WO2022252468A1 - Unmanned aerial vehicle delivery method and cargo storage cabinet for unmanned aerial vehicle delivery - Google Patents

Abstract

An unmanned aerial vehicle delivery method and a cargo storage cabinet for unmanned aerial vehicle delivery. The delivery method comprises: in response to an application docking request of a first unmanned aerial vehicle, determining use states of all parking aprons comprised in a docking platform corresponding to the first unmanned aerial vehicle, wherein the application docking request is sent when it is detected that the first unmanned aerial vehicle is located within a set range of the docking platform; and if it is determined according to the use states that all the parking aprons comprised in the docking platform have been occupied, sending a waiting instruction to the first unmanned aerial vehicle so as to enable the first unmanned aerial vehicle to, according to the waiting instruction, fly to a waiting area for landing. The described method can effectively reduce the power consumption of the unmanned aerial vehicle when waiting for an available parking apron, while improving the safety of the unmanned aerial vehicle when waiting for an available parking apron.

Description

A method of unmanned aerial vehicle delivery and a cargo storage cabinet for unmanned aerial vehicle delivery technical field

This specification relates to the field of unmanned driving technology, and in particular to a method for unmanned aerial vehicle delivery and a cargo storage cabinet for unmanned aerial vehicle delivery.

Background technique

With the rapid development of Internet technology, online shopping has spread to every aspect of people's life. In the process of online shopping, after the customer places an order, the goods purchased by the user (such as food delivery, express delivery, etc.) need to be delivered to the customer. The commonly used delivery method can be that the goods purchased by the user are delivered manually to the delivery address selected by the customer, and the customer signs for the receipt in person, or the goods purchased by the user are delivered manually to the delivery address selected by the customer. The goods are stored in the cargo storage cabinet, and then the customer goes to the corresponding cargo storage cabinet to collect and inspect the goods. However, these methods need to hire a large number of people to deliver goods, and the labor cost is extremely high. In order to reduce labor costs, the drone delivery business has gradually developed.

Currently, when using drones for cargo distribution, if the drone is unloading the cargo, it will inevitably cause other drones to hover in the air and wait for the drone to complete the unloading and fly away from the cargo storage cabinet, thus It greatly consumes the power of other drones hovering in the air, and these other drones are likely to have some safety hazards in the process of hovering in the air.

Contents of the invention

This specification provides a method for drone delivery and a cargo storage cabinet for drone delivery, so as to partially solve the above-mentioned problems.

This manual adopts the following technical solutions:

This manual provides a method for delivering drones. The docking platform is provided with multiple aprons for drones, including:

In response to the application docking request of the first unmanned aerial vehicle, determine the use status of all parking areas contained in the docking platform corresponding to the first unmanned aerial vehicle, and the application docking request is detected when the first unmanned aerial vehicle is monitored. Sent when it is within the set range of the docking platform;

If according to the usage state, it is determined that all the aprons included in the docking platform have been occupied, a waiting instruction is sent to the first UAV, so that the first UAV can, according to the waiting instruction, Fly to the holding area and land.

Optionally, the method also includes:

If according to the usage status, it is determined that there is at least one unoccupied apron in the docking platform, one of the at least one unoccupied apron included in the docking platform is selected as the target apron, And instruct the first unmanned aerial vehicle to stop at the target apron.

Optionally, the method also includes:

If it is determined that all the aprons in the docking platform have been occupied at the first moment, there is at least one released apron in the docking platform at the second moment, and one of the at least one released aprons is selected. as the target apron, assigned to the first unmanned aerial vehicle, and send a parking instruction to the target unmanned aerial vehicle, so that the first unmanned aerial vehicle takes off from the waiting area according to the parking instruction, and Flying to the target apron for parking; wherein, the first moment is the moment when the use status of all aprons included in the parking platform is determined in response to the application parking request, and the second moment is later at said first moment.

Optionally, the docking platform is provided with at least one cargo delivery port, the number of cargo delivery ports in the docking platform does not exceed the number of aprons included in the docking platform, each of the aprons and the corresponding cargo delivery port There is a conveying device for transporting goods between them;

The method also includes:

If it is detected that the first unmanned aerial vehicle stops at the target apron, and the target cargo carried by the first unmanned aerial vehicle is unloaded behind the docking platform, then the cargo corresponding to the target apron is passed The delivery port stores the target goods.

Optionally, storing the target cargo through a cargo delivery port corresponding to the target apron includes:

If the number of cargo delivery ports in the docking platform is less than the number of aprons included in the docking platform, obtain the cargo delivery status corresponding to other aprons in the docking platform except the target apron;

According to the delivery status of the goods, determine whether the target goods meet the preset delivery conditions;

If it is determined that the target cargo satisfies the delivery conditions, the transfer device between the target apron and the cargo delivery port corresponding to the target apron is used as the target transfer device, and the target transfer device is activated to pass through the The target conveying device transports the target cargo to the cargo delivery port corresponding to the target apron, and stores the target cargo through the cargo delivery port corresponding to the target apron;

If it is determined that the target cargo does not satisfy the delivery condition, stop starting the target conveying device.

Optionally, the shipping conditions include: at least one of a first shipping condition and a second shipping condition;

The first delivery condition includes: the cargo unloaded on the other apron does not include the cargo being transported to the cargo delivery port corresponding to the target apron;

The second shipping condition includes: in the preset shipping sequence, all the goods located before the target goods have been stored.

Optionally, for each of all the aprons corresponding to the docking platform, a plurality of transfer area units are provided on the conveying device between the apron and the cargo delivery port corresponding to the apron, and the plurality of Each of the transfer area units can accommodate at least one package of goods;

The method also includes:

If it is detected that the target cargo has been placed on the target conveying device, and the target conveying device has moved a distance of at least one conveying area unit to the cargo delivery port corresponding to the target apron, indicate the second no The manned machine stops at the target apron, so as to place the goods carried by the second unmanned aerial vehicle on the target conveying device.

Optionally, the method also includes:

If it is determined that the number of unmanned aerial vehicles that need to be parked on the docking platform within the set range exceeds the set number, send control instructions to the unmanned aerial vehicles that are flying to the docking platform, so that they are flying to the docking platform. The unmanned aerial vehicle on the docking platform adjusts its flight strategy according to the control instruction.

Optionally, in response to the application docking request of the first UAV, determining the use status of all parking areas contained in the docking platform corresponding to the first UAV includes:

For each of all the aprons included in the docking platform, for each third drone that arrives at the docking platform before the first drone and does not leave the docking platform, if it is determined The third UAV and the goods carried by the third UAV are located on the conveying device between the apron and the cargo delivery port corresponding to the apron at the same time, and it is determined that the apron is not occupied.

