CN209401066U - Unmanned plane delivery system - Google Patents
Unmanned plane delivery system Download PDFInfo
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- CN209401066U CN209401066U CN201920308201.6U CN201920308201U CN209401066U CN 209401066 U CN209401066 U CN 209401066U CN 201920308201 U CN201920308201 U CN 201920308201U CN 209401066 U CN209401066 U CN 209401066U
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Abstract
The application provides a kind of unmanned plane delivery system, which includes: server system；For parking the fixation airport of unmanned aerial vehicle group；And the moveable airport for parking unmanned aerial vehicle group；The server system communicates respectively with the fixed airport, the moveable airport, and the unmanned aerial vehicle group includes at least one unmanned plane；Wherein, the server system obtains the logistics goods information of specific region；The server system is determined according to the logistics goods information is arranged the fixed airport and/or moveable airport in the specific region；And the position on the fixed airport and/or the resident place of the moveable airport are determined according to the logistics goods information.The application can reduce unmanned plane mileage travelled to greatest extent, improve the utilization efficiency of unmanned plane, reduce energy consumption, save unmanned plane distribution cost, can also improve the real-time of the dispatching of unmanned plane, keep dispatching duration controllable.
Description
Technical field
This application involves logistics distribution field more particularly to a kind of unmanned plane delivery systems.
Background technique
Currently, being dispensed using unmanned plane more more and more universal.For example, carrying out drug using unmanned plane in field of medical service
Urgent dispatching, delivery system generally include central dispatch system, local scheduling system, deployment system, login system, remote equipment
End and unmanned plane etc., central dispatch system receives the distress signal that remote equipment end is sent, and identifies the type of distress signal；It connects
, according to the type of distress signal, the corresponding medical unmanned plane disposed can be carried out to field conduct rescue work by sending.It is logical
Often, multiple unmanned planes are configured in home-delivery center, each unmanned plane carries a kind of drug or medical instrument reply one at any time
Kind disease, central dispatch system determine emergence therapeutic scheme according to the distress signal that remote equipment end issues, and select emergence therapeutic
The specified unmanned plane for carrying certain drug or medical instrument of scheme is with drugs to designated place.This just needs to await orders simultaneously
More unmanned planes, each unmanned plane can only execute a kind of task, and unmanned plane utilization efficiency is low, and system cost is high, the distribution side
The formula scope of application is very limited (being only applicable to medical first aid).
Another scheme is using haulage vehicle as the interim stopping platform of unmanned plane, the route need of unmanned plane and haulage vehicle
It will be in advance it is known that vehicle and travelling route by calculating selection appropriate speed, determines landing place and departure location.Specifically
, by the way of " hitching ", judge that moving traffic is overlapped with the presence or absence of with unmanned plane dispatching task on road
Route, propose the economic benefit to driving vehicle then with vehicle communication with the route that is overlapped of unmanned plane dispatching task if it exists
It repays, obtains whether driving vehicle agrees to that unmanned plane lands.If driving vehicle agrees to landing, unmanned plane lands on being overlapped the line of fall
On driving vehicle, after driving vehicle reaches and is overlapped road segment end, unmanned plane takes off goods delivery to destination.The program
It does not ensure that within a specified time there is the vehicle of " direct route ", can not ensure that the vehicle of " direct route " allows unmanned plane to land.
In addition, although the program reduces power consumption, distribution cost is saved, but when the dispatching of there are real-times poor, each order
Grow the disadvantages such as uncontrollable.
Utility model content
In view of this, the application provides a kind of unmanned plane delivery system.
Specifically, the application is achieved by the following technical solution:
A kind of unmanned plane delivery system, the unmanned plane delivery system include:
Server system；
For parking the fixation airport of unmanned aerial vehicle group；And
For parking the moveable airport of unmanned aerial vehicle group；
The server system communicates respectively with the fixed airport, the moveable airport, and the unmanned aerial vehicle group includes
At least one unmanned plane；
Wherein, the server system obtains the logistics goods information of specific region；
The server system is determined according to the logistics goods information is arranged the fixed airport in the specific region
And/or moveable airport；And according to the logistics goods information determine the fixed airport position and/or the removable motivation
The resident place of field.
The application's the utility model has the advantages that according to the logistics goods information in larger area region, be fixed airport selection or
The determination in the resident place of moveable airport can reduce unmanned plane driving range, to improve unmanned plane to greatest extent
Utilization efficiency reduces energy consumption, saves unmanned plane distribution cost, can also improve the real-time of the dispatching of unmanned plane, while making to match
Send duration controllable.
