CN104834319B - Express delivery unmanned aerial vehicle multi-cluster safe air line control method and control system - Google Patents

Abstract

The present invention discloses a method and system for controlling the safe routes of express delivery UAV multi-unit groups, wherein the method includes the following steps: receiving an order from a client; planning the exclusive route of each UAV according to the address information of the order, and controlling The UAV flies to the destination according to its own exclusive route. If it detects that the UAV flight deviates from its own exclusive route, it will correct the route; if it detects that there are obstacles in the preset safe area of the UAV, it will control The drone hovers and controls the flight of the drone according to the principle of route avoidance. The control method of the embodiment of the present invention realizes the orderly flight of the UAV in the air through exclusive route planning, route offset correction, and emergency avoidance in the flight safety zone, and ensures the safety of simultaneous flight of multiple UAV groups in the air.

Description

Control method and control system for multi-cluster safe route of express unmanned aerial vehicles

technical field

The invention relates to the technical field of UAV multi-group safe route control, in particular to a method and control system for express UAV multi-group safe route control.

Background technique

At present, the existing terminal distribution system of the express delivery industry basically adopts the manual distribution method. Its biggest shortcomings are: low distribution efficiency, high distribution cost, and asymmetrical delivery time and receiving time. Existing express delivery terminals are delivered manually one by one. However, due to the large and scattered customer base, if the products are delivered one by one, it will easily lead to low work efficiency.

In related technologies, some delivery methods use delivery to a centralized point in the customer area, and notify customers to pick up the goods by phone or text message. However, this method does not realize the express concept of "home delivery" and reduces the cost of customers. The user experience and the efficiency are also relatively low, often because a small number of uncollected items take a long time and manpower to process, and due to the low efficiency, the cost of manpower and material resources in the distribution process is relatively high. However, compared with the convenience for customers to pick up the goods, it is difficult to achieve the same delivery time and customer pick-up time if the "door-to-door" method is adopted, resulting in a decrease in delivery efficiency and an increase in cost , cannot well guarantee the quality of express service. However, if the courier is used to deliver at a fixed point in the customer area, the location chosen by the courier may not be convenient for all customers. If the distance is far away, customer satisfaction is likely to be reduced, resulting in the loss of customers. From the customer's point of view, since the express mail may be unknown to the customer, and the arrival time of the courier is uncertain, the recipient cannot receive the express mail by sitting and waiting, so after the express mail arrives, the consignee It may not be within the area where the sender is at the time of delivery, resulting in many uncertain factors. At the same time, in the existing express delivery method, the dispatcher chooses to wait for the customer to pick up the goods at a fixed point. The express mail is arranged in a scattered manner, and when the number of express mail is large, the floor area is large, which increases the time cost for the picker to find the express mail.

In addition, world-renowned express delivery companies Amazon, Google, DHL, etc. have also begun to pay attention to the delivery method of drones, and have begun to conduct related technical research. However, according to the actual situation of customers, the delivery drones they designed have large delivery errors. , low load capacity, need manpower to receive goods, long flight distance. In my country, customers are relatively concentrated, and the distribution volume in the region is large. According to the data released by Taobao, JD.com and many other merchants, more than 85% of the express mails weigh less than 3kg, which leads to the urgent need for precise positioning, large load capacity, The high-stability express delivery drone realizes the door-to-door delivery of the goods within 30 minutes of the express terminal, and the precise delivery of unmanned goods. However, the safety of drones flying in the air is the core technical issue affecting delivery drones. At present, since the commercial operation of express delivery drones has not yet been realized at home and abroad, it is only in the test and development stage, and there is no complete technical method for drone air route planning, route correction, emergency avoidance, etc., and this problem needs to be solved urgently.

Contents of the invention

The present invention aims at solving one of the technical problems in the related art mentioned above at least to a certain extent.

For this reason, an object of the present invention is to propose a kind of can realize the orderly flight of unmanned aerial vehicle in the sky, guarantee the safety of unmanned aerial vehicle multi-cluster aerial simultaneous flight, and simple and easy express delivery unmanned aerial vehicle multi-cluster safety route control method .

Another object of the present invention is to propose a multi-cluster safety route control system for express delivery drones

In order to achieve the above object, an embodiment of the present invention proposes a multi-cluster safe route control method for express delivery drones, including the following steps: receiving an order from a client, wherein the order includes order address information; Single address information plans the exclusive route of each drone, and controls each drone to fly to the destination according to its own exclusive route. There is no overlapping area between the exclusive routes of any two drones. Among them, if no one is detected When the flight of the UAV deviates from its own exclusive route, the UAV will be corrected; if it is detected that there is an obstacle in the preset safe area of the UAV, the UAV will be controlled to hover, and According to the route avoidance principle, the unmanned aerial vehicle is controlled to ensure the safety of the unmanned aerial vehicle.