Optionally, the method also includes:

If it is detected that the distance between any of the third drones located on the conveying device between the apron and the corresponding cargo delivery port of the apron is less than the set distance , sending an unloading instruction to the third UAV, so that the third UAV unloads and takes off on the conveyor between the apron and the cargo delivery port corresponding to the apron according to the unloading instruction.

Optionally, each parking pad is provided with a lifting device, and the lifting device corresponding to the parking pad is used to adjust the height between the parking pad and the parking platform;

Instructing the first unmanned aerial vehicle to dock to the target apron, including:

Determining the height of other aprons in the parking platform except the target apron from the plane of the parking platform as a reference height;

According to the reference height, adjust the height of the target apron from the plane of the parking platform through the lifting device corresponding to the target apron, and instruct the first UAV to move to the adjusted target apron Make a dock.

Optionally, determining the height of other aprons in the parking platform except the target apron from the plane of the parking platform as a reference height includes:

The height of other aprons located within the set neighborhood of the target apron from the plane of the parking platform is determined as a reference height.

This specification provides a cargo storage cabinet for unmanned aerial vehicle delivery. The cargo storage cabinet is provided with a docking platform, and a plurality of parking pads for unmanned aerial vehicles are arranged on the docking platform. The cargo storage cabinet There is a warehouse for storing goods inside, and the docking platform is provided with a cargo delivery port. The number of the cargo delivery ports does not exceed the number of aprons set on the docking platform, and the cargo carried by the drone passes through the The cargo delivery port is put into the cargo storage cabinet for storage.

Optionally, each of the plurality of aprons is set on the docking platform, and a conveying device is provided between the apron and the cargo delivery port corresponding to the apron;

The conveying device is used for transporting the goods unloaded at the apron to the corresponding cargo delivery port of the apron.

This specification provides a device, including a determination module and a waiting module;

The determination module is configured to determine the usage status of all the aprons included in the docking platform corresponding to the first UAV in response to the application docking request of the first UAV, and the application docking request is detected Sent when the first UAV is within the set range of the docking platform;

The waiting module is configured to send a waiting instruction to the first UAV if it is determined that all the aprons included in the docking platform have been occupied according to the usage status, so that the first UAV The aircraft flies to the waiting area and lands according to the waiting instruction.

This specification provides a computer-readable storage medium, the storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned drone delivery method is realized.

This specification provides an electronic device, including a memory, a processor, and a computer program stored on the memory and operable on the processor, and the above-mentioned drone delivery method is realized when the processor executes the program.

The above-mentioned at least one technical solution adopted in this specification can achieve the following beneficial effects:

In the UAV distribution method provided in this manual, in response to the application docking request sent when the target UAV is detected to be within the set range of its corresponding docking platform, determine the location of all aprons included in the docking platform. status of use. Then, if it is determined that all the aprons included in the docking platform have been occupied according to the usage status, a waiting instruction is sent to the target UAV, so that the target UAV flies to the determined waiting area for landing according to the waiting instruction .

It can be seen from the above method that, when all the aprons on the docking platform have been occupied, the target UAV can fly to the waiting area and land. This can effectively reduce the power consumption of the drone while waiting for an available parking pad to appear on the docking platform. At the same time, to a certain extent, the safety of drones while waiting for an available parking lot is improved.

Description of drawings

The drawings described here are used to provide a further understanding of this specification and constitute a part of this specification. The schematic embodiments and descriptions of this specification are used to explain this specification and do not constitute an improper limitation of this specification. In the attached picture:

Fig. 1 is a schematic flow chart of a method for unmanned aerial vehicle distribution in this specification;

Fig. 2A is a schematic diagram of the unmanned aerial vehicle delivery system in this specification;

2B to 2C are top views of the docking platform in this specification;

Fig. 2D is a structural schematic diagram of multiple aprons on the docking platform in this specification;

Figures 3A to 3D are schematic diagrams of the unloading process of the first type of cargo after the drone docks in the case where multiple aprons share a cargo delivery port in this manual;

Figures 3E to 3G are schematic diagrams of the second cargo unloading process after the drone docks when multiple aprons share one cargo delivery port in this manual;

Fig. 4 is a schematic diagram of a plurality of transmission area units provided on the transmission device provided in this specification;

Fig. 5 is a schematic diagram of the detailed flow during the execution of the method of drone delivery provided in this specification;

FIG. 6 is a schematic diagram of an electronic device corresponding to FIG. 1 provided in this specification.

Detailed ways

In order to make the purpose, technical solution and advantages of this specification clearer, the technical solution of this specification will be clearly and completely described below in conjunction with specific embodiments of this specification and corresponding drawings. Apparently, the described embodiments are only some of the embodiments in this specification, not all of them. Based on the embodiments in this specification, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this specification.

The scheme of drone distribution provided in this specification will be described in detail below in conjunction with embodiments.

Fig. 1 is a schematic flow chart of a method for unmanned aerial vehicle delivery in this specification, which specifically includes the following steps:

Step S100, in response to the application docking request of the target UAV, determine the use status of all parking areas contained in the docking platform corresponding to the target UAV, and the application docking request is detected when the target UAV is detected Sent when it is within the set range of the docking platform.

The technical solution for UAV distribution provided in this specification relates to a UAV distribution system, as shown in Figure 2A, the system includes a server, UAV, cargo storage cabinets, and a docking platform set up with the cargo storage cabinets . Among them, the docking platform can be set directly above the cargo storage cabinet body, or it can be set horizontally on the side of the cargo storage cabinet body, or at other positions of the cargo storage cabinet body. This manual does not refer to the cargo storage cabinet and the docking platform. The relative position is limited.

Further, the docking platform is provided with a cargo delivery port and a plurality of UAV landing pads, and the goods unloaded from the UAVs parked in the parking pad can be stored in the cargo storage cabinet through the cargo delivery port. In the warehouse where the goods are stored.

In specific implementation, in the case of setting multiple parking pads on one docking platform, the number of cargo delivery ports in the docking platform does not exceed the number of parking pads included in the docking platform. Specifically, for each apron, a unique cargo delivery port corresponding thereto may be set for the apron. It is also possible to set a common cargo delivery port for multiple aprons included in the docking platform, see the top view of the docking platform shown in FIG. 2B . When multiple aprons share one cargo delivery port, a conveying device for transporting goods is provided between each apron and the shared cargo delivery port. In the embodiment of the present application, the conveying device may be realized by, for example, a conveyor belt.

