WO2022262264A1 - Commande de dispositif sans pilote - Google Patents

Commande de dispositif sans pilote Download PDF

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Publication number
WO2022262264A1
WO2022262264A1 PCT/CN2022/071376 CN2022071376W WO2022262264A1 WO 2022262264 A1 WO2022262264 A1 WO 2022262264A1 CN 2022071376 W CN2022071376 W CN 2022071376W WO 2022262264 A1 WO2022262264 A1 WO 2022262264A1
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WIPO (PCT)
Prior art keywords
delivery
unmanned
unmanned device
target
distribution
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PCT/CN2022/071376
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English (en)
Chinese (zh)
Inventor
凌中华
夏华夏
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北京三快在线科技有限公司
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Publication of WO2022262264A1 publication Critical patent/WO2022262264A1/fr

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    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping
    • G06Q10/0835—Relationships between shipper or supplier and carriers
    • G06Q10/08355—Routing methods

Definitions

  • This application relates to the field of unmanned driving, in particular to the control of unmanned equipment.
  • unmanned equipment such as unmanned vehicles, drones, and unmanned control robots have been widely used in various fields, bringing great convenience to daily activities in these fields.
  • the present application provides a control method and a control device for unmanned equipment, which improve the delivery efficiency of unmanned equipment.
  • the application adopts the following technical solutions:
  • the present application provides a method for controlling unmanned equipment.
  • the first unmanned equipment transports at least one distribution
  • the first unmanned equipment carries at least one second unmanned equipment, including: the control center obtains the first A distribution status corresponding to an unmanned device; in the case of determining that the distribution status satisfies a preset condition, determine a target distribution from at least one distribution delivered by the first unmanned device, and the target distribution is Refers to the delivery of at least part of the remaining delivery distance that needs to be delivered by the second unmanned device; sending a first control instruction, and the first control instruction is used to control the second unmanned device so that the second
  • the unmanned equipment transports the loaded target distribution to the distribution point corresponding to the target distribution according to the distribution route planned by the control center, and the distribution route is determined by the control center according to the second unmanned
  • the location of the device and the delivery point are obtained through route planning; when it is determined that the second unmanned device has departed from the first unmanned device, the second unmanned device is sent to the first
  • determining that the delivery status satisfies a preset condition includes: determining that the delivery status satisfies a preset condition when it is determined according to the delivery status that the first unmanned device cannot continue to pass.
  • determining that the first unmanned device cannot continue to pass according to the delivery status includes: acquiring position-related data corresponding to the first unmanned device from the delivery status; data, if it is determined that the target road section does not match the driving mode corresponding to the first unmanned device, it is determined that the first unmanned device cannot continue to pass, and the target road section refers to the first unmanned device executing the current At least some of the road sections that need to be traveled when delivering tasks.
  • determining that the delivery status satisfies a preset condition includes: determining that the delivery status satisfies a preset condition when it is determined according to the delivery status that there is a target delivery order, and the target delivery order refers to the Delivery orders with a risk of overtime when the first unmanned equipment continues to drive according to the original delivery route;
  • determining the target delivery includes: determining the delivery corresponding to the target delivery order from the at least one delivery delivered by the first unmanned equipment deliveries to the target.
  • the first unmanned device includes an exit hatch; sending the first control instruction includes: sending the first control instruction in response to the target delivery being sent out from the exit hatch, the first A control command is used to control the second unmanned equipment, so that the second unmanned equipment loads the target distribution.
  • a docking area for the second unmanned device is set on the first unmanned device; the first control instruction controls the second unmanned device so that it is located in the docking area The second unmanned device goes to the position corresponding to the exit hatch, and loads the target distribution.
  • the method further includes: determining a docking position that the first unmanned device needs to go to, and sending a docking instruction to the first unmanned device, so that the first unmanned device docks according to the Instructing to go to the docking location for parking; according to the location of the second unmanned device and the delivery point corresponding to the target delivery, perform route planning to obtain the delivery route, including: according to the parking location and the delivery point corresponding to the target delivery item, and perform route planning to obtain the delivery route.
  • the method further includes: in the case that the second unmanned equipment has delivered the target delivery to the distribution point, determining the return equipment corresponding to the second unmanned equipment, the The return-to-home equipment includes at least the first unmanned equipment; according to the position of the return-to-home equipment, route planning is performed on the second unmanned equipment to obtain a return-to-home route, so that the second unmanned device can follow the return-to-home route , driving to the return-to-home equipment, and docking on the return-to-home equipment.
  • the present application provides a method for controlling unmanned equipment, which is executed by a first unmanned equipment, the first unmanned equipment transports at least one distribution, and the first unmanned equipment carries at least one second unmanned equipment
  • the device includes: when the distribution state corresponding to the first unmanned device satisfies a preset condition, determining a target distribution from at least one distribution delivered by the first unmanned device, and the target distribution Refers to the delivery of at least part of the remaining delivery routes that need to be delivered by the second unmanned device; receiving the second control instruction sent by the control center, and continuing to drive according to the second control instruction, the second control instruction is After the control center determines that the second unmanned equipment is loaded with target deliveries, and has driven away from the first unmanned equipment according to the planned delivery route, it sends to the first unmanned equipment, the delivery route It is obtained by the control center according to the location of the second unmanned device and the distribution point corresponding to the target delivery, and the second unmanned device is obtained according to the first control instruction sent by the control center , deliver
  • the first unmanned device includes an exit hatch; the method further includes: opening the exit hatch, and sending the target delivery out from the exit hatch.
  • the method further includes: receiving a docking instruction sent by the control center; according to the docking instruction, going to the docking position determined by the control center to dock, so that the second unmanned device The target distribution is loaded at the docking position.
  • the present application provides a method for controlling an unmanned device, which is executed by a second unmanned device.
  • the first unmanned device delivers at least one distribution
  • the first unmanned device carries at least one of the second unmanned devices.
  • the device includes: when the control center determines that the distribution status of the first unmanned device satisfies the preset condition, obtaining a first control instruction; according to the first control instruction, loading the target distribution, and the target A delivery refers to a delivery that at least part of the remaining delivery distance needs to be delivered by the second unmanned device; based on the delivery route corresponding to the target delivery, the target delivery is delivered to the delivery point corresponding to the target delivery , the delivery route is obtained by the control center according to the location of the second unmanned device and the delivery point.
  • the first unmanned equipment is provided with a docking area for the second unmanned equipment, and the first unmanned equipment includes a hatch; according to the first control instruction, the target distribution is carried out Loading includes: according to the first control instruction, going from the docking area to a position corresponding to the exit hatch, and loading the target distribution.
  • transporting the target delivery to a delivery point corresponding to the target delivery includes: stopping the second unmanned delivery in response to a preset braking device.
  • the braking of the human equipment is based on the delivery route for the target delivery, and the target delivery is delivered to the delivery point corresponding to the target delivery.
  • the method further includes: driving to the return-to-home equipment determined by the control center according to the return-to-home route planned by the control center, and stopping on the return-to-home equipment, the return-to-home route is
  • the control center obtains the route planning of the second unmanned device based on the determined position of the return-to-home device, and the return-to-home device is obtained by the control center after determining that the second unmanned device has placed the After the target delivery is delivered to the distribution point, the return equipment includes at least the first unmanned equipment.
  • the application provides a control device for unmanned equipment, including:
  • An acquisition module configured to acquire the distribution status corresponding to the first unmanned device, the first unmanned device transports at least one delivery, and the first unmanned device carries at least one second unmanned device;
  • a determining module configured to determine a target delivery from at least one delivery delivered by the first unmanned device when it is determined that the delivery status satisfies a preset condition, and the target delivery refers to at least part of the remaining delivery
  • the distribution route needs to be delivered by the second unmanned device
  • the first control module is configured to send a first control instruction, the first control instruction is used to control the second unmanned equipment, so that the second unmanned equipment follows the delivery route planned by the device, Transporting the loaded target delivery to the delivery point corresponding to the target delivery, the delivery route is that the device performs route planning according to the location of the second unmanned device and the delivery point owned;
  • the second control module is configured to send a second control command to the first unmanned device when it is determined that the second unmanned device has driven away from the first unmanned device, the second control command It is used to control the first unmanned equipment to continue driving.
