargo dispatch center by the object to be dispatched.

For example, after the customer inputs that the receiving address is "XX district XX building" on the goods delivery management interface of the electronic device, the customer clicks the receiving button, the electronic device executes a response operation, sends a piece dispatching request carrying the receiving address "XX district XX building" to the goods delivery center, and after the goods delivery center receives the piece dispatching request, the goods delivery center acquires the receiving address "XX district XX building", generates a piece dispatching instruction based on the harvesting address, and issues the piece dispatching instruction to the unmanned aerial vehicle.

Further, in the embodiment of the application, the unmanned aerial vehicle can move to the position corresponding to the receiving address, namely the target delivery area, according to the delivery instruction issued by the cargo delivery center.

It should be understood that in the embodiments of the present application, the drone is itself equipped with a GPS autonomous navigation system. Specifically, after the unmanned aerial vehicle receives a delivery instruction which is issued by the delivery center and carries a delivery address, the unmanned aerial vehicle can fly in a GPS (global positioning system) self-control navigation mode and then enter a target delivery area corresponding to the delivery address.

It should be noted that, in the embodiment of the present application, after the unmanned aerial vehicle reaches the target delivery area by using the GPS self-delivery navigation system, the task of the unmanned aerial vehicle is not completed. At this time, although the target delivery area already corresponds to the detailed shipping address entered by the user, the user is still required to move to the current area (e.g., downstairs) to pick up the goods; in order to realize that the customer need not to go downstairs, stretch out one's hand alright and get, in the embodiment of this application, unmanned aerial vehicle can further fly to the accurate position (for example balcony, window) of receiving goods customer and dispatch and send to the convenience of goods is got promptly to the realization stretch out one's hand.

Specifically, after the unmanned aerial vehicle reaches the target delivery area, the unmanned aerial vehicle may send a notification message to the object to be delivered first to inform that the object to be delivered is currently located in the target delivery area, that is, send a first arrival notification; wherein, the real-time geographic coordinates of the unmanned aerial vehicle are carried in the arrival notification at the same time.

Optionally, the first arrival notification may be sent by the unmanned aerial vehicle itself, or the unmanned aerial vehicle may feed back a message to the cargo delivery center, and then the cargo delivery center issues the message to the object to be delivered. Specifically, in the case where the unmanned aerial vehicle and the object to be delivered are equipped with a wireless communication module at the same time (such as bluetooth), the unmanned aerial vehicle can directly send an arrival notification by using the communication module; if the drone or the object to be dispatched is not equipped with a wireless communication module, the drone may need to forward the arrival notification through the dispatch center.

It is understood that, in the embodiment of the present application, the target delivery area is a larger area, for example, the periphery of a certain building can be used as the target delivery area, and the first arrival notification is to notify the to-be-delivered object that the drone arrives at the target delivery area; on the other hand, the real-time geographic coordinates of the unmanned aerial vehicle carried in the arrival notification can also enable the object to be dispatched to know the position of the unmanned aerial vehicle, namely, somewhere around the building, so that the object to be dispatched can move to the corresponding position to be delivered based on the real-time geographic coordinates of the unmanned aerial vehicle.

For example, in the first arrival notification sent by the drone, the current location of the drone at the rear end of the building is known based on the real-time geographic coordinates, and then the delivery client may move the handheld electronic device to a balcony that is closer to the rear end of the building for delivery.

Further, in the embodiment of the present application, after the unmanned aerial vehicle moves to the target dispatch area according to the dispatch instruction and sends the first arrival notification carrying the real-time physical coordinates of the unmanned aerial vehicle to the object to be dispatched, the unmanned aerial vehicle may further receive the first UWB signal returned by the object to be dispatched.

102, receiving a first UWB signal which is returned by an object to be dispatched and responds to a first arrival notice through a first UWB module; the first UWB positioning signal is sent by the object to be matched through the second UWB module.

In the embodiment of the application, after the unmanned aerial vehicle moves to the target dispatch area according to the dispatch instruction and sends the arrival notice carrying the real-time geographic coordinate of the unmanned aerial vehicle to the object to be dispatched, the unmanned aerial vehicle can receive the positioning signal which is returned by the object to be dispatched and responds to the real-time geographic coordinate, namely, the first UWB signal.

It can be understood that, since the unmanned aerial vehicle needs to further determine the precise position of the object to be delivered, that is, to implement the positioning process of the object to be delivered, in the embodiment of the present application, both the unmanned aerial vehicle and the object to be delivered are configured with the UWB module. Specifically, the terminal configures a first UWB module, and the object to be provisioned configures a second UWB module.