Of course, in order to further increase the delivery speed, multiple cargo delivery ports can also be set at the same time. For example, referring to the top view of the docking platform shown in 2C, some aprons share a cargo delivery port 1, and some aprons share a cargo delivery port 2. In this way, when the goods are stored in the goods storage cabinet through the goods delivery port, two pieces of goods can be stored at the same time, thus the delivery speed can be improved. It should be noted that the docking platform shown in FIG. 2C is only an example. In specific implementation, it can be flexibly set according to actual needs, and the layout of the apron on the docking platform is not limited in this specification.

In this way, when delivering goods by UAV, the server can designate a cargo storage cabinet for the UAV that executes the order to store the goods corresponding to the order according to the delivery address of the order to be delivered, and at the same time provide The UAV plans the flight route. Then, according to the location of the cargo storage cabinet, the UAV flies to the corresponding cargo storage cabinet according to the flight route pre-planned by the server, and docks on the docking platform corresponding to the cargo storage cabinet to unload the cargo. Finally, the unloaded goods are put into the goods storage cabinet through the goods delivery port, and the delivery of the order to be delivered is completed.

It should be noted that, in addition to the server mentioned above, the subject of execution of the drone delivery method involved in this specification can also be a cargo storage cabinet. For the convenience of description, the following will only take the server as the execution subject as an example to illustrate the method of delivery by drone in this specification.

In a specific implementation, in response to the application docking request of the target drone (also referred to as the first drone), the server will determine the use status of all parking areas included in the docking platform corresponding to the target drone.

The usage status of the apron is used to indicate whether it is currently possible to park on the apron. When the apron is available for the UAV to dock, the use state of the apron is an unoccupied state; otherwise, the use state of the apron is an occupied state.

The application docking request can be sent to the server when the target drone arrives within the set range of the docking platform, or the server can locate the target drone in real time, and when it is determined that the target drone arrives and docks It is determined when the platform is within the set range. Among them, there are many ways to monitor whether the target UAV itself has reached the set range of the docking platform. For example, the target drone can determine that it is within the set range of the docking platform when the distance between the two is less than the set threshold according to its own positioning data and the position of the docking platform; The pre-planned flight route, when flying to the end of the route, make sure that it is within the set range of the docking platform.

Certainly, the above application docking request may also be sent to the server when the cargo storage cabinet detects that the target drone is within the set range of the docking platform. Among them, the cargo storage cabinet can broadcast to the surroundings according to the set time period, so that the monitored drones located within the set distance of the cargo storage cabinet and gradually approaching the cargo storage cabinet are used as target drones. Then, the cargo storage cabinet can establish a communication connection with the target drone to obtain the identification information of the target drone, and then carry the identification information in the application docking request sent to the server.

It should be noted that the drone used in the drone delivery method provided in this manual can be used to perform delivery tasks in the delivery field, such as business scenarios where drones are used for express delivery, logistics, and takeaway delivery.

Step S102, according to the use status, select an unoccupied parking lot from all parking spaces included in the docking platform as a target parking lot, and instruct the target UAV to dock to the target parking lot .

In a specific implementation, the server determines unoccupied aprons according to the usage status of all aprons, and selects an apron from the unoccupied aprons as a target apron. Then, the identification information of the target apron is sent to the target UAV, and at the same time, the use state corresponding to the target apron is adjusted to the occupied state. Correspondingly, after receiving the identification information, the target UAV will park on the target apron corresponding to the identification information according to the identification information, and unload the goods carried by itself to the docking platform after parking. Wherein, the identification information of the apron may be the serial number of the apron, the location coordinates of the apron, and the like.

Furthermore, the area of the docking platform is limited, and each UAV has a certain size. Interference, which in turn causes situations such as the UAV deviates from the apron, and the UAV rolls over. At the same time, there will be a possibility of collision between these drones. Therefore, it is very necessary to take certain measures to reduce the mutual interference between UAVs.

In view of this situation, as shown in FIG. 2D , in this specification, a corresponding lifting device can be provided at the bottom of each apron. When multiple drones are docked at the same time, adjust the parking pads corresponding to these drones on the docking platform to different heights to increase the distance between the parking pads. Further, the mutual interference between these drones is reduced, and the degree of deviation between the actual parking position of the drone and the parking position set in the apron is reduced.

Wherein, when the target UAV is docked, there are many ways to determine the height of the target apron from the plane of the docking platform.

For example, for each pad, specify a fixed height for that pad. In other words, before the unmanned aerial vehicle starts to perform the delivery task, the heights of the multiple parking pads included on the docking platform from the docking platform have already been set. There may be some differences in the lifting height of different aprons. In this way, when the server instructs the target UAV to stop at the target apron, it first determines the height of the target apron from the docking platform from the preset heights of the plurality of aprons and the docking platform. Then, adjust the height of the target apron from the plane of the docking platform through the lifting device provided on the target apron according to the height, and instruct the target UAV to dock to the adjusted target apron .

Of course, when determining the height of the target apron from the plane of the docking platform, the height of the other aprons in the docking platform except the target apron from the plane of the docking platform can be determined first, and can be used as a reference height, so that according to these reference heights, through the target stop The lifting device provided on the pad adjusts the height of the target apron from the plane of the docking platform, and instructs the target UAV to dock to the adjusted target apron.

For example, when the server instructs the target UAV to park on the target apron, it first determines the heights of other aprons in the current docking platform except the target apron from the plane of the docking platform. Then, according to the determined heights corresponding to other aprons, a height different from other aprons from the docking platform is determined as the height of the target apron from the plane of the docking platform. Then adjust the height of the target apron from the plane of the docking platform through the lifting device set on the target apron, and finally instruct the target UAV to dock to the adjusted target apron. Other methods are not illustrated in detail here.

It is worth mentioning that when the distance between two drones is greater than the set distance, the mutual interference between the two can be ignored. Therefore, in this specification, the server can only determine that it is within the set neighborhood of the target apron. The height of the rest of the apron from the plane of the docking platform is used as the reference height. At the same time, when the server adjusts the height of the target apron from the plane of the docking platform, it can make the height of the other aprons closer to the target apron in the plane of the docking platform be the same as the distance between the target apron and the plane of the docking platform. The greater the difference between heights. That is, the closer the distance in the horizontal direction is, the farther the distance is in the vertical direction between the aprons.

