CN104834319A - Express delivery unmanned aerial vehicle (UAV) multi-cluster safe route control method and control system - Google Patents
Express delivery unmanned aerial vehicle (UAV) multi-cluster safe route control method and control system Download PDFInfo
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Abstract
The invention discloses an express delivery unmanned aerial vehicle (UAV) multi-cluster safe route control method and control system, wherein, the method comprises receiving ordering of a client; planning an exclusive route for reach UAV based on ordering address information, controlling the UAV to fly to the destination according to the exclusive route, and correcting the route when the UAV is detected to deviate from the exclusive route; and controlling the UAV to hover when an obstacle is detected in a preset safety zone of the UAV, and controlling the UAV to fly according to the principle of route avoidance. The control method in the embodiment of the invention achieves orderly flight of the UAVs in the air through exclusive route planning, route deviation correction and flight safety zone emergency avoidance, and ensures the safety of simultaneous flying of a UAV multi-cluster in the air.
Description
Technical field
The present invention relates to unmanned plane multi-Cluster safety lanes control technology field, particularly a kind of express delivery unmanned plane multi-Cluster safety lanes control method and control system.
Background technology
At present, existing express delivery industry terminal distribution system substantially all adopts manpower means of distribution, and its maximum weak point is: join goods efficiency low, join the high and user of goods cost and connect ETCD estimated time of commencing discharging and delivery period asymmetry problem.Existing express delivery terminal distribution is all the mode that artificial employing is provided and delivered one by one, but because customers are huge, dispersion, if delivered goods to the customers one by one, easily causes work efficiency lower.
In correlation technique, some means of distribution employing deliver goods are a certain centrostigma to client area, notify that client comes picking by phone, short message mode, but the express delivery theory of this mode unrealized " delivering goods to the customers ", reduce the experience of client, efficiency is also lower simultaneously, often because minority non-picking part needs longer time and manpower to process, and due to efficiency lower, human and material resources cost spent in delivery process is relative also higher.But, be compared to the convenient degree of client's picking, if adopt the mode of " delivering goods to the customers " to be difficult to accomplish that most distribution time and client connect the consistent of ETCD estimated time of commencing discharging, thus cause the dispensing reduction of efficiency and increasing of cost, Courier Service quality cannot be ensured well.But, send part person to fix a point in client area means of distribution if adopted, send the place selected by part person may not conveniently with all clients, if chosen distance is comparatively far, easily reduces customer satisfaction, thus cause the loss of client.From client's angle, because express mail may be unknown for client, and the time of sending part person to arrive has its uncertainty, addressee can not adopt the mode sat back and waited to carry out the reception of express mail, so after express mail arrival, consignee may not when sending part people to send with charge free place regional extent in, thus many uncertain factors can be produced.Meanwhile, by sending part person to select to fix a point, existing express delivery means of distribution waits for that client comes the mode of picking, express mail arrangement is at random, and floor area comparatively greatly, adds the time cost that pickup people looks for express mail when express mail quantity is more.
In addition, the well-known express company's Amazon, Google, DHL etc. in the whole world also starts to pay close attention to unmanned plane deliver goods mode, and start the technical research carrying out being correlated with, but it is according to the actual conditions of client, deliver goods unmanned plane of its design delivers that error is large, dead weight capacity is low, need manpower to receive, flying distance is far away.And China client Relatively centralized, goods amount is joined large in region, and according to the data display that numerous businessman such as Taobao, Jingdone district announces, the express mail weight having more than 85% in express mail is at below 3kg, cause being badly in need of accurate positioning, dead weight capacity is large, stability is high express delivery unmanned plane, the goods part realized in express delivery terminal 30min is delivered goods to the customers, and nobody accurate delivery of receiving.But the safety problem of unmanned plane airflight affects the most crucial technical matters of express delivery unmanned plane.At present, due to the commercialized running of also unrealized express delivery unmanned plane both at home and abroad, be also just in test, development phase, also there is no the complete technical method such as the planning of unmanned plane air route, course line correction, Emergency avoidance, this problem urgently to be resolved hurrily.
Summary of the invention
The present invention is intended to solve one of technical matters in above-mentioned correlation technique at least to a certain extent.
