WO2022252468A1 - Procédé de livraison par véhicule aérien sans pilote et conteneur de stockage de marchandise pour la livraison par véhicule aérien sans pilote - Google Patents

Procédé de livraison par véhicule aérien sans pilote et conteneur de stockage de marchandise pour la livraison par véhicule aérien sans pilote Download PDF

Info

Publication number
WO2022252468A1
WO2022252468A1 PCT/CN2021/124606 CN2021124606W WO2022252468A1 WO 2022252468 A1 WO2022252468 A1 WO 2022252468A1 CN 2021124606 W CN2021124606 W CN 2021124606W WO 2022252468 A1 WO2022252468 A1 WO 2022252468A1
Authority
WO
WIPO (PCT)
Prior art keywords
target
apron
cargo
docking platform
parking
Prior art date
Application number
PCT/CN2021/124606
Other languages
English (en)
Chinese (zh)
Inventor
黄金鑫
张邦彦
张继伟
眭泽智
寻其锋
Original Assignee
北京三快在线科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京三快在线科技有限公司 filed Critical 北京三快在线科技有限公司
Publication of WO2022252468A1 publication Critical patent/WO2022252468A1/fr

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • 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.
  • 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.
  • these methods need to hire a large number of people to deliver goods, and the labor cost is extremely high.
  • the drone delivery business has gradually developed.
  • 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.
  • the docking platform is provided with multiple aprons for drones, including:
  • 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.
  • the method also includes:
  • 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.
  • the method also includes:
  • 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.
  • 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:
  • the delivery port stores the target goods.
  • storing the target cargo through a cargo delivery port corresponding to the target apron includes:
  • 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;
  • the delivery status of the goods determine whether the target goods meet the preset 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;
  • 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.
  • 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:
  • the target conveying device 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.
  • the method also includes:
  • the unmanned aerial vehicle on the docking platform adjusts its flight strategy according to the control instruction.
  • determining the use status of all parking areas contained in the docking platform corresponding to the first UAV includes:
  • 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.
  • the method also includes:
  • 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:
  • 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.
  • 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.
  • the 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.
  • 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 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.
  • 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.
  • FIGS. 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.
  • 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 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 .
  • 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.
  • 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.
  • the number of cargo delivery ports in the docking platform does not exceed the number of parking pads included in the docking platform.
  • 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 .
  • a conveying device for transporting goods is provided between each apron and the shared cargo delivery port.
  • the conveying device may be realized by, for example, a conveyor belt.
  • multiple cargo delivery ports can also be set at the same time.
  • some aprons share a cargo delivery port 1
  • some aprons share a cargo delivery port 2.
  • 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.
  • the server when delivering goods by UAV, 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.
  • the subject of execution of the drone delivery method involved in this specification can also be a cargo storage cabinet.
  • the server 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.
  • the server 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • the target UAV 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.
  • the identification information of the apron may be the serial number of the apron, the location coordinates of the apron, and the like.
  • 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.
  • a corresponding lifting device can be provided at the bottom of each apron.
  • 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 .
  • 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.
  • 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.
  • 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.
  • 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.
  • the above content is described by taking the server as an execution subject as an example.
  • 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.
  • the server 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.
  • the server detects that the target UAV is docked in the target apron.
  • 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
  • the threshold 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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;
  • 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.
  • the cargo can also be unloaded onto the docking platform at other times.
  • the target UAV 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.
  • the unloading instruction After the unloading instruction, unload and take off on the transfer device between the apron and the cargo delivery gate.
  • 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.
  • a sensor is set in the cargo transfer port on the docking platform.
  • 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.
  • 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.
  • the target UAV after the target UAV is unloaded, it can take off and leave the docking platform.
  • 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.
  • 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.
  • 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.
  • the target UAV 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the server 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.
  • 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.
  • the cargo delivery status of the cargo is the delivered status.
  • 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.
  • 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.
  • the delivery sequence of the goods there are many other ways to determine the delivery sequence of the goods, which will not be described here one by one.
  • 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.
  • other drones also called second drones
  • the cargo delivery port has moved at least the distance of the length of one transmission area unit
  • other drones also called second drones
  • 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.
  • the target transfer device can move one transfer area unit to the cargo delivery port corresponding to the target apron.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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 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 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.
  • 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.
  • step S5266 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.
  • 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.
  • 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.
  • 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).
  • improvements in circuit structures such as diodes, transistors, and switches
  • improvements in software improvement in method flow
  • 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.
  • a programmable logic device Programmable Logic Device, PLD
  • PLD Programmable Logic Device
  • FPGA Field Programmable Gate Array
  • HDL Hardware Description Language
  • ABEL Advanced Boolean Expression Language
  • AHDL Altera Hardware Description Language
  • HDCal JHDL
  • Lava Lava
  • Lola MyHDL
  • PALASM RHDL
  • VHDL Very-High-Speed Integrated Circuit Hardware Description Language
  • Verilog Verilog
  • 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.
  • controller 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.
  • a typical implementing device is a computer.
  • 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.
  • 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.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • 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.
  • a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
  • processors CPUs
  • input/output interfaces network interfaces
  • memory volatile and non-volatile 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.
  • RAM random access memory
  • ROM read-only memory
  • flash RAM flash random access memory
  • 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.
  • computer-readable media excludes transitory computer-readable media, such as modulated data signals and carrier waves.
  • 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.
  • program modules may be located in both local and remote computer storage media including storage devices.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