It should be noted that, the above content is described by taking the server as an execution subject as an example. During specific implementation, the height of the target apron from the plane of the docking platform may also be determined independently by the cargo storage cabinet, or determined by the cooperation of the server and the cargo storage cabinet. The business logic is consistent, so it will not be elaborated here.

Step S104, if it is detected that the target UAV stops at the target apron, and after the target cargo carried by the target UAV is unloaded on the docking platform, pass through the cargo corresponding to the target apron. A delivery port, storing the target goods in the warehouse of the goods storage cabinet.

In the specific implementation, after the server sends the identification information of the target apron to the target drone, it will continue to monitor the status of the target drone. After monitoring that the target drone is docked in the target apron, and unloading the target cargo carried by the target drone on the docking platform, the target cargo is stored in the warehouse of the cargo storage cabinet through the cargo delivery port.

Among them, there may be multiple specific implementation manners in which the server detects that the target UAV is docked in the target apron. For example, the server can start timing after sending the identification information of the target apron to the target UAV, and when it is determined that the timing reaches the set duration, it can be determined that the target UAV has parked in the target apron; for another example, the server can also Obtain the positioning data of the target drone around, and determine the height difference between the height data in the positioning data and the height data of the docking platform, and the difference between the preset height value is less than the set When the threshold is reached, it is determined that the target UAV has parked in the target apron; for another example, each apron on the docking platform is equipped with a sensor, if the target UAV is parked on the target apron, the sensor at the target apron A sensing signal may be sent to the cargo storage cabinet, so that the cargo storage cabinet determines that the target drone has docked at the target apron, and then sends a message to the server that the target drone has docked at the target apron. Other manners will not be illustrated in detail here.

After determining that the target UAV has docked in the target apron, it is necessary to continue to monitor and judge whether the target cargo carried by the target UAV has been unloaded on the docking platform, so that the unloaded target cargo can pass through the cargo on the docking platform. Delivery port, stored in the goods storage cabinet.

In the specific implementation, for the one-to-one correspondence between the apron and the cargo delivery port, after the target UAV stops in the target apron, it can directly unload the target cargo carried by itself at the corresponding cargo delivery port on the docking platform. Then, the target goods are stored in the goods storage cabinet through the goods delivery port.

For the situation that multiple aprons share a cargo delivery port, the target UAV unloads the cargo after parking in the target apron. Then, the target goods are delivered to the goods delivery port through the transmission device, and the target goods are stored in the warehouse of the goods storage cabinet through the shared goods delivery port. It should be noted that the situation that multiple aprons share one cargo delivery port may include that all the aprons on the docking platform share one cargo delivery port, or that some aprons on the docking platform share one cargo delivery port, that is, docking The number of cargo delivery ports on the platform is less than the number of parking areas included on the docking platform.

Wherein, for the above two cases, the server needs to monitor whether the target cargo is already at the cargo delivery port. If it is determined that the target goods are already located at the goods delivery port, the target goods are stored in the warehouse of the goods storage cabinet through the goods delivery port.

In this specification, there are multiple ways to determine whether the target cargo is already at the cargo delivery port. For example, the cargo storage cabinet or the server can send an opening command to the cargo delivery gate after determining that the target cargo has been located at the cargo delivery gate according to the transmission speed of the conveying device and the delivery time of the target cargo, so as to open the cargo delivery gate, and pass the opening store the target goods in the warehouse of the cargo storage cabinet; for another example, each cargo delivery port on the docking platform is equipped with a sensor, if the target cargo is transmitted to the cargo delivery port, the sensor at the cargo delivery port will The sensor can send a sensing signal to the cargo storage cabinet, so that the cargo storage cabinet can determine that the target cargo is already at the cargo delivery port, and then send an opening instruction to the cargo delivery port to open the cargo delivery port, so that the target product can be passed through the opened cargo delivery port. The goods are stored in the warehouse of the goods storage cabinet. Other manners will not be illustrated in detail here.

In order to further improve the distribution efficiency, when multiple aprons on the docking platform share a cargo delivery port, the cargo can also be unloaded onto the docking platform at other times.

For example, referring to Figures 3A to 3D, after the target UAV stops in the target apron, it can report to the server that it has parked in the target apron, and transmit it on the transmission device together with the target cargo, and receive the information sent by the server. After the unloading instruction, unload and take off on the transfer device between the apron and the cargo delivery gate.

Wherein, the server may determine that an unloading instruction needs to be sent to the target drone in the following manner, so as to instruct the target drone to unload. For example, a sensor is set in the cargo transfer port on the docking platform. During the operation of the transfer device, the cargo storage cabinet can monitor the distance between the target drone and the cargo transfer port according to the sensing signal fed back by the sensor in the cargo transfer port, and When it is determined that the distance between the target drone and the cargo delivery port is less than a set distance threshold, it is determined that an unloading instruction needs to be sent to the target drone.

In a specific implementation, the cargo storage cabinet can directly send an unloading instruction to the target UAV through a pre-established communication connection to indicate that the target UAV can unload; it can also report to the server that the target UAV can unload. The server is made to send an unloading instruction to the target drone according to the message, indicating that the target drone can unload.

In this manual, after the target UAV is unloaded, it can take off and leave the docking platform. During this process, if it is detected that the drone that was previously parked on the target apron is on the transmission device corresponding to the target apron, it can be determined that the target apron can allow new drones to dock, and then It is determined that the target apron is not occupied, so as to adjust the use state of the target apron to an unoccupied state.

That is to say, when the goods are transported to the delivery port through the above method, in order to further improve the efficiency of the UAV docking, all the stoppages included in the docking platform corresponding to the target UAV should be determined before the UAV docks. When the use status of the parking platform, other drones (also called third drones) that arrive at the docking platform before the target drone and have not left the docking platform can be determined for each parking pad included in the docking platform. . Then, for each third unmanned aerial vehicle, it is judged whether the third unmanned aerial vehicle is located on the transmission device between the apron and the cargo delivery port at the same time as the goods carried by itself. For the apron, if each third UAV and its own cargo are located on the transmission device between the apron and the cargo delivery port at the same time, it is determined that the apron is not occupied; otherwise, it is determined that the apron is not occupied. Ping has been occupied.

At the same time, the server monitors the distance between the third drone and the delivery port for each third drone, and when it is determined that the distance between the third drone and the delivery port is less than the set Set a fixed distance, and send an unloading instruction to the third UAV, so that the third UAV whose distance from the cargo delivery port is less than the set distance is between the apron and the cargo delivery port according to the unloading instruction. unloaded on the conveyor and took off.