For this reason, one object of the present invention is that proposition one can realize unmanned plane and fly in order aloft, ensures the safety that unmanned plane multi-Cluster flies simultaneously in the air, and simple express delivery unmanned plane multi-Cluster safety lanes control method.
Another object of the present invention is to propose a kind of express delivery unmanned plane multi-Cluster safety lanes control system
For achieving the above object, one aspect of the present invention embodiment proposes a kind of express delivery unmanned plane multi-Cluster safety lanes control method, comprises the following steps: receive the placing an order of client, wherein, described in place an order and comprise lower single-address message; The exclusive course line of each unmanned plane is planned according to lower single-address message, and control the exclusive airline operation of each unmanned plane according to self to destination, the exclusive course line of any two unmanned planes does not have overlapping region, wherein, if when detecting that unmanned plane during flying departs from the exclusive course line of self, then course line correction is carried out to described unmanned plane; If detect that the preset security region memory of described unmanned plane is at barrier, then control described unmanned plane and hover, and according to course line dodge principle control described unmanned plane navigation with the safety guaranteeing unmanned plane.
According to the express delivery unmanned plane multi-Cluster safety lanes control method that the embodiment of the present invention proposes, after receiving the placing an order of client, by planning the exclusive course line of each unmanned plane according to lower single-address message, thus control each unmanned plane according to exclusive airline operation to destination, and carry out course line correction when unmanned plane during flying departs from exclusive course line, and control unmanned plane hovering when there is barrier in the safety zone of unmanned plane and dodge principle navigation according to course line, by exclusive flight course planning, course line offset correction, flight-safety region Emergency avoidance, realize the skyborne orderly flight of unmanned plane, ensure the safety that unmanned plane multi-Cluster flies simultaneously in the air, be particularly useful for express delivery industry to fly unmanned aerial vehicle group system frequently, improve the experience of client, simple.
In addition, express delivery unmanned plane multi-Cluster safety lanes control method according to the above embodiment of the present invention can also have following additional technical characteristic:
Further, in one embodiment of the invention, preset security region according to the exclusive airline generation of described each unmanned plane.
Further, in one embodiment of the invention, when detecting that if described unmanned plane during flying departs from the exclusive course line of self, then carry out course line to described unmanned plane to correct and specifically comprise: when detecting that described unmanned plane during flying departs from self exclusive course line predeterminable range described, report to the police by controlling course line blinking red lamp, and carry out course line correction.
Further, in one embodiment of the invention, by controlling to connect goods device, course line guiding is carried out to described unmanned plane.
Further, in one embodiment of the invention, described exclusive course line can be " Π " type course line.
The present invention on the other hand embodiment proposes a kind of express delivery unmanned plane multi-Cluster safety lanes control system, it is characterized in that, comprise: client, cloud computing control center and unmanned aerial vehicle group, described unmanned aerial vehicle group comprises multiple unmanned plane, each unmanned plane has place of safety determinator, described client, places an order to described cloud computing control center, wherein, place an order described in and comprise lower single-address message, whether described place of safety determinator, exist barrier in the preset security region of detection unmanned plane, described cloud computing control center, the exclusive course line of each unmanned plane is planned according to lower single-address message, and control the exclusive airline operation of each unmanned plane according to self to destination, wherein, the exclusive course line of any two unmanned planes does not have overlapping region, wherein, when detecting that described unmanned plane during flying departs from the exclusive course line of self, course line correction is carried out to described unmanned plane, when detecting that the preset security region memory of described unmanned plane is at barrier, then control described unmanned plane to hover, and according to course line dodge principle control described unmanned plane navigation with the safety guaranteeing unmanned plane.
According to the express delivery unmanned plane multi-Cluster safety lanes control system that the embodiment of the present invention proposes, after receiving the placing an order of client, by planning the exclusive course line of each unmanned plane according to lower single-address message, thus control each unmanned plane according to exclusive airline operation to destination, and carry out course line correction when unmanned plane during flying departs from exclusive course line, and control unmanned plane hovering when there is barrier in the safety zone of unmanned plane and dodge principle navigation according to course line, by exclusive flight course planning, course line offset correction, flight-safety region Emergency avoidance, realize the skyborne orderly flight of unmanned plane, ensure the safety that unmanned plane multi-Cluster flies simultaneously in the air, be particularly useful for express delivery industry to fly unmanned aerial vehicle group system frequently, improve the experience of client, simple.