Detailed description of the invention
Fig. 1 is a kind of system construction drawing of unmanned plane delivery system shown in one exemplary embodiment of the application；
Fig. 2A is a kind of structural schematic diagram on fixed airport shown in one exemplary embodiment of the application；
Fig. 2 B is a kind of system construction drawing on fixed airport shown in one exemplary embodiment of the application；
Fig. 3 A is a kind of structural schematic diagram of moveable airport shown in one exemplary embodiment of the application；
Fig. 3 B is a kind of system construction drawing of moveable airport shown in one exemplary embodiment of the application；
Fig. 4 is a kind of airport location determining method of unmanned plane delivery system shown in one exemplary embodiment of the application
Method flow diagram；
Fig. 5 is a kind of determination schematic diagram of the position on fixed airport shown in one exemplary embodiment of the application；
Fig. 6 is a kind of determination schematic diagram in the resident place of moveable airport shown in one exemplary embodiment of the application.
Appended drawing reference:
1: server system；
2: user terminal system；
3: fixed airport；31: the first noumenon；32: the first airplane parking areas；33: first processor；34: the first displays；35:
First communication equipment；36: the first power modules；37: first storage device；38: first sensor；39: the first actuators；310:
First I/O interface；
4: moveable airport；41: the second ontologies；42: driving wheel；43: the second airplane parking areas；44: second processor；45: the
Two sensors；451: navigation sensor；46: second display；47: the second communication equipments；48: second power supply module；49: the second
Storage device；410: the second actuators；420: the two I/O interfaces.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the application.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the application.
It is only to be not intended to be limiting the application merely for for the purpose of describing particular embodiments in term used in this application.
It is also intended in the application and the "an" of singular used in the attached claims, " described " and "the" including majority
Form, unless the context clearly indicates other meaning.It is also understood that term "and/or" used herein refers to and wraps
It may be combined containing one or more associated any or all of project listed.
It will be appreciated that though various information, but this may be described using term first, second, third, etc. in the application
A little information should not necessarily be limited by these terms.These terms are only used to for same type of information being distinguished from each other out.For example, not departing from
In the case where the application range, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as
One information.Depending on context, word as used in this " if " can be construed to " ... when " or " when ...
When " or " in response to determination ".
With reference to the accompanying drawing, the unmanned plane delivery system of the application is described in detail.In the absence of conflict, under
The feature in embodiment and embodiment stated can be combined with each other.
Fig. 1 is a kind of system construction drawing of unmanned plane delivery system shown in one exemplary embodiment of the application, such as Fig. 1 institute
Show, which may include server system 1, the fixation airport 3 for parking unmanned aerial vehicle group and for parking
The moveable airport 4 of unmanned aerial vehicle group.In the present embodiment, server system 1 communicates respectively with fixed airport 3, moveable airport 4,
Unmanned aerial vehicle group includes at least one unmanned plane.
Wherein, server system 1 obtains the logistics goods information of specific region, and optionally, logistics goods information includes: to take
Goods place and/or delivery place (i.e. location information) or logistics goods information include picking place and/or delivery place and
The quantity on order (picking number of packages and/or delivery number of packages) in picking place and/or delivery place.It will be appreciated, of course, that logistics goods
Information may also comprise other information, as around picking place and/or delivery place road information, trade company/user's name and/or
Information such as phone etc..
Optionally, specific region includes multiple logistics regions, it should be noted that logistics region, which refers to, needs to be arranged one
Fixed airport 3 or the region of a moveable airport 4.The logistics goods information that server system 1 obtains includes each logistics region
Logistics goods information.
The area of the specific region of the present embodiment is greater than or equal to preset area, and the size of preset area can be set as needed
It is fixed, such as 10 sq-kms, 20 sq-kms or other sizes.The specific region of the present embodiment may include a city
Multiple areas, alternatively, one or more areas in multiple cities.
Optionally, in one embodiment, unmanned plane delivery system further includes user terminal system 2, the user terminal system 2 and clothes
Device system 1 of being engaged in communicates.Server system 1 can obtain the logistics goods information of specific region, the present embodiment by user terminal system 2
In, user terminal system 2 may include the equipment for typing logistics goods information, which can be distributed in each picking of specific region
Place and/or delivery place.The equipment can be mobile terminal (such as mobile phone, handheld information recording device), can also be fixed whole
End.As a specific implementation, user terminal system includes a plurality of clients (being used for the equipment of typing logistics goods information),
Specific region includes multiple logistics regions, and the picking place and/or delivery place in each logistics region are equipped at least one user
End.