According to the express UAV multi-group safe route control method proposed in the embodiment of the present invention, after receiving the order from the client, the exclusive route of each UAV is planned according to the order address information, so as to control each UAV according to Fly to the destination on the exclusive route, and correct the route when the drone deviates from the exclusive route, and control the drone to hover when there are obstacles in the safe area of the drone and navigate according to the principle of route avoidance, and pass the exclusive route Planning, route offset correction, and emergency avoidance of flight safety areas realize the orderly flight of drones in the air and ensure the safety of simultaneous flight of multiple drone groups in the air. The customer experience is simple and easy.

In addition, according to the above-mentioned embodiments of the present invention, the express delivery UAV multi-cluster safety route control method can also have the following additional technical features:

Further, in one embodiment of the present invention, the preset safety area is generated according to the exclusive route of each drone.

Further, in one embodiment of the present invention, if it is detected that the flight of the UAV deviates from its own exclusive route, correcting the route of the UAV specifically includes: when it is detected that the UAV is flying When it deviates from the preset distance of its own exclusive route, the red light of the control route will flash to give an alarm, and the route will be corrected.

Further, in one embodiment of the present invention, the route guidance of the drone is performed by controlling the receiving device.

Further, in an embodiment of the present invention, the exclusive route may be a "Π" type route.

Another embodiment of the present invention proposes a multi-group safe route control system for express delivery drones, which is characterized in that it includes: a client, a cloud computing control center, and a group of drones, and the group of drones includes a plurality of unmanned vehicles. machine, each unmanned aerial vehicle has a safety zone measuring device, and the client places an order to the cloud computing control center, wherein the order includes order address information; the safe zone measuring device detects that no Whether there are obstacles in the preset safe area of the man-machine; the cloud computing control center plans the exclusive route of each drone according to the order address information, and controls each drone to fly to the destination according to its own exclusive route. Wherein, there is no overlapping area between the exclusive routes of any two UAVs, wherein, when it is detected that the UAV flight deviates from its own exclusive route, the UAV is corrected for its route, and when it is detected that the UAV If there are obstacles in the preset safe area of the UAV, the UAV is controlled to hover, and the UAV is controlled to sail according to the route avoidance principle to ensure the safety of the UAV.

According to the express delivery UAV multi-group safety route control system proposed by the embodiment of the present invention, after receiving the order from the client, it plans the exclusive route of each UAV according to the order address information, so as to control each UAV according to the order. Fly to the destination on the exclusive route, and correct the route when the drone deviates from the exclusive route, and control the drone to hover when there are obstacles in the safe area of the drone and navigate according to the principle of route avoidance, and pass the exclusive route Planning, route offset correction, and emergency avoidance of flight safety areas realize the orderly flight of drones in the air and ensure the safety of simultaneous flight of multiple drone groups in the air. The customer experience is simple and easy.

In addition, according to the above-mentioned embodiments of the present invention, the express drone multi-cluster safety route control system can also have the following additional technical features:

Further, in one embodiment of the present invention, the cloud computing control center generates the preset safe area according to the exclusive route of each drone.

Further, in one embodiment of the present invention, the device for measuring a safety zone specifically includes: a judging module that detects whether the obstacle exists in the preset safety zone, judges the nature of the obstacle, and the obstacle The nature of the object includes homologous signal unmanned aerial vehicles, static obstacles and dynamic obstacles; the speed measurement module, after judging that the obstacles are the dynamic obstacles, detects whether the dynamic obstacles and the flying direction of the unmanned aerial vehicle are opposed; A module that detects the relative position and distance between the UAV and the dynamic obstacle when detecting that the dynamic obstacle conflicts with the flight direction of the UAV.

Further, in an embodiment of the present invention, the detection module includes: a relative position detection unit, which detects the relative position of the UAV and the dynamic obstacle; a relative distance detection unit, which detects the UAV The relative distance to the dynamic obstacle.

Further, in one embodiment of the present invention, it also includes: a receiving device, the cloud computing control center guides the UAV by controlling the receiving device, wherein the receiving device has Laser positioning guidance device and image recognition device.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Description of drawings

The above and/or additional aspects and advantages of the present invention will become apparent and comprehensible from the description of the embodiments in conjunction with the following drawings, wherein:

Fig. 1 is the flow chart of the safe route control method of express unmanned aerial vehicle multi-cluster according to one embodiment of the present invention;

Fig. 2 is the flow chart of the safe route control method of express unmanned aerial vehicle multi-cluster according to one embodiment of the present invention;

Fig. 3 is a schematic diagram of the exclusive route flight of the express drone according to one embodiment of the present invention;

FIG. 4 is a flow chart of route avoidance principle control in emergency situations according to an embodiment of the present invention;

Fig. 5 is a schematic structural diagram of a multi-group safe route control system for express drones according to an embodiment of the present invention.