  • the application provides a control device for unmanned equipment, including:
  • a determining module configured to determine a target delivery from at least one delivery delivered by the first unmanned device when the delivery state corresponding to the first unmanned device satisfies a preset condition, and the target delivery is Refers to the delivery of at least part of the remaining delivery routes that need to be delivered by the second unmanned device, and the first unmanned device carries at least one second unmanned device;
  • the receiving module is configured to receive a second control instruction sent by the control center, and continue driving according to the second control instruction.
  • the second control instruction is that the control center determines that the second unmanned device is loaded with target deliveries, and sent to the first unmanned device after leaving the first unmanned device according to the planned delivery route, the delivery route is based on where the second unmanned device is located by the control center The location and the distribution point corresponding to the target distribution are planned, and the second unmanned device delivers the loaded target distribution according to the distribution route according to the first control instruction sent by the control center. to the delivery point.
  • the application provides a control device for unmanned equipment, including:
  • An acquisition module configured to acquire a first control instruction when the control center determines that the distribution status of the first unmanned device satisfies a preset condition, the first unmanned device delivers at least one delivery, and the first unmanned device The device carries at least one second unmanned device;
  • a loading module configured to load target deliveries according to the first control instruction, where the target deliveries refer to deliveries that need to be delivered by the second unmanned device for at least part of the remaining delivery distance;
  • a delivery module configured to transport the target delivery to a delivery point corresponding to the target delivery based on a delivery route corresponding to the target delivery, the delivery route being determined by the control center according to the second unmanned The location of the equipment and the planning of the distribution point are obtained.
  • the present application provides a computer-readable storage medium, the storage medium stores a computer program, and when the computer program is executed by a processor, the control method of the above-mentioned unmanned equipment is realized.
  • the present application provides an electronic device, which includes a memory, a processor, and a computer program stored on the memory and operable on the processor.
  • the processor executes the program, the control method of the above-mentioned unmanned device is realized.
  • the present application provides an unmanned device, which includes a memory, a processor, and a computer program stored on the memory and operable on the processor, and the processor implements the control method of the above-mentioned unmanned device when executing the program.
  • the first unmanned device since the first unmanned device carries the second unmanned device, when the first unmanned device cannot continue to deliver the target delivery, it can rely on the carried second unmanned device, Continue to execute the distribution task for the target distribution, which greatly improves the execution efficiency of the distribution business.
  • FIG. 1 is a schematic flow diagram of a control method for unmanned equipment provided by the present application
  • Fig. 2 is a schematic diagram of a top of an unmanned vehicle provided by the present application with slots for accommodating distributions;
  • Fig. 3 is a schematic diagram of the second unmanned device loading the target distribution after a target distribution provided by the present application is sent out from the hatch;
  • Fig. 4 is a schematic diagram of a second unmanned device provided by the present application starting from the docking area and loading the target delivery at the position corresponding to the exit hatch;
  • Fig. 5 is a schematic diagram of a braking device for braking the second unmanned equipment provided by the present application
  • Fig. 6 is a schematic diagram of another braking device for braking the second unmanned equipment provided by the present application.
  • FIG. 7 is a schematic diagram of a distribution task performed by an unmanned vehicle and an unmanned ship provided by the present application.
  • FIG. 8 is a schematic diagram of a control device for unmanned equipment provided by the present application.
  • FIG. 9 is a schematic diagram of a control device for unmanned equipment provided by the present application.
  • FIG. 10 is a schematic diagram of a control device for unmanned equipment provided by the present application.
  • FIG. 11 is a schematic diagram of an electronic device corresponding to FIG. 1 provided by the present application.
  • FIG. 12 is a schematic diagram of an unmanned device corresponding to FIG. 1 provided by the present application.
  • unmanned delivery items such as takeaways and online shopping products can be placed in unmanned equipment, and the unmanned equipment will deliver the delivery items to the corresponding delivery points.
  • unmanned equipment cannot pass, for example, unmanned vehicles cannot cross rivers without bridges during driving, so it is necessary to plan routes for unmanned equipment to bypass these impassable areas, resulting in unmanned It takes too much time for the equipment to deliver the distribution to the designated distribution point, and the distribution efficiency of unmanned equipment is low.
  • Fig. 1 is a schematic flow chart of a control method for unmanned equipment provided by the present application, including the following steps:
  • the control center acquires the delivery status corresponding to the first unmanned device.
  • the control center performs business through the first unmanned device and the second unmanned device, wherein the first unmanned device carries at least one second unmanned device, and the first unmanned device and the second unmanned device correspond to different delivery environments.
  • the delivery environment mentioned here is used to indicate how the unmanned equipment will drive. For example, if the unmanned device is an unmanned vehicle, the distribution environment corresponding to the unmanned device is a land transportation distribution environment; if the unmanned device is a drone, the distribution environment corresponding to the unmanned device is air transportation environment, if the unmanned device is an unmanned ship, the distribution environment corresponding to the unmanned device is a water transportation distribution environment.
  • the first unmanned device and the second unmanned device correspond to different delivery environments, there are various combinations of the first unmanned device and the second unmanned device.
  • the second unmanned device carried is a drone; for another example, if the first unmanned device is an unmanned vehicle, then the second unmanned device carried is a An unmanned ship smaller than the unmanned vehicle; another example, if the first unmanned device is an unmanned ship, then the second unmanned device carried is smaller than the unmanned vehicle of the unmanned ship; for another example, the first If the unmanned equipment is an unmanned ship, then the second unmanned equipment carried is a drone.
  • the first unmanned device and the second unmanned device can actually be unmanned devices corresponding to the same delivery environment.
  • the first unmanned device is an unmanned vehicle
  • the second unmanned device carried is the size An unmanned vehicle that is smaller than the first unmanned equipment.
  • the unmanned equipment mentioned in this application refers to unmanned vehicles, unmanned aerial vehicles, unmanned ships and other equipment that can realize automatic driving.
  • the control method of the unmanned equipment provided in the present application can be applied to the field of distribution through unmanned equipment, for example, business scenarios such as express delivery, logistics, and takeaway delivery using unmanned equipment.
  • the control method of unmanned equipment provided by this application is applicable to the combination of various first unmanned equipment and second unmanned equipment. Therefore, for the convenience of description, the first unmanned In the case where the unmanned equipment is a drone, the method for controlling the unmanned equipment provided in this application will be described. For other combinations, appropriate descriptions will be made in the following content.
  • the first unmanned device transports at least one delivery item, so, in the process of the first unmanned device performing the delivery task, some special circumstances may be encountered, which may cause the first unmanned device itself to be unable to continue to perform Or it is not suitable to continue to perform the delivery task for a certain delivery item.
  • an unmanned vehicle when an unmanned vehicle is performing a delivery task, it will drive to a location with a river in front of it. Since the unmanned vehicle cannot drive in the river, it will not be able to continue to perform the current delivery task. However, if the unmanned vehicle chooses to bypass this river to continue the current distribution task, it will take a lot of time and cost, thereby reducing the efficiency of the delivery task.
  • the first unmanned device encounters a delivery task that it cannot continue to perform or is not suitable for continuing to perform, it continues to perform the delivery task through the second unmanned device carried by itself.
  • the drone carried by itself will load the delivery corresponding to the delivery task currently being executed, and the drone will deliver the delivery to the corresponding distribution point, thus greatly improving the execution efficiency of distribution tasks.
  • the control center can acquire the delivery status corresponding to the first unmanned device, and this delivery status is used to represent whether the first unmanned device is suitable for continuing to perform the delivery task currently being executed.
  • the delivery status corresponding to the first unmanned device is determined and obtained by the control center itself, or is determined by the first unmanned device itself, and is carried in the information and sent to the control center.
  • the control center can know the location of the first unmanned device and the distribution information of the delivered distribution (the distribution information of the distribution is stored in the control center. ) and other data, and based on this, the control center can obtain the delivery status corresponding to the first unmanned device based on the monitored data.