In addition, express delivery unmanned plane multi-Cluster safety lanes control system according to the above embodiment of the present invention can also have following additional technical characteristic:
Further, in one embodiment of the invention, described cloud computing control center preset security region according to the exclusive airline generation of described each unmanned plane.
Further, in one embodiment of the invention, described place of safety determinator specifically comprises: judge module, detect in described preset security region and whether there is described barrier, judge the character of described barrier, the character of described barrier comprises homologous signal unmanned plane, static-obstacle thing and dynamic barrier; Speed measuring module, after judging that described barrier is described dynamic barrier, whether detection dynamic barrier and unmanned plane during flying direction liquidate; Detection module, when detecting described dynamic barrier and described unmanned plane during flying direction and liquidating, detects described unmanned plane and described dynamic barrier relative position and relative distance.
Further, in one embodiment of the invention, described detection module comprises: relative position detecting unit, detects the relative position of described unmanned plane and described dynamic barrier; Relative distance detecting unit, detects the relative distance of described unmanned plane and described dynamic barrier.
Further, in one embodiment of the invention, also comprise: connect goods device, described cloud computing control center carries out course line guiding by connecing goods device described in control to described unmanned plane, wherein, connect goods device described in and there is laser positioning guiding device and pattern recognition device.
The aspect that the present invention adds and advantage will part provide in the following description, and part will become obvious from the following description, or be recognized by practice of the present invention.
Accompanying drawing explanation
Above-mentioned and/or additional aspect of the present invention and advantage will become obvious and easy understand from accompanying drawing below combining to the description of embodiment, wherein:
Fig. 1 is the process flow diagram of express delivery unmanned plane multi-Cluster safety lanes control method according to an embodiment of the invention;
Fig. 2 is the process flow diagram of express delivery unmanned plane multi-Cluster safety lanes control method according to an embodiment of the invention;
Fig. 3 is the exclusive airline operation schematic diagram of express delivery unmanned plane according to an embodiment of the invention;
Fig. 4 is that in emergency circumstances the process flow diagram of principle control is dodged in course line according to an embodiment of the invention;
Fig. 5 is the structural representation of the express delivery unmanned plane multi-Cluster safety lanes control system according to the embodiment of the present invention.
Embodiment
Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Be exemplary below by the embodiment be described with reference to the drawings, be intended to for explaining the present invention, and can not limitation of the present invention be interpreted as.
In addition, term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance or imply the quantity indicating indicated technical characteristic.Thus, be limited with " first ", the feature of " second " can express or impliedly comprise one or more these features.In describing the invention, the implication of " multiple " is two or more, unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, the term such as term " installation ", " being connected ", " connection ", " fixing " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or connect integratedly; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals.For the ordinary skill in the art, above-mentioned term concrete meaning in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or D score can comprise the first and second features and directly contact, also can comprise the first and second features and not be directly contact but by the other characterisation contact between them.And, fisrt feature second feature " on ", " top " and " above " comprise fisrt feature directly over second feature and oblique upper, or only represent that fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " below " and " below " comprise fisrt feature directly over second feature and oblique upper, or only represent that fisrt feature level height is less than second feature.
Describe the express delivery unmanned plane multi-Cluster safety lanes control method and control system that propose according to the embodiment of the present invention with reference to the accompanying drawings, describe the express delivery unmanned plane multi-Cluster safety lanes control method proposed according to the embodiment of the present invention first with reference to the accompanying drawings.With reference to shown in Fig. 1, the method comprises the following steps:
S101, receives placing an order of client, wherein, places an order and comprise lower single-address message.
In one embodiment of the invention, client can be mobile terminal as mobile phone, panel computer etc., such as client can be placed an order by mobile phone A PP software, simple and convenient.
S102, plans the exclusive course line of each unmanned plane according to lower single-address message, and controls the exclusive airline operation of each unmanned plane according to self to destination, and the exclusive course line of any two unmanned planes does not have overlapping region.