L'invention concerne un procédé de livraison par véhicule aérien sans pilote et un conteneur de stockage de marchandise pour la livraison par véhicule aérien sans pilote. Le procédé de livraison consiste à : en réponse à une requête d'application d'accueil d'un premier véhicule aérien sans pilote, déterminer des conditions d'utilisation de toutes les aires de stationnement comprises dans une plateforme d'accueil correspondant au premier véhicule aérien sans pilote, la requête d'application d'accueil étant envoyée lorsqu'il est détecté que le premier véhicule aérien sans pilote est situé dans une plage définie de la plate-forme d'accueil; et s'il est déterminé selon les conditions d'utilisation que toutes les aires de stationnement comprises dans la plateforme d'accueil ont été occupées, envoyer une instruction d'attente au premier véhicule aérien sans pilote de façon à lui permettre, selon l'instruction d'attente, de voler vers une zone d'attente d'atterrissage. Le procédé décrit peut réduire efficacement la consommation d'énergie du véhicule aérien sans pilote lors de l'attente d'une aire de stationnement disponible, tout en améliorant la sécurité du véhicule aérien sans pilote lorsqu'il attend une aire de stationnement disponible.
PCT/CN2021/124606 2021-06-01 2021-10-19 Procédé de livraison par véhicule aérien sans pilote et conteneur de stockage de marchandise pour la livraison par véhicule aérien sans pilote WO2022252468A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110607226.8 2021-06-01
CN202110607226.8A CN113253759B (zh) 2021-06-01 2021-06-01 一种无人机配送的方法及用于无人机配送的货物存储柜

Publications (1)

Publication Number Publication Date
WO2022252468A1 true WO2022252468A1 (fr) 2022-12-08

Family

ID=77185753

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/124606 WO2022252468A1 (fr) 2021-06-01 2021-10-19 Procédé de livraison par véhicule aérien sans pilote et conteneur de stockage de marchandise pour la livraison par véhicule aérien sans pilote

Country Status (2)

Country Link
CN (1) CN113253759B (fr)
WO (1) WO2022252468A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113253759B (zh) * 2021-06-01 2021-11-30 北京三快在线科技有限公司 一种无人机配送的方法及用于无人机配送的货物存储柜

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN205526809U (zh) * 2016-03-01 2016-08-31 徐藤月 一种无人机卸货平台
CN107878751A (zh) * 2017-11-14 2018-04-06 重庆大学 智能无人机定位停放系统及其工作方法
CN108166402A (zh) * 2018-02-06 2018-06-15 金陵科技学院 一种封闭式可移动无人机停机坪
CN110641700A (zh) * 2019-08-23 2020-01-03 西南交通大学 面向社区的无人机配送系统与配送方法
CN110937294A (zh) * 2018-09-21 2020-03-31 北京京东尚科信息技术有限公司 配送站点及配送方法
CN112722306A (zh) * 2020-12-22 2021-04-30 福建翼展科技发展有限公司 无人机停机坪
CN113253759A (zh) * 2021-06-01 2021-08-13 北京三快在线科技有限公司 一种无人机配送的方法及用于无人机配送的货物存储柜