  • the first unmanned device is loaded with various sensor devices (such as cameras, lidars, Doppler radars, inertial measurement units (Inertial Measurement Unit, IMU), etc.), and the first unmanned device is also equipped with sensors for information management
  • the software module or software unit (of course, it can also be hardware), so the first unmanned device can upload these data to the control center in real time during the delivery task, so that the control center can use these data to Obtain the delivery status corresponding to the first unmanned device.
  • the first unmanned device can also determine the current delivery status corresponding to itself based on these data, and send the determined delivery status to the control center in the information.
  • the first unmanned device determines that it cannot continue to perform or is not suitable for continuing to perform the current delivery task, it carries the determined delivery status in the information and sends it to the control center.
  • the unmanned vehicle collects images of the road ahead through the set camera during driving, and recognizes that there is a river on the road ahead from the collected image, and there are no rivers nearby that can pass through. In the case of a bridge crossing a river, it is determined that the current delivery status cannot be continued or is not suitable for continuing the current delivery task, and then the determined delivery status is carried in the information and sent to the control center.
  • the control center After the control center obtains the delivery status corresponding to the first unmanned device, it judges whether the delivery status corresponding to the first unmanned device satisfies the preset condition, and when it is determined that the delivery status corresponding to the first unmanned device satisfies the preset condition, From among the deliveries currently being transported by the first unmanned device, the deliveries that need to be followed by the second unmanned device to continue to perform the delivery task are determined as the target deliveries.
  • the delivery state meeting the preset condition refers to the delivery state in which it is determined that the first unmanned device cannot continue to pass.
  • the control center obtains the position-related data corresponding to the first unmanned device from the obtained delivery state corresponding to the first unmanned device, and determines that the driving mode corresponding to the target road section and the first unmanned device is different based on the position-related data.
  • the target road section refers to at least a part of the road section that the first unmanned device needs to go to when performing the current delivery task.
  • the position-related data mentioned here refers to the position information of the location of the first unmanned device, or the sensing data used to locate the first unmanned device, such as the point cloud data collected by the first unmanned device , image data, etc.
  • the control center obtains the position-related data corresponding to the unmanned vehicle from the distribution status, and determines the current location of the unmanned vehicle in the preset electronic map . Then, when the control center determines that there is a river in front of the unmanned vehicle through the electronic map, and there is no bridge erected on the river within the preset range centered on the current position of the unmanned vehicle, it is determined that the unmanned vehicle The road section in front of the car does not match the driving mode (land driving mode) corresponding to the unmanned vehicle, and then it is determined that the unmanned vehicle cannot continue to pass during the current delivery task.
  • control center obtains the image data (that is, location-related data) collected by the unmanned vehicle from the distribution status, and by identifying the image data, it is determined that there is a river in the road section ahead of the unmanned vehicle, thereby determining that the unmanned vehicle The road section ahead does not match the driving mode corresponding to the unmanned vehicle, and it is determined that the unmanned vehicle cannot continue to pass.
  • image data that is, location-related data
  • the delivery status that meets the preset conditions can also be other situations.
  • the control center obtains the delivery status corresponding to the first unmanned device, and when it is determined that there is a target delivery order, it determines that the delivery status meets the preset conditions, and the target delivery An order refers to a delivery order that may be timed out when the first unmanned device continues to drive according to the original delivery route.
  • the delivery order with timeout risk refers to the delivery order that the first unmanned device is currently performing the delivery task, or refers to the delivery order that needs to be performed after completing the current delivery task.
  • the control center obtains the delivery state corresponding to the first unmanned device, it obtains the position-related data corresponding to the first unmanned device from the delivery state, and determines the current location of the first unmanned device according to the position-related data. Location. Then, the control center acquires road condition information around the first unmanned device, and uses the road condition information to determine whether the delivery status satisfies a preset condition. Wherein, when the control center determines through the road condition information that situations such as congestion and road repairs occur in the road section ahead of the first unmanned device, it is determined that the delivery status satisfies the preset condition.
  • the control center determines the current location of the first unmanned device, it inquires about the road condition information around the first unmanned device.
  • the road condition information is uploaded by the control center through the first unmanned device.
  • the point cloud data uploaded by the first unmanned device it is determined that there is congestion in the road ahead of the first unmanned device, so as to determine that the delivery status meets the preset conditions.
  • control center After the control center determines that the delivery state corresponding to the first unmanned device satisfies the preset condition, it determines the target delivery from at least one delivery currently delivered by the first unmanned device.
  • the target delivery mentioned above refers to the delivery corresponding to the delivery task currently being executed by the first unmanned device, or other deliveries carried by the first unmanned device.
  • the second unmanned device can deliver the target delivery to the delivery point corresponding to the target delivery.
  • the delivery point mentioned here refers to the final delivery address of the target delivery, or the transfer site of the target delivery. That is, when the distribution point corresponding to the target distribution is a transfer site, the second unmanned device first transports the target distribution to the transfer site, and then the second unmanned device or other unmanned devices deliver the target The delivery is delivered from the transfer station to the next transfer station, or directly to the final delivery address of the target delivery.
  • the second unmanned device When the distribution point corresponding to the target distribution is the final delivery address of the target distribution, the second unmanned device will carry the target distribution and complete the remaining delivery distance of the target distribution; In the case of a transit station, the second unmanned device only carries the target delivery and walks the remaining part of the delivery distance of the target delivery.
  • S103 Send a first control instruction, the first control instruction is used to control the second unmanned device, so that the second unmanned device delivers the loaded target distribution to the target distribution according to the distribution route planned by the control center At the corresponding delivery point, the delivery route is obtained by the control center through route planning according to the location of the second unmanned device and the delivery point corresponding to the target delivery item.
  • the control center After the control center determines the target deliverables that need to be transported by the second unmanned equipment, it sends a first control command to control the second unmanned equipment. Wherein, the control center sends the first control command to the first unmanned device, and the first unmanned device controls the second unmanned device according to the first control command, or the first unmanned device forwards it to the second unmanned device.
  • the unmanned device controls the second unmanned device, or the control center directly sends the first control command to the second unmanned device to control the second unmanned device.
  • the first unmanned device carries a plurality of second unmanned devices, so after determining the above-mentioned target distribution, it is necessary to select A second unmanned device for distributing the target delivery is produced.
  • the second unmanned device for example, randomly select a second unmanned device from the multiple second unmanned devices carried by the first unmanned device, and execute the distribution task for the target distribution ; For another example, by determining the follow-up distribution distance of the target distribution, determine how to select the second unmanned device, wherein, in the case of a long follow-up distribution distance of the target distribution, multiple unmanned devices carried by the first unmanned device Among the second unmanned equipment, the second unmanned equipment with sufficient energy (such as electric energy) is selected, that is to say, the length of the subsequent distribution distance of the target distribution is positive to the amount of energy of the selected second unmanned equipment. related relationship.
  • the specifications of the second unmanned device carried by the first unmanned device may be different, so the driving speeds during the delivery task are also different.
  • the duration between the specified delivery time corresponding to the target delivery and the current time is further determined as the remaining delivery duration. Then, according to the remaining time of delivery, select the second unmanned device for delivering the target distribution from among the plurality of second unmanned devices carried by the first unmanned device, wherein the shorter the remaining time of delivery, the The travel speed corresponding to the selected second unmanned device is higher.
  • the current weather information is further obtained, and according to the weather information, from a plurality of second unmanned devices carried by the first unmanned device, a delivery target is selected.
  • the second unmanned device of the object since the specifications of the second unmanned equipment are different, the second unmanned equipment with different specifications is also affected by the weather conditions differently. Therefore, when it is determined that the current weather conditions are poor through the obtained weather information, select the second unmanned device that is less affected by the weather conditions and has a strong ability to withstand severe weather, and executes the delivery of the target delivery Task.
  • there are many ways to select the second unmanned device and no detailed examples are given here.