For another example, referring to Figures 3E to 3G, after the target UAV can park in the target apron, it can report to the server that it has parked in the target apron, and then, directly in the target apron, unload the target cargo to the docking platform, And report to the server that the target cargo has been unloaded, then take off, and first fly in parallel in the horizontal direction, moving out of the area of the target apron, so as to clear the area of the target apron as soon as possible for the subsequent arriving drones to dock.

Among them, the unloading of the target drone can be completed autonomously, or it can be executed according to the unloading instructions sent by the server or the cargo storage cabinet.

Further, when multiple aprons share one cargo delivery port, the conveying device can only deliver one package of cargo to the cargo delivery port at a time. In this way, when there are multiple goods that need to be transported to the goods delivery port, these goods need to be stored in the goods storage cabinet sequentially through the shared goods delivery port according to certain rules.

For example, the server can obtain the cargo delivery status corresponding to other aprons other than the target apron in the docking platform, and then, according to the cargo delivery status, determine whether the cargo unloaded on other aprons includes cargo that is being delivered to the cargo delivery port. goods. If it is determined that it does not exist, the server can instruct the cargo storage cabinet to start the transfer device between the target apron and the cargo delivery port, so as to transport the target cargo to the cargo delivery port through the transfer device, and pass the cargo delivery port to deliver the target cargo Stored in the warehouse of the cargo storage cabinet, otherwise, stop the transmission device between the target apron and the cargo delivery port, and continue to judge whether the cargo unloaded on other aprons contains the cargo being transported to Delivery port of goods. Wherein, the delivery status of the cargo is used to represent the delivery status of the target cargo that has been unloaded from the target UAV, including the undelivered status, the ongoing status, and the delivered status.

In the specific implementation, when the server determines that there is no cargo being transported to the cargo delivery port, it selects a target cargo from all undelivered target cargoes, and instructs the cargo storage cabinet to start the target apron corresponding to the selected target cargo and cargo A conveying device between the delivery ports, through which the selected target goods are transported to the goods delivery port, and through the goods delivery port, the target goods are stored in the warehouse of the goods storage cabinet. Then, a target cargo is selected again from all undelivered target cargoes, and transmitted, and so on, until there is no undelivered target cargo on the docking platform.

It should be noted that the above-mentioned cargo delivery status may be determined and reported by the cargo storage cabinet according to the sensor data reported by the sensors provided on the transmission device between each parking apron and the cargo delivery gate. Of course, if it is determined that the cargo carried by the drone is put into the warehouse in the cargo storage cabinet, it can be determined that the cargo delivery status of the cargo is the delivered status.

For another example, the server may also determine, according to the delivery status of the goods, whether all goods prior to the target goods have been delivered to the goods storage cabinet in the preset delivery order. If so, the server instructs the cargo storage cabinet to activate the transmission device between the target apron and the cargo delivery port, so as to transport the target cargo to the cargo delivery port through the transport device, and store the target cargo in the cargo delivery port through the cargo delivery port. In the warehouse of the goods storage cabinet. On the contrary, stop the transmission device between the target apron and the cargo delivery port, and continue to judge whether the cargo before the target cargo has been transported to the cargo storage cabinet in the preset delivery sequence.

In this specification, the server can determine the delivery sequence based on the generation time of the cargo order carried by the drone, or can determine the delivery sequence based on the time when the drone unloads the target cargo and reports to the server that the cargo has been unloaded. Of course, there are many other ways to determine the delivery sequence of the goods, which will not be described here one by one.

In order to further improve the distribution efficiency of drones, in this manual, for each apron set on the docking platform, there are multiple transmission devices on the transmission device between the apron and the cargo delivery port corresponding to the apron. Area unit (transmission region cell), each transmission area unit can accommodate at least one package of goods, as shown in Figure 4.

Fig. 4 is a schematic diagram of a plurality of transmission area units provided on the transmission device provided in this specification.

The transfer device shown in Figure 4 is arranged between the apron and the cargo delivery port corresponding to the apron (the cargo delivery port and the apron are not shown in Figure 4), the transfer device is provided with several transfer area units, As shown in FIG. 4, each transfer area unit can accommodate at least one package of goods. Further, if it is detected that the target cargo carried by the target UAV has been placed on the target delivery device (that is, the delivery device corresponding to the target apron where the target UAV stops), and the target delivery device sends a message to the corresponding target apron. If the cargo delivery port has moved at least the distance of the length of one transmission area unit, other drones (also called second drones) can be instructed to stop at the target apron, so that the cargo carried by the second drone can be placed on the on the target teleportation device.

That is, the target UAV can fly away immediately after unloading the carried target goods on the target delivery device at a delivery area unit closest to the target apron. At the same time, the target transfer device can move one transfer area unit to the cargo delivery port corresponding to the target apron. At this point, the delivery area unit closest to the target apron will be empty. Therefore, the second drone can be instructed to stop at the target apron, and place the carried cargo in the vacant transfer area unit. In this way, each unmanned aerial vehicle can continuously unload goods on the target apron, thereby further improving the delivery efficiency of the unmanned aerial vehicle.

In addition, if the server determines that all the landing pads included in the docking platform are occupied according to the usage status, it sends a waiting instruction to the target drone, so that the target drone flies to the waiting area and lands according to the waiting instruction. Then, if it is determined that all the aprons in the docking platform are occupied at the first moment, there is at least one released apron in the docking platform at the second moment, that is, at least one parking apron that has been occupied before originally appears. An available apron, select the target apron from at least one released apron and assign it to the target UAV. And send a parking instruction to the target UAV, so that the target UAV takes off from the waiting area according to the parking instruction, and flies to the target apron for parking. The first moment mentioned here is to respond to the above application docking request and determine the use state moment of all aprons included in the docking platform, and the second moment is later than the first moment. That is to say, when the target UAV first arrives at the docking platform, all the landing pads contained in the docking platform have been occupied, and after a period of time, at least one parking pad in the docking platform has been occupied from the original The state of use is changed to an unoccupied state of use.

Wherein, the waiting area may be an area determined by the server where parking is possible in the vicinity of the docking platform, for example, a building roof, a roof, a roadside isolation belt, and the like. Of course, the waiting area can also be a location area specially set up on the docking platform for short-term waiting of UAVs, or other areas with idle aprons (that is, unoccupied aprons) located at the original location of the target UAV. The docking platform near the docking platform that needs to be docked.