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

In the present invention, unless otherwise clearly specified and limited, terms such as "installation", "connection", "connection" and "fixation" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , or integrally connected; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

In the present invention, unless otherwise clearly specified and limited, a first feature being "on" or "under" a second feature may include direct contact between the first and second features, and may also include the first and second features Not in direct contact but through another characteristic contact between them. Moreover, "above", "above" and "above" the first feature on the second feature include that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. "Below", "below" and "under" the first feature to the second feature include that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is less horizontal than the second feature.

The method and control system for express drone multi-cluster safe route control proposed according to the embodiments of the present invention will be described below with reference to the accompanying drawings. Shown in Fig. 1 with reference to, this method comprises the following steps:

S101. Receive an order from a client, where the order includes order address information.

In one embodiment of the present invention, the client can be a mobile terminal such as a mobile phone, a tablet computer, etc. For example, a customer can place an order through a mobile APP software, which is simple and convenient.

S102. Plan the exclusive route of each drone according to the order address information, and control each drone to fly to the destination according to its own exclusive route, and the exclusive routes of any two drones have no overlapping area.

In one embodiment of the present invention, before the UAV returns safely, the exclusive route of each UAV is a dedicated route, and does not overlap with any other routes during the same period of time.

S103, if it is detected that the flight of the drone deviates from its own exclusive route, correct the route of the drone. Specifically, UAVs take off sequentially according to the take-off sequence, and fly according to their own exclusive routes. When the cloud computing control center detects that a UAV flight deviates from its own exclusive route, it will perform real-time correction through route correction control.

Further, in one embodiment of the present invention, if it is detected that the flight of the UAV deviates from its own exclusive route, correcting the route of the UAV specifically includes: when it is detected that the flight of the UAV deviates from its own exclusive route When the distance is set, the alarm will be issued by controlling the red light of the route to flash, and the route will be corrected. Among them, when the UAV flies a certain distance away from its own exclusive route, it is judged that the UAV deviates from its own exclusive route, and the preset distance can be set according to the actual situation.

Specifically, the standard for route correction is that when the UAV deviates from its own exclusive route up, down, left, and right, for example, reaching 1 times its own size, the cloud computing control center will control the red light of the corresponding route to flash and perform route correction.

S104. If it is detected that there is an obstacle in the preset safe area of the drone, the drone is controlled to hover, and the flight of the drone is controlled according to the route avoidance principle to ensure the safety of the drone. Among them, the route avoidance principle can scientifically avoid various possible emergencies such as UAVs with homologous signals, static obstacles with non-homologous signals, and dynamic obstacles with non-homologous signals.

In one embodiment of the present invention, each unmanned aerial vehicle fuselage can carry a safety zone measurement device, which maintains real-time interactive communication with the cloud computing control center. When encountering an object, first hover, and then navigate according to the principle of route avoidance, to ensure that there is always a safe distance between multiple drones or drones and obstacles, and ensure the safe navigation of drones. Further, in one embodiment of the present invention, the safe zone that can be detected by the safe zone measuring device can be a cylindrical space, the center of which is the safe zone measuring device carried by the drone, and the safe zone detection range can be unlimited. The human-machine up, down, left, and right is 2.5 times its own size. Wherein, the safety zone measurement device may be composed of a speed detection device and a distance detection device, so as to measure the relative position of the obstacle and its own UAV.

In one embodiment of the present invention, a preset safe area is generated according to the exclusive route of each drone. Specifically, after the exclusive route is generated and the UAV returns to the return station, it is the only air route, and the distance up, down, left and right of the route can be set as a safe distance such as 5 times its own size.

Further, in one embodiment of the present invention, the route guidance of the UAV is carried out by controlling the receiving device. Specifically, the receiving device can be equipped with a laser positioning and guiding device and an image recognition device. After the user places an order, the cloud computing control center will control the one-to-one guiding work between the receiving device and the corresponding UAV, so as to realize the precise route. navigation.

Further, in an embodiment of the present invention, the exclusive route is preferably a "Π" type route.