  • the control center selects the second unmanned equipment used to deliver the target distribution from among the multiple second unmanned equipment carried by the first unmanned equipment, or the first unmanned equipment
  • the device selects a second unmanned device for delivering the target delivery.
  • the second unmanned device is initially in a dormant state in the first unmanned device, but the control center or the first unmanned device determines that When the second unmanned device is required to perform the distribution task corresponding to the target distribution, wake up the second unmanned device, for example, the control center sends a wake-up instruction to the first unmanned device to wake up the second unmanned device through the first unmanned device.
  • Unmanned equipment Alternatively, any second unmanned device carried by the first unmanned device is always in the wake-up state, so that after receiving the control instruction, it can immediately execute the distribution task corresponding to the target distribution.
  • the above-mentioned first control instruction is used to instruct the second unmanned device to load the target distribution, so that the second unmanned device can reach the target distribution from the current position of the second unmanned device according to the planning of the control center.
  • the delivery route corresponding to the delivery point is used to deliver the target delivery items. It should be noted that, in this application, the control center plans the delivery route first, and then sends the first control instruction, or sends the first control instruction first, and then plans the delivery route, or, the control center plans the delivery route after planning the delivery route. At the same time as the delivery route, the first control instruction is sent, and the delivery route is carried in the first control instruction.
  • the first unmanned device determines that it cannot continue to perform or is not suitable for continuing to perform the delivery task for the target delivery, it can use the second unmanned device it carries to perform the delivery task of the target delivery, so the control
  • the center plans the delivery route of each delivery task, it proceeds according to the principle of optimal efficiency. That is, for any delivery task, the delivery route corresponding to the delivery task is planned according to the principle of the shortest delivery distance.
  • the first unmanned device often transports multiple deliveries at the same time during the driving process, when planning the route for the delivery task corresponding to each delivery, considerations such as the principle of the right route and the principle of the shortest total distance can also be considered. Wait, it won't be described in detail here.
  • the control center After the control center determines that the second unmanned device has driven away from the first unmanned device with the target distribution, it sends a second control command to the first unmanned device to control the first unmanned device to continue driving.
  • the control center controls the first unmanned equipment to drive to the delivery point corresponding to the next delivery task according to the next delivery task that the first unmanned equipment needs to perform, or controls the first unmanned equipment to go to the delivery point corresponding to the delivery task.
  • there are many specific situations corresponding to the control center controlling the first unmanned device to continue driving and no detailed examples are given here.
  • control center determines that the second unmanned device has driven away from the first unmanned device.
  • send a feedback message to the control center, the feedback message indicates that the second unmanned device has departed from the first unmanned device, and the control center determines that the second unmanned device has departed from the first unmanned device after receiving the feedback message.
  • the control center when the control center detects that the set time has passed after sending the first control instruction, it is determined that the second unmanned device has driven away from the first unmanned device; for another example, the first unmanned device A sensor (such as a pressure sensor) that can sense whether the target distribution has left is provided on the human device, and when the first unmanned device determines that the target distribution has left the first unmanned device through the sensor, it sends a message to the control center. After receiving the message indicating that the target distribution has left the first unmanned device, the control center determines that the second unmanned device has left the first unmanned device with the target distribution.
  • the control center there are many ways for the control center to determine that the second unmanned device carrying the target distribution has left the first unmanned device, and no detailed examples are given here.
  • the first unmanned device since the first unmanned device carries the second unmanned device, when the first unmanned device cannot continue to deliver the target delivery, it can rely on the carried second The unmanned equipment continues to perform the distribution tasks for the target distribution, which greatly improves the execution efficiency of the distribution business.
  • the delivery that may need to be delivered by the second unmanned equipment it can be placed in the designated position in the first unmanned equipment by the staff in advance, for example, when the first unmanned equipment is an unmanned vehicle, the second unmanned equipment
  • the unmanned equipment is a drone
  • the staff will place the delivery that needs to be delivered by the second unmanned equipment on the top of the unmanned vehicle, so that these deliveries can be made by the drone.
  • the UAV can conveniently load these distributions on the top of the unmanned vehicle and drive to the corresponding distribution.
  • the staff will place the distribution that needs to be delivered by the second unmanned device on the In the storage box at the bottom of the unmanned vehicle, the unmanned ship can be set under the storage box. Based on this, when an unmanned ship is required to deliver these distributions, the unmanned vehicle controls and opens the storage box, so that the distribution falls into the unmanned ship, and after the distribution has fallen on the unmanned ship, the unmanned ship is released Go to the river so that the unmanned boat will carry the distribution to the corresponding distribution point.
  • the first unmanned equipment is provided with corresponding slots, such as the unmanned equipment mentioned in the above example.
  • the storage box set at the bottom of the man-vehicle can be regarded as a slot set on the first unmanned device.
  • the first unmanned device is an unmanned vehicle and the second unmanned device is a drone, There are corresponding slots on the top of the unmanned vehicle, as shown in Figure 2.
  • Fig. 2 is a schematic diagram of a top of an unmanned vehicle provided by the present application with slots for accommodating deliveries.
  • the deliveries are placed in these slots.
  • the drone When the drone is required to deliver the deliveries placed in the slots on the top of the unmanned vehicle, the drone flies to the top of the unmanned vehicle to deliver the deliveries in the slot. Take it out and load it, and then fly to the corresponding distribution point with the delivery.
  • the number of slots set on the first unmanned device depends on actual needs.
  • the first unmanned device is an unmanned vehicle and the second unmanned device is a drone
  • the drone in order It is convenient for the drone to quickly load the distribution items in the top slot of the unmanned vehicle, and only one slot is set on the top of the unmanned vehicle, so that the drone does not need to identify which slot on the top of the unmanned vehicle needs to be placed. in the delivery to load.
  • multiple slots are set on the first unmanned device, and in this case, the second unmanned device needs to determine which slot needs to be loaded with the deliverables.
  • various methods are used to locate the delivery items to specific slots, for example, assuming that the first unmanned device is an unmanned vehicle, the second unmanned device is a drone, and the top of the unmanned vehicle is set There is a slot identification (such as a two-dimensional code, a bar code, etc.) next to each slot of the drone. After the target distribution is determined, the slot identification of the slot where the target distribution is located is sent to the drone, so that no The man-machine determines which slot needs to be loaded with the delivery (that is, the target delivery) through the obtained slot identification.
  • a slot identification such as a two-dimensional code, a bar code, etc.
  • the first unmanned device is an unmanned vehicle and the second unmanned device is a drone
  • the slots set on the unmanned vehicle are arranged according to the rules, as shown in Figure 2
  • determine the specific position of the slot where the target distribution is located such as which row and column
  • the image acquisition device (such as a camera, etc.) performs image recognition through the image acquisition device to identify the actual location corresponding to the location information, and then loads and transports the target distribution in the slot corresponding to the actual location.
  • the first unmanned equipment is an unmanned vehicle and the second unmanned equipment is an unmanned ship
  • a plurality of storage boxes are provided at the bottom of the unmanned vehicle
  • a container capable of moving the unmanned ship is provided at the unmanned ship.
  • the mechanical structure at the bottom of the unmanned vehicle after determining the target distribution, the unmanned vehicle moves the unmanned ship to the storage box corresponding to the target distribution at the bottom of the unmanned vehicle through the mechanical structure, so that the unmanned The ship loads and delivers the target delivery.
  • I won’t give examples one by one here.
  • each distribution can also be placed inside the first unmanned device, that is, a space for accommodating each distribution is provided inside the first unmanned device, and there is a space for distributing the distribution from the first unmanned device.
  • the inside of the human equipment is transported to the mechanical structure outside the first unmanned equipment.
  • the second unmanned device loads and delivers the target distribution.
  • the first unmanned device is provided with an exit hatch, through which the deliverables inside the first unmanned device are transported to the outside of the first unmanned device.
  • the control center sends an instruction to the first unmanned device, so that the first unmanned device opens the exit hatch according to the instruction, and sends the target distribution through the exit hatch. sent from.