In a specific implementation, the server may determine a waiting area where the target drone can land and wait after determining that all the parking pads included in the docking platform are occupied. Then, the server determines the length of time it takes for the target UAV to go to the waiting area to wait and then dock on the docking platform. If the time length is less than the set duration threshold, the target UAV is controlled to hover and wait near the docking platform. And when there is an unoccupied apron on the docking platform, instruct the target UAV to dock. If the duration is greater than or equal to the set duration threshold, a waiting instruction is sent to the target UAV, so that the target UAV flies to the waiting area for landing according to the waiting instruction.

Of course, the server can also determine all drones that need to dock on the docking platform before the target drone according to the preset docking sequence, and determine the cost of docking these drones on the apron on the docking platform. The total duration, when it is determined that the target UAV first goes to the waiting area to wait and then stops at the docking platform when it takes less than the total duration, then control the target UAV to hover and wait near the docking platform, and When the target drone needs to dock, instruct the target drone to dock. Otherwise, a waiting instruction is sent to the target UAV, so that the target UAV flies to the waiting area and lands according to the waiting instruction.

Wherein, the preset docking sequence can be determined according to the order generation time corresponding to the goods carried by the UAV, or can be determined according to the order of time when the UAV enters the docking platform setting range.

Through the above steps, since all the landing pads on the docking platform have been occupied, the target UAV can fly to the waiting area to land, which can effectively reduce the occurrence of available parking pads in the waiting docking platform for the UAV. Power consumption during the process, and to a certain extent, improves the safety of the drone while waiting for an available landing pad.

Further, if the server determines that the number of unmanned aerial vehicles that need to be docked on the docking platform within the set range exceeds the set number, it will send control instructions to the unmanned aerial vehicles that are flying to the docking platform, so that they are flying to the docking platform. The platform's UAV adjusts its flight strategy according to the control instructions.

Wherein, the flight strategy may include: adjusting the flight speed, selecting a new cargo storage cabinet from the cargo storage cabinets located within the set range of the docking platform and containing unoccupied apron, and selecting a new cargo storage cabinet in the new cargo storage cabinet. Docking etc. are carried out on the docking platform on the selected cargo storage cabinet. For example, an unmanned aerial vehicle flying to a docking platform reduces its flight speed according to control instructions, so as to delay the time to reach the corresponding docking platform. For another example, the drone that is flying to the docking platform selects a docking platform with an unoccupied parking apron within the setting range of the docking platform corresponding to the original planned route according to the control command and the server, as the corresponding docking platform for the drone. The new docking platform, and according to the unmanned aerial vehicle distribution plan disclosed in this manual, dock on the new docking platform.

Of course, if the server determines that the number of drones that need to be parked on the docking platform within the set range exceeds the set number, it can also send control instructions to the drones that are preparing to take off to the docking platform, so that they are preparing to take off and go to the docking platform. The UAVs on the docking platform adjust their flight strategies according to the control instructions.

For example, adjust the take-off time of the UAV, adjust the flight speed of the UAV, adjust the flight route of the UAV, etc. Of course, there are many other ways of adjusting the flight strategy, which will not be described one by one here.

FIG. 5 is a schematic diagram of a detailed flow during execution of a method for delivery by drone provided in this specification.

Step S500, determining the number of unmanned aerial vehicles that need to be docked on the docking platform within the set range.

Step S502, judging whether the number of drones is greater than the set threshold, if yes, execute step S504, otherwise execute step S506.

Step S504, sending a control command to the drone flying to the docking platform, so that the drone flying to the docking platform adjusts the flight strategy according to the control command, and continues to execute step S500.

Step S506 , in response to the docking request of the target UAV, determine the use status of all parking areas included in the docking platform corresponding to the target UAV.

Step S508, according to the usage status of all the aprons, it is judged whether there is an unoccupied apron, if not, go to step S510, otherwise go to step S516.

Step S510, sending a waiting instruction to the target UAV, so that the target UAV flies to the waiting area and lands according to the waiting instruction.

Step S512, judging whether there is at least one released parking apron among the previously occupied aprons in the docking platform, if yes, execute step S514, otherwise execute step S512 in a loop.

Step S514, selecting the target apron from all released aprons and assigning it to the target UAV, and sending a parking instruction to the target UAV, so that the target UAV takes off from the waiting area according to the parking instruction, and flies to Stop at the target apron, and then proceed to step S518.

Step S516, according to the usage status of all the parking pads, select an unoccupied parking pad from all the parking pads as the target parking pad.

Step S518 , determining the heights of other aprons located within the set neighborhood of the target apron from the plane of the parking platform as reference heights.

Step S520, according to the reference height, adjust the height of the target apron from the plane of the docking platform through the lifting device provided on the target apron, and instruct the target UAV to park on the adjusted target apron.

Step S522, monitor whether the target drone has parked on the target apron, if so, execute step S524, otherwise execute step S522 in a loop.

Step S524, monitor whether the target cargo carried by the target drone has been unloaded on the docking platform, if so, execute step S526, otherwise execute step S524 in a loop.

Step S526, storing the target goods in the warehouse of the goods storage cabinet through the goods delivery port.

The above flowchart is what needs to be executed when the server is the execution subject. However, when the cargo storage cabinet is the execution subject in this manual, the process of executing the drone delivery plan is slightly different from that when the server is the execution subject. For example, in step S504, the cargo storage cabinet can determine the number of drones that need to be parked on the docking platform of the cargo storage cabinet within a period of time through the number of communication connections established with each drone. When the number of man-machines is greater than the set threshold, the cargo storage cabinet needs to report to the server that the number of unmanned aerial vehicles that currently need to be docked tends to be saturated, and it is difficult to continue to accept new unmanned aerial vehicles for docking information, so that the server receives After receiving the information, a control command is sent to the drone flying to the docking platform, so that the drone flying to the docking platform adjusts the flight strategy according to the control command.

For another example, in step S526, when the unloaded goods are transported to the goods delivery port according to the preset delivery order, if the preset delivery order is determined according to the order generation time corresponding to the goods carried by the drone, then it is necessary The cargo storage cabinets are obtained from the server to determine the starting sequence of the conveying devices corresponding to each apron. If the preset delivery sequence is determined according to the time when the unloaded cargo is sent to the cargo storage cabinet after the unmanned aerial vehicle unloads the target cargo, the cargo storage cabinet can determine the delivery time according to the unloading sequence of each drone. The start-up sequence of the conveyors corresponding to each apron.

