CN119225417A

CN119225417A - A method and system for transporting cargo using unmanned aerial vehicles, an unmanned aerial vehicle and a storage medium

Info

Publication number: CN119225417A
Application number: CN202411152554.3A
Authority: CN
Inventors: 张国荣
Original assignee: Shenzhen Kaihong Digital Industry Development Co Ltd
Current assignee: Shenzhen Kaihong Digital Industry Development Co Ltd
Priority date: 2024-08-21
Filing date: 2024-08-21
Publication date: 2024-12-31

Abstract

The present application discloses a method, system, drone and storage medium for transporting cargo by drone, the method comprising: driving along a preset route, obtaining the current navigation information of the drone when carrying cargo; determining a transfer station in the preset route according to the current navigation information, and sending the current navigation information to an unmanned vehicle in the transfer station; landing at the transfer station according to the current navigation information, generating target arrival information; unloading the cargo and delivering it to the unmanned vehicle according to the target arrival information, so that the unmanned vehicle continues to transport the cargo. The present application improves logistics efficiency by transferring the cargo to the unmanned vehicle for configuration after the drone lands at a station on the route.

Description

Unmanned aerial vehicle cargo operation method and system, unmanned aerial vehicle and storage medium

Technical Field

The application relates to the technical field of unmanned aerial vehicle cargo transportation, in particular to an unmanned aerial vehicle cargo operation method, an unmanned aerial vehicle cargo operation system, an unmanned aerial vehicle and a storage medium.

Background

At present, unmanned aerial vehicles have begun to be applied in the fields of express delivery and cargo transportation. They are capable of autonomous flight to a designated location, but after reaching the destination, often require manual intervention to remove the cargo or transfer the cargo to another vehicle. This process reduces the efficiency of the overall logistics chain and increases costs.

Accordingly, the prior art is still in need of improvement and development.

Disclosure of Invention

The application mainly aims to provide a cargo operation method and system of an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium, and aims to solve the problem that in the prior art, the cargo is transferred by manual intervention after the unmanned aerial vehicle independently flies to a designated place, so that the efficiency of the whole logistics chain is low.

The first aspect of the embodiment of the application provides an unmanned aerial vehicle cargo operation method, which comprises the steps of obtaining current navigation information when an unmanned aerial vehicle carries cargo in a running process of the unmanned aerial vehicle according to a preset route, determining a transfer station in the preset route according to the current navigation information, sending the current navigation information to an unmanned aerial vehicle in the transfer station, landing at the transfer station according to the current navigation information to generate target arrival information, and unloading and throwing the cargo to the unmanned aerial vehicle according to the target arrival information so that the unmanned aerial vehicle can continue to transport the cargo.

Optionally, in one embodiment of the application, the current navigation information comprises flight data and transportation data, the determination of the transfer site in the preset route according to the current navigation information specifically comprises the steps of acquiring landing positions of a plurality of sites in the preset route according to the flight data, and determining the transfer site from the sites according to the transportation data and the landing positions.

Optionally, in one embodiment of the application, the method for transmitting the current navigation information to the unmanned vehicle in the transfer station specifically comprises the steps of receiving station vehicle information transmitted by the transfer station, determining the unmanned vehicle in the transfer station according to the station vehicle information, and transmitting the flight data and the transportation data to the unmanned vehicle.

Optionally, in one embodiment of the present application, the flight data includes a flight speed, a flight altitude, and a flight position; the method comprises the steps of landing at a transfer site according to current navigation information to generate target arrival information, and specifically comprises the steps of obtaining the current distance between an unmanned aerial vehicle and the transfer site according to the flight speed, the flight height and the flight position, controlling the unmanned aerial vehicle to slow down to the target speed and obtaining an identification image in the transfer site if the current distance is within a preset distance range, and adjusting the target gesture of the unmanned aerial vehicle according to the target speed and the identification image to land at the transfer site according to the target gesture to generate target arrival information.

Optionally, in one embodiment of the present application, the method further includes, according to the target speed and the identification image, adjusting a target gesture of the unmanned aerial vehicle, landing at the transit station according to the target gesture, and generating target arrival information, and then, sending the target arrival information to the unmanned aerial vehicle, and receiving vehicle transit information generated by the unmanned aerial vehicle in response to the target arrival information.