  • the control center determines the target distribution, it sends the distribution information corresponding to the target distribution to the first unmanned device, and the first unmanned device determines the target distribution to be sent according to the distribution information, and then Open the exit hatch and send the target distribution out from the exit hatch.
  • control center determines the target distribution, it sends the distribution information corresponding to the target distribution to the second unmanned device, and the second unmanned device sends the distribution information to the first unmanned device, so that The first unmanned device sends the target distribution out of the hatch according to the distribution information.
  • the exit hatch is opened.
  • the first unmanned device opens the hatch, and after the target distribution is sent out from the hatch, then closes the hatch; for another example, when the first unmanned device travels After arriving at the designated position, open the exit hatch, and close the exit hatch after the target distribution is sent out from the exit hatch.
  • Other situations will not be described in detail here.
  • the first unmanned device sends a response message to the control center after sending the target distribution out of the hatch, and the control center sends a first control instruction after receiving the response message, and as described above, the The first control instruction is directly sent to the second unmanned device, or firstly sent to the first unmanned device, and then the first unmanned device controls the second unmanned device based on the first control instruction.
  • the second unmanned device loads the target distribution according to the instruction of the first control instruction, as shown in FIGS. 3A-3E .
  • Fig. 3 is a schematic diagram of the second unmanned device loading the target distribution after the target distribution is sent out from the hatch provided by the present application.
  • Figure 3A there is a hatch on the top of the unmanned vehicle (the first unmanned device), and the distributions are placed in the space inside the unmanned vehicle.
  • the unmanned vehicle follows the As shown in FIG. 3B , the hatch door of the exit hatch is opened, and the target distribution is sent out from the inside through the internal lifting device, as shown in FIG. 3C .
  • the UAV the second unmanned device
  • the second unmanned equipment is located inside the first unmanned equipment.
  • the first unmanned equipment is provided with a device exit hatch for sending the second unmanned equipment, for example, in the first unmanned equipment
  • the hatch of the equipment is set on the top of the unmanned vehicle.
  • the first unmanned equipment is an unmanned vehicle
  • the second unmanned equipment In the case of an unmanned ship, the hatch of the equipment is set at the bottom of the unmanned vehicle.
  • the general form of the exit hatch of the equipment is basically the same as that shown in Figures 3A-3E for sending out the distribution, so it will not be described in detail here.
  • the first unmanned equipment opens the hatch of the equipment, and correspondingly, the second unmanned equipment sends out from the hatch of the equipment and loads the target Delivery.
  • the first unmanned equipment is provided with a docking area for the second unmanned equipment to dock, that is, after the second unmanned equipment is sent out from the hatch of the equipment, the second unmanned equipment first goes to the docking area.
  • the control center sends a first control command to control the second unmanned device, so that the second unmanned device located in the docking area goes to the position corresponding to the exit hatch, and Load the target delivery, as shown in Figures 4A and 4B.
  • Fig. 4 is a schematic diagram of a second unmanned equipment provided by the present application starting from the docking area and loading target deliveries at the position corresponding to the exit hatch.
  • the unmanned aerial vehicle has parked in the docking area shown in FIG. 4A .
  • the drone takes off from the docking area and flies to the position where the hatch is located to load the target distribution, as shown in Figure 4B Show.
  • the docking area shown in Fig. 4A and 4B may also be the area where the equipment exits the hatch. That is to say, when the hatch of the equipment is closed, a docking area for docking the drone is formed.
  • a docking area for parking the second unmanned device can still be set on the first unmanned device.
  • the second unmanned device is initially placed at the docking area on the first unmanned device. After the control center sends the first control command, the second unmanned device goes to the position corresponding to the exit hatch, and delivers the target delivery to load.
  • the control center In order to ensure that the second unmanned device can smoothly load the target distribution, and the second unmanned device can start quickly after loading the target distribution, in the process of transferring the target distribution (that is, through the second unmanned The target delivery originally delivered by the first unmanned equipment), the control center first determines the docking position of the first unmanned equipment, and sends a docking instruction to the first unmanned equipment, so that the first unmanned equipment according to The docking command is to go to the docking location to dock.
  • the control center plans the delivery route for the second unmanned device, it will also plan the delivery point from the docking location based on the docking location and the delivery point corresponding to the target delivery. The delivery route to the delivery point.
  • the control center determines the docking position of the first unmanned device. For example, when the first unmanned device is an unmanned vehicle and the second unmanned device is an unmanned ship, the control center first Determine the docking position that is located by the river and is suitable for the unmanned vehicle to park, so that when the unmanned vehicle is at the docking position, the unmanned vehicle quickly enters Hanoi after loading the target distribution to drive to the distribution point corresponding to the target distribution .
  • the control center determines a suitable shelter from the wind from around the unmanned vehicle as a parking position, and instructs the unmanned The car drives to the docking position and stops, which can ensure to a certain extent that the UAV will not be affected by the strong external wind when it is loading the target distribution and taking off.
  • the control center determines that the distance is no
  • the current location of the man-vehicle is the nearest stop, and the unmanned vehicle is instructed to drive to the stop to stop.
  • the drone will also load the target delivery and take off at the stop.
  • the information based on which the control center determines the above-mentioned docking positions is predetermined, that is, the control center has pre-determined and saved the docking positions suitable for the first unmanned equipment to dock, and after determining the first unmanned equipment After the current location, directly find out the docking location suitable for the first unmanned device.
  • these pre-determined docking positions are determined manually according to actual needs, or determined based on information reported by other devices (including unmanned devices and manned devices).
  • these docking positions are determined based on information collected by the first unmanned device. Specifically, since the first unmanned device is equipped with sensors such as cameras and laser radars, after the first unmanned device can collect corresponding sensing data (such as image data, point cloud data, etc.) through these sensors, These sensing data are sent to the control center, and the control center determines a suitable docking position for the current first unmanned device based on the sensing data.
  • sensing data such as image data, point cloud data, etc.
  • the control center passes the pre-trained image data Recognize the model, identify the image area that is located by the river and is suitable for unmanned vehicles to park, and then determine the parking position suitable for unmanned vehicles based on the current location of the unmanned vehicle and the image area, so as to instruct the unmanned vehicle Go to the dock location to dock.
  • the first unmanned device can also determine a docking location suitable for the current docking according to the sensor data collected by itself, and go to the docking location to dock.
  • the first unmanned The stop position of the vehicle is sent to the control center, and the control center needs to plan the route according to the stop position determined by the first unmanned device and the delivery point corresponding to the target delivery.
  • the control center determines the returning device corresponding to the second unmanned device, and the returning device is used for docking of the second unmanned device. Further, the control center plans a route for the second unmanned device according to the position of the return-to-home device to obtain a return-to-home route, so that the second unmanned device can drive to the return-to-home device according to the return-to-home route, and Make a dock.
  • the returning device includes the first unmanned device that previously carried the second unmanned device, that is, the second unmanned device starts from the first unmanned device to perform the distribution task, and then returns to the same first unmanned device. dock on the personal device.
  • the returning device is other unmanned devices, that is, the second unmanned device starts from a first unmanned device to perform a distribution task, and then returns to another first unmanned device to dock.
  • the control center can also determine the return-to-home device in other ways. For example, after the second unmanned device completes the delivery task of the target distribution, the first unmanned device that is closest to the second unmanned device and has a docking position for the second unmanned device is used as the return device; another example , after determining that the second unmanned device has completed the delivery task of the target distribution, further determine the remaining energy (such as electricity) of the second unmanned device, and determine that the remaining energy of the second unmanned device is lower than the set In the case of a threshold value, from the first unmanned equipment near the second unmanned equipment, determine the first unmanned equipment with sufficient remaining energy as the return-to-home equipment. Other methods are not illustrated in detail here.
  • a braking device for braking the second unmanned equipment is provided.
  • the braking device stops braking the second unmanned equipment
  • the second unmanned equipment The device transports the target delivery to the delivery point corresponding to the target delivery according to the delivery route corresponding to the target delivery planned by the control center.
  • the brake device is set on the first unmanned equipment, or on the second unmanned equipment, as shown in FIGS. 5A-5C .