In a specific embodiment of the present invention, as shown in FIG. 2, the customer places an order through the mobile APP software, and the cloud computing control center performs exclusive route planning for each drone according to the order address information in the customer's order. It should be noted that before the UAV returns safely, the exclusive route is a dedicated route and does not overlap with any other routes during the same period of time; UAVs take off in sequence according to the order of take-off, and fly according to their own exclusive route. When the cloud computing control center detects that the UAV flight deviates from its own exclusive route, it will perform real-time correction through the route correction control; each UAV body is equipped with a safety zone measurement device, which is connected with the cloud computing control The center maintains real-time interactive communication. When the device detects an obstacle in the safe zone of the UAV, it first hovers and then navigates according to the principle of route avoidance to ensure that multiple UAVs or UAVs and obstacles are always within reach. Have a safe distance to ensure the safe navigation of drones.

Further, as shown in Figure 3, first build a UAV parking warehouse 2 on a relatively flat ground 1 with fewer obstacles in the express delivery terminal (such as residential areas, office areas, and building areas), and the UAVs are parked on a daily basis. The UAV is parked in the warehouse 2; when the cloud computing control center issues the flight mission, the UAVs of each sortie will be arranged on the take-off platform 3 according to the instructions of the control center, and take off in sequence; The cargo device 5 has a laser positioning guidance device and an image recognition device, which play a navigation role for the unmanned aerial vehicle; ) fly separately, and each exclusive route is a "Π" type route. When taking off, it rises vertically first, then advances horizontally, and then descends vertically to the user's cargo receiving device 5; when returning, it also flies according to the "Π" type route. The cargo receiving device 5 ascends vertically, then advances horizontally, then descends vertically to the return platform, and the unmanned aerial vehicle completes a flight mission. After each exclusive route is generated, it is the only air route during the period when the UAV returns to the return station. The upper, lower, left and right of the route have a safety distance 5 times its own size to ensure the safe flight of the UAV.

Further, as shown in Figure 4, during the flight of the UAV, the cloud computing control center maintains real-time communication with the safety zone measuring device on the UAV body, and can perform real-time control; When the safe area measuring device detects an obstacle in the safe area of its own UAV, it first hovers over the position in the air, and then judges the nature of the obstacle; if the obstacle entering the safe area is a UAV with the same source signal , then the cloud computing control center issues an upward safety zone detection command, and if the detection signal is safe, the UAV will fly vertically upward until the entire safety zone of the UAV is detected to be unobstructed and return to its own exclusive route to continue flying; if the detection signal is If it is not safe, the UAV will keep hovering until the detection signal is safe, and then carry out corresponding command flight such as continuing to fly or flying vertically upwards and then returning to the exclusive route to continue flying. If it is detected that the obstacle entering the safe zone is a non-homologous signal, it will be judged whether the obstacle is a dynamic obstacle or a static obstacle. If it is a static obstacle, the UAV will be controlled by cloud computing on the basis of keeping hovering If the center issues an instruction and returns to its own exclusive route, it can fly safely on the planned route; if it is a dynamic obstacle, it will detect the relative position of the UAV and the dynamic obstacle, and first detect the dynamic obstacle and the flight of the UAV. Whether the direction is opposite, if the direction is opposite, the drone will fly vertically upward quickly, and after the dynamic obstacle flies over the safety zone of the drone, the drone will return to the exclusive route and continue to fly; if the direction is not opposite, then the drone will be detected The relative distance from the dynamic obstacle, when the distance is not safe, the UAV will fly sideways to the dynamic obstacle at 90°, until the UAV safety zone detects the network obstacle, the UAV returns to the exclusive route and continues to fly.

In the embodiment of the present invention, the whole-process control is realized by the cloud computing control center of the delivery drone, and it is used in conjunction with the delivery drone and the user's receiving device. The drone body is equipped with a safety zone measurement device, and the receiving device It is equipped with a laser positioning guide device and an image recognition device. UAVs for express delivery can be used in residential areas, office areas, building areas, etc., where customers are relatively concentrated, but the delivery is relatively scattered. The maximum load of multi-rotor UAVs for express delivery can reach 5kg, which can satisfy more than 85% of customers. Especially for the needs of daily life in residential areas, it is especially suitable for the delivery of vegetables, fruits, daily necessities, etc., with a moderate volume and a mass of less than 5kg, so as to realize the specificity of the drone's respective routes in the air and prevent multiple drones in the air. When two drones fly at the same time, the routes overlap, and the safe flight of the drones is ensured through route correction and emergency avoidance principles, ensuring that the receiving device at the customer terminal can receive the goods safely.