Optionally, in one embodiment of the present application, unloading and delivering the cargo to an unmanned vehicle according to the target arrival information specifically includes docking a docking mechanism corresponding to the unmanned vehicle according to the target arrival information and the vehicle transfer information, receiving a transmission signal sent by the docking mechanism, and unloading the cargo according to the transmission signal, so that the cargo is transferred to the unmanned vehicle.

Optionally, in an embodiment of the present application, unloading and delivering the cargo to an unmanned vehicle according to the target arrival information, and then further includes receiving matching information for checking the cargo by the unmanned vehicle, and controlling the unmanned vehicle to navigate according to a next task point of the preset course if the matching information meets a matching requirement.

The second aspect of the embodiment of the present application further provides an unmanned aerial vehicle cargo operation system, where the unmanned aerial vehicle cargo operation system includes:

The information acquisition module is used for driving according to a preset route and acquiring current navigation information when the unmanned aerial vehicle carries goods;

The station confirmation module is used for determining a transfer station in the preset route according to the current navigation information and sending the current navigation information to unmanned vehicles in the transfer station;

the arrival landing module is used for landing at the transfer site according to the current navigation information and generating target arrival information;

And the goods transferring module is used for unloading and throwing the goods to the unmanned vehicle according to the target arrival information so that the unmanned vehicle can continue to transport the goods.

The third aspect of the embodiment of the application also provides a unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises a memory, a processor and an unmanned aerial vehicle cargo operation program which is stored in the memory and can run on the processor, and the unmanned aerial vehicle cargo operation program realizes the steps of the unmanned aerial vehicle cargo operation method when being executed by the processor.

The fourth aspect of the embodiment of the present application further provides a computer readable storage medium, where the computer readable storage medium stores an unmanned aerial vehicle cargo operation program, and when the unmanned aerial vehicle cargo operation program is executed by a processor, the steps of the unmanned aerial vehicle cargo operation method described above are implemented.

The unmanned aerial vehicle cargo operation method has the beneficial effects that the cargo is transferred to the unmanned aerial vehicle for configuration after the unmanned aerial vehicle falls on a station of an air route, so that the logistics efficiency is improved, the manual intervention is reduced, the cost is reduced, and the application range of the unmanned aerial vehicle in the logistics field is enlarged.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings may be obtained according to the drawings without inventive effort to those skilled in the art.

FIG. 1 is a flow chart of a preferred embodiment of the method of cargo handling of the unmanned aerial vehicle of the present application;

FIG. 2 is a schematic diagram of a cargo handling system of a drone according to a preferred embodiment of the present application;

fig. 3 is a schematic structural view of a preferred embodiment of the unmanned aerial vehicle of the present application.

Reference numerals illustrate:

10. the system comprises an unmanned aerial vehicle cargo operation system, an information acquisition module, a site confirmation module, a landing arrival module and a cargo transfer module.

Specific embodiments of the present application have been shown by way of the above drawings and will be described in more detail below. The drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but rather to illustrate the inventive concepts to those skilled in the art by reference to the specific embodiments.

Detailed Description

In order to make the objects, technical solutions and effects of the present application clearer and more specific, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and the described embodiments are only possible technical implementations of the present application, but not all possible implementations. Based on the embodiments of the present application, a person skilled in the art may well combine the embodiments of the present application to obtain other embodiments without inventive faculty, and these embodiments are also within the scope of the present application.

In the related art, after the unmanned aerial vehicle arrives at a target place, manual operation is needed to unload cargoes, time cost and labor cost are increased, full automation cannot be realized, unmanned aerial vehicle transportation cannot realize end-to-end automation due to lack of an automatic transfer mechanism, safety hazards are caused by safety accidents possibly occurring in the manual operation process, damage is caused to personnel or cargoes, the application range of the unmanned aerial vehicle is limited, and due to the transfer problem, the unmanned aerial vehicle can be limited to occasions capable of being directly delivered, so that the unmanned aerial vehicle cannot be widely applied to more complex logistics scenes.