In one embodiment of the invention, before unmanned plane makes a return voyage safely, the exclusive course line of each unmanned plane is single-minded course line, and in the same time period, not any with other course line is overlapping.
S103, if when detecting that unmanned plane during flying departs from the exclusive course line of self, then carries out course line correction to unmanned plane.Particularly, unmanned plane takes off successively according to order of taking off, and flies, when cloud computing control center has detected that unmanned plane during flying departs from himself exclusive course line, then can carry out real time correction by course line Corrective control according to the exclusive course line of self.
Further, in one embodiment of the invention, if when detecting that unmanned plane during flying departs from the exclusive course line of self, then carry out course line correction to unmanned plane specifically to comprise: when detecting that unmanned plane during flying departs from the exclusive course line predeterminable range of self, report to the police by controlling course line blinking red lamp, and carry out course line correction.Wherein, when the exclusive course line certain distance of unmanned plane during flying apart from self, then judge that unmanned plane departs from the exclusive course line of self, and predeterminable range can be arranged according to actual conditions.
Particularly, the standard that course line corrects is that the distance that unmanned plane departs from upper and lower, left and right, own unique course line such as reaches 1 times when own dimensions, and cloud computing control center controls corresponding course line blinking red lamp, and carries out course line correction.
S104, if detect that the preset security region memory of unmanned plane is at barrier, then controls unmanned plane and hovers, and dodges the navigation of principle control unmanned plane with the safety guaranteeing unmanned plane according to course line.Wherein, course line is dodged principle and can be dodged for various emergency science of carrying out that may run into such as homologous signal unmanned plane, non-homogeneous signal static-obstacle thing, non-homogeneous signal dynamics barriers simultaneously.
In one embodiment of the invention, every frame unmanned aerial vehicle body all can carry place of safety determinator, this device and cloud computing control center keep real-time, interactive communication, when device detect in unmanned plane place of safety have barrier time, first hover, then dodge principle according to course line to navigate by water, ensure multiple UAVs or have safe distance all the time between unmanned plane and barrier, guaranteeing the safe navigation of unmanned plane.Further, in one embodiment of the invention, the place of safety that place of safety determinator can detect can be a cylindrical space, the place of safety determinator of its center entrained by unmanned plane, and place of safety sensing range can be that unmanned plane upper and lower, left and right 2.5 are doubly to the size of self.Wherein, place of safety determinator can be made up of with range finding pick-up unit the pick-up unit that tests the speed, thus measures the relative position of barrier and self unmanned plane.
In one embodiment of the invention, according to the exclusive airline generation preset security region of each unmanned plane.Particularly, making a return voyage during the platform that makes a return voyage to unmanned plane after exclusive airline generation is unique air route, and its upper and lower, left and right, course line all can be arranged if 5 times of distances to own dimensions are safe distance.
Further, in one embodiment of the invention, by controlling to connect goods device, course line guiding is carried out to unmanned plane.Particularly, connect on goods device and laser positioning guiding device and pattern recognition device can be housed, after user places an order, control is connect goods device and the man-to-man guiding work of corresponding unmanned plane by cloud computing control center, realizes the accurate navigation in course line.
Further, in one embodiment of the invention, exclusive course line is preferably " Π " type course line.
In one particular embodiment of the present invention, with reference to shown in Fig. 2, client is placed an order by mobile phone A PP software, the lower single-address message during cloud computing control center places an order according to client, carries out exclusive flight course planning to every frame unmanned plane.It should be noted that before unmanned plane makes a return voyage safely, this exclusive course line is single-minded course line, and in the same time period, not any with other course line is overlapping; Unmanned plane takes off successively according to order of taking off, and flies according to the exclusive course line of self.When cloud computing control center has detected that unmanned plane during flying departs from himself exclusive course line, then can carry out real time correction by course line Corrective control; Every frame unmanned aerial vehicle body all carries place of safety determinator, this device and cloud computing control center keep real-time, interactive communication, when device detect in unmanned plane place of safety have barrier time, first hover, then dodge principle according to course line to navigate by water, ensure multiple UAVs or have safe distance all the time between unmanned plane and barrier, guaranteeing the safe navigation of unmanned plane.