  • FIG. 5 is a schematic diagram of a braking device for braking the second unmanned equipment provided by the present application.
  • Figure 5 shows the situation that the braking device is arranged on the unmanned vehicle (the first unmanned equipment).
  • What Figure 5 shows is the top view of the unmanned vehicle.
  • the parking area on the top of the unmanned vehicle is provided with a braking device.
  • the actuating device realizes the braking of the UAV (that is, the second unmanned equipment) through the principle of an electromagnet.
  • the unmanned vehicle activates the braking device to attract the drone in the docking area through the magnetic force generated by the braking device.
  • the unmanned vehicle closes the brake device, and the brake device has no magnetic force at this time, then the drone takes off from the parking area and loads the target distribution.
  • the braking device shown in Figure 5 can also be set at the target delivery, that is, the unmanned vehicle can activate the braking device to adsorb the drone on the target delivery during the process of loading the target delivery.
  • the target delivery place prevents the UAV from moving significantly during the process of loading the target delivery, ensuring the stability of the UAV in the process of loading the target delivery.
  • the braking device is turned off, and at this time, the unmanned aerial vehicle will take off with the target delivery.
  • FIG. 6 is a schematic diagram of another braking device for braking the second unmanned equipment provided by the present application.
  • Fig. 6 shows the situation that a braking device is provided on the UAV (ie, the second unmanned equipment).
  • the braking device when the UAV is docked or in the process of loading the target delivery, the braking device is in a closed state, and when the braking device is in a closed state, the wheels under the main UAV can be stuck, A braking effect is achieved, ie the situation shown in Figure 6A.
  • the UAV will control the brake device to be in the opening and closing device, and then take off with the target distribution, that is, the situation shown in Figure 6B.
  • the above is only an example, and the form of the braking device is listed.
  • the braking device that can realize the braking of the second unmanned equipment at the target distribution is within the scope of protection of this application.
  • the second unmanned equipment can also realize docking on the return-to-home equipment through the above-mentioned braking device.
  • the specific process is basically the same as the above-mentioned principle, and will not be described in detail here.
  • the control center corresponding to the target delivery The order information is updated, and the location of the second unmanned device is updated at all times, so that the user can always know the delivery progress of the target delivery.
  • the distribution point corresponding to the above-mentioned target delivery is other unmanned equipment, that is, the second unmanned equipment delivers the target delivery to other unmanned equipment, and the other unmanned equipment continues to perform the target delivery The delivery task corresponding to the item.
  • the first unmanned device since the first unmanned device carries the second unmanned device, when the first unmanned device cannot continue due to the order timeout, the road ahead does not match its own driving mode, etc.
  • the second unmanned device When performing or not being suitable for continuing to execute the distribution task of the target distribution, it can be continued by the second unmanned device, and, because the combination of the first unmanned device and the second unmanned device can be used to perform similar tasks on the target distribution
  • the "relay" delivery enables the control center to plan the route with the shortest distance as much as possible when planning the route of the target delivery, which improves the execution efficiency of the delivery task from multiple levels.
  • Fig. 7 is a schematic diagram of the first unmanned device provided by the present application being an unmanned vehicle, the second unmanned device being an unmanned ship, and the unmanned vehicle and the unmanned ship performing delivery tasks.
  • the hatch for sending out the target distribution is set at the bottom of the unmanned vehicle (ie, the first unmanned device), and the unmanned ship (ie, the second unmanned device) is also set at the bottom of the unmanned vehicle , as shown in Figure 7B.
  • a telescopic transmission device at the bottom of the unmanned vehicle for transporting the unmanned boat to the river, so when the unmanned vehicle drives to the river, the telescopic transmission device can be extended, and the unmanned boat carrying the target distribution will Enter the river along the telescopic conveying device, and then execute the distribution task of the target distribution, as shown in FIG. 7C .
  • control method for unmanned equipment provided by one or more embodiments of the present application. Based on the same idea, the present application also provides a corresponding control device for unmanned equipment, as shown in FIGS. 8-10 .
  • FIG. 8 is a schematic diagram of a control device for unmanned equipment provided by the present application, including:
  • the acquiring module 801 is configured to acquire the distribution status corresponding to the first unmanned device, the first unmanned device delivers at least one delivery, and the first unmanned device carries at least one second unmanned device;
  • a determining module 802 configured to determine a target delivery from at least one delivery delivered by the first unmanned device when the delivery status meets a preset condition, and the target delivery refers to at least part of the remaining delivery distance deliveries that need to be delivered by the second unmanned device;
  • the first control module 803 is configured to send a first control instruction, and the first control instruction is used to control the second unmanned equipment, so that the second unmanned equipment will deliver the load according to the distribution route planned by the control center.
  • the target delivery is delivered to the delivery point corresponding to the target delivery, and the delivery route is obtained by the control center according to the location of the second unmanned device and the delivery point through route planning;
  • the second control module 804 is configured to send a second control command to the first unmanned device when it is determined that the second unmanned device has driven away from the first unmanned device, and the second control command is used to control The first unmanned device continues to drive.
  • the determining module 802 is configured to determine that the delivery status satisfies a preset condition when it is determined according to the delivery status that the first unmanned device cannot continue to pass.
  • the determination module 802 is configured to obtain the position-related data corresponding to the first unmanned device from the delivery state; based on the position-related data, determine the driving distance corresponding to the target road segment corresponding to the first unmanned device If the modes do not match, it is determined that the first unmanned device cannot continue to pass, and the target road section refers to at least a part of the road section that the first unmanned device needs to go to when performing the current delivery task.
  • the determining module 802 is configured to determine that the delivery status satisfies a preset condition when it is determined that there is a target delivery order according to the delivery status, and the target delivery order means that the first unmanned device according to the original delivery route Delivery orders with a risk of timeout while continuing to drive;
  • the determining module 802 is configured to determine, from at least one delivery delivered by the first unmanned device, the delivery corresponding to the target delivery order as the target delivery.
  • the first unmanned device includes an exit hatch; the first control module 803 is configured to send the first control instruction in response to the target delivery being sent out from the exit hatch, and the first control instruction uses and then controlling the second unmanned device so that the second unmanned device loads the target distribution.
  • a docking area for the second unmanned device is set on the first unmanned device; the first control instruction is used to control the second unmanned device so that the second unmanned device located in the docking area 2.
  • the unmanned device goes to the position corresponding to the exit hatch, and loads the target distribution.
  • the device also includes:
  • the docking location determining module 805 is configured to determine the docking location that the first unmanned device needs to go to, and send a docking instruction to the first unmanned device, so that the first unmanned device goes to the docking location according to the docking instruction make a stop;
  • the second control module 804 is configured to perform route planning according to the stop location and the delivery point corresponding to the target delivery item to obtain the delivery route.
  • the device further includes: a returning module 806, configured to determine the returning device corresponding to the second unmanned device when the second unmanned device has delivered the target delivery to the distribution point, the The return-to-home device includes the first unmanned device; according to the position of the return-to-home device, route planning is performed on the second unmanned device to obtain a return-to-home route so that the second unmanned device travels to the return-to-home device according to the return-to-home route place, and dock on the returning device.
  • a returning module 806 configured to determine the returning device corresponding to the second unmanned device when the second unmanned device has delivered the target delivery to the distribution point, the The return-to-home device includes the first unmanned device; according to the position of the return-to-home device, route planning is performed on the second unmanned device to obtain a return-to-home route so that the second unmanned device travels to the return-to-home device according to the return-to-home route place, and dock on the returning device.
  • FIG. 9 is a schematic diagram of a control device for unmanned equipment provided by the present application, including:
  • the determining module 901 is configured to determine a target delivery from at least one delivery delivered by the first unmanned device when the delivery status corresponding to the first unmanned device satisfies a preset condition, and the target delivery refers to At least part of the remaining delivery routes require delivery delivered by the second unmanned device, and the first unmanned device carries at least one second unmanned device;
  • the receiving module 902 is configured to receive a second control instruction sent by the control center, and continue driving according to the second control instruction.