In another embodiment, the logistics goods information of specific region is directly inputted in server system 1 by user.
In another embodiment, server system 1 obtains the logistics goods of specific region from third-party platform (such as cloud)
Information.
In a further embodiment, server system 1 by above-mentioned three kinds obtain logistics goods information in the way of at least
Two kinds obtain the logistics goods information of specific region.
Further, the server system 1 of the present embodiment is determined according to the logistics goods information of above-mentioned acquisition in given zone
The position on fixed airport 3 and/or the resident place of moveable airport 4 is arranged in domain, and determines fixed machine according to logistics goods information
The position of field and/or the resident place of moveable airport.It should be noted that airport refers to unmanned plane in the embodiment of the present invention
Collecting and distributing or home-delivery center.The position on fixed airport 3 refers to the place for fixing the fixation airport 3, does not do with time change
It is frequent to change；The resident place of moveable airport 4 can determine in real time, changed according to cargo logistics information and move setting.
Airport is fixed according to the logistics goods information in larger area region in the unmanned plane delivery system of the present embodiment
Selection or moveable airport resident place determination, unmanned plane driving range can be reduced to greatest extent, to improve
The utilization efficiency of unmanned plane reduces energy consumption, saves unmanned plane distribution cost, can also improve the real-time of the dispatching of unmanned plane,
Make dispatching duration controllable simultaneously.
The server system 1 of the present embodiment may include one or more server.Optionally, it is two that server system 1, which is divided to,
Group, including first server and second server, wherein first server and fixed airport 3 communicate to connect, second server with
Moveable airport 4 communicates to connect.Optionally, first server includes but is not limited to following functions: client order management, worksheet processing
Method, the fixed communication of airport 3 monitor (route, task, carrier etc.), task comprehensively monitoring with management, UAV.Optionally, the second clothes
Business device includes but is not limited to following functions: client order management, worksheet processing method, the communication of moveable airport 4 and management are (removable
4 monitoring of airport/navigation), UAV monitor (route, task, carrier etc.), task comprehensively monitoring.
Fixed airport 3 may include but be not limited to following functions:
1) it, is communicated with server system 1, carries out unmanned aerial vehicle group task schedule；
2), unmanned plane standby mode monitors；It should be noted that herein, unmanned plane standby mode refers to that unmanned plane is parked
State on fixed airport 3；
3), sensor data acquisition, processing；
4), unmanned plane rises and falls cooperation, actuator control；
5), power management；
6), display driving, interaction.
In conjunction with Fig. 2A and Fig. 2 B, the fixation airport 3 of the present embodiment may include the first noumenon 31, on the first noumenon 31
First airplane parking area 32 and first processor 33, first processor 33 currently stop with server system 1 and the first airplane parking area 32
The UAV Communication put.In the present embodiment, the first airplane parking area 32 is for parking unmanned plane, when unmanned plane is parked in the first airplane parking area
On 32, it is believed that unmanned plane is in standby.The quantity of first airplane parking area 32 can be set as needed, and the first of the present embodiment
Airplane parking area 32 includes at least one, for example, 8,9,10 or other quantity.Optionally, the first airplane parking area 32 is in array shape
Shape is arranged in the top of the first noumenon 31.
First processor 33 may include but be not limited to CPU (Central Processing Unit, central processing unit), GPU
(Tensor Processing Unit, tensor processing are single by (Graphics Processing Unit, graphics processor), TPU
Member), MCU (Microcontroller Unit, micro-control unit), DSP (Digital Signal Processing, number letter
Number processor), FPGA (Field-Programmable Gate Array, i.e. field programmable gate array) etc..
In some embodiments, first processor 33 can monitor the unmanned plane for the unmanned plane being parked on the first airplane parking area 32
State, such as electricity, battery life, UAV system state (loading, unloading or unloaded).For example, first processor 33 can obtain
The real time electrical quantity for taking unmanned machine battery calculates electricity and/or battery life further according to real-time voltage.
Optionally, fixed airport 3 has the function to unmanned plane charging, specifically, stopping when first processor 33 monitors
When the unmanned plane electricity being placed on the first airplane parking area 32 is less than default power threshold, control corresponding module fills the unmanned plane
Electricity.
