WO2021134778A1

WO2021134778A1 - Method, apparatus and system for controlling unmanned aerial vehicle, and unmanned aerial vehicle and storage medium

Info

Publication number: WO2021134778A1
Application number: PCT/CN2020/070235
Authority: WO
Inventors: 张伟
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-01-03
Filing date: 2020-01-03
Publication date: 2021-07-08
Also published as: CN113748391A

Abstract

A method, apparatus and system for controlling an unmanned aerial vehicle, and an unmanned aerial vehicle (23, 110) and a storage medium. The method comprises: receiving location information of a destination by means of an unmanned aerial vehicle (23, 110) (S101); flying to the destination according to the location information of the destination (S102); furthermore, the unmanned aerial vehicle (23, 110) being further capable of determining positioning information of a first terminal device (31) by means of a network device (42) in communication connection with the first terminal device (31) of a user (71, 72, 81, 83) (S103); and determining a target flight location of the unmanned aerial vehicle (23, 110) according to the positioning information of the first terminal device (31), so that the user (71, 72, 81, 83) around the target flight location can receive/send an express parcel by means of the unmanned aerial vehicle (23, 110) (S104), so that when sending/receiving an express parcel, the unmanned aerial vehicle (23, 110) can land around the user (71, 72, 81, 83), without the need for the unmanned aerial vehicle (23, 110) to fly to a special landing platform. In other words, the user (71, 72, 81, 83) does not need to reach the location point of the landing platform to receive/send an express parcel, and the user (71, 72, 81, 83) can receive/send an express parcel at his/her own location, thereby improving the convenience for the user (71, 72, 81, 83) to receive/send an express parcel.

Description

UAV control method, device, system, UAV and storage medium

Technical field

The embodiments of the present application relate to the field of drones, and in particular, to a control method, device, system, drone, and storage medium of the drone.

Background technique

In the prior art, the application fields of drones are becoming more and more extensive. For example, drones can be used in the field of express delivery and delivery. However, when the current drone is landing on the user side, a special landing platform is required, so that the user needs to send and receive express delivery at the location where the landing platform is located. In addition, multiple users may need to share a landing platform, which results in a relatively large amount of delivery for users. inconvenient.

Summary of the invention

The embodiments of the present application provide a drone control method, device, system, drone, and storage medium, so as to improve the convenience for users to send and receive express delivery.

The first aspect of the embodiments of the present application is to provide a control method for drones, including:

Receive the location information of the destination;

Controlling the drone to reach the destination according to the location information of the destination;

Determining the location information of the user's first terminal device through a network device, and the network device is in communication connection with the first terminal device;

Determine the target flight position of the drone according to the positioning information of the first terminal device.

The second aspect of the embodiments of the present application is to provide a control device for drones, including:

Memory, processor and communication interface;

The memory is used to store program code;

The processor calls the program code, and when the program code is executed, is used to perform the following operations:

Receiving location information of the destination through the communication interface;

The third aspect of the embodiments of the present application is to provide a drone, including:

body;

The power system is installed on the fuselage to provide flight power;

And the control device described in the second aspect.

The fourth aspect of the embodiments of the present application is to provide a communication system, including:

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

Wherein, the network device is used to locate the first terminal device;

The drone is equipped with an object storage box, and the drone is used to collect or deliver objects at the target flight position.

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

The drone control method, device, system, drone and storage medium provided in this embodiment receive the location information of the destination through the drone, and fly to the destination according to the location information of the destination, and further, The drone can also determine the location information of the first terminal device through a network device that is communicatively connected with the user's first terminal device, and determine the target flight position of the drone according to the location information of the first terminal device, This allows users around the target flight location to send and receive express delivery through the drone, so that the drone can land around the user when sending and receiving express delivery, without the need for the drone to fly to a special landing platform, that is, The user does not need to arrive at the location where the landing platform is located to send and receive express delivery, and the user can send and receive express delivery at his own location, thereby improving the convenience of sending and receiving express delivery for users.

Description of the drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained from these drawings without creative labor.

Fig. 1 is a flowchart of a method for controlling a drone provided by an embodiment of the application;

Figure 2 is a schematic diagram of an application scenario provided by an embodiment of the application;

FIG. 3 is a schematic diagram of another application scenario provided by an embodiment of the application;

FIG. 4 is a schematic diagram of another application scenario provided by an embodiment of the application;

FIG. 5 is a schematic diagram of another application scenario provided by an embodiment of the application;

FIG. 6 is a schematic diagram of another application scenario provided by an embodiment of the application;

FIG. 7 is a schematic diagram of another application scenario provided by an embodiment of the application;

FIG. 8 is a schematic diagram of yet another application scenario provided by an embodiment of the application;

FIG. 9 is a flowchart of a control method of a drone provided by another embodiment of the application;

FIG. 10 is a structural diagram of a control device for a drone provided by an embodiment of the application;

Fig. 11 is a structural diagram of a drone provided by an embodiment of the application.

Reference signs:

21: terminal equipment; 22: service platform; 23: drone;

31: terminal equipment; 24: object storage box; 40: area;

41: sender; 42: network equipment; 43: preset area;

71: user; 72: user; 73: terminal equipment;

81: user; 82: terminal equipment; 83: user;

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

102: processor; 103: communication interface; 110: drone;

1107: Motor; 1106: Propeller; 1117: Electronic governor;

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

1102: supporting equipment; 1104: camera.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or a centered component may also exist. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be a centered component at the same time.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of this application. The terms used in the specification of the application herein are only for the purpose of describing specific embodiments, and are not intended to limit the application. The term "and/or" as used herein includes any and all combinations of one or more related listed items.

Hereinafter, some embodiments of the present application will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

At present, the application fields of drones are becoming more and more extensive. For example, drones can be used in the field of express delivery and delivery. However, when the current drone is landing on the user side, a special landing platform is required, so that the user needs to send and receive express delivery at the location where the landing platform is located. In addition, multiple users may need to share a landing platform, which results in a relatively large amount of delivery for users. inconvenient. In response to this problem, an embodiment of the application proposes a drone control method. By controlling the drone to land at a location designated by the user or a preset area around the user when sending and receiving express delivery, the user can send and receive express delivery more easily. Convenience.

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

S101. Receive location information of a destination.

The execution subject of the method in this embodiment may be the control device of the drone, and the control device can perform flight control of the drone. For example, the control device may be the flight controller of the drone. Or the control device may be a ground control terminal corresponding to the drone, and the ground control terminal may be a remote control, a smart phone, a tablet computer, a ground control station, a laptop computer, a watch, a bracelet, etc. and combinations thereof.

In a possible application scenario, the user needs to use the delivery service of the drone. At this time, the user is the sender, and the sender can make a delivery appointment through the sender’s terminal device. A human terminal device may be a terminal device 21 as shown in FIG. 2. The terminal device 21 may specifically be a mobile phone, a tablet computer, a notebook computer, a personal computer, etc., and a notebook computer is taken as an example here. During the mailing reservation process, the terminal device 21 may send the location information of the destination entered by the sender to the service platform 22, where the location information of the destination may specifically be the address information of the sender. Further, the service platform 22 may send the location information of the destination to the drone 23, so that the drone 23 can receive the location information of the destination, and the location information of the destination may specifically be the global information of the destination. Positioning system (Global Positioning System, GPS) positioning information. Wherein, the service platform 22 may be a server, or a server cluster composed of multiple servers.

In another possible application scenario, the user needs to use the pickup service of the drone. At this time, the user is the recipient. As shown in Figure 3, the terminal device 31 is the sender’s terminal device. After the sender puts the sent object into the item storage box 24 of the drone 23, the sender can use the terminal device 31 to determine the location of the destination. The information is sent to the drone 23. At this time, the location information of the destination may specifically be the address information of the recipient.

