CN110456818A - Goods delivery method, apparatus, unmanned plane and storage medium based on unmanned plane - Google Patents
Goods delivery method, apparatus, unmanned plane and storage medium based on unmanned plane Download PDFInfo
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- CN110456818A CN110456818A CN201910692628.5A CN201910692628A CN110456818A CN 110456818 A CN110456818 A CN 110456818A CN 201910692628 A CN201910692628 A CN 201910692628A CN 110456818 A CN110456818 A CN 110456818A
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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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses a kind of goods delivery method, apparatus, unmanned plane and storage medium based on unmanned plane.Unmanned plane is controlled in the present invention to be flown according to the flight path planned in advance to airplane parking area pre-determined distance；It receives the connectivity request message that signal transceiver is sent and is established with signal transceiver and communicated to connect；The airplane parking area location information that signal transceiver is sent is received, and unmanned plane during flying is controlled to airplane parking area position to dispense cargo according to the current location information of airplane parking area location information and unmanned plane.Unmanned plane obtains location information by establishing communication connection with the signal transceiver on airplane parking area in the present invention, to accurately fly to airplane parking area position, position acquisition does not depend on network, eliminates location error, and goods delivery accuracy rate is high.
Description
Technical field
The present invention relates to goods delivery fields, more particularly to a kind of goods delivery method, apparatus, nothing based on unmanned plane
Man-machine and storage medium.
Background technique
With the maturation application of unmanned plane, it is more more and more universal that goods delivery is carried out by unmanned plane, it is existing to pass through nothing
In the scheme of man-machine dispatching cargo, by the real-time image capture of camera on unmanned plane, judge that unmanned plane is current according to image
Position, then the distance between current location and target position (shipping address) are calculated, and then judge whether unmanned plane reaches
Shipping address.Judge that the mode of unmanned plane position is stronger to the dependence of network above by image, when network transmission is believed
When number intensity is weaker, the calculating of distance can exist and miss between the judgement and current location and target position of current location
Difference, eventually leading to unmanned plane can not accurately send cargo into manpower of receiving.
Summary of the invention
The goods delivery method based on unmanned plane that present invention generally provides a kind of, can overcome existing unmanned plane distribution side
Position acquisition relies on network and dispatching result is caused to there are problems that error in formula.
In order to solve the above technical problems, one technical scheme adopted by the invention is that: a kind of goods based on unmanned plane is provided
Object allocator is provided with airplane parking area at consignee locations, signal transceiver, the goods delivery is provided on the airplane parking area
Method includes:
Control unmanned plane flies according to the flight path planned in advance to the airplane parking area pre-determined distance；
It receives the connectivity request message that the signal transceiver is sent and is established with the signal transceiver and communicated to connect；
The airplane parking area location information that the signal transceiver is sent is received, and according to the airplane parking area location information and nothing
Man-machine current location information controls the unmanned plane during flying to the airplane parking area position to dispense cargo.
The control unmanned plane flies according to the flight path planned in advance to the airplane parking area pre-determined distance
It is further comprising the steps of before step:
Obtain the airplane parking area location information of the airplane parking area and the picking location information of unmanned plane picking position；
Flight path is planned according to the airplane parking area location information and the picking location information.
The connectivity request message for receiving the signal transceiver transmission simultaneously establishes communication link with the signal transceiver
The step of connecing specifically includes:
The connectivity request message that the signal transceiver is sent is received, includes the airplane parking area in the connectivity request message
Number；
Judge whether the number of the airplane parking area and the airplane parking area number obtained in advance are identical；
If they are the same, then it establishes and communicates to connect with the signal transceiver.
The airplane parking area location information that the signal transceiver is sent is received, and according to the airplane parking area location information and nothing
Man-machine current location information control the unmanned plane during flying to the airplane parking area position to dispense cargo the step of specifically include:
The airplane parking area location information that the signal transceiver is sent is received every preset time；
Flight path is corrected according to the current location information of the airplane parking area location information and unmanned plane received；
The unmanned plane during flying is controlled to the airplane parking area position according to revised flight path to dispense cargo.
The goods delivery method is further comprising the steps of:
Transmission receives password confirming information to the consignee, and receives the encrypted message that the consignee returns；
Judge whether the received encrypted message and the encrypted message prestored are identical；
If they are the same, then it controls unmanned plane and discharges the cargo to the consignee.