Further, in conjunction with Fig. 2A and Fig. 2 B, the fixation airport 3 of the present embodiment may also include the first display 34, and first
Display 34 is communicated with first processor 33.Optionally, the first display 34 is set to the side of the first noumenon 31, the first display
34 can be used for showing each component part in fixed airport 3, it can also be used to show the other information on fixed airport 3.
In addition, B, the fixation airport 3 of the present embodiment may also include the first communication equipment 35, the first power module referring to fig. 2
36, first storage device 37, first sensor 38, the first actuator 39 and the first I/O interface 310, first processor 33, first
Communication equipment 35, the first power module 36, first storage device 37, first sensor 38, the first actuator 39 and the first I/O connect
The equal communication bus that passes through of mouth 310 connects.
Wherein, the first communication equipment 35 can be wireless communication system, and the fixation airport 3 of the present embodiment and unmanned plane are based on nothing
Line communication system communication.Optionally, first communication system of the present embodiment is 4G communication system.
The fixation airport 3 of the present embodiment can be electrically connected by the first power module 36 with power supply such as city, generate electricity mould
Block obtains electric energy.
First storage device 37 may include program storage area and data storage area, and program storage area includes but is not limited to task
Program, Navigator fly control program, image processing program, signal procedure, energy management program etc., data storage area include but
Be not limited to aerial mission (loading/unloading), flight path (starting point, intermediate point, terminal etc.), flying quality (such as position, height,
Speed, direction etc.), status data (such as each subsystem temperatures, dump energy), image data and other data.
First sensor 38 can be used for that unmanned plane is guided to drop to the first airplane parking area 32, unmanned plane is guided freight/unload
Goods etc., in the present embodiment, first sensor 38 may include identification sensor, alignment sensor etc..Wherein, when unmanned plane is from picking
After point picking, if unmanned plane drops on the first airplane parking area 32, Discharging Process can be monitored by identification sensor.Optionally,
Identification sensor includes but is not limited to following at least one: ultrasonic sensor, infrared sensor, image capture module (such as phase
Machine), magnetometric sensor.Alignment sensor is used to monitor real-time height, speed and the direction of unmanned vehicle.The present embodiment is determined
Level sensor may include but be not limited to following at least one: image capture module (such as camera), ultrasonic sensor, millimeter wave thunder
It reaches, infrared sensor, UWB sensor (UWB full name in English: Ultra Wideband, UWB are a kind of no-load communication techniques).
First actuator 39 may include the actuator in the first airplane parking area 32, such as controlling unloading/loading actuator.
First processor 33 can carry out data by the first I/O interface 310 and the first display 34, the first actuator 39 etc.
Interaction.
Moveable airport 4 may include but be not limited to following functions:
1) it, is communicated with server system 1, carries out unmanned aerial vehicle group task schedule；
2), unmanned plane standby mode monitors；It should be noted that herein, unmanned plane standby mode refers to that unmanned plane is parked
State on moveable airport 4；
3), sensor data acquisition, processing；
4), the positioning of moveable airport 4, navigation, avoidance, security system；
5), unmanned plane rises and falls cooperation, actuator control；
6), power management；
7), display driving, interaction.
Moveable airport 4 includes the second ontology 41, the driving wheel 42 for driving the second ontology mobile, is set to the second ontology
The second airplane parking area 43 and second processor 44 on 41, second processor 44 and server system 1 and the second airplane parking area 43
The UAV Communication currently parked.In the present embodiment, the second airplane parking area 43 is for parking unmanned plane, when unmanned plane is parked in second
On airplane parking area 43, it is believed that unmanned plane is in standby.The quantity of second airplane parking area 43 can be set as needed, the present embodiment
The second airplane parking area 43 include at least one, for example, 8,9,10 or other quantity.Optionally, the second airplane parking area 43 is in
Array configuration is arranged in the top of the second ontology 41.
Second processor 44 may include but be not limited to CPU, GPU, TPU, MCU, DSP, FPGA etc..
In some embodiments, second processor 44 can monitor the unmanned plane for the unmanned plane being parked on the second airplane parking area 43
State, such as electricity, battery life, UAV system state (loading, unloading or unloaded).For example, second processor 44 can obtain
The real time electrical quantity for taking unmanned machine battery calculates electricity and/or battery life further according to real-time voltage.