S102. Control the drone to reach the destination according to the location information of the destination.

When the drone 23 receives the location information of the destination, the control device of the drone 23 can control the drone 23 to reach the destination according to the location information of the destination, such as GPS positioning information of the destination. For example, the GPS location corresponding to the address information of the sender or the GPS location corresponding to the address information of the recipient.

Optionally, after the drone arrives at the destination, if the user does not appear within a preset time, control the drone to return home.

For example, after the drone 23 arrives at the GPS location corresponding to the sender’s address information, if the sender does not appear within a preset time, for example, within 5 minutes, the control device of the drone 23 can control the unmanned The machine returns. Or after the drone 23 reaches the GPS location corresponding to the address information of the recipient, if the recipient does not appear within the preset time, the control device of the drone 23 can control the drone to return home.

S103. Determine the location information of the user's first terminal device through a network device, where the network device is in communication connection with the first terminal device.

It is understandable that there may be a big difference between the destination and the location of the user as described above. For example, when the sender is sending a shipment, the sender’s address information entered by the sender is a company’s For address information, the company's office area may be a relatively large area, such as the area 40 shown in FIG. 4, and the sender 41 is located in a certain position in the office area. When the drone 23 reaches the GPS location corresponding to the company's address information, for example, point A, the drone 23 needs to further determine the location of the sender 41. Specifically, the UAV 23 can determine the location information of the first terminal device of the sender 41 through a network device that is communicatively connected with the first terminal device of the sender 41, and the location information of the sender’s first terminal device can be used as The location information of the sender.

As shown in FIG. 5, the terminal device 21 and the terminal device 31 belong to the sender 41. Here, the terminal device 21 can be recorded as the second terminal device, and the terminal device 31 can be recorded as the first terminal device. The sender submits a shipping order to the service platform 22 through the terminal device 21, and the shipping order includes the address information of the sender. The terminal device 31 may specifically be a mobile terminal, such as a mobile phone. The terminal device 31 and the network device 42 are in communication connection, and the network device 42 can determine the location information of the terminal device 31. The network device 42 may specifically be a 5G base station of the fifth generation mobile communication technology. 5G base stations can use cellular communication technology to accurately locate terminal devices. Therefore, the drone 23 can determine the location information of the sender's terminal device 31 through the network device 42, and the location information of the terminal device 31 can be used as the location information of the sender 41.

It can be understood that, in some embodiments, the first terminal device and the second terminal device may be the same terminal device. For example, the first terminal device and the second terminal device are both the terminal device 31, that is to say, A person can not only submit a shipping order to the service platform 22 through the terminal device 31, but the drone 23 can also locate the terminal device 31 through the network device 42 to determine the location of the sender. In addition, in some other embodiments, the network device 42 may also be the service platform 22.

In other scenarios, the sender may move to another place after the sender has made a sending appointment, which may cause the sender’s address information entered by the sender and the sender’s location information to be different. As shown in FIG. 6, the address information of the sender is the address information of the area 40, and the sender may move outside of the area 40 after the mailing reservation. When the drone 23 arrives at the destination, for example, the GPS location point A corresponding to the sender’s address information, the sender may still be outside the area 40. Here, the drone 23 can pass through as shown in Figure 5. The illustrated network device 42 determines the location information of the sender's terminal device 31, and the location information of the terminal device 31 can be used as the location information of the sender 41.

Similarly, the address information of the recipient and the location information of the recipient’s location may also be quite different. In this case, a method similar to the location information of the sender can be used to determine the recipient. The location information of the person, the specific process will not be repeated here.

S104. Determine the target flight position of the drone according to the positioning information of the first terminal device.

As shown in FIG. 4 or FIG. 6, when the UAV 23 determines the location information of the sender's terminal device 31, the target flight position of the UAV 23 can be determined according to the location information of the terminal device 31. In a possible manner, the drone 23 may use the positioning information of the terminal device 31 as the position information of the target flight position. In another possible way, the drone 23 may need to compare the location information of the destination with the location information of the terminal device 31, and then determine the target according to the location information of the destination and the location information of the terminal device 31. Flight position.

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

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

For example, the UAV 23 determines the target flight position of the UAV 23 according to the positioning information of the terminal device 31. For example, when the UAV 23 is at point B, the control device of the UAV 23 can also control the UAV 23 from the area 40. Point A inside flies to point B.

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

As shown in Fig. 4 or Fig. 6, when the control device in the drone 23 determines the target flight position of the drone 23 according to the positioning information of the terminal device 31, the control device can specifically determine the target flight position of the drone 23 according to the position information of point A and the terminal The positioning information of the device 31 determines the target flight position of the UAV 23.

Optionally, the determining the target flight position of the drone according to the location information of the destination and the positioning information of the first terminal device includes: when the location information of the destination and the first terminal device When the difference between the positioning information of a terminal device exceeds the preset difference range, a user instruction is obtained, and the user instruction is used to indicate the target flight position of the drone; and the drone is determined according to the user instruction The target flight position. Optionally, the target flight position is a position in a preset area based on the positioning information, or a position in a preset area based on the location information of the destination.

For example, when the control device determines the target flight position of the drone 23 based on the position information of point A and the position information of the terminal device 31, it can specifically determine whether the difference between the position information of point A and the position information of the terminal device 31 is Beyond the preset difference range, the difference between the location information of point A and the location information of the terminal device 31 may be the difference between the coordinate value of the location information of point A and the coordinate value of the location information of the terminal device 31, when When the difference exceeds the preset difference range, it means that point A and the terminal device 31 are far away. Or the difference between the location information of point A and the location information of the terminal device 31 can also be the distance between point A and the terminal device 31 determined according to the location information of point A and the location information of the terminal device 31, and the corresponding preset The difference range may specifically be a preset distance range. When the distance between the point A and the terminal device 31 exceeds the preset distance range, it means that the point A and the terminal device 31 are far away. In this case, the drone 23 may send prompt information to the terminal device 31, the prompt information may include the position information of point A, and the prompt information may be used to prompt the user to determine the target flight position of the drone 23. When the terminal device 31 receives the prompt information, it can prompt the user through any prompt method. The user can send a user instruction to the drone 23 through the terminal device 31 to indicate the target flight position of the drone 23, and the target flight The position may be the position of point B in the preset area 43 based on the positioning information of the terminal device 31 as described above. Or the target flying position may also be a position in a preset area based on the position information of point A, for example, a certain position point in the preset area around point A. Alternatively, the target flight position may also be the position of point A. For example, the user may instruct the drone 23 to remain at point A through a user instruction, and the user may move from the position of point B to the vicinity of point A for sending or receiving. Alternatively, the first terminal device may be another terminal device indicated by the terminal device 31, and the target flight position may also be the positioning information of other terminal devices, that is, the user instructs the drone 23 through the terminal device 31 to obtain the positioning information of other terminal devices. The way that the drone 23 obtains the positioning information of other terminal devices is the same as the way of obtaining the positioning information of the terminal device 31, wherein the positioning information of the other terminal devices can be closer to the location information of the destination relative to the positioning information of the terminal device 31 .

In addition, in some other embodiments, the difference between the location information of the destination and the location information of the first terminal device may not exceed the preset difference range, that is, the location information of the destination is different from the location information of the first terminal device. The difference between the information is not large. For example, the difference between the location information of point A and the location information of the terminal device 31 shown in FIG. 4 or FIG. 6 is small. In this case, in order to make the drone 23 The target flight position is more accurate, and the position of point B in the preset area 43 based on the positioning information of the terminal device 31 may be used as the target flight position.