It should be noted that, in the embodiment of the present application, when the object to be dispatched is selected to move to the corresponding location to receive the goods based on the first arrival notification sent by the drone, the object to be dispatched may be located at the corresponding location (such as a window or a balcony), and a second UWB module is opened at the corresponding location, and the first UWB module configured on the drone may communicate with the second UWB module to accurately locate the object to be dispatched.

Specifically, the unmanned aerial vehicle can receive the ranging angle measurement signal, namely the first UWB signal, which is sent by the object to be dispatched through the second UWB module and responds to the real-time physical coordinate thereof, through the first UWB module, so as to realize the accurate positioning of the object to be dispatched through the reception of the ranging angle measurement signal.

Optionally, the first UWB signal may be a continuously transmitted positioning signal or an intermittently transmitted signal.

Further, in the embodiment of the present application, after the drone receives the first UWB signal sent by the object to be dispatched, the drone may make a determination of the target position based on the first UWB signal.

And 103, determining a target position corresponding to the object to be distributed according to the first UWB signal.

In the embodiment of the application, after the unmanned aerial vehicle receives the first UWB signal sent by the object to be dispatched, the unmanned aerial vehicle may further determine the target position of the object to be dispatched based on the UWB signal.

It should be noted that, in the embodiment of this application, the target location is distinguished and target dispatch is regional, the user stretches out the more accurate and convenient position of getting goods that can get, that is to say, unmanned aerial vehicle is after utilizing GPS outdoor navigation to target dispatch region, need further go out the accurate stretch out the hand position of getting goods of consignee customer through UWB communication module location in indoor complicated environment again, and unmanned aerial vehicle intelligence and the accuracy of goods dispatch are higher.

Specifically, fig. 3 is a schematic view of a second implementation flow chart of the cargo delivery method provided in the embodiment of the present application, and as shown in fig. 3, in the embodiment of the present application, a method for determining, by an unmanned aerial vehicle, a target position corresponding to an object to be delivered according to a first UWB signal may include the following steps:

and 103a, determining the azimuth angle and the distance corresponding to the object to be distributed according to the first UWB signal.

And step 103b, determining the target position according to the azimuth angle and the distance.

Specifically, in the embodiment of the present application, the second UWB module in the unmanned aerial vehicle may be configured with multiple receiving antennas, for example, a receiving antenna a and a receiving antenna B that are disposed at different positions, and the unmanned aerial vehicle receives the first UWB signal through the receiving antenna a and the receiving antenna B, and detects an arrival time difference and an arrival phase difference of the signal reception in real time, and further determines a distance of the object to be delivered relative to the unmanned aerial vehicle according to the arrival phase difference, and at the same time, determines an azimuth angle of the object to be delivered relative to the unmanned aerial vehicle according to the receiving phase difference.

Further, after the distance and the azimuth angle corresponding to the object to be dispatched are determined based on the ranging and angle measuring signals, the unmanned aerial vehicle can acquire the accurate position of the object to be dispatched based on the distance and the azimuth angle.

It should be understood that since the location of the receiving customer is comparable to the location of the handheld electronic device, the goods delivery device determines the target location of the object to be delivered, which is equivalent to the goods delivery device simultaneously determining the precise receiving location where the receiving customer is located.

It can be seen that, in the embodiment of the present application, the object to be dispatched is always used as a device to be positioned, the cargo dispatching device is a position measuring device, and the cargo dispatching device can receive the ranging angle measuring signal sent by the second UWB module of the object to be dispatched through the first UWB module to realize the accurate positioning of the receiving client.

Further, in the embodiment of the present application, after the goods delivering device determines the target position, the goods delivering device may further perform the delivering process of the goods according to the target position.

And 104, performing dispatching processing based on the target position.

In an embodiment of the application, after the goods delivering device receives the first UWB signal sent by the object to be delivered, the goods delivering device may determine the target position of the object to be delivered according to the UWB signal.

It can be understood that, after the goods dispatching device determines the target position of the customer, if the customer is sometime, the customer may leave the target position to do other things, which may cause the goods dispatching device to dispatch the goods to the target position, and no one is taking the goods, in order to ensure that the customer can be always located at the target position to wait for the goods dispatching device to dispatch the goods, so that the goods can be successfully fetched when the goods dispatching device dispatches the goods to the target position, in the embodiment of the present application, the goods dispatching device must wait for receiving a position confirmation instruction sent by the object to be dispatched after determining the target position of the customer, and then dispatch the goods according to the target position.