Optionally, fixed airport 3 has the function to unmanned plane charging, specifically, stopping when second processor 44 monitors
When the unmanned plane electricity being placed on the second airplane parking area 43 is less than default power threshold, control corresponding module fills the unmanned plane
Electricity.
Further, referring to Fig. 3 A, moveable airport 4 further includes the navigation sensor 451 on the second ontology 41, is led
Boat sensor 451 is communicated with second processor 44.The navigation sensor 451 of the present embodiment is used to obtain the reality of moveable airport 4
When position and be sent to second processor 44, second processor 44 controls removable motivation according to the real time position of moveable airport 4
Field 4 is moved to the resident place in current logistics region, or is moved to next logistics area from the resident place in current logistics region
The resident place in domain.
In addition, the fixation airport 3 of the present embodiment may also include second sensor 45, second display 46, referring to Fig. 3 B
Two communication equipments 47, second power supply module 48, the second storage device 49, the second actuator 410 and the 2nd I/O interface 420, second
Processor 44, second sensor 45, second display 46, the second communication equipment 47, second power supply module 48, the second storage device
49, the second actuator 410 and the 2nd I/O interface 420 etc. are connected by communication bus.
Wherein, second sensor 45 may include above-mentioned navigation sensor 451.
Further, second sensor 45 may also include obstacle avoidance sensor, such as radar sensor, so that moveable airport 4
Has barrier avoiding function.
Further, second sensor 45 can be used for that unmanned plane is guided to drop to the second airplane parking area 43, guidance unmanned plane
Loading/unloading etc. is carried out, in the present embodiment, second sensor 45 may include identification sensor, alignment sensor etc..Wherein, when
Unmanned plane is after picking point picking, if unmanned plane drops on the second airplane parking area 43, can be monitored and be unloaded by identification sensor
Process.Optionally, identification sensor includes but is not limited to following at least one: ultrasonic sensor, infrared sensor, Image Acquisition
Module (such as camera), magnetometric sensor.Alignment sensor is used to monitor real-time height, speed and the direction of unmanned vehicle.This
The alignment sensor of embodiment may include but be not limited to following at least one: image capture module (such as camera), ultrasonic sensor,
(UWB full name in English: Ultra Wideband, UWB are logical for a kind of carrierfree for millimetre-wave radar, infrared sensor, UWB sensor
Letter technology).
Second display 46 is communicated with second processor 44, and optionally, second display 46 is set to the side of the second ontology 41
Portion, second display 46 can be used for showing each component part in fixed airport 3, it can also be used to show the other information on fixed airport 3.
Second communication equipment 47 can be wireless communication system, and optionally, second communication system of the present embodiment is 4G communication
System.
The fixation airport 3 of the present embodiment can be electrically connected by second power supply module 48 with power supply such as city, generate electricity mould
Block obtains electric energy.
Second storage device 49 may include program storage area and data storage area, and program storage area includes but is not limited to task
Program, Navigator fly control program, image processing program, signal procedure, energy management program etc., data storage area include but
Be not limited to aerial mission (loading/unloading), flight path (starting point, intermediate point, terminal etc.), flying quality (such as position, height,
Speed, direction etc.), status data (such as each subsystem temperatures, dump energy), image data and other data.
Second actuator 410 may include the actuator in the second airplane parking area 43, such as controlling unloading/loading execution
Device may also include the actuator for driving the driving wheel 42 to rotate.
Second processor 44 can be counted by the 2nd I/O interface 420 and second display 46, the second actuator 410 etc.
According to interaction.
Fig. 4 is a kind of airport location determining method of unmanned plane delivery system shown in one exemplary embodiment of the application
Method flow diagram；The executing subject of the airport location determining method is server system 1, and the airport of the present embodiment is for stopping
Unmanned aerial vehicle group is put, the collecting and distributing or home-delivery center as unmanned plane.Wherein, which includes fixed airport and moveable airport.Tool
Body, referring to fig. 4, the airport location determining method may include following steps:
S401: the logistics goods information of specific region is obtained；
Wherein, the acquisition modes about logistics goods information, the explanation of specific region and logistics goods information can be found in
The corresponding portion of above-described embodiment, details are not described herein again.
S402: it is determined according to logistics goods information and fixed airport and/or moveable airport is set in specific region；
S403: determine that place is resident in the position on fixed airport and/or moveable airport according to logistics goods information.