It is understandable that 41 shown in Figure 4, Figure 5 or Figure 6 can also indicate the recipient, and the address information of the area 40 can also be the address information of the recipient. When the drone 23 arrives at the recipient’s When the GPS positioning point corresponding to the address information, such as point A, the method described in this embodiment can be used to determine the target flight position, the specific process is as described above, and will not be repeated here.

In this embodiment, the drone receives the location information of the destination and flies to the destination according to the location information of the destination. Further, the drone can also be determined by a network device that is communicatively connected with the user's first terminal device. According to the positioning information of the first terminal device, the target flight position of the drone is determined according to the positioning information of the first terminal device, so that users around the target flight position can send and receive express delivery through the drone, so that The drone can land around the user when sending and receiving express delivery, without the drone flying to a special landing platform, that is to say, the user does not need to reach the location of the landing platform to send and receive express delivery, the user can be at their own location Sending and receiving express delivery, thereby improving the convenience for users to send and receive express delivery.

The embodiment of the present application provides a control method of an unmanned aerial vehicle. The determining the location information of the first terminal device of the user through the network device includes: obtaining the location information of the first terminal device from the network device according to the identification information of the first terminal device.

For example, when the drone 23 determines the location information of the sender's terminal device 31 through the network device 42, the drone 23 can obtain the location information of the terminal device 31 from the network device 42 according to the identification information of the terminal device 31.

In a possible implementation manner, the obtaining the positioning information of the first terminal device from the network device according to the identification information of the first terminal device includes: according to the identification information of the first terminal device Communicating with the first terminal device through the network device, and the network device is used to determine the positioning information of the first terminal device during the communication process between the drone and the first terminal device ; Obtain the positioning information of the first terminal device from the network device. The network equipment includes a fifth-generation mobile communication technology 5G base station.

As shown in FIG. 5, the shipping order submitted by the sender 41 through the terminal device 21 may also include the identification information of the terminal device 31, and the identification information of the terminal device 31 may be the device identification of the terminal device 31. In addition, if the terminal device 31 is a mobile phone, the identification information of the terminal device 31 may also be the phone number of the terminal device 31. When the UAV 23 arrives at the destination, for example, the point A in the area 40 shown in FIG. 4 or FIG. 6 is hovering. Furthermore, the UAV 23 can communicate with the terminal device 31 through the network device 42. In the process, the network device 42 determines the location information of the terminal device 31. Further, the drone 23 can obtain the positioning information of the terminal device 31 from the network device 42. The network device 42 here may specifically be a 5G base station. When the 5G base station communicates with the terminal device, the 5G base station uses cellular communication technology to locate the terminal device.

Optionally, the identification information of the first terminal device includes the phone number of the first terminal device; and the communication between the network device and the first terminal device is performed according to the identification information of the first terminal device. The communication includes: conducting a call with the first terminal device through the network device according to the phone number of the first terminal device.

For example, the identification information of the terminal device 31 is the telephone number of the terminal device 31. When the drone 23 arrives at the destination, for example, at point A in the area 40 shown in FIG. 4 or FIG. 6, the drone 23 can call the terminal through the network device 42 according to the phone number of the terminal device 31 Device 31. When the user connects the call on the terminal device 31, the drone 23 talks with the terminal device 31 through the network device 42. During the call, the network device 42 can locate the terminal device 31. Further, the network device 42 can send the location information of the terminal device 31 to the drone 23, or the drone 23 can send the phone number of the terminal device 31 to the network device 42, and the network device 42 queries the phone number of the terminal device 31 To the location information of the terminal device 31, and send the location information of the terminal device 31 to the drone 23.

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

As shown in FIG. 5, the network device 42 can establish a cellular network connection with the terminal device 31. In the connected state, the network device 42 can also determine the positioning information of the terminal device 31. The network device 42 here may specifically be a 5G base station. That is to say, when the 5G base station is in the state of establishing a cellular network connection with the terminal device 31, rather than in a call state, the 5G base station may also use cellular communication technology to communicate with the terminal device 31 Positioning.

Optionally, the obtaining the positioning information of the first terminal device from the network device according to the identification information of the first terminal device includes: sending the identification information of the first terminal device to the network Device, so that the network device determines the location information of the first terminal device based on the identification information of the first terminal device; receives the location information of the first terminal device from the network device; wherein, the first terminal device The identification information of a terminal device includes at least one of the following: the phone number of the first terminal device, and the device identifier of the first terminal device.

Specifically, when the drone 23 obtains the positioning information of the terminal device 31 from the network device 42 according to the identification information of the terminal device 31, the drone 23 can use the identification information of the terminal device 31, for example, the device identification of the terminal device 31 or The phone number is sent to the network device 42 so that the network device 42 can determine the location information of the terminal device 31 according to the device identifier or the phone number of the terminal device 31. Further, the network device 42 sends the location information of the terminal device 31 to the drone 23, and accordingly, the drone 23 receives the location information of the terminal device 31.

In another possible implementation manner, the first terminal device determines the real-time positioning information of the first terminal device through the positioning system of the first terminal device, and the first terminal device is used to transfer the first terminal device to the first terminal device. Real-time positioning information of a terminal device is sent to the network device. Optionally, the network device includes a service platform.

For example, the network device 42 shown in FIG. 5 may also be a service platform 22, and the service platform 22 may specifically be a server or a server cluster of an express company. In the shipping service, the service platform 22 can issue a shipping task to the drone according to the shipping order submitted by the user. In addition, the service platform 22 can also store the sender's related information in the shipping order, for example, The sender’s address information, the sender’s phone number, the appointment time for the shipment, etc. In the receiving service, the service platform 22 may receive the recipient's related information sent by the sender's terminal device, for example, the recipient's address information, the recipient's phone number, and the appointment time for receiving the mail. In addition, the service platform 22 can record the sending or receiving tasks performed by each drone, and schedule the drone.

Specifically, the terminal device 31 may be installed with a positioning system or a positioning module, which can perform real-time positioning of the terminal device 31. In addition, the terminal device 31 may also send real-time positioning information of the terminal device 31 to the network device 42. . The network device 42 can store real-time positioning information of the terminal device 31.

Specifically, when the drone 23 obtains the positioning information of the terminal device 31 from the network device 42 according to the identification information of the terminal device 31, the drone 23 can use the identification information of the terminal device 31, for example, the device identification of the terminal device 31 Or the phone number is sent to the network device 42, so that the network device 42 can determine the location information of the terminal device 31 according to the device identifier or the phone number of the terminal device 31. Further, the network device 42 sends the location information of the terminal device 31 to the drone 23, and accordingly, the drone 23 receives the location information of the terminal device 31.

It is understandable that 41 shown in Figure 4, Figure 5 or Figure 6 can also indicate the recipient, and the address information of the area 40 can also be the address information of the recipient. When the drone 23 arrives at the recipient’s When the GPS positioning point corresponding to the address information, for example, point A, the method described in this embodiment can be used to determine the positioning information of the terminal device 31, the specific process is as described above and will not be repeated here.

In this embodiment, the 5G base station is used to locate the first terminal device, which can improve the positioning accuracy of the first terminal device. Therefore, the target flight position of the drone determined according to the positioning information of the first terminal device can make unmanned The machine accurately reaches the user's vicinity. In addition, through the network device and the first terminal device to make a call or establish a cellular network connection between the network device and the first terminal device, the network device locates the first terminal device, or the network device stores the positioning system of the first terminal device The determined real-time location information of the first terminal device improves the flexibility of determining the location information of the first terminal device through the network device.

A flow chart of a control method of a drone provided by another embodiment of the present application. On the basis of the foregoing embodiment, the user is the sender; the location information of the destination includes at least one of the following: the sender's address information entered by the sender; the sender The location information of the second terminal device when the shipment is sent through the second terminal device; the location information of the sender selected by the sender on the electronic map.