Among them, compared with the prior art, the embodiment of the present invention has obvious advantages in that: (1) there is no method for controlling safe flight routes of multi-group express drones, and the embodiment of the present invention provides a logically clear, safe A reliable UAV safe flight route control method is especially suitable for the simultaneous navigation of multiple express drone groups, which can greatly improve the efficiency of express delivery, shorten the delivery time, save manpower delivery and receiving capital, and establish express delivery drones. The control method of safe navigation in the air; (2) the embodiment of the present invention adopts the three-level security guarantee mode, firstly, the cloud computing control center customizes non-overlapping safe routes for each UAV, and guarantees the exclusive use of UAV routes during its flight. Firstly, through the route correction system, real-time route correction is performed on the UAVs that deviate from the route to ensure that the UAVs can fly safely on their routes. Once again, when obstacles appear in the UAV safety zone, the emergency avoidance system is activated, and the specified scientific Route avoidance principle, realize safe flight; (3) the exclusive route of the embodiment of the present invention is " Π " type route, mainly uses these three kinds of flight modes of vertical rise, horizontal advance, vertical descent, unmanned aerial vehicle flight mode switching is simple, ensures Precise control of the UAV flight route; (4) The UAV is a multi-rotor structure, which can quickly change the flight direction, ensuring that the UAV can target UAVs with homologous signals, static obstacles with non-homologous signals, and non-homologous signal static obstacles. The fastest avoidance option for various emergency situations that may be encountered, such as source signal dynamic obstacles.

According to the express UAV multi-group safe route control method proposed in the embodiment of the present invention, after receiving the order from the client, the exclusive route of each UAV is planned according to the order address information, so as to control each UAV according to Fly to the destination on the exclusive route, and correct the route when the drone deviates from the exclusive route, and control the drone to hover when there are obstacles in the safe area of the drone and navigate according to the principle of route avoidance, and pass the exclusive route Planning, route offset correction, and emergency avoidance of flight safety areas realize the orderly flight of drones in the air and ensure the safety of simultaneous flight of multiple drone groups in the air. The customer experience is simple and easy.

The following describes the express drone multi-cluster safety route control system proposed according to the embodiment of the present invention with reference to the accompanying drawings. Referring to FIG. 5 , the control system 10 includes: a client 100 , a cloud computing control center 200 and an unmanned aerial vehicle group 300 . Wherein, the UAV group includes a plurality of UAVs (UAV 301, UAV 302, ..., UAV 30N as shown in the figure), and each UAV has a safety zone measuring device (the measuring device 401, the measuring device 402, ..., the measuring device 40N as shown in the figure).

Wherein, the client 100 places an order to the cloud computing control center 200, and the order includes the order address information. The safety zone measuring device detects whether there is an obstacle in the preset safe zone of the drone. The cloud computing control center 200 plans the exclusive route of each drone according to the order address information, and controls each drone to fly to the destination according to its own exclusive route. There is no overlapping area between the exclusive routes of any two drones. Among them, when it is detected that the flight of the drone deviates from its own exclusive route, the route of the drone is corrected, and when obstacles are detected in the preset safe area of the drone, the drone is controlled to hover, and According to the principle of route avoidance, the flight of the UAV is controlled to ensure the safety of the UAV. The control system of the embodiment of the present invention realizes the orderly flight of drones in the air through exclusive route planning, route offset correction, and emergency avoidance of flight safety zones, and ensures the safety of simultaneous flight of multiple drone groups in the air, and is especially suitable for courier delivery. The joint use of drones for high-frequency use of terminals, continuous distribution operations, and precise delivery of unmanned goods.

In an embodiment of the present invention, the client 100 can be a mobile terminal such as a mobile phone, a tablet computer, etc. For example, a customer can place an order through a mobile APP software, which is simple and convenient.

Further, in one embodiment of the present invention, before the UAV returns safely, the dedicated route of each UAV is a dedicated route, and does not overlap with any other routes within the same period of time.

Specifically, the UAVs take off sequentially according to the take-off sequence, and fly according to their own exclusive routes. When the cloud computing control center 200 detects that a UAV flight deviates from its own exclusive route, it will perform real-time correction by controlling the route correction.

Further, in one embodiment of the present invention, when it is detected that the flight of the UAV deviates from its own exclusive route, the cloud computing control center 200 will issue an alarm by controlling the red light of the route to flash, and perform route correction. Among them, when the UAV flies a certain distance away from its own exclusive route, it is judged that the UAV deviates from its own exclusive route, and the preset distance can be set according to the actual situation.

Specifically, the standard for route correction is that when the UAV deviates from its own exclusive route up, down, left, and right, for example, the distance reaches 1 times its own size, the red light of the corresponding route in the cloud computing control center 200 will flash, and the route correction will be performed.

Among them, the route avoidance principle can scientifically avoid various possible emergencies such as UAVs with homologous signals, static obstacles with non-homologous signals, and dynamic obstacles with non-homologous signals.