In the present embodiment, specific region includes multiple logistics regions, and the logistics goods information that S401 is obtained includes each logistics
The logistics goods information in region.S403 is specifically included:
(1), according to the logistics goods information in each logistics region, with determining picking place and/or the delivery in the logistics region
The concentration of point；
Wherein, the calculation of the concentration in picking place and/or delivery place can select as needed, for example,
In one embodiment, according to the picking place in each logistics region and/or delivery place (i.e. location information), each logistics region is determined
Picking place and/or delivery place concentration.
In another embodiment, it (is ascended the throne according to the picking place in each logistics region and/or delivery place and picking place
Confidence breath) and/or delivery place quantity on order, determine each logistics region picking place and/or delivery place it is intensive
Degree.
(2), according to the concentration in picking place and/or delivery place, determine that position is arranged in the airport in corresponding logistics region
It sets；
In the step, the specific position in the maximum region of the concentration in picking place and/or delivery place is determined as
Position is arranged in the airport in corresponding logistics region, and to reduce unmanned plane driving range to greatest extent, that improves unmanned plane utilizes effect
Rate reduces energy consumption, saves unmanned plane distribution cost.
Optionally, specific position is that center position and/or specific position are located on lane.It is appreciated that specific position is not
It is limited to above-mentioned center and/or the position on lane, can is also other positions.
(3), according to the logistics goods information in each logistics region, the airport setting position in corresponding logistics region is determined as solid
Determine the position on airport or the resident place of moveable airport.
If moveable airport 4 is arranged in the airport setting position in current logistics region, the particular bit in step (2)
In on lane.
Optionally, the airport for corresponding to logistics region setting position is determined as by fixed machine according to the distribution cost of unmanned plane
The position of field or the resident place of moveable airport, are conducive to reduce unmanned plane driving range to greatest extent, reduce energy consumption, section
Save the distribution cost of unmanned plane.Certainly, other strategies can also be used to be determined as the airport for corresponding to logistics region setting position
The position on fixed airport or the resident place of moveable airport, for example, the region setting that can be concentrated in trade company or user is removable
Airport, unmanned plane carry out picking or delivery in trade company concentrated area or for concentrated area, and moveable airport is then in fixed logistics
Route displacement, the resident or transport of Lai Shixian unmanned plane；In the region of trade company and user's cross-distribution, fixed airport is set,
Park for unmanned plane and manages.
In the present embodiment, the airport for corresponding to logistics region setting position is determined as admittedly according to the distribution cost of unmanned plane
Determine the position on airport or the resident place of moveable airport, step (3) is in specific implementation, it may include following steps:
According to the logistics goods information in each logistics region, determine when fixed airport is arranged in corresponding airport setting position, Gu
Determine the first link cost that the unmanned plane on airport executes the required by task in corresponding logistics region, and is set in corresponding airport position
When setting moveable airport, the unmanned plane on moveable airport executes the second link cost of the required by task in corresponding logistics region；
If airport setting position is determined as the position on fixed airport less than the second link cost by the first link cost；If the first chain
Road cost is greater than or equal to the second link cost, then airport setting position is determined as to the resident place of moveable airport.
As a specific implementation manner, it according to the logistics goods information at least two adjacent logistics regions, determines
When fixed airport is respectively set in at least two adjacent logistics regions corresponding airport setting position, on each fixed airport
Unmanned plane execute corresponding logistics region required by task the first link cost, and in at least two adjacent logistics
When moveable airport is arranged in the corresponding airport in region setting position, the unmanned plane on the moveable airport execute it is described it is adjacent extremely
Second link cost of the required by task in few two logistics regions；Further according to the big of the first link cost and the second link cost
It is small, at least two adjacent logistics regions corresponding airport setting position is determined as the position on fixed airport or is moved
The resident place on airport, specifically, if the first link cost less than the second link cost, by at least two adjacent objects
Stream region corresponding airport setting position is determined as the position on fixed airport；If the first link cost is greater than or equal to the second link
Cost, then by the corresponding airport at least two adjacent logistics regions setting position be determined as moveable airport residently
Point.
By taking picking as an example, there are adjacent logistics region A1 and logistics region A2, it is assumed that needs take the same day morning 8:00 it
Before be stored in logistics region A1 and logistics region A2 each picking place package (can for food and drink, can also be other express deliveries),
And one frame unmanned plane a package (i.e. one order of frame unmanned plane single treatment) can be taken from a picking place every time, in spy
In fixing time, A1 total number of orders to be treated in logistics region is C1, and the total number of orders to be treated of logistics region A2 is C2.