  • the second control instruction is that the control center determines that the second unmanned device is loaded with target deliveries, and according to the plan After the delivery route has left the first unmanned device, the delivery route is sent to the first unmanned device.
  • the delivery route is the control center according to the location of the second unmanned device and the target distribution.
  • the distribution point is planned, and the second unmanned device transports the loaded target distribution to the distribution point according to the distribution route according to the first control instruction sent by the control center.
  • the first unmanned device includes an exit hatch; the determination module 901 is further configured to open the exit hatch, and send the target delivery out from the exit hatch.
  • the receiving module 902 is also configured to receive a docking instruction sent by the control center; according to the docking instruction, go to the docking location determined by the control center to dock, so that the second unmanned equipment is at the docking location to load the target delivery.
  • FIG. 10 is a schematic diagram of a control device for unmanned equipment provided by the present application, including:
  • An acquisition module 1001 configured to acquire a first control instruction when the control center determines that the distribution status of the first unmanned device satisfies a preset condition, the first unmanned device delivers at least one delivery, and the first unmanned device carrying at least one second unmanned device;
  • the loading module 1002 is configured to load the target delivery according to the first control instruction, and the target delivery refers to a delivery that needs to be delivered by the second unmanned device for at least part of the remaining delivery distance;
  • the delivery module 1003 is configured to deliver the target delivery to the delivery point corresponding to the target delivery based on the delivery route corresponding to the target delivery, the delivery route being the control center according to the location of the second unmanned device And the planning of the distribution point.
  • a docking area for the second unmanned equipment is set on the first unmanned equipment, and the first unmanned equipment includes a hatch; the loading module 1002 is configured to load from the first unmanned equipment according to the first control instruction The docking area goes to the position corresponding to the exit hatch, and loads the target distribution.
  • the delivery module 1003 is configured to stop the braking of the second unmanned equipment in response to the preset braking device, and deliver the target delivery to the target based on the delivery route for the target delivery The delivery point corresponding to the delivery item.
  • the device further includes: a return-to-home module 1004, configured to drive to the return-to-home equipment determined by the control center according to the return-to-home route planned by the control center, and to stop on the return-to-home equipment. It is obtained by the control center planning the route of the second unmanned device based on the determined position of the returning device, and the returning device is determined by the control center after the second unmanned device has delivered the target distribution to After the distribution point is determined, the returning device includes at least the first unmanned device.
  • a return-to-home module 1004 configured to drive to the return-to-home equipment determined by the control center according to the return-to-home route planned by the control center, and to stop on the return-to-home equipment. It is obtained by the control center planning the route of the second unmanned device based on the determined position of the returning device, and the returning device is determined by the control center after the second unmanned device has delivered the target distribution to After the distribution point is determined, the returning device includes at least the first unmanned device.
  • the present application also provides a computer-readable storage medium, which stores a computer program, and the computer program can be used to execute the control method for unmanned equipment provided in FIG. 1 above.
  • the present application also provides a schematic structural diagram of an electronic device shown in FIG. 11 corresponding to FIG. 1 .
  • the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, and of course may include hardware required by other services.
  • the processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it, so as to realize the control method for the unmanned equipment shown in FIG. 1 above.
  • this application 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, and can also be hardware or logic device.
  • the present application also provides a schematic structural diagram of an unmanned device shown in FIG. 12 corresponding to FIG. 1 .
  • the unmanned device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, and of course may also include hardware required by other services.
  • the processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it, so as to realize the control method for the unmanned equipment shown in FIG. 1 above.
  • this application 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, and can also be hardware or logic device.
  • 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.
  • 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.
  • a computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented: the control center obtains the delivery status corresponding to the first unmanned device, and the second An unmanned device transports at least one distribution, and the first unmanned device carries at least one second unmanned device; when it is determined that the distribution status meets the preset condition, the at least one delivered from the first unmanned device In one distribution, determine the target distribution, the target distribution refers to the distribution that at least part of the remaining distribution distance needs to be delivered by the second unmanned device; send a first control instruction, and the first control instruction is used for the second The unmanned device controls so that the second unmanned device delivers the loaded target distribution to the distribution point corresponding to the target distribution according to the distribution route planned by the control center.
  • the location of the second unmanned device and the delivery point are obtained through route planning; when it is determined that the second unmanned device has departed from the first unmanned device, send a message to the first unmanned device
  • the second control instruction is used to control the first unmanned equipment to continue driving.
  • the following steps are implemented: when it is determined according to the delivery status that the first unmanned device cannot continue to pass, determine that the delivery status satisfies a preset condition.
  • the following steps are implemented: obtaining the position-related data corresponding to the first unmanned device from the delivery status; If the driving mode corresponding to the human device does not match, it is determined that the first unmanned device cannot continue to pass, and the target road section refers to at least a part of the road section that the first unmanned device needs to go to when performing the current delivery task.
  • the following steps are implemented: when it is determined that there is a target delivery order according to the delivery status, it is determined that the delivery status satisfies a preset condition, and the target delivery order refers to the first unattended delivery order.
  • the first unmanned device includes an exit hatch; when the computer program is executed by the processor, the following steps are implemented: in response to the target distribution being sent out from the exit hatch, sending the first control instruction, the first The control instruction is used to control the second unmanned device, so that the second unmanned device loads the target distribution.
  • a docking area for the second unmanned device is set on the first unmanned device; the first control instruction is used to control the second unmanned device so that the second unmanned device located in the docking area 2.
  • the unmanned device goes to the position corresponding to the exit hatch, and loads the target distribution.
  • the following steps are implemented: determine the docking position that the first unmanned device needs to go to, and send a docking instruction to the first unmanned device, so that the first unmanned device according to According to the docking instruction, go to the docking position for parking; according to the location of the second unmanned device and the delivery point corresponding to the target delivery, perform route planning to obtain the delivery route, including: according to the docking position and the target The delivery point corresponding to the delivery item is route-planned to obtain the delivery route.
  • the following steps are implemented: in the case that the second unmanned device has delivered the target delivery to the distribution point, determine the return device corresponding to the second unmanned device, The return-to-home equipment includes the first unmanned equipment;
  • the position of the return-to-home device perform route planning for the second unmanned device to obtain a return-to-home route, so that the second unmanned device travels to the return-to-home device according to the return-to-home route and stops on the return-to-home device .
  • a computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented: when the delivery state corresponding to the first unmanned device satisfies the preset condition
  • the target delivery is determined from at least one delivery delivered by the first unmanned device, and the target delivery refers to a delivery that at least part of the remaining delivery route needs to be delivered by the second unmanned equipment.
  • the human equipment transports at least one delivery
  • the first unmanned equipment carries at least one second unmanned equipment; receives the second control instruction sent by the control center, continues driving according to the second control instruction, and the second control
  • the command is sent to the first unmanned device after the control center determines that the second unmanned device is loaded with the target delivery and has driven away from the first unmanned device according to the planned delivery route.
  • the second unmanned device will load the distribution route according to the first control instruction sent by the control center of the target deliveries delivered to the delivery point.
  • the first unmanned device includes an exit hatch; when the computer program is executed by the processor, the following steps are implemented: opening the exit hatch, and sending the target delivery out from the exit hatch.
  • the following steps are implemented: receiving the docking instruction sent by the control center; according to the docking instruction, going to the docking position determined by the control center to dock, so that the second unmanned device The target delivery is loaded at the docking location.
  • a computer-readable storage medium stores a computer program.
  • the control center determines that the delivery status of the first unmanned device meets the predetermined Under the conditions set, the first control instruction is obtained, the first unmanned device transports at least one distribution, and the first unmanned device carries at least one second unmanned device; according to the first control instruction, the target The delivery is loaded, and the target delivery refers to the delivery that at least part of the remaining delivery distance needs to be delivered by the second unmanned device; based on the delivery route corresponding to the target delivery, the target delivery is delivered to the target delivery.
  • the distribution point, the distribution route is obtained by the control center according to the location of the second unmanned device and the distribution point.