As shown in FIG. 5, when 41 indicates the sender, the sender submits the shipping order to the service platform 22 through the terminal device 21, which may include the location information of the destination.

In a possible situation, the location information of the destination is the sender's address information input by the sender on the terminal device 21.

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

In another possible situation, the terminal device 21 may display an electronic map, and the location information of the destination may be the location information of the sender selected by the sender on the electronic map.

Optionally, the user publishes a mailing task through a service platform; the receiving location information of a destination includes: receiving the mailing task issued by the service platform, and the mailing task includes the destination Location information.

As shown in FIG. 5, after the sender submits the shipping order to the service platform 22 through the terminal device 21, the sender can also publish the shipping task through the service platform 22. Specifically, the service platform 22 can send the delivery order to the drone 23 The sending task is issued, and accordingly, the drone 23 receives the sending task. Specifically, the mailing task includes the location information of the destination.

Optionally, the mailing task further includes at least one of the following: identification information of the first terminal device, an appointment time of the mailing, and related information of the mailing object. For example, in addition to the location information of the destination, the mailing task issued by the service platform 22 to the UAV 23 may also include the identification information of the terminal device 31, the appointment time of the mailing, and the relevant information of the mailing object. At least one. The identification information of the terminal device 31 may be the device identification or telephone number of the terminal device 31. The appointment time for mailing is specifically the mailing time of the sender or the time required for the drone 23 to reach the destination. The relevant information of the object to be sent may include the size, weight, and type of the object to be sent.

After the drone 23 receives the mailing task, the control device corresponding to the drone 23 controls the drone 23 to reach the destination according to the location information of the destination.

In a possible situation, the controlling the drone to reach the destination according to the location information of the destination includes: if the time interval between the scheduled time and the current time is less than a preset time length , Control the drone to reach the destination according to the location information of the destination.

For example, if the time interval between the scheduled time of the mailing and the current time is less than the preset time, the control device of the drone 23 can control the drone 23 to reach the sender’s address according to the sender’s address information. The GPS location corresponding to the address information to complete the pickup.

In another possible situation, the controlling the drone to reach the destination according to the location information of the destination includes: if the time interval between the scheduled time and the current time is greater than a preset time Time length, control the drone to return; after planning the initial flight position and/or initial flight time of the drone based on the reserved time and/or the location information of the destination, according to The planned starting flight position and/or the planned starting flight time are controlled to reach the destination according to the location information of the destination.

For example, if the time interval between the appointment time of the shipment and the current time is greater than the preset time, that is, the current time is longer than the appointment time of the shipment, at this time, the control device of the drone 23 can control the unmanned The machine 23 returns home, for example, to a courier company. Further, the control device can plan the initial flight position and/or initial flight time of the UAV 23 according to the appointment time of the mailing and/or the address information of the sender, where the initial flight position may be The location of the courier company, or a certain location where the UAV 23 is carried by the courier vehicle of the courier company. Further, the control device can control the drone 23 to reach the GPS location corresponding to the sender's address information according to the planned starting flight position and/or the planned starting flight time.

In another possible situation, the controlling the drone to reach the destination according to the location information of the destination includes: if the time interval between the scheduled time and the current time is greater than a preset time Time length, and/or, the distance between the current position of the drone and the destination is greater than the preset distance, then plan the flight path from the current position of the drone to the destination; according to the plan The subsequent flight path and the location information of the destination to control the drone to reach the destination. Optionally, the flight path includes a location point of a ground charging station.

For example, if the time interval between the appointment time of the sender and the current time is greater than the preset duration, and/or the distance between the current location of the drone 23 and the GPS location corresponding to the sender’s address information is greater than the preset time. When the distance is set, the control device of the drone 23 can plan the flight path from the current position of the drone 23 to the GPS location corresponding to the sender’s address information, and further, according to the planned flight path and the The address information of the sender controls the drone 23 to reach the GPS location corresponding to the address information of the sender. Wherein, the flight path may include the location point of the ground charging station, that is, when the drone 23 is far away from the destination, since the power of the drone 23 is limited, the drone 23 needs to fly from the current position. One or more charging is performed during the journey to the destination, for example, according to the location of the ground charging station, flying to the vicinity of the ground charging station so that the ground charging station can charge the drone 23. Wherein, the flight path from the current location of the drone 23 to the destination may include the location points of multiple ground charging stations.

In this embodiment, the sender determines the address information of the sender in multiple ways, which improves the flexibility of the sender's address information. In addition, according to the appointment time of the shipment and/or the address information of the sender, the starting position and/or starting time of the drone can be re-planned, or the drone can fly from the current location to the destination The flight path is planned so that the sender can send the shipment on time according to his own sending appointment time, which further improves the convenience of sending.

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

As shown in FIG. 5, when the drone 23 reaches the vicinity of the sender 41 according to the target flight position described in the above embodiment, the drone 23 can choose a flat area near the sender 41 to land. If there is no flat area near the sender 41, the drone 23 can also hover near the sender 41 and wait for the sender 41 to control the drone 23 to land. After the drone 23 has landed, the sender 41 can open the object storage box 24 of the drone 23 and put the sent objects into the object storage box 24. Further, the sender 41 may send the location information of the destination to the drone 23 through the third terminal device, and the location information of the destination is specifically the address information of the recipient. The third terminal device of the sender may be the first terminal device or the second terminal device of the sender, for example, the terminal device 21 or the terminal device 31. In other embodiments, the third terminal device of the sender 41, for example, the terminal device 21 or the terminal device 31 may also send the address information of the recipient to the service platform 22, and the service platform 22 will send the recipient’s address information to the service platform 22. The address information is issued to UAV 23.

In other embodiments, after the sender submits the shipping order, the service platform 22 can also send a control password to the sender’s terminal device 21 or terminal device 31, which can be recorded as control password E, control password E is generated by the service platform 22. When the UAV 23 arrives near the sender, the sender can control the UAV 23 through the control code E, for example, the UAV 23 is controlled to land through the control code E, and/or the UAV 23 is controlled through the control code E The drone 23 opens the object storage box 24. Specifically, the sender may send a control instruction to the drone 23 through the terminal device 21 or the terminal device 31, and the control instruction includes the control password E. After the drone 23 receives the control instruction, it first verifies the control password E. For example, it detects whether the control password E matches the control password pre-stored in the drone 23, or the drone 23 uses the control password. E is sent to the service platform 22, and the service platform 22 verifies the control password E. If the control password E passes the verification, the drone 23 executes the control instruction, otherwise the control instruction is not executed. After the sender successfully opens the object storage box 24 with the control password E, and puts the object in the object storage box 24, the sender can also reset the control password, for example, the control password reset by the sender It is the control code F.

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

For example, the sender may send at least one of the control password F, the identification information of the recipient's terminal device, and the appointment time for receiving the mail to the drone 23 through the terminal device 21 or the terminal device 31. Alternatively, the terminal device 21 or the terminal device 31 sends at least one of the control password F, the identification information of the recipient's terminal device, and the appointment time for receiving the mail to the service platform 22, and the service platform 22 transmits the control password F and the receiving mail At least one of the identification information of the human terminal device and the appointment time for receiving the mail is sent to the drone 23. In addition, the sender can also send the control password F to the recipient's terminal device through the terminal device 21 or the terminal device 31, and the control password F is used by the recipient to control the drone 23. For example, when the drone 23 flies near the recipient, the recipient can control the drone 23 to land and/or open the object storage box 24 by controlling the password F, so that the recipient can take out the object storage box 24 Objects in.

Further, after the drone 23 receives the location information of the destination, such as the address information of the recipient, the control device corresponding to the drone 23 controls the drone 23 to reach the destination according to the location information of the destination.

For example, if the time interval between the appointment time of the recipient and the current time is less than the preset time length, the control device of the drone 23 can control the drone 23 to reach the recipient according to the address information of the recipient. The GPS location corresponding to the address information to complete the delivery.