If in logistics region, the airport setting position A11 of A1 places fixed airport B1, and sets on the airport of logistics region A2
Seated position A21 places fixed airport B2, and the unmanned plane quantity of fixed airport B1 is N1, and the unmanned plane quantity of fixed airport B2 is
N2, N1 >=C1, N2 >=C2.For logistics region A1, C1 order is respectively labeled as 1,2 ..., C1, then unmanned plane is from A11
Reason labeled as 1,2 ..., the mileage of the order of C1 correspond to x11, x12 ..., X1C1；For logistics region A2, by C2 order
Be respectively labeled as 1,2 ..., C2, then unmanned plane from A21 processing labeled as 1,2 ..., the mileage of the order of C2 correspond to x21,
x22,…,X2C2；First cost is P1, that is, the distribution cost of unit mileage unmanned plane is P1, is then used at fixed airport 3
Manage the order use cost of logistics region A1 and logistics region A2 are as follows:
S1=P1* ((x11+x12+ ...+x1C1)+(x21+x22+ ...+x2C2)) (1)；
If in logistics region, the airport setting position A12 of A1 places moveable airport B3, in respectively taking logistics region A1
After the package in goods place all takes, moveable airport B3 is set from the airport that airport setting position A12 is moved to logistics region A2
The unmanned plane quantity of seated position A22, moveable airport B3 are N3, N3 >=C1, and N3 >=C2.For logistics region A1, by C1
Order is respectively labeled as 1,2 ..., C1, then unmanned plane from A12 to labeled as 1,2 ..., the mileage of the order of C1 correspond to x31,
x32,…,X3C1；For logistics region A2, C2 order is respectively labeled as 1,2 ..., C2, then unmanned plane is from A22 to label
For 1,2 ..., the mileage of the order of C2 correspond to x41, x42 ..., X4C2；Second cost is P2, that is, unit mileage unmanned plane
Distribution cost be P2, moveable airport 4 from airport setting position A12 be moved to airport setting position A22 unit be moved into
This is Q, and it is y that moveable airport 4 is moved to airport the mileage of position A22 is arranged from airport setting position A12, then using removable
The order use cost of the processing of airport 4 logistics region A1 and logistics region A2 are as follows:
S2=2P2* ((x31+x32+ ...+x3C1)+(x41+x42+ ...+x4C2))+Qy (2)；
If S1 < S2, in logistics region, the airport setting position A11 of A1 places fixed airport B1, the A2 in logistics region
Airport is arranged position A21 and places fixed airport B2；If S1 >=S2, in logistics region, the airport setting position A12 placement of A1 can
Mobile airport B3, after all taking the package of each picking point of logistics region A1, position is arranged from airport in moveable airport B3
It sets A12 and is moved to the fixed airport B2 of logistics region A2 placement, the package of each picking point of transportation logistics region A2.
It is appreciated that the first cost P1 can be equal with the second cost P2, can also be unequal in the embodiment of the present application.
In one embodiment, the addressing process in the resident place of the position or moveable airport on fixed airport is as follows:
A. the coordinate of each picking place generates in current logistics region quantity on order and each picking place is read；
B. it calculates weighted average and obtains the position on fixed airport or the resident place of moveable airport in each logistics region
Coordinate, wherein x, y represent coordinate value, and o represents order numbers.
For region 1, picking place includes n, be respectively labeled as 1 ..., i ..., n, n is positive integer, and n is more than or equal to
1, then coordinate x, the y for fixing the position on airport or the resident place of moveable airport are respectively as follows:
The position position of "+" (in region 1 as shown in Figure 5 mark) on the fixation airport determined by formula (3) or
The resident place (position of " ⊕ " is marked in region 1 as described in Figure 6) of moveable airport is the intensive position of picking in region 1
It sets, is conducive to reduce unmanned plane driving range to greatest extent, reduce energy consumption, save unmanned plane distribution cost.
Optionally, the delivery process on fixed airport 3 includes:
1), unmanned plane takes off from fixed airport 3；
2), unmanned plane flies to the picking place picking in fixed 3 place logistics region of airport；
3), unmanned plane flies to delivery point delivery；
4), unmanned plane returns to fixed airport 3.