  • the first unmanned equipment is provided with a docking area for the second unmanned equipment, and the first unmanned equipment includes a hatch; when the computer program is executed by a processor, the following steps are implemented: according to the first Control instructions to load the target distribution, including:
  • the first control instruction go from the docking area to the position corresponding to the hatch, and load the target distribution.
  • the following steps are implemented: in response to the preset braking device stopping the braking of the second unmanned equipment, based on the delivery route of the target delivery, the target delivery Ship to the delivery point corresponding to the target delivery.
  • the following steps are implemented: according to the return route planned by the control center, drive to the return device determined by the control center, and stop on the return device, the return The route is obtained by the control center planning the route of the second unmanned device based on the determined position of the returning device, and the returning device is determined by the control center after the second unmanned device has delivered the target distribution After arriving at the distribution point, the returning device includes at least the first unmanned device.
  • an electronic device including a memory, a processor, and a computer program stored in the memory and operable on the processor.
  • the control center acquires the first The distribution state corresponding to the unmanned device, the first unmanned device delivers at least one distribution, and the first unmanned device carries at least one second unmanned device; when it is determined that the distribution state meets the preset conditions, from Among the at least one delivery delivered by the first unmanned device, the target delivery is determined, and the target delivery refers to a delivery that needs to be delivered by the second unmanned equipment for at least part of the remaining delivery distance; send a first control instruction, and the second delivery A control instruction is used to control the second unmanned device, so that the second unmanned device delivers the loaded target distribution to the distribution point corresponding to the target distribution according to the distribution route planned by the control center , the distribution route is obtained by the control center according to the location of the second unmanned device and the distribution point, and obtains the route planning; when it is
  • the processor executes the computer program, the following steps are implemented: when it is determined according to the delivery status that the first unmanned device cannot continue to pass, determine that the delivery status satisfies a preset condition.
  • the processor executes the computer program, the following steps are implemented: obtaining the position-related data corresponding to the first unmanned device from the delivery status; If the driving mode corresponding to the device does not match, it is determined that the first unmanned device cannot continue to pass, and the target road section refers to at least a part of the road section that the first unmanned device needs to go to when performing the current delivery task.
  • the processor executes the computer program, the following steps are implemented: in the case of determining that there is a target delivery order according to the delivery status, determine that the delivery status satisfies a preset condition, and the target delivery order refers to the first unmanned device A delivery order with a risk of overtime when continuing to drive according to the original delivery route; from at least one delivery delivered by the first unmanned device, the delivery corresponding to the target delivery order is determined as the target delivery.
  • the first unmanned device includes an exit hatch; when the processor executes the computer program, the following steps are implemented: in response to the target distribution being sent out from the exit hatch, sending the first control instruction, the first control The instruction is used to control the second unmanned device, so that the second unmanned device loads the target distribution.
  • a docking area for the second unmanned device is set on the first unmanned device; the first control instruction is used to control the second unmanned device so that the second unmanned device located in the docking area 2.
  • the unmanned device goes to the position corresponding to the exit hatch, and loads the target distribution.
  • the processor executes the computer program, the following steps are implemented: determine the docking position that the first unmanned device needs to go to, and send a docking instruction to the first unmanned device, so that the first unmanned device Docking instruction, go to the docking position to stop; according to the location of the second unmanned device and the delivery point corresponding to the target delivery, perform route planning to obtain the delivery route, including: according to the docking position and the target delivery The delivery point corresponding to the item is planned, and the delivery route is obtained.
  • the processor executes the computer program, the following steps are implemented: in the case that the second unmanned device has delivered the target distribution to the distribution point, determine the return device corresponding to the second unmanned device, the The return-to-home device includes the first unmanned device; according to the position of the return-to-home device, route planning is performed on the second unmanned device to obtain a return-to-home route so that the second unmanned device travels to the return-to-home device according to the return-to-home route place, and dock on the returning device.
  • an unmanned device including a memory, a processor, and a computer program stored on the memory and operable on the processor.
  • the processor executes the computer program, the following steps are implemented: at the first unmanned
  • the target delivery is determined from at least one delivery delivered by the first unmanned equipment.
  • the target delivery refers to at least part of the remaining delivery routes that require the second unmanned delivery.
  • the second control instruction is that the control center determines that the second unmanned equipment is loaded with the target delivery, and after it has driven away from the first unmanned equipment according to the planned delivery route, it will send to the first unmanned equipment.
  • sent by the device the distribution route is obtained by the control center according to the location of the second unmanned device and the distribution point corresponding to the target distribution, and the second unmanned device is based on the first route sent by the control center.
  • the control instruction is to deliver the loaded target delivery to the delivery point according to the delivery route.
  • the first unmanned device includes an exit hatch; when the processor executes the computer program, the following steps are implemented: opening the exit hatch, and sending the target delivery out from the exit hatch.
  • the processor executes the computer program, the following steps are implemented: receiving the docking instruction sent by the control center; according to the docking instruction, going to the docking position determined by the control center to dock, so that the second unmanned device is in the The target delivery is loaded at the docking position.
  • an unmanned device including a memory, a processor, and a computer program stored on the memory and operable on the processor.
  • the processor executes the computer program, the following steps are implemented: determine at the control center When the distribution state of the first unmanned device satisfies the preset condition, the first control instruction is obtained, and the first unmanned device delivers at least one distribution, and the first unmanned device carries at least one second unmanned device ;
  • the target delivery is loaded, the target delivery refers to the delivery of at least part of the remaining delivery distance that needs to be delivered by the second unmanned device; based on the delivery route corresponding to the target delivery, the The target delivery is delivered to the delivery point corresponding to the target delivery, and the delivery route is obtained by the control center according to the location of the second unmanned device and the delivery point.
  • the first unmanned equipment is provided with a docking area for the second unmanned equipment, and the first unmanned equipment includes a hatch; when the processor executes the computer program, the following steps are implemented: according to the first control Instructing to load the target distribution includes: according to the first control instruction, going from the docking area to a position corresponding to the exit hatch, and loading the target distribution.
  • the processor executes the computer program, the following steps are implemented: in response to the preset braking device stopping the braking of the second unmanned equipment, based on the delivery route of the target delivery, the target delivery is delivered Go to the delivery point corresponding to the target delivery item.
  • the processor executes the computer program, the following steps are implemented: according to the return route planned by the control center, drive to the return device determined by the control center, and stop on the return device, the return route It is obtained by the control center planning the route of the second unmanned device based on the determined position of the returning device, and the returning device is determined by the control center after the second unmanned device has delivered the target distribution to After the distribution point is determined, the returning device includes at least the first unmanned device.
  • the embodiments of the present application may be provided as methods, systems or computer program products. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application 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.
  • a computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types.
  • the application 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.
  • each embodiment in the present application 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.
  • the description is relatively simple, and for the related parts, please refer to the part of the description of the method embodiment.

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Abstract

L'invention concerne un procédé et un appareil de commande pour un dispositif sans pilote. Le procédé de commande comprend les étapes suivantes : un centre de commande acquiert un état de livraison correspondant à un premier dispositif sans pilote (S101) ; lorsqu'il est déterminé que l'état de livraison satisfait une condition prédéfinie, détermine un article de livraison cible parmi au moins un article de livraison transporté par le premier dispositif sans pilote (S102) ; envoie une première instruction de commande, la première instruction de commande étant utilisée pour commander un second dispositif sans pilote, de telle sorte que le second dispositif sans pilote transporte, en fonction d'un itinéraire de livraison planifié par le centre de commande, l'article de livraison cible porté à un point de livraison correspondant à l'article de livraison cible (S103), le premier dispositif sans pilote portant au moins un second dispositif sans pilote ; et lorsqu'il est déterminé que le second dispositif sans pilote s'est éloigné du premier dispositif sans pilote, envoie une seconde instruction de commande au premier dispositif sans pilote, la seconde instruction de commande étant utilisée pour commander au premier dispositif sans pilote de continuer à se déplacer (S104).
PCT/CN2022/071376 2021-06-15 2022-01-11 Commande de dispositif sans pilote WO2022262264A1 (fr)

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