For example, if the time interval between the appointment time for receiving the mail and the current time is greater than the preset time, that is, the current time is longer than the appointment time for receiving the mail, at this time, the control device of the drone 23 can control no one The aircraft 23 returns home, for example, when returning to a courier company, the courier company can temporarily store the object storage box 24 of the drone 23. Further, the control device or service platform 22 can plan the initial flight position and/or initial flight time of the drone 23 according to the appointment time of the receipt and/or the address information of the recipient. Wherein, the initial flight position may be the position of the courier company, or a certain position where the drone 23 is carried on the courier vehicle of the courier company. When the planned starting flight position and/or the planned starting flight time are reached, the object storage box 24 is mounted on the drone 23 again. The control device controls the UAV 23 to reach the GPS location corresponding to the address information of the recipient according to the planned starting flight position and/or the planned starting flight time.

For example, if the time interval between the appointment time of the recipient and the current time is greater than the preset duration, and/or the distance between the current location of the drone 23 and the GPS location corresponding to the address information of the recipient is greater than the preset time. When the distance is set, the control device of the UAV 23 can plan the flight path from the current location of the UAV 23 to the GPS location corresponding to the address information of the recipient, and further, according to the planned flight path and the The address information of the recipient controls the drone 23 to reach the GPS location corresponding to the address information of the recipient. Wherein, the flight path may include the location point of the ground charging station, that is, when the drone 23 is far away from the destination, since the power of the drone 23 is limited, the drone 23 needs to fly from the current position. One or more charging is performed during the journey to the destination, for example, according to the location of the ground charging station, flying to the vicinity of the ground charging station so that the ground charging station can charge the drone 23. Wherein, the flight path from the current location of the drone 23 to the destination may include the location points of multiple ground charging stations.

In this embodiment, the sender controls the drone to land and/or opens the drone's object storage box through the control password issued by the service platform, which improves the security of the sender's control of the drone. In addition, after the sender puts the sending object in the object storage box, the sender can reset the control password. The control password reset by the sender can be used by the recipient to control the drone to avoid no one During the process of sending and receiving the express, the object storage box was maliciously opened and the objects in the object storage box were intercepted, thereby improving the security of the objects.

The embodiment of the present application provides a control method of an unmanned aerial vehicle. On the basis of the above embodiment, it may happen that the user who submitted the shipping order and the user who actually sent the shipment are not the same user. As shown in FIG. 7, the user 71 is the user who submitted the shipping order, and the user 72 is the actual user. The user who sent the shipment. The shipping order submitted by the user 71 to the service platform 22 through the terminal device 21 or the terminal device 31 includes the address information of the user 72 and the identification information of the terminal device 73 of the user 72. The UAV 23 can use the method described in the above embodiment to fly to the GPS location corresponding to the address information of the user 72, that is, the destination, and determine the location information of the terminal device 73 through the network device 42, and further, according to the terminal device 73 The positioning information determines the target flight position. For example, the target flight position is a certain position around the terminal device 73, such as the position of point C shown in FIG. 7.

After the user 72 puts the mailing object into the object storage box 24 of the drone 23, the user 72 sends the reset control password, for example, the control password F, to the terminal device 82 of the user 81 as shown in FIG. 8. The address information of the recipient issued by the service platform 22 to the drone 23 is the address information of the user 81 as shown in FIG. 8, and the identification information of the recipient's terminal device issued by the service platform 22 to the drone 23 This is the identification information of the terminal device 82 of the user 81. The drone 23 can use the method described in the above embodiment to fly to the GPS location corresponding to the address information of the user 81, such as point A shown in FIG. 8, and determine the location information of the terminal device 82 through the network device 42, and further , Determine the target flight position according to the positioning information of the terminal device 82, for example, the target flight position is the position of point A. Further, the user 81 can also send the control password F to the terminal device 84 of the user 83 near the point A through the terminal device 82, so that the user 83 near the point A can receive the mailing object instead of the user 81. In other words, the actual recipient may change.

FIG. 9 is a flow chart of a control method of a drone provided by another embodiment of the application. After controlling the drone to fly from the destination to the target flight position, the method further includes:

S901. Receive a control instruction sent by a fourth terminal device at the target flight position, where the control instruction includes a second control password.

As shown in Figure 7 or Figure 8, the terminal device 73 of the actual sender 72 or the terminal device 84 of the actual recipient 83 can be recorded as the fourth terminal device. When the drone 23 flies to the target flight position, no one The machine 23 can receive control instructions from the terminal device 73 or the terminal device 84. The control instruction includes a second control password.

For example, the user 72 shown in FIG. 7 is the actual sender. After the user 71 submits the shipping order, the service platform 22 may generate a control password, such as a control password E, and send the control password E to the terminal device 21 of the user 71 Or the terminal device 31, the terminal device 21 or the terminal device 31 may further send the control password E to the terminal device 73. Alternatively, after the user 71 submits the shipping order, the service platform 22 may directly send the control password E to the terminal device 73. When the drone 23 flies to the target flight position C, the terminal device 73 sends a control instruction to the drone 23. The control instruction includes a control password E, where the control password E can be recorded as the second control password. In other words, when the user is the sender, the second control password is set by the service platform, and the second control password is used by the sender to control the drone.

As shown in Figure 8, after the terminal device 84 of the user 83 receives the control password F sent by the terminal device 82, the terminal device 84 can send a control instruction to the drone 23. The control instruction includes the control password F. The password F can be recorded as the second control password. In other words, when the user is the recipient, the second control password is set after the sender puts the sent object into the object storage box of the drone, and the second control password is used by the recipient to The drone is controlled.

S902: After the second control password is verified, control the drone to execute the control instruction.

For example, after the drone 23 receives the control instruction sent by the terminal device 73 or the terminal device 84, it first extracts the second control password in the control instruction, and verifies the second control password. If the second control password passes After verification, the drone 23 further executes the control instruction.

Optionally, after the second control password is verified, controlling the drone to execute the control instruction includes: controlling the fourth terminal device according to the second control password to control the control instruction. The authority of the man-machine is verified; if the fourth terminal device has the authority to control the UAV, the UAV is controlled to execute the control instruction.

For example, as shown in FIG. 7, when the service platform 22 sends a mailing task to the drone 23, the mailing task may also include the control password set by the service platform 22. When the drone 23 receives the control instruction sent by the terminal device 73, it detects whether the second control password in the control instruction is the same as the control password set by the service platform 22. If they are the same, the drone 23 determines that the terminal device 73 has control With the authority of the drone 23, the drone 23 further executes the control instruction. If the second control password in the control instruction is different from the control password set by the service platform 22, the drone 23 determines that the terminal device 73 does not have the authority to control the drone 23, and the drone 23 may not perform the control at this time instruction.

Optionally, the control instruction is used to control the drone to land. Alternatively, the control instruction is used to control the drone to open the object storage box carried by the drone. For example, when the drone 23 reaches the target flight position C, the terminal device 73 can control the drone 23 to land by sending a control instruction to the drone 23, or control the drone 23 to open the object storage box 24. Further, after the user 72 puts the mailing object into the object storage box 24, the user 72 resets the control password, for example, the reset control password is the control password F. Further, the user 72 can also send the control password F to the drone 23 through the terminal device 73 or the service platform 22, so that only the user who has the control password F can open the object storage box 24.