It is described judge further include after the received encrypted message and the whether identical step of the encrypted message prestored with
Lower step:
If not identical, the number that the consignee returns to bad password information is recorded；
When the number reaches preset times, control unmanned plane locks the cargo.
In order to solve the above technical problems, another technical solution used in the present invention is: providing a kind of based on unmanned plane
Goods delivery control device, the goods delivery control device include:
Flight control modules fly for controlling unmanned plane according to the flight path planned in advance default to the airplane parking area
In distance range；
Communication connection module, for receive connectivity request message that the signal transceiver is sent and with the signal transmitting and receiving
Device establishes communication connection；
Goods delivery module, the airplane parking area location information sent for receiving the signal transceiver, and stopped according to described
The current location information of machine level ground location information and unmanned plane controls the unmanned plane during flying to the airplane parking area position to dispense
Cargo.
The communication connection module includes:
Signal receiving unit, the connectivity request message sent for receiving the signal transceiver, the connection request letter
It include the number of the airplane parking area in breath；
Whether judging unit, the number and the airplane parking area number obtained in advance for judging the airplane parking area are identical；
Unit is communicated to connect, establishes and communicates to connect with the signal transceiver when for judging identical.
In order to solve the above technical problems, another technical solution used in the present invention is: providing a kind of unmanned plane, the nothing
Man-machine includes processor and memory, and the processor couples the memory, and the processor executes instruction at work
To realize the goods delivery method as described in any one of claims 1 to 6 based on unmanned plane.
In order to solve the above technical problems, another technical solution used in the present invention is: providing a kind of storage medium, thereon
It is stored with computer program, the computer program is executed by processor to realize base as described in any one of claims 1 to 6
In the goods delivery method of unmanned plane.
The beneficial effects of the present invention are: being in contrast to the prior art, unmanned plane is controlled according to the flight planned in advance
It flies to airplane parking area pre-determined distance in path；Receive the connectivity request message that signal transceiver is sent and and signal transceiver
Establish communication connection；Receive signal transceiver send airplane parking area location information, and according to airplane parking area location information and nobody
The current location information control unmanned plane during flying of machine is to airplane parking area position to dispense cargo.In the present invention unmanned plane by with shutdown
Signal transceiver on level ground establishes communication connection and obtains location information, to accurately fly to airplane parking area position, position acquisition
Network is not depended on, location error is eliminated, goods delivery accuracy rate is high.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing, in which:
Fig. 1 is the flow chart for the goods delivery method based on unmanned plane that one embodiment of the invention provides；
Fig. 2 be another embodiment of the present invention provides the goods delivery method based on unmanned plane flow chart；
Fig. 3 be another embodiment of the present invention provides the goods delivery method based on unmanned plane flow chart；
Fig. 4 be another embodiment of the present invention provides the goods delivery method based on unmanned plane flow chart；
Fig. 5 be another embodiment of the present invention provides the goods delivery control device based on unmanned plane structural schematic diagram；
Fig. 6 be another embodiment of the present invention provides unmanned plane schematic diagram of internal structure；
Fig. 7 be another embodiment of the present invention provides storage medium structural schematic diagram.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that the described embodiments are merely a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment one
Fig. 1 is the goods delivery method based on unmanned plane that one embodiment of the invention provides, and is arranged at consignee locations
There is airplane parking area, airplane parking area may be provided on the balcony of consignee family, and a signal transceiver is arranged on airplane parking area, can be with delivery
Signal is transmitted between unmanned plane, the specific implementation of goods delivery method includes step S100, step S200 and step S300.
Step S100: control unmanned plane flies according to the flight path planned in advance to airplane parking area pre-determined distance.
Specifically, can plan in advance flight path before step S100: obtain airplane parking area airplane parking area location information and
The picking location information of unmanned plane picking position plans flight path, control according to airplane parking area location information and picking location information
Unmanned plane processed flies according to the flight path to airplane parking area pre-determined distance, and referring within the scope of airplane parking area pre-determined distance can be with
In the distance range of signal transceiver communication connection on airplane parking area.
Step S200: receiving the connectivity request message that signal transceiver is sent and establishes communication connection with signal transceiver.
Specifically, signal transceiver can send connectivity request message in real time, when unmanned plane during flying to airplane parking area pre-determined distance
When in range, the connectivity request message can receive, and establish and communicate to connect with signal transceiver.