Specifically, fig. 4 is a schematic flow chart illustrating a third implementation process of the cargo dispatching method according to the embodiment of the present application, as shown in fig. 4, in the embodiment of the present application, the method for dispatching the cargo dispatching device based on the target position may include the following steps:

and 104a, receiving a position confirmation instruction which is sent by the object to be dispatched and corresponds to the target position within a preset time threshold.

And 104b, responding to the position confirmation instruction and performing dispatch processing.

It should be noted that, in the embodiment of the present application, the receiving time threshold (for example, 30s-1min) of the position-related instruction after the target position is determined may be preset by the goods delivering device. Specifically, after the target position is determined, the cargo delivery device waits for receiving a position confirmation instruction sent by the object to be delivered within the preset time threshold.

Optionally, if the cargo dispatching device receives the position confirmation instruction corresponding to the target position at the preset time threshold, it indicates that the cargo dispatching device can dispatch the cargo according to the previously determined target position, and further, the cargo dispatching device can respond to the dispatching instruction and fly to the target position (window or balcony), and a customer can reach to take the cargo carried on the cargo dispatching device.

Furthermore, after goods carried on the goods dispatching device are taken by a user, a customer can carry out goods receiving confirmation operation on the object to be dispatched, the goods dispatching device can receive goods dispatching information forwarded by the dispatching center, and then the goods dispatching device can read geographical coordinates of the dispatching center prestored in the local area and return to the goods dispatching center based on GPS navigation.

Optionally, an image acquisition module (such as a camera) can be configured on the goods dispatching device, the position of the camera can correspond to the hanging position of the goods, and after the user takes the goods, the camera can detect the goods at the corresponding position to be taken away, and then the goods dispatching device can be triggered to return to the goods dispatching center.

It should be noted that, in the embodiment of the present application, when the goods dispatching center receives dispatching requests of multiple customers in the target dispatching area in the same time period, for more efficient goods dispatching, the goods dispatching center may select to load the goods of the multiple customers at one time through the goods dispatching device, and then after the dispatching process of one of the goods is completed, the goods dispatching device may further continue to dispatch the goods of the next customer.

Specifically, after the delivery of the goods of the first customer is completed, since the customers all belong to the same delivery area and have not very far distances, the goods delivery device can select to directly send the arrival notification to the next customer at the target position where the previous customer is located, and the goods delivery device can also fly back to the target delivery area and send the arrival notification message to the next customer in the target delivery area. Further, the goods dispatching device can continue to communicate with the UWB module of the next customer to perform the next customer destination location determination process and the corresponding goods dispatching process.

For example, assuming that three customers in the same building respectively initiate dispatch requests for customer a, customer B and customer C successively through mobile phone terminals in the same time period, the express delivery platform obtains a customer dispatch area based on the dispatch requests, that is, after the customer is located in which building, the express delivery platform can dispatch the goods of customer a, customer B and customer C through the same goods dispatch device. Specifically, the express delivery platform generates a delivery instruction according to geographic coordinates corresponding to a delivery area, the delivery instruction is issued to the cargo delivery device, the cargo delivery device flies to the periphery of a building where a customer is located through GPS self-control navigation, then the cargo delivery device sends an arrival notification to the customer A, the customer A moves to a balcony and starts a UWB device on a mobile phone to communicate with the cargo delivery device, further, the cargo delivery device determines that the customer A is located on the balcony based on a UWB positioning signal sent by the customer A, and after receiving a position confirmation instruction sent by the customer A, the cargo delivery device flies to the balcony, and the customer A can reach to take the parts. After the goods delivery of the client A is finished, the goods delivery device continues to send an arrival notice to the client B, and the goods of the client B are sent to the window; similarly, the goods of customer C are sent to the doorway of the building.

Therefore, the goods dispatching method solves the problems that the goods dispatching device can only dispatch goods to a specified range and cannot accurately dispatch the goods to home, and a customer needs to go downstairs to take the goods, and can dispatch the goods at any time according to the dispatching request time of the customer, so that the labor is saved, and the goods dispatching method is not influenced by severe weather. To sum up can describe, through the UWB technique, further realized the accurate delivery of "goods dispatch device express delivery", satisfied the customer of receiving goods and can reach the demand of getting the piece at home, whole dispatch process need not artificial intervention, degree of automation is high.