As shown in Figure 8, when the drone 23 flies to the GPS location corresponding to the address information of the recipient, such as point A, the terminal device 84 of the user 83 near the point A receives the control password from the terminal device 82 F. Therefore, the terminal device 84 can send a control instruction to the drone 23, and the control instruction includes the second control password. The drone 23 detects whether the second control password in the control instruction is the same as the control password F. If they are the same, the drone 23 determines that the terminal device 84 has the authority to control the drone 23, and the drone 23 further executes the control instruction. For example, the terminal device 84 can control the drone 23 to land through the control instruction, or control the drone 23 to open the object storage box 24, so that the user 83 near the point A can replace the user 81 to receive the sent object.

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

For example, in order to improve the security of the communication between the terminal device 84 or the terminal device 73 and the drone 23, before the terminal device 84 or the terminal device 73 sends a control command to the drone 23, the terminal device 84 or the terminal device 73 may also The control instruction is encrypted using a preset key, and further, the encrypted control instruction is sent to the drone 23. The drone 23 can use the decryption key corresponding to the preset key to decrypt the encrypted control instruction to obtain the control instruction.

It is understandable that if the actual sender or the actual recipient does not change, for example, when the user 71 in Figure 7 is both the user who submitted the shipping order and the actual sender, the fourth terminal device can specifically It is the terminal device 21 or the terminal device 31. When the user 81 shown in FIG. 8 is the actual recipient, the fourth terminal device may specifically be the terminal device 82.

Optionally, when the user is the sender and the user sends a mailing task through the service platform, the second control password is set by the service platform, and the second control password is used for The sender controls the drone.

For example, when the user 71 is the actual sender, the user 71 sends a mailing task through the service platform 22, and the service platform 22 can set a second control password and send the second control password to the terminal device 21 or the terminal device 31, So that when the drone 23 picks up the item from the user 71, the user 71 uses the second control password to control the drone 23.

Optionally, when the user is the recipient, the second control password is set after the sender puts the sent object into the object storage box of the drone, and the second control password is used The recipient controls the drone.

For example, after the user 71 puts the mailing object into the object storage box 24 of the drone 23, the user 71 can reset the control password and send the reset control password to the recipient, such as the user 81. The reset control password is recorded as the second control password. When the drone 23 arrives around the user 81, the user 81 can use the second control password to control the drone 23.

In this embodiment, when the drone flies to the target flight position, the terminal device at the target flight position sends a control instruction to the drone. The control instruction includes a second control password. When the user is the sender, the The second control password is set by the service platform, so that only the sender with the second control password can control the drone. When the user is the recipient, the second control password is the sender It is set after putting the mailing object into the object storage box of the UAV, so that only the recipient of the second control password can control the UAV, avoiding the UAV being controlled at will, and improving the unmanned operation. The safety of the aircraft, in addition, can prevent the object storage box of the drone from being maliciously opened and intercepting the objects in the object storage box, thereby improving the safety of the objects.

The embodiment of the application provides a control device for an unmanned aerial vehicle. Fig. 10 is a structural diagram of a UAV control device provided by an embodiment of the application. As shown in Fig. 10, the control device 100 includes: a memory 101, a processor 102, and a communication interface 103; the memory 101 is used to store program codes; The device 102 calls the program code, and when the program code is executed, it is used to perform the following operations: receive the location information of the destination through the communication interface 103; control the drone to reach the destination according to the location information of the destination The destination; the location information of the user's first terminal device is determined through a network device, and the network device is in communication connection with the first terminal device; and the location information of the drone is determined according to the location information of the first terminal device Target flight position.

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

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

Optionally, when the processor 102 determines the target flight position of the drone according to the positioning information of the first terminal device, it is specifically configured to: according to the position information of the destination and the position information of the first terminal device The positioning information determines the target flight position of the UAV.

Optionally, when the processor 102 determines the target flight position of the drone according to the location information of the destination and the positioning information of the first terminal device, it is specifically configured to: when the location information of the destination is When the difference between the positioning information of the first terminal device and the first terminal device exceeds the preset difference range, a user instruction is obtained, and the user instruction is used to indicate the target flight position of the drone; Describe the target flight position of the drone.

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

Optionally, when the processor 102 determines the location information of the first terminal device of the user through the network device, it is specifically configured to: obtain the identification information of the first terminal device from the network device according to the identification information of the first terminal device. Positioning information.

Optionally, when the processor 102 obtains the positioning information of the first terminal device from the network device according to the identification information of the first terminal device, it is specifically configured to: according to the identification information of the first terminal device, Communicating with the first terminal device through the network device, where the network device is used to determine the positioning information of the first terminal device during the communication process between the drone and the first terminal device; Acquiring the positioning information of the first terminal device from the network device.

Optionally, the identification information of the first terminal device includes the phone number of the first terminal device; the processor 102 communicates with the first terminal device through the network device according to the identification information of the first terminal device. When communicating, it is specifically used to: according to the phone number of the first terminal device, make a call with the first terminal device through the network device.

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

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

Optionally, the first terminal device determines real-time positioning information of the first terminal device through a positioning system of the first terminal device, and the first terminal device is used to locate the first terminal device in real time The information is sent to the network device.

Optionally, the network device includes a service platform.

Optionally, when the processor 102 obtains the positioning information of the first terminal device from the network device according to the identification information of the first terminal device, it is specifically configured to: connect the first terminal device to the first terminal device through the communication interface 103 The identification information of the first terminal device is sent to the network device, so that the network device determines the positioning information of the first terminal device based on the identification information of the first terminal device; the positioning information of the first terminal device is received through the communication interface 103 Information; wherein, the identification information of the first terminal device includes at least one of the following: a telephone number of the first terminal device, and a device identifier of the first terminal device.

Optionally, the user is the sender; the location information of the destination includes at least one of the following: address information of the sender entered by the sender; The location information of the second terminal device when the terminal device sends the shipment; the location information of the sender selected by the sender on the electronic map.

Optionally, the user publishes the mailing task through the service platform; when the processor 102 receives the location information of the destination through the communication interface 103, it is specifically configured to: receive the mail sent by the service platform through the communication interface 103 Task, the mailing task includes location information of the destination.

Optionally, the mailing task further includes at least one of the following: identification information of the first terminal device, an appointment time of the mailing, and related information of the mailing object.

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

Optionally, when the processor 102 receives the location information of the destination through the communication interface 103, it is specifically configured to: receive the address information of the recipient sent by the sender's third terminal device through the communication interface 103.

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

Optionally, the processor 102 controls the drone to arrive at the destination according to the location information of the destination, and is specifically configured to: if the time interval between the scheduled time and the current time is less than a preset time length , Control the drone to reach the destination according to the location information of the destination.

Optionally, the processor 102 controls the drone to arrive at the destination according to the location information of the destination, and is specifically configured to: if the time interval between the scheduled time and the current time is greater than a preset time length , The drone is controlled to return; after planning the initial flight position and/or initial flight time of the drone based on the scheduled time and/or the location information of the destination, according to the planning After the initial flight position and/or the planned initial flight time, the drone is controlled to reach the destination according to the location information of the destination.

Optionally, the processor 102 controls the drone to arrive at the destination according to the location information of the destination, and is specifically configured to: if the time interval between the scheduled time and the current time is greater than a preset time length , And/or, if the distance between the current position of the drone and the destination is greater than the preset distance, plan the flight path from the current position of the drone to the destination; Flight path and location information of the destination to control the drone to reach the destination.

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

Optionally, after controlling the drone to fly from the destination to the target flight position, the processor 102 is further configured to: receive the fourth terminal device at the target flight position through the communication interface 103 The sent control instruction, the control instruction includes a second control password; after the second control password is verified, the drone is controlled to execute the control instruction.

Optionally, when the processor 102 controls the drone to execute the control instruction after the second control password is verified, it is specifically configured to: according to the second control password, the fourth terminal device The authority to control the drone is verified; if the fourth terminal device has the authority to control the drone, then the drone is controlled to execute the control instruction.

Optionally, the control instruction is used to control the drone to land.