The following describes a cargo operation method, a cargo operation system, a cargo operation unmanned aerial vehicle, and a storage medium of an embodiment of the present application with reference to the accompanying drawings. Aiming at the problem that in the related art, the unmanned aerial vehicle needs to manually intervene to transfer goods after autonomously flying to a designated place, so that the efficiency of the whole logistics chain is low, the application provides a method for operating the goods of the unmanned aerial vehicle. Therefore, the technical problem that the efficiency of the whole logistics chain is low due to the fact that the unmanned aerial vehicle needs to be manually involved to transfer goods after the unmanned aerial vehicle independently flies to a designated place in the related art is solved.

The embodiment of the application has the following advantages:

(1) And the automatic transfer is realized by using automatic equipment, so that the transfer of seamless goods from the unmanned aerial vehicle to the unmanned aerial vehicle is realized, and manual intervention is not required.

(2) The efficiency is improved, waiting time and processing time caused by manual operation are reduced, and the efficiency of the whole logistics chain is improved.

(3) The application range is expanded, so that the unmanned aerial vehicle can be applied to more complex logistics scenes, such as rapid transportation among cities, emergency material delivery and the like.

(4) The safety guarantee is that the automatic process reduces human errors and safety risks and improves the safety of cargo transportation.

The technical scheme of the application is described in detail below by specific examples. The following embodiments may be combined with each other, and some embodiments may not be repeated for the same or similar concepts or processes.

According to the unmanned aerial vehicle cargo operation method disclosed by the preferred embodiment of the application, as shown in fig. 1, the unmanned aerial vehicle cargo operation method comprises the following steps:

In step S101, current navigation information when the unmanned aerial vehicle carries cargo is obtained in the process that the unmanned aerial vehicle carries cargo according to a preset route.

The method comprises the steps of firstly determining the final destination of goods and the requirements of clients, such as delivery time, special processing requirements and the like, checking weather conditions in an expected flight path, avoiding severe weather areas, ensuring flight safety, confirming restrictions in the flight areas, such as a restricted flight area, a restricted altitude area and the like, and special permission or notification required, planning possible relay stations according to the cruising ability and the expected flight distance of an unmanned aerial vehicle, so that the unmanned aerial vehicle can charge or replace batteries when required, and integrating the data and information, wherein a control center can plan a safe and efficient route. After taking off, the unmanned plane enters a navigation mode and utilizes a global positioning system (gps, glass) to carry out basic navigation, and auxiliary systems such as rtk (real-time dynamic differential technology) and the like can be used for improving the positioning precision, especially in the operation requiring high-precision landing. In the whole flight process, the unmanned aerial vehicle is in real-time communication connection with the control center, and the unmanned aerial vehicle continuously sends flight data (such as speed, height, position and battery state) and state information back to the control center; the control center can adjust the route of the unmanned aerial vehicle or execute other instructions in real time according to the received data, such as dealing with sudden weather changes or airspace conflicts.

The embodiment of the application ensures that the unmanned aerial vehicle can safely and accurately fly to the preset transfer site from the starting point.

In step S102, a diversion site is determined in the preset route according to the current navigation information, and the current navigation information is sent to the unmanned vehicle in the diversion site.

In one possible implementation, landing positions of a plurality of stations in the preset route are acquired according to the flight data, and the transfer station is determined from the stations according to the transportation data and the landing positions. The method comprises the steps of receiving station vehicle information sent by a transfer station, determining unmanned vehicles in the transfer station according to the station vehicle information, and sending the flight data and the transportation data to the unmanned vehicles.

It should be noted that, when the unmanned aerial vehicle approaches a predetermined transfer station, it decelerates and searches for a designated landing site. These landing sites are equipped with specialized markers or signaling systems to assist in accurate landing.