Further, with reference to shown in Fig. 3, first on the ground 1 that express delivery dispensing terminal (such as residential block, Office Area, building district) relatively flat, barrier are less, build unmanned plane parking warehouse 2, unmanned plane is daily to be parked in unmanned plane parking warehouse 2; After aerial mission is assigned by cloud computing control center, each sortie unmanned plane can take off on platform 3 by being aligned to along it according to control center's instruction, takes off successively; Be arranged on connecing on goods device 5 in user house outside wall surface 4 and have laser positioning guiding device and pattern recognition device, navigation function is played to unmanned plane; Unmanned plane according to cloud computing control center exclusive course line (as show in figure course line 6, shown in course line 7 and course line 8) fly respectively, each exclusive course line is " Π " type course line, first vertically when taking off to rise, then level advance, vertically drop to user again and connect on goods device 5; Also be according to " Π " type airline operation when making a return voyage, first connect vertically rising goods device 5, then level advance from user, vertically drop to the platform that makes a return voyage again, unmanned plane completes flight task.To make a return voyage the unique air route during the platform that makes a return voyage to unmanned plane after each exclusive airline generation, its upper and lower, left and right, course line all have 5 times to the safe distance of own dimensions, guarantee unmanned plane safe flight.
Further, with reference to shown in Fig. 4, unmanned plane is aloft in flight course, and the place of safety determinator on cloud computing control center and unmanned aerial vehicle body keeps real-time communication, can control in real time; When the place of safety determinator on unmanned aerial vehicle body detect in self unmanned plane place of safety have barrier time, first hover in aerial position, then carry out the judgement of barrier character; If the barrier entering place of safety is the unmanned plane of homologous signal, then cloud computing control center assigns upwards place of safety and detects instruction, detection signal is safety, then unmanned plane flies vertically upward, until the whole place of safety of this unmanned plane detect accessible after be returned to own unique course line continue flight; If detection signal is dangerous, then unmanned plane keep hovering, until detection signal be safety till, carry out command adapted thereto flight as continue flight or fly vertically upward be returned to again exclusive course line continue fly.If detect that the barrier entering place of safety is non-homogeneous signal, then judge that this barrier is dynamic barrier or static-obstacle thing, as then kept on the basis of hovering for static-obstacle thing unmanned plane, by cloud computing, instruction is assigned by control center, be back on own unique course line, then can planning safe flight on course line; As being dynamic barrier, the relative position then carrying out unmanned plane and dynamic barrier detects, first whether detection dynamic barrier and unmanned plane during flying direction liquidate, if direction liquidates, then unmanned plane flies rapidly vertically upward, fly over behind unmanned plane place of safety until dynamic barrier, unmanned plane is returned to exclusive course line and continues flight; If direction does not liquidate, then detect the relative distance of unmanned plane and dynamic barrier, when apart from time dangerous, then unmanned plane side direction dynamic barrier 90 ° flight, until during the checking network barrier of unmanned plane place of safety, unmanned plane is returned to the continuation of exclusive course line and flies.
In an embodiment of the present invention, by the dispensing of express delivery unmanned plane, cloud computing control center realizes whole-process control, with express delivery unmanned plane, user connect goods device with the use of, unmanned aerial vehicle body is equipped with place of safety determinator, connects on goods device and laser positioning guiding device and pattern recognition device are housed.Express delivery unmanned plane can be for residential block, Office Area, client's Relatively centralized such as building district, but the many rotor wing unmanned aerial vehicles of terminal express delivery of dispensing relative distribution, its dead weight can reach 5kg, the express delivery dispensing demand of client more than 85% can be met, especially need for residential block daily life, be particularly suitable for vegetables of providing and delivering, fruit, commodity equal-volume is moderate, the express delivery dispensing of quality within 5kg, realize the selectivity in unmanned plane aloft respective course line, course line when preventing aerial multiple UAVs from simultaneously flying is overlapping, and the safe flight of unmanned plane is ensured by course line correction and Emergency avoidance principle, guarantee that the goods equipment safety that connects of client terminal is received.