Optionally, the control instruction is used to control the drone to open an object storage box carried by the drone.

Optionally, the processor 102 is further configured to: after the drone arrives at the destination, if the user does not appear within a preset time, control the drone to return home.

The specific principles and implementation manners of the control device provided in the embodiments of the present application are similar to the foregoing embodiments, and will not be repeated here.

The embodiment of the application provides a communication system, which includes a drone, a first terminal device, and a network device; wherein the first terminal device is in communication connection with the network device, and the network device is used to communicate with The first terminal device performs positioning; the drone is equipped with an object storage box, and the drone obtains the positioning information of the first terminal device from the network device, and performs positioning according to the first terminal device Information, determine the target flight position of the UAV, and collect or deliver the object at the target flight position.

Among them, the drone, the first terminal device and the network device are specifically as described in the above embodiment, the method for the network device to locate the first terminal device, the method for the drone to obtain the positioning information of the first terminal device from the network device, According to the positioning information of the first terminal device, the drone determines the target flight position of the drone, and the process of receiving or delivering the object by the drone is specifically as described in the above embodiment, which will not be repeated here.

The embodiment of the application provides an unmanned aerial vehicle. FIG. 11 is a structural diagram of an unmanned aerial vehicle provided by an embodiment of the application. As shown in FIG. 11, the unmanned aerial vehicle 110 includes a fuselage, a power system, and a control device 1118, and the power system includes at least one of the following: a motor 1107 , The propeller 1106 and the electronic governor 1117, the power system is installed on the fuselage, and is used to provide flight power; the control device 1118 is connected to the power system in communication, and is used to control the flight of the drone; wherein, the control device 1118 can be used to implement the technical solutions of the foregoing method embodiments, and its implementation principles and technical effects are similar, and will not be repeated here.

In addition, as shown in FIG. 11, the drone 110 further includes: a detection device 1108, a communication system 1110, a supporting device 1102, and a photographing device 1104. The supporting device 1102 may specifically be a pan/tilt, and the communication system 1110 may specifically include a receiver. , The receiver is used to receive the wireless signal sent by the ground station. The ground station may specifically be the control terminal of the drone as described in the above method embodiment.

The embodiment of the present application provides another communication system, which includes a drone, a first terminal device, and a network device; wherein, the drone may specifically be the drone as shown in FIG. The man-machine is used to receive the location information of the destination, and to reach the destination according to the location information of the destination; the first terminal device is in communication connection with the network device, and the network device is used to A terminal device performs positioning; the drone is equipped with an object storage box, and the drone obtains the positioning information of the first terminal device through the network device, and according to the positioning information of the first terminal device, Determine the target flight position of the drone, and collect or deliver the object at the target flight position.

In addition, this embodiment also provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the drone control method described in the foregoing embodiment.

In the several embodiments provided in this application, it should be understood that the disclosed device and method may be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined It can be integrated into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, the functional units in the various embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware, or may be implemented in the form of hardware plus software functional units.

The above-mentioned integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The above-mentioned software functional unit is stored in a storage medium, and includes several instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute the method described in each embodiment of the present application. Part of the steps. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disks or optical disks and other media that can store program codes. .

Those skilled in the art can clearly understand that for the convenience and conciseness of the description, only the division of the above-mentioned functional modules is used as an example. In practical applications, the above-mentioned functions can be allocated by different functional modules as required, that is, the device The internal structure is divided into different functional modules to complete all or part of the functions described above. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not repeated here.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the application, not to limit them; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or equivalently replace some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present application. range.

Claims

A control method of unmanned aerial vehicle, characterized in that it comprises:

Receive the location information of the destination;

Controlling the drone to reach the destination according to the location information of the destination;

Determining the location information of the user's first terminal device through a network device, and the network device is in communication connection with the first terminal device;

Determine the target flight position of the drone according to the positioning information of the first terminal device.
The method according to claim 1, wherein the method further comprises:

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

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

When the difference between the location information of the destination and the location information of the first terminal device exceeds a preset difference range, acquiring a user instruction, the user instruction being used to indicate the target flight position of the drone;

According to the user instruction, the target flight position of the drone is determined.
The method according to claim 5, wherein the target flight position is a position in a preset area based on the positioning information, or a position in a preset area based on the location information of the destination.
The method according to any one of claims 1 to 6, wherein the determining the location information of the user's first terminal device through a network device comprises:

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

According to the identification information of the first terminal device, communicate with the first terminal device through the network device, and the network device is used in the communication process between the drone and the first terminal device, Determining the positioning information of the first terminal device;

Acquiring the positioning information of the first terminal device from the network device.
The method according to claim 8, wherein the identification information of the first terminal device includes the phone number of the first terminal device;

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

According to the phone number of the first terminal device, a call is made with the first terminal device through the network device.
The method according to claim 7, wherein a cellular network connection is established between the network device and the first terminal device, and the network device is used to determine the positioning information of the first terminal device.
The method according to any one of claims 7-10, wherein the network device comprises a fifth-generation mobile communication technology 5G base station.
The method according to claim 7, wherein the first terminal device determines the real-time positioning information of the first terminal device through the positioning system of the first terminal device, and the first terminal device is used to The real-time positioning information of the first terminal device is sent to the network device.
The method according to claim 12, wherein the network device comprises a service platform.
The method according to any one of claims 10-13, wherein the obtaining the positioning information of the first terminal device from the network device according to the identification information of the first terminal device comprises:

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

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

Wherein, the identification information of the first terminal device includes at least one of the following:

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

The address information of the sender entered by the sender;

Location information of the second terminal device when the sender sends the package via the second terminal device;

The location information of the sender selected by the sender on the electronic map.
The method according to any one of claims 1-15, wherein the user publishes a mailing task through a service platform;

The location information of the receiving destination includes:

Receiving the mailing task issued by the service platform, where the mailing task includes the location information of the destination.
The method according to claim 16, wherein the mailing task further comprises at least one of the following:

The identification information of the first terminal device, the appointment time of the mailing, and related information of the mailing object.
The method according to any one of claims 1-14, wherein the user is a recipient; the location information of the destination includes address information of the recipient.
The method according to claim 18, wherein the receiving location information of the destination comprises:

Receiving the address information of the recipient sent by the sender's third terminal device.
The method according to claim 19, wherein the method further comprises:

At least one of the first control password sent by the third terminal device, the identification information of the first terminal device, and the appointment time for receiving the mail is received.
The method according to claim 17 or 20, wherein the controlling the drone to reach the destination according to the location information of the destination comprises:

If the time interval between the reserved time and the current time is less than the preset time length, control the drone to reach the destination according to the location information of the destination.
The method according to claim 17 or 20, wherein the controlling the drone to reach the destination according to the location information of the destination comprises:

If the time interval between the scheduled time and the current time is greater than the preset time length, control the drone to return home;

After planning the initial flight position and/or initial flight time of the drone based on the reservation time and/or the location information of the destination, according to the planned initial flight position and/or planning After the initial flight time, the drone is controlled to reach the destination according to the location information of the destination.
The method according to claim 17 or 20, wherein the controlling the drone to reach the destination according to the location information of the destination comprises:

If the time interval between the appointment time and the current time is greater than the preset duration, and/or the distance between the current position of the drone and the destination is greater than the preset distance, the plan is to start from The flight path from the current position of the man-machine to the destination;

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

Receiving a control instruction sent by a fourth terminal device at the target flight position, where the control instruction includes a second control password;

After the second control password is verified, the drone is controlled to execute the control instruction.
The method according to claim 25, wherein, after the second control password is verified, controlling the drone to execute the control instruction comprises:

Verifying the authority of the fourth terminal device to control the drone according to the second control password;

