WO2019042235A1

WO2019042235A1 - Flight route control method and device, and computer readable medium

Info

Publication number: WO2019042235A1
Application number: PCT/CN2018/102353
Authority: WO
Inventors: 胡华智; 刘剑; 贾宗林; 曾立昆; 万红波; 刘畅; 吴刚; 陈晓明
Original assignee: 亿航智能设备（广州）有限公司
Priority date: 2017-08-30
Filing date: 2018-08-24
Publication date: 2019-03-07
Also published as: CN107368096A; CN107368096B

Abstract

Disclosed by the present invention are a flight route control method and device, and a computer readable medium, the flight route control method comprising the following steps: upon receiving a new flying delivery order, planning a planned flight route from a starting point to a destination; according the planned flight route, searching all of the flight routes for a relevant flight route having an overlapping route; upon obtaining the relevant flight route having the overlapping route, allocating an unoccupied flight altitude for the planned flight route according to the flight altitude of the obtained relevant flight route; controlling an unmanned aerial vehicle to fly according to the planned flight route. The present invention achieves the effects of improving meal delivery efficiency and safety.

Description

Route control method, device and computer readable medium

Technical field

The present invention relates to the field of airline control, and more particularly to a route control method, apparatus, and computer readable medium.

Background technique

As the phenomenon of online orders becomes more and more popular, more and more delivery personnel are needed to deliver goods. However, the current route control method is relatively inefficient and the human waste is more serious.

In the current route control method, the dispatcher usually arrives at the merchant location and then sends it from the merchant location to the customer location. Usually, after the food is finished, it should be sent to the customer's location in about 10 minutes, otherwise it will be easy to change the taste of the food. Therefore, in order to achieve the effect of fast meal delivery, you can add drones to the meal during the meal delivery.

However, there is currently no route control scheme for drone feeding, which results in low efficiency and low security of drone feeding, and it is difficult to meet busy ordering meal scheduling.

technical problem

SUMMARY OF THE INVENTION A primary object of the present invention is to provide a route control method, apparatus, and computer readable medium that improve meal delivery efficiency, as well as security.

Technical solution

To achieve the above objective, the present invention provides a route control method for a drone ordering, and the route control method includes the steps of:

Plan a route from the departure point to the destination when receiving a new flight delivery order;

Finding related routes overlapping the trips in all the routes according to the planned route;

When obtaining the relevant route overlapped by the trip, assigning the unplanned flight altitude to the planned route according to the flight altitude of the obtained relevant route;

The drone flight is controlled according to the planned route.

Optionally, the step of planning the route from the departure place to the destination specifically includes:

Obtain the merchant location and user location in the flight delivery order;

Performing matching in a preset plurality of landing and landing platforms according to the merchant location, and obtaining a platform with the highest matching degree as a departure place;

Perform matching in a preset plurality of landing and landing platforms according to the user location, and obtain a platform with the highest matching degree as a destination;

Plan the planned route from the departure point to the destination.

Optionally, the step of allocating an unoccupied flight altitude to the planned route according to the flight altitude of the obtained related route includes:

Obtain the flight plane occupied by the relevant route obtained;

An unoccupied flight plane is assigned to the planned route.

Optionally, the step of controlling the drone flight according to the planned route includes:

Controlling the drone to take off at the departure point to an assigned flight plane;

Controlling the drone to fly to the destination along the path of the planned route within the flight plane;

When the drone arrives at the destination, the drone is controlled to land at the destination.

Optionally, the step of controlling the drone to take off at the departure point to the allocated flight plane comprises:

When the drone is located at the departure place, starting a takeoff control process;

Obtaining, according to the takeoff control flow, a takeoff area of the landing platform corresponding to the departure place;

The drone is controlled to take off vertically along the acquired takeoff area to the assigned flight plane.

Optionally, when the UAV arrives at the destination, the step of controlling the UAV to land at the destination includes:

When the drone arrives at the destination, the landing control process is initiated;

Obtaining, according to the landing control flow, a landing channel of the landing platform corresponding to the destination;

When there is no idle landing channel corresponding to the landing platform corresponding to the destination, obtaining a hovering area of the landing platform corresponding to the destination, and controlling the drone to move to hover in the obtained hovering area wait;

Controlling the drone to move into the obtained landing channel when the landing and landing platform corresponding to the destination has an idle landing channel, and controlling the drone to vertically fall along the landing channel to the Drop the platform.