Of course, in practical applications, the above-mentioned UAV distribution method is executed with the participation of the server and the cargo storage cabinet, wherein some operations can be performed by the server, and the other part of the operations can be performed by the cargo storage cabinet. The processing of these operations The logic is consistent.

The specification also provides a device, including a determination module and a waiting module.

The determination module is used to determine the usage status of all parking areas contained in the docking platform corresponding to the target UAV in response to the application docking request of the target UAV, and the application docking request is detected when the Sent when the target UAV is within the set range of the docking platform.

The waiting module is configured to send a waiting instruction to the target UAV if it is determined that all the aprons contained in the docking platform are occupied according to the usage status, so that the target UAV can Said waiting instruction, fly to the waiting area and land.

This specification also provides a computer-readable storage medium, the storage medium stores a computer program, and the computer program can be used to execute the drone delivery method provided in FIG. 1 above.

This specification also provides a schematic structural diagram of the electronic device shown in FIG. 6 . As shown in FIG. 6 , at the hardware level, the electronic device includes a processor 601 , an internal bus 602 , a network interface 603 , a memory 604 and a non-volatile memory 605 , and of course it may also include hardware required by other services. The processor 601 reads the corresponding computer program from the non-volatile memory 605 into the memory 604 and then runs it, so as to realize the method of delivery by drone described in FIG. 1 above. Of course, in addition to the software implementation, this specification does not exclude other implementations, such as logic devices or the combination of software and hardware, etc., that is to say, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic device.

In the 1990s, the improvement of a technology can be clearly distinguished as an improvement in hardware (for example, improvements in circuit structures such as diodes, transistors, and switches) or improvements in software (improvement in method flow). However, with the development of technology, the improvement of many current method flows can be regarded as the direct improvement of the hardware circuit structure. Designers almost always get the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that the improvement of a method flow cannot be realized by hardware physical modules. For example, a programmable logic device (Programmable Logic Device, PLD) (such as a field programmable gate array (Field Programmable Gate Array, FPGA)) is such an integrated circuit, the logic function of which is determined by the user's programming of the device. It is programmed by the designer to "integrate" a digital system on a PLD, instead of asking a chip manufacturer to design and make a dedicated integrated circuit chip. Moreover, nowadays, instead of making integrated circuit chips by hand, this kind of programming is mostly realized by "logic compiler (logic compiler)" software, which is similar to the software compiler used when program development and writing, but before compiling The original code of the computer must also be written in a specific programming language, which is called a hardware description language (Hardware Description Language, HDL), and there is not only one kind of HDL, but many kinds, such as ABEL (Advanced Boolean Expression Language) , AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc., are currently the most commonly used The most popular are VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog. It should also be clear to those skilled in the art that only a little logical programming of the method flow in the above-mentioned hardware description languages and programming into an integrated circuit can easily obtain a hardware circuit for realizing the logic method flow.

The controller may be implemented in any suitable way, for example the controller may take the form of a microprocessor or processor and a computer readable medium storing computer readable program code (such as software or firmware) executable by the (micro)processor , logic gates, switches, application specific integrated circuits (Application Specific Integrated Circuit, ASIC), programmable logic controllers and embedded microcontrollers, examples of controllers include but are not limited to the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20 and Silicone Labs C8051F320, the memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that, in addition to realizing the controller in a purely computer-readable program code mode, it is entirely possible to make the controller use logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded The same function can be realized in the form of a microcontroller or the like. Therefore, such a controller can be regarded as a hardware component, and the devices included in it for realizing various functions can also be regarded as structures within the hardware component. Or even, means for realizing various functions can be regarded as a structure within both a software module realizing a method and a hardware component.

The systems, devices, modules, or units described in the above embodiments can be specifically implemented by computer chips or entities, or by products with certain functions. A typical implementing device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or Combinations of any of these devices.

For the convenience of description, when describing the above devices, functions are divided into various units and described separately. Of course, when implementing this specification, the functions of each unit can be implemented in one or more pieces of software and/or hardware.

Those skilled in the art should understand that the embodiments of the present invention may be provided as methods, systems, or computer program products. Accordingly, the present invention can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or processor of other programmable data processing equipment to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing equipment produce a An apparatus for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions The device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby The instructions provide steps for implementing the functions specified in the flow chart or blocks of the flowchart and/or the block or blocks of the block diagrams.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

Memory may include non-permanent storage in computer-readable media, in the form of random access memory (RAM) and/or nonvolatile memory such as read-only memory (ROM) or flash RAM. Memory is an example of computer readable media.

Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can be implemented by any method or technology for storage of information. Information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Flash memory or other memory technology, Compact Disc Read-Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cartridge, tape magnetic disk storage or other magnetic storage device or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media excludes transitory computer-readable media, such as modulated data signals and carrier waves.

It should also be noted that the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes Other elements not expressly listed, or elements inherent in the process, method, commodity, or apparatus are also included. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

Those skilled in the art should understand that the embodiments of this specification may be provided as methods, systems or computer program products. Accordingly, this description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present description may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The specification may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The present description may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including storage devices.

Each embodiment in this specification is described in a progressive manner, the same and similar parts of each embodiment can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for relevant parts, refer to part of the description of the method embodiment.

The above descriptions are only examples of this specification, and are not intended to limit this specification. For those skilled in the art, various modifications and changes may occur in this description. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this specification shall be included within the scope of the claims of this specification.

Claims (20)

1. A method for drone delivery, comprising:

   In response to the application docking request of the first unmanned aerial vehicle, determine the use status of all parking areas contained in the docking platform corresponding to the first unmanned aerial vehicle, and the application docking request is detected when the first unmanned aerial vehicle is monitored. Sent when it is within the set range of the docking platform;

   If according to the usage state, it is determined that all the aprons included in the docking platform have been occupied, a waiting instruction is sent to the first UAV, so that the first UAV can, according to the waiting instruction, Fly to the holding area and land.
2. The method of claim 1, further comprising:

   If according to the usage status, it is determined that there is at least one unoccupied apron in the docking platform, one of the at least one unoccupied apron included in the docking platform is selected as the target apron, And instruct the first unmanned aerial vehicle to stop at the target apron.
3. The method of claim 1, further comprising:

   If it is determined that all the aprons in the docking platform have been occupied at the first moment, there is at least one released apron in the docking platform at the second moment, and one of the at least one released aprons is selected. As the target apron, it is assigned to the first UAV, and a parking instruction is sent to the first UAV, so that the first UAV takes off from the waiting area according to the parking instruction, And fly to the target apron for parking; wherein, the first moment is in response to the application parking request, and the moment of determining the use status of all aprons contained in the parking platform, the second moment later than said first moment.
4. The method according to claim 2, wherein the docking platform is provided with at least one cargo delivery port, and the number of cargo delivery ports in the docking platform does not exceed the number of aprons included in the docking platform, each of the There is a conveying device for transporting goods between the apron mentioned above and the corresponding cargo delivery port;

   The method also includes:

   If it is detected that the first unmanned aerial vehicle stops at the target apron, and the target cargo carried by the first unmanned aerial vehicle is unloaded behind the docking platform, then the cargo corresponding to the target apron is passed The delivery port stores the target goods.
5. The method according to claim 4, characterized in that, storing the target cargo through the cargo delivery port corresponding to the target apron comprises:

   If the number of cargo delivery ports in the docking platform is less than the number of aprons included in the docking platform, obtain the cargo delivery status corresponding to other aprons in the docking platform except the target apron;

   According to the delivery status of the goods, determine whether the target goods meet the preset delivery conditions;

   If it is determined that the target cargo satisfies the delivery conditions, the transfer device between the target apron and the cargo delivery port corresponding to the target apron is used as the target transfer device, and the target transfer device is activated to pass through the The target conveying device carries the target cargo to the cargo delivery port corresponding to the target apron, and stores the target cargo through the cargo delivery port corresponding to the target apron;

   If it is determined that the target cargo does not satisfy the delivery condition, stop starting the target conveying device.
6. The method according to claim 5, wherein the shipping conditions comprise: at least one of a first shipping condition and a second shipping condition;

   The first delivery condition includes: the cargo unloaded on the other apron does not include the cargo being transported to the cargo delivery port corresponding to the target apron;

   The second shipping condition includes: in the preset shipping sequence, all the goods located before the target goods have been stored.
7. The method according to claim 5, characterized in that, for each of the said parking aprons corresponding to the docking platform, the transport device between the apron and the cargo delivery port corresponding to the apron is provided with a plurality of transfer area units each capable of holding at least one package;

   The method also includes:

   If it is detected that the target cargo has been placed on the target conveying device, and the target conveying device has moved a distance of at least one conveying area unit to the cargo delivery port corresponding to the target apron, indicate the second no The manned machine stops at the target apron, so as to place the goods carried by the second unmanned aerial vehicle on the target conveying device.
8. The method of claim 1, further comprising:

   If it is determined that the number of unmanned aerial vehicles that need to be parked on the docking platform within the set range exceeds the set number, send control instructions to the unmanned aerial vehicles that are flying to the docking platform, so that they are flying to the docking platform. The unmanned aerial vehicle on the docking platform adjusts its flight strategy according to the control instruction.
9. The method according to claim 4, wherein, in response to the application docking request of the first unmanned aerial vehicle, determining the use status of all parking areas contained in the docking platform corresponding to the first unmanned aerial vehicle includes :

   for each of all aprons contained in said docking platform,

   For each third drone that arrives at the docking platform before the first drone and has not left the docking platform, if it is determined that the third drone has been carried by the third drone At the same time, the goods are located on the conveying device between the apron and the cargo delivery port corresponding to the apron, and it is determined that the apron is not occupied.
10. The method of claim 9, further comprising:

    If it is detected that the distance between any of the third drones located on the conveying device between the apron and the corresponding cargo delivery port of the apron is less than the set distance , sending an unloading instruction to the third UAV, so that the third UAV unloads and takes off on the conveyor between the apron and the cargo delivery port corresponding to the apron according to the unloading instruction.
11. The method according to claim 2, wherein each of the parking pads is provided with a lifting device, and the lifting device corresponding to the parking pad is used to adjust the height of the parking pad from the parking platform;

    Instructing the first unmanned aerial vehicle to dock to the target apron, including:

    Determining the height of other aprons in the parking platform except the target apron from the plane of the parking platform as a reference height;

    According to the reference height, adjust the height of the target apron from the plane of the parking platform through the lifting device corresponding to the target apron, and instruct the first UAV to move to the adjusted target apron Make a dock.
12. The method according to claim 11, characterized in that, determining the height of other aprons in the parking platform except the target apron from the plane of the parking platform, as a reference height, includes:

    Determining the height of other aprons located within the set neighborhood of the target apron from the plane of the parking platform as the reference height.
13. A cargo storage cabinet for unmanned aerial vehicle distribution, which is provided with a docking platform, and a plurality of parking pads for unmanned aerial vehicles are arranged on the docking platform, and cargo storage cabinets for storing cargo are provided in the cargo storage cabinet. warehouse, the docking platform is provided with a cargo delivery port, the number of the cargo delivery ports does not exceed the number of the parking pads set on the docking platform, and the cargo carried by the drone is put into the cargo delivery port through the cargo delivery port. Store in the cargo storage cabinet.
14. The cargo storage cabinet according to claim 13, characterized in that, for each of the plurality of aprons set on the docking platform, there is a transmission device;

    The conveying device is used for transporting the goods unloaded at the apron to the corresponding cargo delivery port of the apron.
15. The cargo storage cabinet according to claim 14, characterized in that, for each of the plurality of aprons, a plurality of conveying devices are provided on the conveying device between the apron and the cargo delivery port corresponding to the apron. Area units, each of the plurality of transfer area units is capable of holding at least one package of goods.
16. The cargo storage cabinet according to claim 13, wherein a corresponding lifting device is provided at the bottom of each of the plurality of parking pads to adjust the height of the parking pad from the parking platform.
17. The cargo storage cabinet according to any one of claims 13 to 16, further comprising: a memory, a processor, and a computer program stored on the memory and operable on the processor, wherein the processor executes the program When realizing the method described in any one of the above-mentioned claims 1 to 12.
18. A device, including a determination module and a waiting module;

    The determination module is configured to determine the usage status of all the aprons included in the docking platform corresponding to the first UAV in response to the application docking request of the first UAV, and the application docking request is detected Sent when the first UAV is within the set range of the docking platform;

    The waiting module is configured to send a waiting instruction to the first UAV if it is determined that all the aprons included in the docking platform have been occupied according to the usage status, so that the first UAV The aircraft flies to the waiting area and lands according to the waiting instruction.
19. A computer-readable storage medium, characterized in that the storage medium stores a computer program, and when the computer program is executed by a processor, the method described in any one of claims 1 to 12 is implemented.
20. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and operable on the processor, characterized in that, when the processor executes the program, it implements the above-mentioned any one of claims 1 to 12. described method.

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