The embodiment of the application provides a cargo delivery method, wherein a cargo delivery device is provided with a first UWB module, and when the cargo delivery device moves to a target delivery area according to a delivery instruction, a first arrival notice is sent to an object to be delivered; receiving a first UWB signal which is returned by the object to be dispatched and responds to the first arrival notice; the first UWB positioning signal is sent by the object to be matched through the second UWB module; determining a target position corresponding to an object to be distributed according to the first UWB signal; dispatch processing is performed based on the target location. That is to say, in the embodiment of the present application, the goods dispatching device may first arrive at a specific target dispatching area according to the dispatching instruction, and after sending a corresponding arrival notification to the object to be dispatched, the goods dispatching device may communicate with the second UWB module provided to the object to be dispatched through the first UWB module provided to the goods dispatching device, so as to determine an accurate target position of the object to be dispatched through receiving the UWB angle measurement signal, and then perform accurate dispatching of the goods according to the target position. It is thus clear that in this application, goods dispatch device can obtain the real-time accurate position of receiving goods customer based on UWB technique to fly to this position and carry out the accurate dispatch of goods, need not to get the piece downstairs, overcome indoor intensive environment, perhaps defect that location accuracy is low during bad weather conditions such as fog, rain, haze, improved the accuracy that goods dispatch device location, further realized the accurate dispatch of goods dispatch device goods.

Based on the foregoing embodiment, in yet another embodiment of the present application, fig. 5 is a schematic flow chart illustrating an implementation of a cargo dispatching method provided in the embodiment of the present application, as shown in fig. 5, in the embodiment of the present application, after the cargo dispatching device determines the target dispatching position corresponding to the object to be dispatched according to the first UWB signal, that is, after step 103, the method for positioning the cargo by the cargo dispatching device may further include the following steps:

and 105, receiving a position replacement instruction sent by the object to be dispatched within a preset time threshold.

And 106, responding to the position replacing command, and re-determining the target position.

And step 107, dispatching processing is carried out based on the target position.

It should be understood that after the drone determines the target location of the customer, if the customer may not be able to pick up the goods at the target location determined before the drone due to the bulky goods or other special reasons, the drone needs to be replaced to a new location. For example, if the goods are too large, the customer cannot take the goods from the original target position window, and the goods need to be taken by replacing the window to a wider balcony. At this time, the client can perform position change operation on the object to be dispatched, and then the unmanned aerial vehicle can reposition the object to be dispatched.

Specifically, in the embodiment of the application, after the target position is determined, if the unmanned aerial vehicle does not receive the position confirmation instruction within the preset time threshold, but receives the position replacement instruction, that is, it indicates that the customer replaces the new receiving position, at this time, the unmanned aerial vehicle may respond to the position replacement instruction, reposition the new target position, and further perform the dispatching process of the goods based on the new target position.

More specifically, after the object to be dispatched moves to a new target position, the object to be dispatched can continue to communicate with the first UWB module in the unmanned aerial vehicle through the second UWB module, and the unmanned aerial vehicle can receive the second UWB signal sent by the object to be dispatched, and then update the previous target position according to the second UWB signal, so as to obtain a new delivery position.

Further, after the unmanned aerial vehicle determines a new target position, the unmanned aerial vehicle still needs to wait for a position confirmation instruction sent by the object to be dispatched to the updated target position within a preset time, and after receiving the position confirmation instruction, the unmanned aerial vehicle can respond to the position confirmation instruction and dispatch goods according to the target position. That is to say, no matter be the target location before, or the new target location after changing, unmanned aerial vehicle only within the time threshold of predetermineeing, receives the position confirmation instruction that the object sent to dispatch, and unmanned aerial vehicle can carry out the goods dispatch.

The embodiment of the application provides a goods dispatching method, when the goods dispatching device receives a position replacement instruction of an object to be dispatched, the object to be dispatched can be positioned again, the updated target position is determined, accurate dispatching of goods is ensured, a customer does not need to go downstairs to take goods, the defect that indoor intensive environment is overcome, or the positioning accuracy is low under poor weather conditions such as fog, rain and haze is overcome, the positioning accuracy of the goods dispatching device is improved, and accurate dispatching of goods of the goods dispatching device is further achieved.

Based on the foregoing embodiment, in yet another embodiment of the present application, fig. 6 is a schematic flow chart illustrating an implementation process of the cargo dispatching method provided in the embodiment of the present application, as shown in fig. 6, in the embodiment of the present application, after the cargo dispatching device determines the target dispatching position corresponding to the object to be dispatched according to the first UWB signal, that is, after step 103, the method for positioning the cargo by the cargo dispatching device may further include the following steps: :

step 108, if the position confirmation instruction and the position replacement instruction are not received within a preset time threshold, reading a prestored return geographical coordinate;

and step 109, returning to the preset management area according to the pre-stored returned geographic coordinates.

It can be understood that unmanned aerial vehicle is after determining customer's target location, if the customer is sometime something, probably leaves this target location at any time to do other things, can't take out to open for a period and carry out goods and collect, forgets the goods of dispatch even, and at this moment, unmanned aerial vehicle just can't carry out the dispatch of goods.