In one embodiment of the present invention, each unmanned aerial vehicle fuselage can carry a safety zone measurement device, and the device maintains real-time interactive communication with the cloud computing control center 200. When the device detects that there is When encountering obstacles, first hover, and then navigate according to the principle of route avoidance, so as to ensure that there is always a safe distance between multiple drones or drones and obstacles, and ensure the safe navigation of drones. Further, in one embodiment of the present invention, the safe zone that can be detected by the safe zone measuring device can be a cylindrical space, the center of which is the safe zone measuring device carried by the drone, and the safe zone detection range can be unlimited. The human-machine up, down, left, and right is 2.5 times its own size. Wherein, the safety zone measurement device may be composed of a speed detection device and a distance detection device, so as to measure the relative position of the obstacle and its own UAV.

In one embodiment of the present invention, the cloud computing control center 200 generates a preset safe area according to the exclusive route of each drone. Specifically, after the exclusive route is generated and the UAV returns to the return station, it is the only air route, and the distance up, down, left and right of the route can be set as a safe distance such as 5 times its own size.

Further, in an embodiment of the present invention, the control system 10 of the embodiment of the present invention further includes: a receiving device (not specifically marked in the figure). Wherein, the receiving device may have a laser positioning and guiding device and an image recognition device, and the cloud computing control center 200 guides the UAV route by controlling the receiving device. Specifically, the receiving device can be equipped with a laser positioning and guiding device and an image recognition device. After the user places an order, the cloud computing control center 200 will control the one-to-one guiding work between the receiving device and the corresponding UAV, so as to realize the navigation of the route. Precise navigation.

Further, in an embodiment of the present invention, the exclusive route is preferably a "Π" type route.

In a specific embodiment of the present invention, as shown in FIG. 2, the customer places an order through the mobile phone APP software, and the cloud computing control center 200 performs exclusive route planning for each drone according to the order address information in the customer's order . It should be noted that before the UAV returns safely, the exclusive route is a dedicated route and does not overlap with any other routes during the same period of time; UAVs take off in sequence according to the order of take-off, and fly according to their own exclusive route. When the cloud computing control center 200 detects that a UAV flight deviates from its own exclusive route, it will perform real-time correction through the route correction control; each UAV body is equipped with a safety zone measurement device, which is connected with the cloud computing The control center 200 maintains real-time interactive communication. When the device detects that there is an obstacle in the safe zone of the UAV, it first hovers and then navigates according to the principle of route avoidance to ensure that multiple UAVs or UAVs and obstacles There is always a safe distance between them to ensure the safe navigation of drones.

Further, as shown in Figure 3, first build a UAV parking warehouse 2 on a relatively flat ground 1 with fewer obstacles in the express delivery terminal (such as residential areas, office areas, and building areas), and the UAVs are parked on a daily basis. The UAVs are parked in the library 2; when the cloud computing control center 200 issues flight missions, the UAVs of each sortie will be arranged on the take-off platform 3 according to the instructions of the control center, and take off in sequence; the UAVs installed on the outer wall 4 of the user's house There is a laser positioning and guiding device and an image recognition device on the user's cargo receiving device 5, which plays a navigation role for the unmanned aerial vehicle; 8) fly separately, and each exclusive route is a "Π" type route. When taking off, it rises vertically first, then advances horizontally, and then descends vertically to the receiving device 5; when returning, it also flies according to the "Π" type route. From the user's cargo receiving device 5, it rises vertically, then advances horizontally, and then descends vertically to the return platform, and the drone completes a flight mission. After each exclusive route is generated, it is the only air route during the period when the UAV returns to the return station. The upper, lower, left and right of the route have a safety distance 5 times its own size to ensure the safe flight of the UAV.

Further, in one embodiment of the present invention, the device for measuring the safety zone of the embodiment of the present invention includes: a judging module, a speed measuring module and a detecting module. Among them, the judging module detects whether there is an obstacle in the preset safety area, and judges the nature of the obstacle. The nature of the obstacle includes a homologous signal UAV, a static obstacle and a dynamic obstacle. After judging that the obstacle is a dynamic obstacle, the speed measurement module detects whether the dynamic obstacle conflicts with the flying direction of the UAV. When detecting that the dynamic obstacle conflicts with the flight direction of the UAV, the detection module detects the relative position and distance between the UAV and the dynamic obstacle.

Further, in an embodiment of the present invention, the detection module includes: a relative position detection unit and a relative distance detection unit. The relative position detection unit detects the relative position of the UAV and the dynamic obstacle. The relative distance detection unit detects the relative distance between the UAV and the dynamic obstacle.