Optionally, the delivery process of moveable airport 4 includes:
1), moveable airport 4 moves to the stop of the resident place 1 in region 1, and unmanned plane is with flying the picking into region 1
Point picking；
2), unmanned plane, which flies back, rests on the moveable airport 4 of dwell point 1；
3) quantity on order and coordinate for, reading each delivery place calculate weighted average by formula (3) and obtain region
The coordinate in 2 resident place 2；
4), moveable airport 4 moves to the resident place 2 in region 2；
5), each delivery point that package is distributed in region 2 by unmanned plane；
6), unmanned plane flies back moveable airport 4；
7) it, returns 1).
The foregoing is merely the preferred embodiments of the application, not to limit the application, all essences in the application
Within mind and principle, any modification, equivalent substitution, improvement and etc. done be should be included within the scope of the application protection.
Claims (10)
1. a kind of unmanned plane delivery system, which is characterized in that the unmanned plane delivery system includes:
Server system；
For parking the fixation airport of unmanned aerial vehicle group；And
For parking the moveable airport of unmanned aerial vehicle group；
The server system communicates respectively with the fixed airport, the moveable airport, and the unmanned aerial vehicle group includes at least
One unmanned plane；
Wherein, the server system obtains the logistics goods information of specific region；
The server system according to the logistics goods information determine the specific region be arranged the fixed airport and/or
Moveable airport；And according to the logistics goods information determine the fixed airport position and/or the moveable airport
Resident place.
2. unmanned plane delivery system according to claim 1, which is characterized in that the unmanned plane delivery system further includes using
Family end system, the user terminal system are communicated with the server system；
The user terminal system obtains the logistics goods information of specific region and is sent to the server system.
3. unmanned plane delivery system according to claim 2, which is characterized in that the user terminal system includes multiple users
End；
The specific region includes multiple logistics regions, and the picking place and/or delivery place in each logistics region are equipped at least
One user terminal.
4. unmanned plane delivery system according to claim 1, which is characterized in that the fixed airport include the first noumenon,
The first airplane parking area and first processor on the first noumenon, the first processor and the server system with
And dock at the UAV Communication of first airplane parking area.
5. unmanned plane delivery system according to claim 4, which is characterized in that the fixed airport further includes the first display
Device, first display are communicated with the first processor.
6. unmanned plane delivery system according to claim 5, which is characterized in that first display is set to described first
The side of ontology.
7. unmanned plane delivery system according to claim 1, which is characterized in that the moveable airport includes second
Body, the driving wheel for driving second ontology mobile, at the second airplane parking area and second on second ontology
It manages device, the second processor and the server system and docks at the UAV Communication of second airplane parking area.
8. unmanned plane delivery system according to claim 7, which is characterized in that the moveable airport further includes being set to institute
The navigation sensor on the second ontology is stated, the navigation sensor is communicated with the second processor.
9. unmanned plane delivery system according to claim 7 or 8, which is characterized in that the moveable airport further includes setting
In obstacle avoidance sensor and/or identification sensor and/or alignment sensor on second ontology, the obstacle avoidance sensor and/
Or the identification sensor and/or the alignment sensor are communicated with the second processor.
10. unmanned plane delivery system according to claim 9, which is characterized in that the obstacle avoidance sensor includes that radar passes
Sensor；And/or
The identification sensor comprises at least one of the following: ultrasonic sensor, infrared sensor, image capture module, magnetic force pass
Sensor；And/or
The alignment sensor may include following at least one: image capture module, ultrasonic sensor, millimetre-wave radar, infrared
Sensor, no-load wave communication UWB sensor.
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| CN111815225A (en) * | 2020-06-03 | 2020-10-23 | 中国电子科技集团公司电子科学研究院 | Unmanned aerial vehicle peer-to-peer logistics network distribution system and distribution method thereof |
| CN114212434A (en) * | 2022-01-18 | 2022-03-22 | 亿航智能设备（广州）有限公司 | Cargo transportation scheduling method and scheduling equipment, storage medium and cargo transportation system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111815225A (en) * | 2020-06-03 | 2020-10-23 | 中国电子科技集团公司电子科学研究院 | Unmanned aerial vehicle peer-to-peer logistics network distribution system and distribution method thereof |
| CN114212434A (en) * | 2022-01-18 | 2022-03-22 | 亿航智能设备（广州）有限公司 | Cargo transportation scheduling method and scheduling equipment, storage medium and cargo transportation system |
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