Optionally, a take-off area, a landing channel, and a hovering area are preset for each of the take-off and landing platforms;

The hovering area is annular in shape parallel to the plane of flight;

The take-off area is disposed at an inner side of the hovering area and is concentric annularly spaced from the hovering area;

The landing channel is disposed on an inner side of the take-off area and is located at a center of the center of the take-off area.

Optionally, the step of obtaining related routes in which the trips overlap in all routes according to the planned route includes:

Obtaining the departure place of the planned route;

Finding the same route in all routes as the departure point of the planned route;

When obtaining the same route as the departure place, mark the route obtained as the relevant route;

Obtaining the destination of the planned route;

Finding the same route in all routes as the destination of the planned route;

When obtaining the same route to the destination, mark the obtained route as the relevant route;

Obtaining a flight path between the departure place and the destination of the planned route;

Finding routes in all routes that intersect the flight path of the planned route;

When obtaining the route where the flight path intersects, the obtained route is marked as the relevant route.

The present invention provides a route control device for a drone ordering, the route control device comprising a memory, a processor, and a route control program stored on the memory and operable on the processor, The steps of the method as described above are implemented when the route control program is executed by the processor.

The present invention provides a computer readable medium storing a route control program,

When the route control program is executed by at least one processor, causing the at least one processor to perform the steps of the route control method as described above. .

Beneficial effect

The route control method, device and computer readable medium provided by the present invention can avoid the scheduled route height by allocating a flight altitude other than the flight altitude of the related route overlapping the travel when planning the route of the drone Therefore, the solution is simple and efficient, and the solution is safe and reliable.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present invention, and those skilled in the art can obtain other drawings according to the structures shown in the drawings without any creative work.

1 is a flow chart of a first embodiment of a route control method according to the present invention;

2 is a specific flowchart of step S101 of the route control method shown in FIG. 1;

3 is a specific flowchart of step S104 of the route control method shown in FIG. 1;

4 is a specific flowchart of step S301 of the route control method shown in FIG. 3;

FIG. 5 is a specific flowchart of step S303 of the route control method shown in FIG. 3;

6 is a schematic diagram of a scheduling model of a landing platform of the route control method shown in FIG. 3;

7 is a schematic diagram of a scheduling model operation of a landing platform of the route control method shown in FIG. 3;

8 is a schematic block diagram of an embodiment of an order delivery device of the present invention;

9 is a block diagram of an embodiment of a computer readable medium according to the present invention;

The implementation, functional features, and advantages of the present invention will be further described in conjunction with the embodiments.

Embodiments of the invention

It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to FIG. 1, a first embodiment of a route control method according to the present invention is used for a drone ordering, and the route control method includes the following steps:

In step S101, when a new flight delivery order is received, a flight route from the departure place to the destination is planned.

The user's order can come from the web page or from the mobile terminal. In the order, including the list of foods ordered by the user, delivery location and postscript. When the server receives the information, it notifies the merchant of the information. Further, the merchant takes the order, and after the merchant stocks the goods, the goods are packaged and placed in the bin of the drone, and then the drone can be taken off. When the merchant confirms that it can take off, a flight delivery order is generated. The flight delivery order includes information on the merchant address and the user address.

When the server receives the flight delivery order, it can calculate the safe exit point that matches the nearest merchant address as the departure place, and take the surveyed safe landing point with the user address as the destination, thereby planning the route.

Step S102, searching for related routes in which the trips overlap in all the routes according to the planned route.

Due to the increasing number of drones participating in the delivery, it is necessary to check in advance whether there are overlapping related routes when planning the route. If there is a related route with overlapping strokes, it is necessary to avoid it. The way to avoid can be to calculate the flight position by calculation, so as to make a staggered flight design to avoid the occurrence of an air collision. Specifically, the staggered flight may be a flight at different altitudes, or may be a scenario in which the intersection position is sequentially passed through the same height.