Step S300: receiving the airplane parking area location information that signal transceiver is sent, and according to airplane parking area location information and
The current location information control unmanned plane during flying of unmanned plane is to airplane parking area position to dispense cargo.
Specifically, receiving the airplane parking area position that signal transceiver is sent after establishing communication connection with signal transceiver
Information plans the flight road of current residual distance segment according to the current location information of the location information of airplane parking area and unmanned plane
Diameter, and control unmanned plane and fly according to the flight path to airplane parking area position dispatching cargo.
In embodiments of the present invention, control unmanned plane flies according to the flight path planned in advance to airplane parking area pre-determined distance
In range；It receives the connectivity request message that signal transceiver is sent and is established with signal transceiver and communicated to connect；Signal is received to receive
The airplane parking area location information that device is sent is sent out, and nobody is controlled according to the current location information of airplane parking area location information and unmanned plane
Machine flies to airplane parking area position to dispense cargo.Unmanned plane with the signal transceiver foundation on airplane parking area by communicating in the present invention
Connection obtains location information, to accurately fly to airplane parking area position, position acquisition does not depend on network, eliminates position mistake
Difference, goods delivery accuracy rate are high.
Embodiment two
Fig. 2 be another embodiment of the present invention provides the goods delivery method based on unmanned plane, include above-mentioned steps
On the basis of S100 and step S300, above-mentioned steps S200 specifically includes step S201, step S202 and step S203.
Step S201: receiving the connectivity request message that signal transceiver is sent, and includes airplane parking area in connectivity request message
Number.
Specifically, signal transceiver sends connectivity request message to unmanned plane, it include signal transmitting and receiving in connectivity request message
The number of airplane parking area where device, each airplane parking area have unique number, for identification airplane parking area.
Step S202 judges whether the number of airplane parking area and the airplane parking area number obtained in advance are identical.
Specifically, can first obtain the number of consignee airplane parking area before controlling unmanned plane during flying, and store, will receive
Airplane parking area number number and compare with the airplane parking area that obtains and store in advance, judge whether identical.
Step S203 is then established with signal transceiver and is communicated to connect if they are the same.
Specifically, if they are the same, showing that airplane parking area is the airplane parking area of consignee, i.e. airplane parking area identity is correct, and then and signal
Transceiver establishes communication connection.
In the embodiment of the present invention, by verifying to airplane parking area number, and then ensure that target Shipping Address is correct, this
Outside, with signal transceiver establish communicate to connect, can real-time reception signal transceiver send location information, avoid location error.
Embodiment three
Fig. 3 be another embodiment of the present invention provides the goods delivery method based on unmanned plane, include above-mentioned steps
On the basis of S100 and step S200, above-mentioned steps S300 specifically includes step S301, step S302 and step S303.
Step S301 receives the airplane parking area location information that signal transceiver is sent every preset time.
Specifically, receiving the airplane parking area location information that a signal transceiver is sent every preset time.
Step S302 corrects flight road according to the current location information of the airplane parking area location information and unmanned plane received
Diameter.
Specifically, the location information weight current according to the airplane parking area location information and unmanned plane that receive every preset time
New planning flight path, to be modified to the flight path that last time is planned.When unmanned plane because external force factor (such as high wind) influences
When deviateing former flight path, flight path can be planned again according to the current location information of airplane parking area location information and unmanned plane,
It is modified, is so can avoid due to external force factor influence makes unmanned plane deviation original flight path with the flight path to unmanned plane
The case where airplane parking area can not accurately be reached.
Step S303, control unmanned plane fly to airplane parking area position according to revised flight path to dispense cargo.
It, can be according to the present bit confidence of airplane parking area location information and unmanned plane every preset time in the embodiment of the present invention
Breath is modified the flight path of unmanned plane, can avoid unmanned plane because external force factor influence deviation flight path can not be accurate
The case where reaching airplane parking area occurs.
Example IV
Fig. 4 be another embodiment of the present invention provides the goods delivery method based on unmanned plane, goods delivery method wrapping
Including on the basis of above-mentioned steps S100, S200 and S300 further includes step S400, S500 and S600.
Step S400, transmission receive password confirming information to consignee, and receive the encrypted message of consignee's return.
Specifically, transmission receives password confirming information to the terminal device of consignee after reaching airplane parking area position, receive
People inputs password on the terminal device and is back to unmanned plane.
Step S500 judges whether received encrypted message and the encrypted message prestored are identical.