Wherein, the embodiment of the present invention compared with prior art, its obvious advantage is: (1) is at present also not used for express delivery unmanned plane multi-Cluster safety lanes control method, embodiments provide a kind of clear logic, safe and reliable unmanned plane safe flight flight course control method, navigate by water while being specially adapted to express delivery unmanned plane multi-Cluster, express delivery dispensing efficiency can be increased substantially, shorten distribution time, save manpower deliver goods, capital of receiving, set up the control method of express delivery unmanned plane air security navigation; (2) embodiment of the present invention adopts three level security Support Modes, first be that every frame unmanned plane customizes zero lap safety lanes by cloud computing control center, the selectivity in unmanned plane course line is ensured during its flight, secondly by course line corrective system, the correction of real-time course line is carried out to off-line unmanned plane, guarantee unmanned plane airline safety flight belonging to it, again when barrier appears in unmanned plane place of safety, start Emergency avoidance system, principle is dodged in appointment science course line, realizes safe flight; (3) the exclusive course line of the embodiment of the present invention is " Π " type course line, and the vertical rising of main use, level are advanced, vertical these three kinds of offline mode of decline, and unmanned plane during flying pattern switches simply, guarantees the accurate control in unmanned plane during flying course line; (4) unmanned plane is many rotor structures, the change of heading can be realized rapidly, ensure that unmanned plane carries out the fastest dodging selection for various emergencies that may run into such as homologous signal unmanned plane, non-homogeneous signal static-obstacle thing, non-homogeneous signal dynamics barriers.
According to the express delivery unmanned plane multi-Cluster safety lanes control method that the embodiment of the present invention proposes, after receiving the placing an order of client, by planning the exclusive course line of each unmanned plane according to lower single-address message, thus control each unmanned plane according to exclusive airline operation to destination, and carry out course line correction when unmanned plane during flying departs from exclusive course line, and control unmanned plane hovering when there is barrier in the safety zone of unmanned plane and dodge principle navigation according to course line, by exclusive flight course planning, course line offset correction, flight-safety region Emergency avoidance, realize the skyborne orderly flight of unmanned plane, ensure the safety that unmanned plane multi-Cluster flies simultaneously in the air, be particularly useful for express delivery industry to fly unmanned aerial vehicle group system frequently, improve the experience of client, simple.
The express delivery unmanned plane multi-Cluster safety lanes control system proposed according to the embodiment of the present invention is described with reference to the accompanying drawings.With reference to shown in Fig. 5, this control system 10 comprises: client 100, cloud computing control center 200 and unmanned aerial vehicle group 300.Wherein, unmanned aerial vehicle group comprises multiple unmanned plane (unmanned plane 301 as shown in the figure, unmanned plane 302 ..., unmanned plane 30N), and each unmanned plane has place of safety determinator (determinator 401 as shown in the figure, determinator 402 ..., determinator 40N).
Wherein, client 100 places an order to cloud computing control center 200, places an order and comprises lower single-address message.Whether barrier is there is in the preset security region of place of safety determinator detection unmanned plane.Cloud computing control center 200 plans the exclusive course line of each unmanned plane according to lower single-address message, and control the exclusive airline operation of each unmanned plane according to self to destination, the exclusive course line of any two unmanned planes does not have overlapping region, wherein, when detecting that unmanned plane during flying departs from the exclusive course line of self, course line correction is carried out to unmanned plane, when detecting that the preset security region memory of unmanned plane is at barrier, then control unmanned plane to hover, and dodge the navigation of principle control unmanned plane with the safety guaranteeing unmanned plane according to course line.The control system of the embodiment of the present invention is by exclusive flight course planning, course line offset correction, flight-safety region Emergency avoidance, realize the skyborne orderly flight of unmanned plane, ensure the safety that unmanned plane multi-Cluster flies simultaneously in the air, be particularly suitable for using with express delivery terminal high-frequency, continue delivery operation, nobody receives the accurate unmanned plane conbined usage delivered.
In one embodiment of the invention, client 100 can be mobile terminal as mobile phone, panel computer etc., such as client can be placed an order by mobile phone A PP software, simple and convenient.
Further, in one embodiment of the invention, before unmanned plane makes a return voyage safely, the exclusive course line of each unmanned plane is single-minded course line, and in the same time period, not any with other course line is overlapping.