Step S103, when obtaining the relevant route overlapping the trips, assign the unoccupied flight altitude to the planned route according to the flight altitude of the obtained related route.

In this embodiment, the control is performed by means of staggering the flying height. In order to be able to describe the height more concisely, it is easy to control. Optionally, multiple flight planes are pre-planned, for example, 50 flight planes are planned. Each plane of flight is defined by altitude and the height difference between adjacent planes of flight is the same. In this embodiment, specifically, a flight plane occupied by the obtained related route is obtained; and an unoccupied flight plane is allocated to the planned route.

Step S104, controlling the drone flight according to the planned route.

In this embodiment, by assigning the flight heights other than the flight heights of the related routes overlapping the travels when planning the route of the drone, the route heights already arranged can be avoided, thereby having the advantages of simple and efficient scheme and safe and reliable scheme. .

Referring to FIG. 2, optionally, in step S101, the step of planning a route from the departure place to the destination specifically includes:

In step S201, the merchant location and the user location in the flight delivery order are obtained.

Step S202: Perform matching in the preset multiple landing and landing platforms according to the merchant location, and obtain a landing platform with the highest matching degree as the starting point.

The take-off and landing platforms can be long-term fixed-point or temporarily installed. The data of these landing platforms are pre-fetched before the route is planned. When the drone passes the positioning system, it can automatically locate whether it is located on the landing platform. It should be noted that the landing platform can be a range of locations, and does not necessarily require a manually constructed apron. For example, a local location of a square, a parking lot, or a roof is defined as a landing platform.

The position of the landing platform needs to be evaluated in advance, such as whether the flatness is detected and whether there is no occlusion around. When the conditions are met, the location can be saved to the system and become the location of the landing platform.

Step S203: Perform matching in a preset plurality of landing and landing platforms according to the user location, and obtain a landing platform with the highest matching degree as a destination.

Step S204, planning a planned route from the obtained departure place to the obtained destination.

In this embodiment, by standardizing the departure place and the destination, there is a professional landing platform, thereby improving the take-off and landing efficiency of the drone; and also avoiding that the user's position cannot be stopped, or the space is too narrow, and Causes damage to the drone or accidental injury to the user.

Optionally, in the step S102, the step of obtaining related routes in which the trips overlap in all the routes according to the planned route includes:

Obtain the starting point of the planned route.

Find the same route in all routes as the departure point of the planned route.

When obtaining the same route as the departure place, the route obtained is marked as the relevant route.

Obtain the destination of the planned route.

Find the same route in all routes as the destination of the planned route.

When obtaining the same route to the destination, the obtained route is marked as the relevant route.

A flight path between the departure point and the destination of the planned route is obtained.

Find routes that cross the flight path of the planned route in all routes.

By comparing the departure point, destination and route path, all relevant routes that may conflict can be compared. Therefore, the query result is comprehensive and reliable.

Referring to FIG. 3, in the embodiment, the step S104, the step of controlling the drone flight according to the planned route includes:

Step S301, controlling the drone to take off at the departure place to its assigned flight plane.

Since a professional take-off and landing platform is used for take-off and landing, the take-off can be controlled when it is detected that the drone arrives at the departure place. The detection scheme may be detecting the positioning information provided by the positioning system of the drone, or detecting the information transmitted by the user to the landing platform.

For the plan to take off to the flight plane, you can choose to climb vertically, or you can choose to climb and climb.

Step S302, controlling the drone to fly to the destination along the path of the planned route in the flight plane.

The elevation of the same flight plane is the same, so in this embodiment, the drone will remain moving at an altitude until the destination.

Step S303, when the drone arrives at the destination, controlling the drone to land at the destination.

Since a professional take-off and landing platform is used for take-off and landing, the landing can be controlled when it is detected that the drone reaches the destination. The detection scheme may be detecting the positioning information provided by the positioning system of the drone, or detecting whether the user transmits the information over the landing platform.

In the present embodiment, the flight is divided into take-off, moving, and landing phases, so that control can be performed more accurately. Wherein, the take-off is controlled only when the position information of the drone is detected and arrives at the departure place, and directly reaches the flight plane after take-off, and then moves to the destination on the flight plane. When the location information of the drone is detected to reach the destination, the drone is controlled to land.