Specifically, in the embodiment of this application, when unmanned aerial vehicle carried out the receipt of position correlation instruction at preset time threshold, if unmanned aerial vehicle had not received the position and confirmed the instruction within preset time threshold yet, and had not received the position and change the instruction yet, alright know that the customer can't carry out the goods at present and take.

It should be noted that, in the embodiment of this application, when predetermineeing the management area and confirming that the customer can't carry out the goods for unmanned aerial vehicle and take, return the concrete position of stopping.

Optionally, the preset management area may be a cargo platform delivery center, that is, when it is determined that the customer cannot take the cargo, the unmanned aerial vehicle may execute a preset return processing mechanism, that is, stop the delivery of the cargo and return to the delivery center.

Specifically, unmanned aerial vehicle can prestore the geographical coordinate at goods dispatch center, under the current unable circumstances of acquireing of confirming the user, unmanned aerial vehicle can start GPS automatic control navigation and return to goods dispatch center to continue to carry out the goods through unmanned aerial vehicle and dispatch when the customer launches the dispatch request next time.

Optionally, this management area of predetermineeing can be the appointed region of goods platform dispatch center, when confirming that the customer can't carry out the goods and take promptly, unmanned aerial vehicle can stop the dispatch of goods and return the appointed region of dispatch center.

Specifically, in order to save time, the unmanned aerial vehicle can also feed back information that the user cannot take the goods to the goods dispatching center, and then the unmanned aerial vehicle flies to a designated area according to position information issued by the dispatching center; for example, the nearest express delivery cabinet configured with a UWB base station, through which the dispatch center can know the position of the unmanned aerial vehicle in real time. If the unmanned aerial vehicle is within the preset waiting time threshold value, the dispatching center receives a next dispatching request initiated by the client, and then the unmanned aerial vehicle can be informed to carry out the confirmation of the target position of the client and the dispatching of goods again; if the dispatching center does not receive the dispatching request initiated by the client within the preset waiting time, the unmanned aerial vehicle can return to the goods dispatching center according to the pre-stored geographic coordinates.

Further, if the unmanned aerial vehicle bears the cargos of a plurality of customers, at this time, after the unmanned aerial vehicle confirms that the current customer cannot take the cargos, the unmanned aerial vehicle can terminate the delivery flow of the user and continue to send an arrival notification to the next customer so as to execute the cargo delivery of the next customer.

The embodiment of the application provides a cargo delivery method, when a position confirmation instruction and a position replacement instruction of an object to be delivered are not received by a cargo delivery device, the cargo delivery device can return to a delivery center to re-deliver the cargo when a client re-initiates a delivery request, manual intervention is not needed in the cargo delivery process of the cargo delivery device, the automation degree is high, and accurate delivery of the cargo is ensured.

Based on the foregoing embodiment, in yet another embodiment of the present application, fig. 7 is a schematic diagram illustrating an implementation flow of a cargo dispatching method provided in the embodiment of the present application, as shown in fig. 7, in the embodiment of the present application, after a customer inputs a receiving address and clicks a receiving button, so that a cargo dispatching center generates a dispatching instruction based on the receiving address carried in a dispatching request, a control drone may receive the dispatching instruction issued by the cargo dispatching center (step S1), and move to a target dispatching area according to the dispatching instruction (step S2); after moving to the dispatch area, the drone may send an arrival notification to the customer carrying its real-time geographic coordinates to enable the user to move to the cargo receiving location (step S3), after which the first UWB module in the drone may communicate with the second UWB module in the customer' S handheld electronic device. Specifically, the drone may receive the UWB positioning signal transmitted by the client (step S4), and then determine the target location where the client is currently located according to the UWB positioning signal (step S5).

Further, the drone waits to receive a position confirmation command or a position replacement command within a preset time. Specifically, the unmanned aerial vehicle first determines whether a position confirmation instruction is received within a preset time (step S6); if so, the drone flies to the target location for cargo dispatch (step S7), and further, after dispatch is completed, the drone may return to the cargo dispatch center or perform a cargo dispatch task for the next customer (step S9). If not, the unmanned aerial vehicle continues to judge whether a position change instruction is received within a preset time (step S8); if the position replacing instruction is received, the unmanned aerial vehicle receives the UWB positioning signal again, confirms the target position again, namely, jumps to step S4; if neither the position confirmation instruction nor the position replacement instruction is received, the drone returns to the goods dispatch center or performs a goods dispatch task for the next customer, i.e., performs step S9.