Specifically, can first obtain proper password and the storage of consignee before controlling unmanned plane during flying, judgement is received
Password and the password that prestores it is whether identical, to be verified to consignee's identity.
Step S600 then controls unmanned plane release cargo to consignee if they are the same.
Specifically, if they are the same, showing that consignee's identity is correct, release cargo is completed to consignee, delivery.If not identical,
Then record the number that consignee returns to bad password information；When the number for returning to bad password reaches preset times, nothing is controlled
Cargo is not released to consignee, and returned with cargo by man-machine locking cargo.
In embodiments of the present invention, increase the step of consignee's password confirming is received, carry out verifying of receiving, guarantee that cargo is sent
Into manpower of receiving, avoid falsely claiming as one's own.
Embodiment five
Fig. 5 be another embodiment of the present invention provides the goods delivery control device based on unmanned plane, goods delivery control
Device includes flight control modules 100, communication connection module 200 and goods delivery module 300.
Flight control modules 100 for control unmanned plane according to the flight path planned in advance fly to airplane parking area preset away from
From in range.
Specifically, flight control modules 100 can plan in advance flight path: obtain airplane parking area airplane parking area location information and
The picking location information of unmanned plane picking position plans flight path, control according to airplane parking area location information and picking location information
Unmanned plane processed flies according to the flight path to airplane parking area pre-determined distance, and referring within the scope of airplane parking area pre-determined distance can be with
In the distance range of signal transceiver communication connection on airplane parking area.
Communication connection module 200 is used to receive the connectivity request message of signal transceiver transmission and establishes with signal transceiver
Communication connection.
Specifically, signal transceiver can send connectivity request message in real time, when unmanned plane during flying to airplane parking area pre-determined distance
When in range, the connectivity request message can receive, and establish and communicate to connect with signal transceiver.
Further specifically, communication connection module includes signal receiving unit, judging unit and communication connection unit.
Signal receiving unit is used to receive the connectivity request message of signal transceiver transmission, includes stopping in connectivity request message
The number on machine level ground；
Judging unit is used to judge whether the number of airplane parking area and the airplane parking area number obtained in advance to be identical；
Unit is communicated to connect for establishing communication connection with signal transceiver when judgement number is identical.
Goods delivery module 300 is used to receive the airplane parking area location information of signal transceiver transmission, and according to airplane parking area position
The current location information control unmanned plane during flying of confidence breath and unmanned plane is to airplane parking area position to dispense cargo.
Specifically, receiving the airplane parking area position that signal transceiver is sent after establishing communication connection with signal transceiver
Information plans the flight road of current residual distance segment according to the current location information of the location information of airplane parking area and unmanned plane
Diameter, and control unmanned plane and fly according to the flight path to airplane parking area position dispatching cargo.
The specific implementation of goods delivery control device can be found in the description of above-described embodiment two to example IV, herein
It repeats no more.
In embodiments of the present invention, flight control modules 100 control unmanned plane and are flown according to the flight path planned in advance
To airplane parking area pre-determined distance；Communication connection module 200 receive signal transceiver send connectivity request message and with letter
Number transceiver establishes communication connection；The airplane parking area location information that the reception signal transceiver of goods delivery module 300 is sent, and according to
The current location information of airplane parking area location information and unmanned plane controls unmanned plane during flying to airplane parking area position to dispense cargo.This
Unmanned plane obtains location information by establishing communication connection with the signal transceiver on airplane parking area in invention, to accurately fly
To airplane parking area position, position acquisition does not depend on network, eliminates location error, and goods delivery accuracy rate is high.
It is the schematic diagram of unmanned plane internal structure provided by the present application refering to Fig. 6, Fig. 6, the unmanned plane packet in the present embodiment
Processor 500 and memory 600 are included, processor 500 is coupled with memory 600, and processor 500 is executed instruction at work with reality
The goods delivery method based on unmanned plane in existing any of the above-described embodiment.
Wherein, processor 500 can also be known as CPU (Central Processing Unit, central processing unit).Place
Managing device 500 may be a kind of IC chip, the processing capacity with signal.Processor 500 can also be general processor,
Digital signal processor (DSP), specific integrated circuit (ASIC), ready-made programmable gate array (FPGA) or other programmable patrol
Collect device, discrete gate or transistor logic, discrete hardware components.General processor can be microprocessor or this at
Reason device is also possible to any conventional processor, but is not limited only to this.