Referring to FIG. 4, in the embodiment, in step S301, the step of controlling the drone to take off at the departure point to the assigned flight plane includes:

Step S401, when the drone is located at the departure place, start a takeoff control flow.

Step S402, obtaining a take-off area of the landing platform corresponding to the departure place according to the takeoff control flow.

The data of the takeoff and landing platform is pre-stored in the system. Wherein, the take-off and landing platform presets at least one take-off area, and the drone takes off through the take-off area.

Step S403, controlling the drone to take off vertically along the obtained take-off area to its assigned flight plane.

In this embodiment, the drone region is vertically extended to be connected to the flight plane, and the drone will climb vertically to the plane of flight and then move on the plane of flight. In this embodiment, the take-off posture of the drone is clearly defined, and only the vertical climb in the take-off area, the take-off action is more standardized and easy to manage.

Referring to FIG. 5, in the embodiment, the step S303, when the drone arrives at the destination, the step of controlling the drone to land at the destination includes:

Step S501, when the drone arrives at the destination, the landing control flow is started.

Step S502, according to the landing control flow, obtaining a landing channel of the landing platform corresponding to the destination.

The data of the takeoff and landing platform is pre-stored in the system. Wherein, the landing platform presets at least one landing channel, and the drone performs the drone landing in the landing channel.

Step S503, when there is no idle landing channel corresponding to the landing platform corresponding to the destination, obtaining a hovering area of the landing platform corresponding to the destination, and controlling the drone to move to the obtained hovering area. Hanging inside waiting.

The take-off and landing platform presets at least one hovering area, and the drone is hovered in the air through the hovering area, and does not affect the drone that is currently landing and taking off. When the landing channel of the take-off and landing platform is all in use, no landing channel is idle. At this point, the drone cannot perform the landing operation, but can only be controlled to hover in the air to wait for the system to provide an idle landing channel.

Step S504, when there is an idle landing channel corresponding to the landing platform corresponding to the destination, controlling the drone to move into the obtained landing channel, and controlling the drone to vertically fall along the landing channel to The landing platform.

The hovering drone needs to wait until the landing drone has landed, and after returning to the landing channel, the hovering drone can obtain the landing channel and land through the landing channel.

In this embodiment, by providing a hovering area on the flight plane, it is possible to play a queuing role, thereby avoiding the occurrence of the simultaneous presence of two drones in one landing channel. And by setting the landing channel to extend vertically to connect with the landing platform, the drone will fall vertically to the landing platform and then move on the flight plane. In this embodiment, by clearly defining the landing and landing potential of the drone, and landing only vertically in the landing channel, the landing action is more standardized and easy to manage.

Referring to FIG. 6 and FIG. 7 , in this embodiment, a take-off area, a landing channel, and a hovering area are provided in advance for each of the take-off and landing platforms;

The hovering area is annular in shape parallel to the plane of flight.

The take-off area is disposed on an inner side of the hovering area and is concentric annularly spaced from the hovering area.

In this embodiment, the hovering area on the landing platform is defined as being located at the outermost layer, the take-off area is located at the intermediate layer, and the landing channel is only one and located at the center position. The solution provided by this embodiment distinguishes the take-off and landing areas, and avoids collisions during take-off and landing. Moreover, since the drones will be at different heights after take-off, a take-off area scheme is adopted, so that a larger area can be secured to realize the take-off action of the drone. Further, since the drone is descended by the landing channel, the drone will land at the same position on the landing platform at the same altitude, thereby facilitating the management of the drone and avoiding the difficulty of unloading due to the change of the unloading position.

Please refer again to Figure 6, which shows a flight area map of a landing platform. The area where the drone 11 is located is a hovering area, the area where the drone 12 is located is a landing area, the drone 13 is located, and the area where the drone 14 is located is a take-off area.

Please refer to Figure 7 again, the schematic diagram of the principle of this route control method:

Among them, there is an order transaction between the A community and the A restaurant, then:

When the A cell has a reservation, the route 22 of the restaurant A to the A cell is planned, and the route 22 is located at the second flight plane (not labeled). At this time, the drone returns from the A-cell, and the drone is controlled to fly in the direction of the route 21, and the route 21 is located on the first flight plane (not labeled). When the drone arrives at the restaurant A along the route 21, it is found that there is no free landing channel, and then hovering in the hovering area corresponding to the restaurant A until an idle landing channel appears.