For example, fig. 8A is a schematic view of an application scenario of the cargo delivery method provided in the embodiment of the present application, assuming that a client a initiates a delivery request through a mobile phone terminal, as shown in fig. 8A, a base station 10 receives the delivery request initiated by the client, then the base station 10 may transmit the delivery request to a network server 20, and then send the delivery request to an express delivery platform 30 through the network server 20, and after the express delivery platform 30 obtains a client delivery area based on the delivery request, the express delivery platform 30 may deliver the cargo of the client a through an unmanned aerial vehicle. Specifically, the express delivery platform 30 may generate a delivery instruction according to geographic coordinates corresponding to a delivery area, and issue the delivery instruction to the cargo delivery device 40, that is, an unmanned aerial vehicle, to assign the unmanned aerial vehicle to deliver the cargo, and then the unmanned aerial vehicle flies to a target delivery area by using GPS autonomous navigation, that is, around a building where the customer is located, after the unmanned aerial vehicle arrives around the building, the unmanned aerial vehicle sends an arrival notification to the customer a, and the customer a moves to a balcony and starts a UWB device on a mobile phone to communicate with the unmanned aerial vehicle, further, after the unmanned aerial vehicle determines that the customer a is located on the balcony based on a UWB positioning signal sent by the customer a, and after receiving a position confirmation instruction sent by the customer a within a preset time of 30s, the unmanned aerial vehicle flies to the balcony, and at this time, the customer a can reach to take the cargo.

For example, fig. 8B is a schematic view of an application scenario of the cargo delivery method according to the embodiment of the present application, assuming that the customer a initiates a delivery request through a mobile phone terminal, as shown in fig. 8B, after the express delivery platform 30 obtains a customer delivery area based on the delivery request, the express delivery platform 30 may generate a delivery instruction according to geographic coordinates corresponding to the delivery area and issue the delivery instruction to the cargo delivery device 40, that is, an unmanned aerial vehicle, and immediately after the unmanned aerial vehicle flies to the front of the building, an arrival notification is sent to the customer a, the customer a moves to a balcony and starts a UWB device on a mobile phone to communicate with the unmanned aerial vehicle, further, the unmanned aerial vehicle determines that the customer a is located on the balcony based on a UWB positioning signal sent by the customer a, however, the customer suddenly receives a call from a neighbor, the customer moves to a window and speaks from the neighbor, at this time, the unmanned aerial vehicle may receive a position change instruction sent by the customer a, the drone may re-determine the location of customer a in response to the instruction. Further, after the unmanned aerial vehicle determines that the new position of the client A is a window and receives the confirmation instruction of the new position sent by the client A within the preset time of 30s, the unmanned aerial vehicle flies to the window, and the client A can stretch hands to take the piece at the moment.

In summary, in the embodiment of the present application, the unmanned aerial vehicle may first arrive at a specific target dispatch area according to the dispatch instruction, and after sending a corresponding arrival notification to the object to be dispatched, the unmanned aerial vehicle may communicate with the second UWB module provided to the object to be dispatched through the first UWB module provided by the unmanned aerial vehicle itself, so as to determine an accurate target position of the object to be dispatched through receiving the UWB angle measurement signal, and then execute accurate dispatch of the cargo according to the target position. It is thus clear that in this application, unmanned aerial vehicle can obtain the real-time accurate position of receiving goods customer based on UWB technique to fly to this position and carry out the accurate dispatch of goods, need not to take off the stairs, overcome indoor intensive environment, perhaps defect that location accuracy is low during bad weather conditions such as fog, rain, haze, improved the accuracy of unmanned aerial vehicle location, further realized the accurate dispatch of unmanned aerial vehicle goods and sent.

Based on the foregoing embodiment, in another embodiment of the present application, fig. 9 is a schematic structural diagram of a first component of a cargo sending device according to the embodiment of the present application, and as shown in fig. 9, a cargo sending device 40 according to the embodiment of the present application may include a sending unit 41, a receiving unit 42, a determining unit 43, a sending unit 44, a reading unit 45, a returning unit 46, and an executing unit 47;

the sending unit 41 is configured to send a first arrival notification to the object to be dispatched when the object moves to the target dispatch area according to the dispatch instruction;

the receiving unit 42 is configured to receive, through the first UWB module, a first UWB signal returned by the object to be dispatched and responding to the first arrival notification; the first UWB positioning signal is sent by the object to be matched through a second UWB module;

the determining unit 43 is configured to determine a target position corresponding to the object to be delivered according to the first UWB signal;

the dispatch unit 44 is configured to perform dispatch processing based on the target location. (ii) a

Further, in the embodiment of the present application, the determining unit 43 is specifically configured to determine an azimuth angle and a distance corresponding to the object to be delivered according to the first UWB signal; and determining the target position according to the azimuth angle and the distance.