In particular, the deceleration and positioning is that when the unmanned aerial vehicle approaches the transfer site, the deceleration is started according to a preset program, and a landing site searching program is started, the accurate position is determined by radar, gps or other sensors, the landing site is searched, the unmanned aerial vehicle scans the ground by using an onboard camera and sensors to find specific marks or signals, the marks can be visual marks (such as marks with specific colors or shapes) or more technically powerful signal transmitters (such as infrared or rfid tags), and a signal system is assisted, in order to improve the landing accuracy, the transfer site can be provided with advanced signal systems, such as radio beacons or laser positioning systems, which can provide accurate position information, help the unmanned aerial vehicle adjust the position and the attitude of the unmanned aerial vehicle, and ensure safe and accurate landing.

In step S103, landing is performed at the diversion site according to the current navigation information, and target arrival information is generated.

In a possible implementation manner, a current distance between the unmanned aerial vehicle and the transfer site is obtained according to the flight speed, the flight height and the flight position, if the current distance is within a preset distance range, the unmanned aerial vehicle is controlled to be decelerated to a target speed, an identification image in the transfer site is obtained, a target gesture of the unmanned aerial vehicle is adjusted according to the target speed and the identification image, landing is carried out on the transfer site according to the target gesture, and target arrival information is generated.

It should be noted that, after the unmanned aerial vehicle lands automatically at the transfer station, the goods are transferred to the unmanned aerial vehicle through a mechanical arm, a conveyor belt or other automatic docking devices. The process is completed fully automatically without manual intervention.

The landing is performed by using a high-precision positioning system and a control algorithm, and the unmanned aerial vehicle slowly descends until a landing device (such as wheels or a landing frame) stably contacts the ground. After goods are docked and landed, the unmanned aerial vehicle system can perform self-checking to ensure that all parts work normally, and meanwhile, the unmanned aerial vehicle or other automatic docking devices move to a preset position to prepare for receiving the goods.

That is, the embodiment of the application realizes seamless goods transfer between the unmanned aerial vehicle and the unmanned aerial vehicle by an advanced automation technology, the whole process does not need manual intervention, the logistics efficiency is improved, and the cost and the potential risk are reduced.

In step S104, according to the target arrival information, the goods are unloaded and delivered to an unmanned vehicle, so that the unmanned vehicle can continue to transport the goods.

In one possible implementation, the target arrival information is sent to the unmanned vehicle, and vehicle transfer information generated by the unmanned vehicle in response to the target arrival information is received. According to the target arrival information and the vehicle transfer information, the docking mechanism corresponding to the unmanned vehicle is used for docking, a transmission signal sent by the docking mechanism is received, and the goods are unloaded according to the transmission signal, so that the goods are transferred to the unmanned vehicle.

Specifically, the mechanical arm or the conveyor belt is operated, the unmanned aerial vehicle may be provided with a mechanical arm or a conveyor belt and the like, and the mechanical arm can accurately move to a goods storage position according to a preset program to unlock or disconnect the goods fixing device. The goods are transferred, the mechanical arm or other automatic devices move the goods to the unmanned vehicle smoothly, the process needs to be controlled accurately to avoid shaking or falling of the goods in the transferring process, and the goods are placed at the pre-prepared position and fixed or locked on the unmanned vehicle to ensure the safety in the transporting process of the unmanned vehicle. After the goods are transferred, the automatic docking device such as a mechanical arm or a conveyor belt is withdrawn to the initial position to prepare for the next operation, and the unmanned aerial vehicle respectively perform system inspection to confirm that the goods are safely transferred and send a signal for completing tasks to a control center.

After the unmanned vehicle receives the goods, checking and configuring the goods according to a preset program, and then starting to go on to the next destination point or the final delivery point; after the goods transfer is completed, the unmanned aerial vehicle can take off autonomously, return to the base or move to other positions to wait for the next task. All data of the whole transfer process is collected and analyzed for optimizing future transportation operations, improving the overall efficiency and reliability of the system.

In one possible implementation manner, matching information of the unmanned aerial vehicle for checking the goods is received, and if the matching information meets matching requirements, the unmanned aerial vehicle is controlled to navigate according to a next task point of the preset course heading.