If there is an order between B Community and Restaurant A, then:

When the B cell has a reservation, the route 27 of the restaurant A to the B cell is planned, and the route 27 is located at the fourth flight plane (not labeled). At this time, the drone returns from the B-cell, and the drone is controlled to fly in the direction of the route 28, and the route 28 is located in the third flight plane (not labeled). When the drone arrives at the restaurant A along the route 21, it is found that there is an idle landing channel, and the landing channel is temporarily obtained for landing.

There is an order transaction between the C cell and the A restaurant, then:

When the C cell has a reservation, the route 24 of the restaurant A to the C cell is planned, and the route 24 is located at the fifth flight plane (not labeled). At this time, the drone is returned from the C-cell, and the drone is controlled to fly in the direction of the route 23, and the route 23 is located in the sixth flight plane (not labeled). When the drone arrives at the restaurant A along the route 23, it is found that there is no free landing channel, and then hovering in the hovering area corresponding to the restaurant A until an idle landing channel appears.

If there is an order transaction between the B and B restaurants, then:

When the B cell has a reservation, the route 26 of the B restaurant to the B cell is planned, and the route 26 is located at the first flight plane (not labeled). At this time, the drone returns from the B-cell, and the drone is controlled to fly in the direction of the route 25, and the route 25 is located in the second flight plane (not labeled). When the drone arrives at the B restaurant along the route 25, it is found that there is an idle landing channel, and the landing channel is temporarily obtained for landing.

In this embodiment, the scheduling model of each landing platform is the same, so the adaptation difficulty can be reduced; each landing platform has a plurality of equally spaced flight planes on the scheduling model; and each landing platform scheduling model The middle position is the landing channel, the outer circle is the take-off channel, and the outer circle is the air hovering point. Each landing channel can only be monopolized by one drone, and one takeoff position in each takeoff area and one hovering point in the hovering area can only be monopolized by one drone. Each drone applies for occupying a certain in-plane route during route planning, returning the route after landing; assigning a higher flight plane when there is a crossing.

Referring to FIG. 8, an example of a route control apparatus according to the present invention includes a processor 1100, a storage 1200, and a route control program 1300 stored in the storage 1200. The route control program 1300 is The steps of the route control method of any of the above embodiments are implemented when executed by at least one processor 1100.

Since the route control device 1000 provided in the present embodiment includes all the technical features of the route control method in the above embodiment, it also has all the technical effects of the above-described route control method. For details, please refer to the above embodiment, and details are not described herein again.

Referring to FIG. 9, an embodiment of a computer readable medium of the present invention stores a route control program 2100. When executed by at least one processor, the route control program 2100 is implemented in any of the above embodiments. The steps of the route control method.

The computer readable medium 2000 provided in this embodiment has all the technical effects of the above-described route control method since it includes all the technical features of the route control method in the above embodiment. For details, please refer to the above embodiment, and details are not described herein again.

It is to be understood that the term "comprises", "comprising", or any other variants thereof, is intended to encompass a non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes those elements. It also includes other elements that are not explicitly listed, or elements that are inherent to such a process, method, article, or device. An element that is defined by the phrase "comprising a ..." does not exclude the presence of additional equivalent elements in the process, method, item, or device that comprises the element.

The serial numbers of the embodiments of the present invention are merely for the description, and do not represent the advantages and disadvantages of the embodiments.

Through the description of the above embodiments, those skilled in the art can clearly understand that the foregoing embodiment method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be through hardware, but in many cases, the former is better. Implementation. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, may be embodied in the form of a software product stored in a storage medium (such as ROM/RAM, disk, The optical disc includes a number of instructions for causing a terminal (which may be a cell phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the methods described in various embodiments of the present invention.

The embodiments of the present invention have been described above with reference to the drawings, but the present invention is not limited to the specific embodiments described above, and the specific embodiments described above are merely illustrative and not restrictive, and those skilled in the art In the light of the present invention, many forms may be made without departing from the spirit and scope of the invention as claimed.