Further, in an embodiment of the present application, the dispatch unit 44 is specifically configured to receive, within a preset time threshold, a position confirmation instruction corresponding to the target position and sent by the object to be dispatched; and responding to the position confirmation instruction to perform the dispatching processing.

Further, in the embodiment of the present application, the receiving unit 42 is further configured to receive, within a preset time threshold, a position replacement instruction sent by the object to be delivered after determining the target position corresponding to the object to be delivered according to the first UWB signal.

Further, in the embodiment of the present application, the determining unit 43 is further configured to re-determine the target position in response to the position replacing instruction.

The dispatch unit 44 is further configured to perform the dispatch processing based on the target location.

Further, in the embodiment of the present application, the determining unit 43 is further specifically configured to receive a second UWB signal sent by the object to be matched; and updating the target position according to the second UWB signal. .

Further, in this embodiment of the application, the reading unit 45 is configured to, after determining the target position corresponding to the object to be delivered according to the first UWB signal, read a pre-stored geographic coordinate if the position confirmation instruction and the position replacement instruction are not received within the preset time threshold.

Further, in an embodiment of the present application, the returning unit 46 is configured to return to a preset management area according to the pre-stored returned geographic coordinate.

Further, in the embodiment of the present application, the reading unit 45 is further configured to read the pre-stored geographic coordinates after the dispatch processing is performed based on the target location.

The returning unit 46 is further configured to return to a preset management area according to the pre-stored returned geographic coordinate.

Further, in the embodiment of the present application, the sending unit 41 is further configured to send a second arrival notification to a next object to be dispatched after the dispatching processing is performed based on the target location; wherein the next dispatch object is located within the target dispatch area.

Further, in this embodiment of the present application, the executing unit 47 is configured to continue to execute the dispatching processing of the next object to be dispatched.

In the embodiment of the present application, further, fig. 10 is a schematic structural diagram of the cargo dispatching device according to the embodiment of the present application, as shown in fig. 10, the cargo dispatching device 40 according to the embodiment of the present application may further include a first UWB module 48, a processor 49, and a memory 410 storing instructions executable by the processor 49, and further, the cargo dispatching device 40 may further include a communication interface 411, and a bus 412 for connecting the processor 49, the memory 410, and the communication interface 411.

In the embodiment of the present Application, the Processor 49 may be at least one of an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a ProgRAMmable Logic Device (PLD), a Field ProgRAMmable Gate Array (FPGA), a Central Processing Unit (CPU), a controller, a microcontroller, and a microprocessor. It is understood that the electronic devices for implementing the above processor functions may be other devices, and the embodiments of the present application are not limited in particular. The goods dispatching device 40 may further comprise a memory 410, which memory 410 may be connected to the processor 49, wherein the memory 410 is for storing executable program code comprising computer operating instructions, and wherein the memory 410 may comprise a high speed RAM memory and may further comprise a non-volatile memory, such as at least two disk memories.

In an embodiment of the application, a bus 412 is used to connect the communication interface 411, the processor 49 and the memory 410 and the intercommunication among these devices.

In an embodiment of the present application, memory 410 is used to store instructions and data.

Further, in the embodiment of the present application, the processor 49 is configured to send a first arrival notification to the object to be dispatched when moving to the target dispatch area according to the dispatch instruction; receiving, by the first UWB module, a first UWB signal returned by the object to be dispatched in response to the first arrival notification; the first UWB positioning signal is sent by the object to be matched through a second UWB module; determining a target position corresponding to the object to be matched according to the first UWB signal; and dispatching processing is carried out based on the target position.

In practical applications, the Memory 410 may be a volatile Memory (volatile Memory), such as a Random-Access Memory (RAM); or a non-volatile Memory (non-volatile Memory), such as a Read-Only Memory (ROM), a flash Memory (flash Memory), a Hard Disk (Hard Disk Drive, HDD) or a Solid-State Drive (SSD); or a combination of the above types of memories and provides instructions and data to the processor 49.

In addition, each functional module in this embodiment 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 a form of a software functional module.

Based on the understanding that the technical solution of the present embodiment essentially or a part contributing to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium, and include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to execute all or part of the steps of the method of the present embodiment. 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.