The unmanned vehicle is configured and continuously transported, the unmanned vehicle uses a sensor or scanning equipment to confirm that received cargoes are matched with expected cargoes, accuracy is guaranteed, the unmanned vehicle can reorder or adjust the cargoes according to the final destination or special requirements of the cargoes so as to optimize the subsequent transportation process, and after the configuration is completed, the unmanned vehicle automatically navigates to the next destination or final delivery point according to a preset route, and the process can comprise a plurality of stop points so as to complete the delivery of all cargoes. The unmanned aerial vehicle is required to return to the base or move to other places, the unmanned aerial vehicle automatically takes off without manual intervention, the unmanned aerial vehicle maintains, charges or directly flies to other task places on the basis of task demands, and the unmanned aerial vehicle enters a standby state after reaching a designated position and waits for a next task instruction. The system collects a large amount of data such as position, speed, cargo state and the like from take-off to landing and to each link of unmanned vehicle transportation, analyzes the collected data by utilizing a big data analysis and machine learning algorithm, identifies bottlenecks and problem points in the transportation process, and adjusts logistics strategies and transportation flows based on the result of data analysis, such as optimizing route planning and adjusting cargo configuration modes, so as to improve the overall efficiency and reduce the cost.

Next, a cargo handling system for an unmanned aerial vehicle according to an embodiment of the present application will be described with reference to the accompanying drawings.

Fig. 2 is a block schematic diagram of a cargo handling system for a drone according to an embodiment of the present application.

As shown in fig. 2, the unmanned aerial vehicle cargo handling system 10 includes an information acquisition module 100, a site confirmation module 200, an arrival landing module 300, and a cargo transferring module 400.

Specifically, the information obtaining module 100 is configured to obtain current navigation information when the unmanned aerial vehicle carries cargo according to a preset route;

The station confirmation module 200 is configured to determine a diversion station in the preset route according to the current navigation information, and send the current navigation information to an unmanned vehicle in the diversion station;

The landing module 300 is configured to land on the diversion site according to the current navigation information, and generate target arrival information;

and the cargo transferring module 400 is configured to unload and deliver the cargo to an unmanned vehicle according to the target arrival information, so that the unmanned vehicle can continue to transport the cargo.

Fig. 3 is a schematic structural diagram of the unmanned aerial vehicle according to the embodiment of the present application. The unmanned aerial vehicle may include:

Memory 501, processor 502, and a computer program stored on memory 501 and executable on processor 502.

The processor 502 implements the unmanned aerial vehicle cargo operation method provided in the above-described embodiment when executing a program.

Further, the unmanned aerial vehicle further includes:

a communication interface 503 for communication between the memory 501 and the processor 502.

Memory 501 for storing a computer program executable on processor 502.

The memory 501 may include high-speed RAM memory and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.

If the memory 501, the processor 502, and the communication interface 503 are implemented independently, the communication interface 503, the memory 501, and the processor 502 may be connected to each other via a bus and perform communication with each other. The bus may be an industry standard architecture (Industry Standard Architecture, abbreviated ISA) bus, a Peripheral Component Interconnect (PCI) bus, an extended industry standard architecture (Extended Industry StandardArchitecture, abbreviated EIS) bus, or the like. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 3, but not only one bus or one type of bus.

Alternatively, in a specific implementation, if the memory 501, the processor 502, and the communication interface 503 are integrated on a chip, the memory 501, the processor 502, and the communication interface 503 may perform communication with each other through internal interfaces.

The processor 502 may be a central processing unit (Central Processing Unit, abbreviated as CPU), or an Application SPECIFIC INTEGRATED Circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the application.

The present embodiment also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the unmanned aerial vehicle cargo operation method as above.

An embodiment of the present application provides a computer program product, including a computer program, which when executed by a processor implements the unmanned aerial vehicle cargo operation method provided in any of the embodiments corresponding to fig. 1 of the present application.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, for example, two, three, etc., unless specifically defined otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order from that shown or discussed, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.

Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable storage medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable storage medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include an electrical connection (an electronic device) having one or more wires, a portable computer diskette (a magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable storage medium may even be paper or other suitable medium upon which the program is printed, as the program may be electronically captured, via optical scanning of the paper or other medium, then compiled, interpreted, or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware as in another embodiment, may be implemented using any one or combination of techniques known in the art, discrete logic circuits with logic gates for implementing logic functions on data signals, application specific integrated circuits with appropriate combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), etc.

Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.

The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

It is to be understood that the application is not limited in its application to the examples described above, but is capable of modification and variation in light of the above teachings by those skilled in the art, and that all such modifications and variations are intended to be included within the scope of the appended claims.

It should be noted that the above embodiments are merely for illustrating the technical solution of the present application and not for limiting the same, and although the present application has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that the technical solution described in the above embodiments may be modified or some or all of the technical features may be equivalently replaced, and these modifications or substitutions do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the present application.

Claims

1. A method of unmanned aerial vehicle cargo operation, the method comprising:

acquiring current navigation information when the unmanned aerial vehicle carries goods in the process of carrying the goods by the unmanned aerial vehicle according to a preset route;

determining a transfer station in the preset route according to the current navigation information, and sending the current navigation information to an unmanned vehicle in the transfer station;

landing at the transit site according to the current navigation information to generate target arrival information;

And unloading and throwing the goods to the unmanned vehicle according to the target arrival information so that the unmanned vehicle can continue to transport the goods.

2. The unmanned aerial vehicle cargo handling method of claim 1, wherein the current voyage information comprises flight data and transportation data;

determining a transfer station in the preset route according to the current navigation information, wherein the method specifically comprises the following steps:

Acquiring landing positions of a plurality of stations in the preset route according to the flight data;

The diversion site is determined from a plurality of the sites based on the transportation data and a plurality of the landing positions.

3. The unmanned aerial vehicle cargo handling method of claim 2, wherein the sending the current voyage information to the unmanned aerial vehicle in the transfer station, in particular, comprises:

Receiving station vehicle information sent by the transfer station;

determining unmanned vehicles in the transfer station according to the station vehicle information;

And sending the flight data and the transportation data to the unmanned vehicle.

4. The unmanned aerial vehicle cargo handling method of claim 2, wherein the flight data comprises a flight speed, a flight altitude, and a flight position;

Landing at the diversion site according to the current navigation information to generate target arrival information, which specifically includes:

Obtaining the current distance between the unmanned aerial vehicle and the transfer station according to the flying speed, the flying height and the flying position;

If the current distance is within the preset distance range, controlling the unmanned aerial vehicle to decelerate to a target speed, and acquiring an identification image in the transfer site;

And adjusting the target gesture of the unmanned aerial vehicle according to the target speed and the identification image, landing at the transfer site according to the target gesture, and generating target arrival information.

5. The method for operating cargo of an unmanned aerial vehicle according to claim 4, wherein the step of adjusting a target attitude of the unmanned aerial vehicle according to the target speed and the identification image, landing at the transfer site according to the target attitude, and generating target arrival information further comprises:

and sending the target arrival information to the unmanned vehicle, and receiving vehicle transfer information generated by the unmanned vehicle in response to the target arrival information.

6. The unmanned aerial vehicle cargo operation method according to claim 5, wherein unloading and delivering the cargo to the unmanned aerial vehicle according to the target arrival information specifically comprises:

According to the target arrival information and the vehicle transfer information, docking is carried out on a docking mechanism corresponding to the unmanned vehicle, and a transmission signal sent by the docking mechanism is received;

and unloading the goods according to the transmission signal, so that the goods are transferred to the unmanned vehicle.

7. The unmanned aerial vehicle cargo handling method of claim 1, wherein unloading and delivering the cargo to an unmanned aerial vehicle based on the target arrival information, further comprises:

receiving matching information of the unmanned vehicle for checking the goods;

and if the matching information meets the matching requirement, controlling the unmanned aerial vehicle to navigate according to the next task point of the preset course.

8. An unmanned aerial vehicle cargo handling system, the unmanned aerial vehicle cargo handling system comprising:

9. A drone comprising a memory, a processor, and a drone cargo operation program stored on the memory and operable on the processor, the drone cargo operation program when executed by the processor implementing the steps of the drone cargo operation method of any one of claims 1-7.

10. A computer readable storage medium, characterized in that the computer readable storage medium stores a drone cargo operation program, which when executed by a processor, implements the steps of the drone cargo operation method of any one of claims 1-7.