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9760087B2 (en) * 2015-01-16 2017-09-12 International Business Machines Corporation Distributed, unmanned aerial vehicle package transport network
US20170129099A1 (en) * 2015-11-10 2017-05-11 M3N, Inc. Multipurpose Robotic System
CN106184757B (zh) * 2016-07-15 2018-06-26 杭州迅蚁网络科技有限公司 一种无人机货物自动装载与投放系统
CN106647785B (zh) * 2016-11-16 2020-07-14 深圳市元征科技股份有限公司 无人机停机坪控制方法及装置
CN108189696B (zh) * 2018-01-12 2021-06-01 宁波力芯科信息科技有限公司 一种安装于楼顶的无人机无线续电系统及方法
CN108305407A (zh) * 2018-02-02 2018-07-20 宁波力芯科信息科技有限公司 一种基于无人机无线充电的户外快递柜
DE102018205880B3 (de) * 2018-04-18 2019-07-25 Volkswagen Aktiengesellschaft Vorrichtung für ein Fahrzeug zur Übernahme eines Objektes bei einer Drohnenlieferung
US11816624B2 (en) * 2018-11-27 2023-11-14 Congruens Group, Llc Delivery of food items by aerial or ground drones to and from delivery vehicles
CN110398983A (zh) * 2019-07-15 2019-11-01 北京三快在线科技有限公司 一种物流运输系统、无人机、着陆平台及其控制方法

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN205526809U (zh) * 2016-03-01 2016-08-31 徐藤月 一种无人机卸货平台
CN107878751A (zh) * 2017-11-14 2018-04-06 重庆大学 智能无人机定位停放系统及其工作方法
CN108166402A (zh) * 2018-02-06 2018-06-15 金陵科技学院 一种封闭式可移动无人机停机坪
CN110937294A (zh) * 2018-09-21 2020-03-31 北京京东尚科信息技术有限公司 配送站点及配送方法
CN110641700A (zh) * 2019-08-23 2020-01-03 西南交通大学 面向社区的无人机配送系统与配送方法
CN112722306A (zh) * 2020-12-22 2021-04-30 福建翼展科技发展有限公司 无人机停机坪
CN113253759A (zh) * 2021-06-01 2021-08-13 北京三快在线科技有限公司 一种无人机配送的方法及用于无人机配送的货物存储柜

Also Published As

Publication number Publication date
CN113253759A (zh) 2021-08-13
CN113253759B (zh) 2021-11-30

Similar Documents

Publication Publication Date Title
US10373097B2 (en) Autonomous multimodal logistics
US20190213529A1 (en) Network computer system to evaluate freight loads
JP6105540B2 (ja) 移動駆動ユニットの動きを調整するシステムおよび方法
JP5681163B2 (ja) 移動駆動ユニットを操るシステムおよび方法
JP5138681B2 (ja) 目録品を移送するシステムおよび方法
JP5143133B2 (ja) 移動駆動ユニットを管理するシステムおよび方法
JP5231407B2 (ja) 移動駆動ユニットのための経路を生成するシステムおよび方法
JP5368303B2 (ja) 移動駆動ユニットを位置させるシステムおよび方法
US11378968B2 (en) Autonomous ground vehicle (AGV) cart for item distribution
US11498766B2 (en) Warehousing system, material transporting method, control terminal, robot, and storage medium
KR20220101611A (ko) 병합 처리 시스템, 방법 및 장치
WO2019233486A1 (fr) Système automatisé de distribution de marchandises et son procédé de fonctionnement
WO2015059739A1 (fr) Dispositif de gestion de transport, système de transport et programme de gestion de transport
JP7199003B2 (ja) 搬送装置、受信機能付き搬送装置、搬送システム、上位システム、搬送装置の制御方法、及びプログラム
WO2022063038A1 (fr) Procédé de traitement de tâches, terminal de commande, robot, système d'entreposage et support de stockage
KR101771047B1 (ko) 무인이송차량을 이용한 물품 이송시스템
WO2022252468A1 (fr) Procédé de livraison par véhicule aérien sans pilote et conteneur de stockage de marchandise pour la livraison par véhicule aérien sans pilote
WO2022262264A1 (fr) Commande de dispositif sans pilote
JP2020504983A (ja) ロボットアドホックネットワーク
JP6556532B2 (ja) 通信装置、搬送補助具、および搬送システム
WO2020179386A1 (fr) Procédé de commande de corps mobile, système de commande de corps mobile et programme
CN108016867A (zh) 一种机器人的控制装置、控制方法及控制系统
JP7251654B2 (ja) 搬送装置、制御方法、及び、制御プログラム
CN113311846A (zh) 实现配送物自动交接的无人设备控制系统、方法及装置
CN112101615A (zh) 货物搬运方法、装置、电子设备及存储介质

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21943820

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21943820

Country of ref document: EP

Kind code of ref document: A1