Specifically, as shown in FIG. 4 , during the flight of the UAV, the cloud computing control center 200 maintains real-time communication with the safety zone measuring device on the UAV body, and can perform real-time control; When the safety zone measurement device on the drone detects that there is an obstacle in the safety zone of its own UAV through the judgment module, it first hovers over the position in the air, and then judges the nature of the obstacle through the judgment module; if the obstacle entering the safety zone is For unmanned aerial vehicles with the same source signal, the cloud computing control center 200 issues an upward safe zone detection command, and if the detection signal is safe, the unmanned aerial vehicle flies vertically upward until the entire safe zone of the unmanned aerial vehicle is detected to be unobstructed and then returns to its own exclusive space. The route continues to fly; if the detection signal is unsafe, the UAV will keep hovering until the detection signal is safe, and then carry out corresponding command flight such as continuing to fly or flying vertically upwards and then return to the exclusive route to continue flying. If it is detected that the obstacle entering the safe zone is a non-homologous signal, it will be judged whether the obstacle is a dynamic obstacle or a static obstacle. If it is a static obstacle, the UAV will be controlled by cloud computing on the basis of keeping hovering If the center 200 issues an instruction to return to its own exclusive route, it can fly safely on the planned route; if it is a dynamic obstacle, the relative position detection unit in the detection module will detect the relative position of the UAV and the dynamic obstacle. First, the speed measurement module detects whether the dynamic obstacle and the flying direction of the UAV are in conflict. If the direction is in conflict, the UAV will fly vertically upward quickly. After the dynamic obstacle flies over the safety zone of the UAV, the UAV will return to the exclusive route Continue to fly; if the direction does not contradict, the relative distance between the UAV and the dynamic obstacle is detected by the relative distance detection unit in the detection module. When the UAV safety zone detects obstacles, the UAV will return to the exclusive route and continue flying.

In the embodiment of the present invention, the whole-process control is realized by the delivery drone distribution cloud computing control center 200, and it is used in conjunction with the delivery drone and the user's receiving device. The device is equipped with a laser positioning guide device and an image recognition device. UAVs for express delivery can be used in residential areas, office areas, building areas, etc., where customers are relatively concentrated, but the delivery is relatively scattered. The maximum load of multi-rotor UAVs for express delivery can reach 5kg, which can satisfy more than 85% of customers. Especially for the needs of daily life in residential areas, it is especially suitable for the delivery of vegetables, fruits, daily necessities, etc., with a moderate volume and a mass of less than 5kg, so as to realize the specificity of the drone's respective routes in the air and prevent multiple drones in the air. When two drones fly at the same time, the routes overlap, and the safe flight of the drones is ensured through route correction and emergency avoidance principles, ensuring that the receiving device at the customer terminal can receive the goods safely.

Among them, compared with the prior art, the embodiment of the present invention has obvious advantages in that: (1) there is no method for controlling safe flight routes of multi-group express drones, and the embodiment of the present invention provides a logically clear, safe A reliable UAV safe flight route control method is especially suitable for the simultaneous navigation of multiple express drone groups, which can greatly improve the efficiency of express delivery, shorten the delivery time, save manpower delivery and receiving capital, and establish express delivery drones. The control method of safe navigation in the air; (2) the embodiment of the present invention adopts the three-level security guarantee mode, firstly, the cloud computing control center customizes non-overlapping safe routes for each UAV, and guarantees the exclusive use of UAV routes during its flight. Firstly, through the route correction system, real-time route correction is performed on the UAVs that deviate from the route to ensure that the UAVs can fly safely on their routes. Once again, when obstacles appear in the UAV safety zone, the emergency avoidance system is activated, and the specified scientific Route avoidance principle, realize safe flight; (3) the exclusive route of the embodiment of the present invention is " Π " type route, mainly uses these three kinds of flight modes of vertical rise, horizontal advance, vertical descent, unmanned aerial vehicle flight mode switching is simple, ensures Precise control of the UAV flight route; (4) The UAV is a multi-rotor structure, which can quickly change the flight direction, ensuring that the UAV can target UAVs with homologous signals, static obstacles with non-homologous signals, and non-homologous signal static obstacles. The fastest avoidance option for various emergency situations that may be encountered, such as source signal dynamic obstacles.

According to the express delivery UAV multi-group safety route control system proposed by the embodiment of the present invention, after receiving the order from the client, it plans the exclusive route of each UAV according to the order address information, so as to control each UAV according to the order. Fly to the destination on the exclusive route, and correct the route when the drone deviates from the exclusive route, and control the drone to hover when there are obstacles in the safe area of the drone and navigate according to the principle of route avoidance, and pass the exclusive route Planning, route offset correction, and emergency avoidance of flight safety areas realize the orderly flight of drones in the air and ensure the safety of simultaneous flight of multiple drone groups in the air. The customer experience is simple and easy.