Industrial applicability

The route control method, device and computer readable medium provided by the present invention can avoid the scheduled route height by allocating a flight altitude other than the flight altitude of the related route overlapping the travel when planning the route of the drone Therefore, the solution is simple and efficient, and the solution is safe and reliable. Therefore, it has industrial applicability.

Claims

A route control method for a drone ordering, characterized in that the route control method comprises the steps of:

Plan a route from the departure point to the destination when receiving a new flight delivery order;

Finding related routes overlapping the trips in all the routes according to the planned route;

When obtaining the relevant route overlapped by the trip, assigning the unplanned flight altitude to the planned route according to the flight altitude of the obtained relevant route;

The drone flight is controlled according to the planned route.
The route control method according to claim 1, wherein the step of planning the planned route from the departure place to the destination comprises:

Obtain the merchant location and user location in the flight delivery order;

Performing matching in a preset plurality of landing and landing platforms according to the merchant location, and obtaining a platform with the highest matching degree as a departure place;

Perform matching in a preset plurality of landing and landing platforms according to the user location, and obtain a platform with the highest matching degree as a destination;

Plan the planned route from the departure point to the destination.
The route control method according to claim 2, wherein the step of allocating an unoccupied flight altitude to the planned route according to the flight altitude of the obtained related route includes:

Obtain the flight plane occupied by the relevant route obtained;

An unoccupied flight plane is assigned to the planned route.
The route control method according to claim 3, wherein the step of controlling the drone flight according to the planned route comprises:

Controlling the drone to take off at the departure point to an assigned flight plane;

Controlling the drone to fly to the destination along the path of the planned route within the flight plane;

When the drone arrives at the destination, the drone is controlled to land at the destination.
The route control method according to claim 4, wherein the step of controlling the drone to take off at the departure place to the assigned flight plane comprises:

When the drone is located at the departure place, starting a takeoff control process;

Obtaining, according to the takeoff control flow, a takeoff area of the landing platform corresponding to the departure place;

The drone is controlled to take off vertically along the acquired takeoff area to the assigned flight plane.
The route control method according to claim 5, wherein the step of controlling the drone to land at the destination when the drone reaches the destination comprises:

When the drone arrives at the destination, the landing control process is initiated;

Obtaining, according to the landing control flow, a landing channel of the landing platform corresponding to the destination;

When there is no idle landing channel corresponding to the landing platform corresponding to the destination, obtaining a hovering area of the landing platform corresponding to the destination, and controlling the drone to move to hover in the obtained hovering area wait;

Controlling the drone to move into the obtained landing channel when the landing and landing platform corresponding to the destination has an idle landing channel, and controlling the drone to vertically fall along the landing channel to the Drop the platform.
The route control method according to claim 6, wherein a take-off area, a landing channel, and a hovering area are provided in advance for each of the landing platforms;

The hovering area is annular in shape parallel to the plane of flight;

The take-off area is disposed at an inner side of the hovering area and is concentric annularly spaced from the hovering area;

The landing channel is disposed on an inner side of the take-off area and is located at a center of the center of the take-off area.
The route control method according to claim 1, wherein the step of obtaining an associated route in which the trips overlap in all the routes according to the planned route includes:

Obtaining the departure place of the planned route;

Finding the same route in all routes as the departure point of the planned route;

When obtaining the same route as the departure place, mark the route obtained as the relevant route;

Obtaining the destination of the planned route;

Finding the same route in all routes as the destination of the planned route;

When obtaining the same route to the destination, mark the obtained route as the relevant route;

Obtaining a flight path between the departure place and the destination of the planned route;

Finding routes in all routes that intersect the flight path of the planned route;

When obtaining the route where the flight path intersects, the obtained route is marked as the relevant route.
A route control device, characterized in that it is used for a drone ordering, the route control device comprising a memory, a processor, and a route control program stored on the memory and operable on the processor, The steps of the method of any one of claims 1 to 8 are implemented when the route control program is executed by the processor.
A computer readable medium, wherein the computer readable medium stores a route control program,

When the route control program is executed by at least one processor, the at least one processor is caused to perform the steps of the route control method according to any one of claims 1 to 8.