The embodiment of the application provides a cargo delivery device, which is provided with a first UWB module, and when the cargo delivery device moves to a target delivery area according to a delivery instruction, a first arrival notice is sent to an object to be delivered; receiving a first UWB signal which is returned by the object to be dispatched and responds to the first arrival notice; the first UWB positioning signal is sent by the object to be matched through the second UWB module; determining a target position corresponding to an object to be distributed according to the first UWB signal; dispatch processing is performed based on the target location. That is to say, in the embodiment of the present application, the goods dispatching device may first arrive at a specific target dispatching area according to the dispatching instruction, and after sending a corresponding arrival notification to the object to be dispatched, the goods dispatching device may communicate with the second UWB module provided to the object to be dispatched through the first UWB module provided to the goods dispatching device, so as to determine an accurate target position of the object to be dispatched through receiving the UWB angle measurement signal, and then perform accurate dispatching of the goods according to the target position. It is thus clear that in this application, goods dispatch device can obtain the real-time accurate position of receiving goods customer based on UWB technique to fly to this position and carry out the accurate dispatch of goods, need not to get the piece downstairs, overcome indoor intensive environment, perhaps defect that location accuracy is low during bad weather conditions such as fog, rain, haze, improved the accuracy that goods dispatch device location, further realized the accurate dispatch of goods dispatch device goods.

An embodiment of the present application provides a computer-readable storage medium, on which a program is stored, which when executed by a processor implements the cargo delivery method as described above.

Specifically, the program instructions corresponding to a goods delivery method in the embodiment may be stored on a storage medium such as an optical disc, a hard disc, a usb disk, or the like, and when the program instructions corresponding to a network connection method in the storage medium are read or executed by an electronic device, the method includes the following steps:

receiving, by the first UWB module, a first UWB signal returned by the object to be dispatched in response to the first arrival notification; the first UWB positioning signal is sent by the object to be matched through a second UWB module;

and dispatching processing is carried out based on the target position.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of implementations of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart block or blocks and/or flowchart block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks in the flowchart and/or block diagram block or blocks.

The above description is only a preferred embodiment of the present application, and is not intended to limit the scope of the present application.

Claims

1. A cargo delivery method applied to a cargo delivery apparatus provided with a first UWB module, the method comprising:

when the target dispatch area is moved according to the dispatch instruction, a first arrival notice is sent to the object to be dispatched;

receiving, by the first UWB module, a first UWB signal returned by the object to be dispatched in response to the first arrival notification; the first UWB signal is sent by the object to be matched through a second UWB module;

and dispatching processing is carried out based on the target position.

2. The method of claim 1, wherein said determining a target location corresponding to said object to be dispensed from said first UWB signal comprises:

determining an azimuth angle and a distance corresponding to the object to be allocated according to the first UWB signal;

and determining the target position according to the azimuth angle and the distance.

3. The method of claim 1, wherein the serving based on the target location comprises:

receiving a position confirmation instruction which is sent by the object to be dispatched and corresponds to the target position within a preset time threshold;

and responding to the position confirmation instruction, and performing dispatching processing.

4. The method according to claim 1, wherein after determining the target position corresponding to the object to be dispensed according to the first UWB signal, the method further comprises:

receiving a position replacement instruction sent by the object to be dispatched within a preset time threshold;

re-determining the target location in response to the location change instruction;

the dispatch processing is performed based on the target location.

5. The method of claim 4, wherein said re-determining said target location in response to said location change instruction comprises

Receiving a second UWB signal sent by the object to be matched;

updating the target position according to the second UWB signal.

6. The method according to claim 1, wherein after determining the target position corresponding to the object to be dispensed according to the first UWB signal, the method further comprises:

if the position confirmation instruction and the position replacement instruction are not received within the preset time threshold, reading a prestored return geographical coordinate;

and returning to a preset management area according to the pre-stored returned geographic coordinate.

7. The method of claim 1, wherein after the serving process based on the target location, the method further comprises:

reading prestored returned geographic coordinates;

8. The method of claim 1, wherein after the serving process based on the target location, the method further comprises:

sending a second arrival notice to the next object to be dispatched; wherein the next dispatch object is located within the target dispatch area;

and continuing to execute the dispatching processing of the next object to be dispatched.

9. The cargo dispatching device is characterized in that the cargo dispatching device is provided with a first UWB module, and comprises a sending unit, a receiving unit, a determining unit and a dispatching unit;

and the dispatching unit is used for dispatching based on the target position.

10. A cargo shipping device comprising a first UWB module, a processor, a memory having stored thereon instructions executable by said processor to perform the method of any of claims 1-8 when executed by said processor.

11. A computer-readable storage medium, on which a program is stored, for use in a goods delivery apparatus, characterized in that the program, when executed by a processor, carries out the method according to any one of claims 1-8.