If the fourth terminal device has the authority to control the drone, control the drone to execute the control instruction.
The method according to claim 25 or 26, wherein the control instruction is a control instruction encrypted by the fourth terminal device using a preset key.
The method according to any one of claims 25-27, wherein the control instruction is used to control the landing of the UAV.
The method according to any one of claims 25-27, wherein the control instruction is used to control the drone to open an object storage box carried by the drone.
The method according to any one of claims 25-29, wherein when the user is a sender and the user sends a mailing task through a service platform, the second control password is assigned by the user As set by the service platform, the second control password is used by the sender to control the drone.
The method according to any one of claims 25-29, wherein when the user is the recipient, the second control password is used by the sender to put the sent object into the drone Set after the object storage box, the second control password is used by the recipient to control the drone.
The method according to claims 1-31, wherein the method further comprises:

After the drone arrives at the destination, if the user does not appear within a preset time, control the drone to return home.
A control device for unmanned aerial vehicles, characterized in that it comprises: a memory, a processor and a communication interface;

The memory is used to store program code;

The processor calls the program code, and when the program code is executed, is used to perform the following operations:

Receiving location information of the destination through the communication interface;

Controlling the drone to reach the destination according to the location information of the destination;

Determining the location information of the user's first terminal device through a network device, and the network device is in communication connection with the first terminal device;

Determine the target flight position of the drone according to the positioning information of the first terminal device.
The control device according to claim 33, wherein the processor is further configured to:

Controlling the drone to fly from the destination to the target flight position.
The control device according to claim 33 or 34, wherein the target flight position is a position in a preset area based on the positioning information.
The control device according to claim 33 or 34, wherein when the processor determines the target flight position of the drone according to the positioning information of the first terminal device, it is specifically used for:

Determine the target flight position of the drone according to the location information of the destination and the location information of the first terminal device.
The control device according to claim 36, wherein when the processor determines the target flight position of the drone according to the location information of the destination and the location information of the first terminal device, the specific Used for:

When the difference between the location information of the destination and the location information of the first terminal device exceeds a preset difference range, acquiring a user instruction, the user instruction being used to indicate the target flight position of the drone;

According to the user instruction, the target flight position of the drone is determined.
The control device according to claim 37, wherein the target flight position is a position in a preset area based on the positioning information, or a position in a preset area based on the location information of the destination.
The control device according to any one of claims 33-38, wherein when the processor determines the positioning information of the user's first terminal device through a network device, it is specifically configured to:

Acquire the positioning information of the first terminal device from the network device according to the identification information of the first terminal device.
The control device according to claim 39, wherein when the processor obtains the positioning information of the first terminal device from the network device according to the identification information of the first terminal device, it is specifically configured to:

According to the identification information of the first terminal device, communicate with the first terminal device through the network device, and the network device is used in the communication process between the drone and the first terminal device, Determining the positioning information of the first terminal device;

Acquiring the positioning information of the first terminal device from the network device.
The control device according to claim 40, wherein the identification information of the first terminal device includes the telephone number of the first terminal device;

When the processor communicates with the first terminal device through the network device according to the identification information of the first terminal device, it is specifically configured to:

According to the phone number of the first terminal device, a call is made with the first terminal device through the network device.
The control device according to claim 39, wherein a cellular network connection is established between the network device and the first terminal device, and the network device is used to determine the location information of the first terminal device.
The control device according to any one of claims 39-42, wherein the network equipment comprises a fifth-generation mobile communication technology 5G base station.
The control device according to claim 39, wherein the first terminal device determines the real-time positioning information of the first terminal device through the positioning system of the first terminal device, and the first terminal device is used for Sending the real-time positioning information of the first terminal device to the network device.
The control device according to claim 44, wherein the network device comprises a service platform.
The control device according to any one of claims 42-45, wherein the processor obtains the positioning information of the first terminal device from the network device according to the identification information of the first terminal device , Specifically used for:

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

Receiving the positioning information of the first terminal device through the communication interface;

Wherein, the identification information of the first terminal device includes at least one of the following:

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

The address information of the sender entered by the sender;

Location information of the second terminal device when the sender sends the package via the second terminal device;

The location information of the sender selected by the sender on the electronic map.
The control device according to any one of claims 33-47, wherein the user issues mailing tasks through a service platform;

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

The mailing task issued by the service platform is received through the communication interface, and the mailing task includes the location information of the destination.
The control device according to claim 48, wherein the mailing task further comprises at least one of the following:

The identification information of the first terminal device, the appointment time of the mailing, and related information of the mailing object.
The control device according to any one of claims 33-46, wherein the user is a recipient; the location information of the destination includes address information of the recipient.
The control device according to claim 50, wherein when the processor receives the location information of the destination through the communication interface, it is specifically configured to:

Receiving the address information of the recipient sent by the sender's third terminal device through the communication interface.
The control device according to claim 51, wherein the processor is further configured to:

At least one of the first control password sent by the third terminal device, the identification information of the first terminal device, and the appointment time for receiving the mail is received through the communication interface.
The control device according to claim 49 or 52, wherein the processor controls the drone to reach the destination according to the location information of the destination, and is specifically configured to:

If the time interval between the reserved time and the current time is less than the preset time length, control the drone to reach the destination according to the location information of the destination.
The control device according to claim 49 or 52, wherein the processor controls the drone to reach the destination according to the location information of the destination, and is specifically configured to:

If the time interval between the scheduled time and the current time is greater than the preset time length, control the drone to return home;

After planning the initial flight position and/or initial flight time of the drone based on the reservation time and/or the location information of the destination, according to the planned initial flight position and/or planning After the initial flight time, the drone is controlled to reach the destination according to the location information of the destination.
The control device according to claim 49 or 52, wherein the processor controls the drone to reach the destination according to the location information of the destination, and is specifically configured to:

If the time interval between the appointment time and the current time is greater than the preset duration, and/or the distance between the current position of the drone and the destination is greater than the preset distance, the plan is to start from The flight path from the current position of the man-machine to the destination;

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

Receiving a control instruction sent by a fourth terminal device at the target flight position through the communication interface, where the control instruction includes a second control password;

After the second control password is verified, the drone is controlled to execute the control instruction.
The control device according to claim 57, wherein the processor is specifically configured to: when the processor controls the drone to execute the control instruction after the second control password is verified:

Verifying the authority of the fourth terminal device to control the drone according to the second control password;

If the fourth terminal device has the authority to control the drone, control the drone to execute the control instruction.
The control device according to claim 57 or 58, wherein the control instruction is a control instruction encrypted by the fourth terminal device using a preset key.
The control device according to any one of claims 57-59, wherein the control instruction is used to control the landing of the drone.
The control device according to any one of claims 57-59, wherein the control instruction is used to control the unmanned aerial vehicle to open the object storage box carried by the unmanned aerial vehicle.
The control device according to any one of claims 57-61, wherein when the user is a sender and the user sends a mailing task through a service platform, the second control password is Set by the service platform, the second control password is used by the sender to control the drone.
The control device according to any one of claims 57-61, wherein when the user is the recipient, the second control password is that the sender puts the sent object into the drone The second control password is used for the recipient to control the drone.
The control device according to any one of claims 33-63, wherein the processor is further configured to:

After the drone arrives at the destination, if the user does not appear within a preset time, control the drone to return home.
An unmanned aerial vehicle, characterized in that it includes:

body;

The power system is installed on the fuselage to provide flight power;

And the control device of any one of claims 33-64.
A communication system, characterized by comprising: a first terminal device, a network device, and the drone of claim 65;

Wherein, the network device is used to locate the first terminal device;

The drone is equipped with an object storage box, and the drone is used to collect or deliver objects at the target flight position.
A computer-readable storage medium, characterized in that a computer program is stored thereon, and the computer program is executed by a processor to implement the method according to any one of claims 1-32.