Any process or method descriptions in flowcharts or otherwise described herein may be understood to represent modules, segments or portions of code comprising one or more executable instructions for implementing specific logical functions or steps of the process , and the scope of preferred embodiments of the invention includes alternative implementations in which functions may be performed out of the order shown or discussed, including substantially concurrently or in reverse order depending on the functions involved, which shall It is understood by those skilled in the art to which the embodiments of the present invention pertain.

The logic and/or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium, For use with instruction execution systems, devices, or devices (such as computer-based systems, systems including processors, or other systems that can fetch instructions from instruction execution systems, devices, or devices and execute instructions), or in conjunction with these instruction execution systems, devices or equipment for use. For the purposes of this specification, a "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use in or in conjunction with an instruction execution system, device or device. More specific examples (non-exhaustive list) of computer-readable media include the following: electrical connection with one or more wires (electronic device), portable computer disk case (magnetic device), random access memory (RAM), Read Only Memory (ROM), Erasable and Editable Read Only Memory (EPROM or Flash Memory), Fiber Optic Devices, and Portable Compact Disc Read Only Memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program can be printed, since the program can be read, for example, by optically scanning the paper or other medium, followed by editing, interpretation or other suitable processing if necessary. The program is processed electronically and stored in computer memory.

It should be understood that various parts of the present invention can be realized by hardware, software, firmware or their combination. In the embodiments described above, various steps or methods may be implemented by software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or combination of the following techniques known in the art: Discrete logic circuits, ASICs with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

Those of ordinary skill in the art can understand that all or part of the steps carried by the methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. During execution, one or a combination of the steps of the method embodiments is included.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing module, each unit may exist separately physically, or two or more units may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software function modules. If the integrated modules are realized in the form of software function modules and sold or used as independent products, they can also be stored in a computer-readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, and the like.

In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structure, material or characteristic is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be construed as limitations to the present invention. Variations, modifications, substitutions, and modifications to the above-described embodiments are possible within the scope of the present invention.

Claims (2)

1. A method for controlling the safety route of express unmanned aerial vehicle multi-cluster, is characterized in that, comprises the following steps: receiving an order from the client, wherein the order includes the order address information; According to the order address information, the exclusive route of each UAV is planned. The exclusive route is a "Π" type route, and each UAV is controlled to fly to the destination according to its own exclusive route. The exclusive route has no overlapping area, and a preset safe area is generated according to the exclusive route of each drone, and the drone is guided to the route by controlling the receiving device, wherein, If it is detected that the flight of the UAV deviates from its own exclusive route, the UAV is corrected for the route, wherein, if it is detected that the flight of the UAV deviates from its own exclusive route, the UAV is corrected Performing route correction specifically includes: when it is detected that the flight of the drone deviates from the preset distance of its own exclusive route, an alarm is issued by controlling the red light of the route to flash, and route correction is performed; If it is detected that there is an obstacle in the preset safe area of the drone, the drone is controlled to hover, and the drone is controlled to sail according to the route avoidance principle to ensure the safety of the drone. 2. A multi-cluster safe route control system for express unmanned aerial vehicles is characterized in that it includes: client, cloud computing control center, unmanned aerial vehicle group, and cargo receiving device, and the unmanned aerial vehicle group includes a plurality of unmanned aerial vehicles, A UAV has a safety zone determination device, wherein, The client places an order with the cloud computing control center, wherein the order includes order address information; The safe area measuring device detects whether there is an obstacle in the preset safe area of the drone, wherein the safe area measuring device specifically includes: a judging module, detecting whether there is the obstacle in the preset safe area , judging the nature of the obstacle, the nature of the obstacle includes homologous signal drones, static obstacles and dynamic obstacles; the speed measurement module, after judging that the obstacle is the dynamic obstacle, detects the dynamic Whether the obstacle is against the flight direction of the UAV; the detection module, when detecting that the dynamic obstacle is against the flight direction of the UAV, detects the relative position and relative distance between the UAV and the dynamic obstacle and The detection module includes: a relative position detection unit, which detects the relative position of the UAV and the dynamic obstacle; a relative distance detection unit, which detects the relative distance between the UAV and the dynamic obstacle; The cloud computing control center plans the exclusive route of each drone according to the order address information, and the exclusive route is a "Π" type route, and controls each drone to fly to the destination according to its own exclusive route, There is no overlapping area between the exclusive routes of any two drones, wherein, when it is detected that the drone’s flight deviates from its own exclusive route, the route of the drone is corrected, and when it is detected that the drone’s flight If there are obstacles in the preset safe area, the UAV is controlled to hover, and the UAV is controlled to sail according to the route avoidance principle to ensure the safety of the UAV, and the cloud computing control center according to the The exclusive route of each drone generates the preset safe area; The receiving device, the cloud computing control center guides the UAV by controlling the receiving device, wherein the receiving device has a laser positioning and guiding device and an image recognition device.