It is the schematic diagram of storage medium embodiment provided by the present application refering to Fig. 7, Fig. 7, the computer in the present embodiment can
It reads storage medium and is stored with computer program 700, which can be executed by processor 500 to realize above-mentioned
The goods delivery method based on unmanned plane in one embodiment.
Optionally, which can be USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can store journey
The terminal devices such as the medium or computer of sequence code, server, mobile phone, plate.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. the goods delivery method based on unmanned plane, which is characterized in that be provided with airplane parking area, the airplane parking area at consignee locations
On be provided with signal transceiver, the goods delivery method includes:
Control unmanned plane flies according to the flight path planned in advance to the airplane parking area pre-determined distance；
It receives the connectivity request message that the signal transceiver is sent and is established with the signal transceiver and communicated to connect；
The airplane parking area location information that the signal transceiver is sent is received, and according to the airplane parking area location information and unmanned plane
Current location information control the unmanned plane during flying to the airplane parking area position to dispense cargo.
2. goods delivery method according to claim 1, which is characterized in that the control unmanned plane according to planning in advance
Flight path is further comprising the steps of before flying to the step within the scope of the airplane parking area pre-determined distance:
Obtain the airplane parking area location information of the airplane parking area and the picking location information of unmanned plane picking position；
Flight path is planned according to the airplane parking area location information and the picking location information.
3. goods delivery method according to claim 1, which is characterized in that described to receive what the signal transceiver was sent
Connectivity request message is simultaneously specifically included with the step of signal transceiver foundation communication connection:
The connectivity request message that the signal transceiver is sent is received, includes the volume of the airplane parking area in the connectivity request message
Number；
Judge whether the number of the airplane parking area and the airplane parking area number obtained in advance are identical；
If they are the same, then it establishes and communicates to connect with the signal transceiver.
4. goods delivery method according to claim 1, which is characterized in that receive the shutdown that the signal transceiver is sent
Level ground location information, and the unmanned plane during flying is controlled according to the current location information of the airplane parking area location information and unmanned plane
The step of to the airplane parking area position to dispense cargo, specifically includes:
The airplane parking area location information that the signal transceiver is sent is received every preset time；
Flight path is corrected according to the current location information of the airplane parking area location information and unmanned plane received；
The unmanned plane during flying is controlled to the airplane parking area position according to revised flight path to dispense cargo.
5. goods delivery method according to claim 1, which is characterized in that the goods delivery method further includes following step
It is rapid:
Transmission receives password confirming information to the consignee, and receives the encrypted message that the consignee returns；
Judge whether the received encrypted message and the encrypted message prestored are identical；
If they are the same, then it controls unmanned plane and discharges the cargo to the consignee.
6. goods delivery method according to claim 5, which is characterized in that the received encrypted message of the judgement with
It is further comprising the steps of after the whether identical step of the encrypted message prestored:
If not identical, the number that the consignee returns to bad password information is recorded；
When the number reaches preset times, control unmanned plane locks the cargo.
7. a kind of goods delivery control device based on unmanned plane, which is characterized in that the goods delivery control device includes:
Flight control modules fly according to the flight path planned in advance to the airplane parking area pre-determined distance for controlling unmanned plane
In range；
Communication connection module, for receiving the connectivity request message of the signal transceiver transmission and being built with the signal transceiver
Vertical communication connection；
Goods delivery module, the airplane parking area location information sent for receiving the signal transceiver, and according to the airplane parking area
The current location information of location information and unmanned plane controls the unmanned plane during flying to the airplane parking area position to dispense cargo.
8. goods delivery control device according to claim 7, which is characterized in that the communication connection module includes:
Signal receiving unit, the connectivity request message sent for receiving the signal transceiver, in the connectivity request message
Number including the airplane parking area；
Whether judging unit, the number and the airplane parking area number obtained in advance for judging the airplane parking area are identical；
Unit is communicated to connect, establishes and communicates to connect with the signal transceiver when for judging identical.
9. a kind of unmanned plane, which is characterized in that the unmanned plane includes processor and memory, described in the processor coupling
Memory, the processor execute instruction as described in any one of claims 1 to 6 based on unmanned plane to realize at work
Goods delivery method.
10. a kind of storage medium, is stored thereon with computer program, which is characterized in that the computer program is held by processor
Row is to realize the goods delivery method as described in any one of claims 1 to 6 based on unmanned plane.
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