Particularly, unmanned plane takes off successively according to order of taking off, and flies according to the exclusive course line of self, when cloud computing control center 200 has detected that unmanned plane during flying departs from himself exclusive course line, then can carry out real time correction by controlling course line correction.
Further, in one embodiment of the invention, when detecting that unmanned plane during flying departs from the exclusive course line of self, cloud computing control center 200 reports to the police by controlling course line blinking red lamp, and carries out course line correction.Wherein, when the exclusive course line certain distance of unmanned plane during flying apart from self, then judge that unmanned plane departs from the exclusive course line of self, and predeterminable range can be arranged according to actual conditions.
Particularly, the standard that course line corrects is that the distance that unmanned plane departs from upper and lower, left and right, own unique course line such as reaches 1 times when own dimensions, cloud computing control center 200 corresponding course line blinking red lamp, and carries out course line correction.
Wherein, course line is dodged principle and can be dodged for various emergency science of carrying out that may run into such as homologous signal unmanned plane, non-homogeneous signal static-obstacle thing, non-homogeneous signal dynamics barriers simultaneously.
In one embodiment of the invention, every frame unmanned aerial vehicle body all can carry place of safety determinator, this device and cloud computing control center 200 keep real-time, interactive communication, when device detect in unmanned plane place of safety have barrier time, first hover, then dodge principle according to course line to navigate by water, ensure multiple UAVs or have safe distance all the time between unmanned plane and barrier, guaranteeing the safe navigation of unmanned plane.Further, in one embodiment of the invention, the place of safety that place of safety determinator can detect can be a cylindrical space, the place of safety determinator of its center entrained by unmanned plane, and place of safety sensing range can be that unmanned plane upper and lower, left and right 2.5 are doubly to the size of self.Wherein, place of safety determinator can be made up of with range finding pick-up unit the pick-up unit that tests the speed, thus measures the relative position of barrier and self unmanned plane.
In one embodiment of the invention, cloud computing control center 200 is according to the exclusive airline generation preset security region of each unmanned plane.Particularly, making a return voyage during the platform that makes a return voyage to unmanned plane after exclusive airline generation is unique air route, and its upper and lower, left and right, course line all can be arranged if 5 times of distances to own dimensions are safe distance.
Further, in one embodiment of the invention, the control system 10 of the embodiment of the present invention also comprises: connect goods device (specifically not indicating in figure).Wherein, connect goods device and can have laser positioning guiding device and pattern recognition device, cloud computing control center 200 connects goods device by control and carries out course line guiding to unmanned plane.Particularly, connect on goods device and laser positioning guiding device and pattern recognition device can be housed, after user places an order, control is connect goods device and the man-to-man guiding work of corresponding unmanned plane by cloud computing control center 200, realizes the accurate navigation in course line.
Further, in one embodiment of the invention, exclusive course line is preferably " Π " type course line.
In one particular embodiment of the present invention, with reference to shown in Fig. 2, client is placed an order by mobile phone A PP software, the lower single-address message during cloud computing control center 200 places an order according to client, carries out exclusive flight course planning to every frame unmanned plane.It should be noted that before unmanned plane makes a return voyage safely, this exclusive course line is single-minded course line, and in the same time period, not any with other course line is overlapping; Unmanned plane takes off successively according to order of taking off, and flies according to the exclusive course line of self.When cloud computing control center 200 has detected that unmanned plane during flying departs from himself exclusive course line, then can carry out real time correction by course line Corrective control; Every frame unmanned aerial vehicle body all carries place of safety determinator, this device and cloud computing control center 200 keep real-time, interactive communication, when device detect in unmanned plane place of safety have barrier time, first hover, then dodge principle according to course line to navigate by water, ensure multiple UAVs or have safe distance all the time between unmanned plane and barrier, guaranteeing the safe navigation of unmanned plane.
Further, with reference to shown in Fig. 3, first on the ground 1 that express delivery dispensing terminal (such as residential block, Office Area, building district) relatively flat, barrier are less, build unmanned plane parking warehouse 2, unmanned plane is daily to be parked in unmanned plane parking warehouse 2; After aerial mission is assigned by cloud computing control center 200, each sortie unmanned plane can take off on platform 3 by being aligned to along it according to control center's instruction, takes off successively; The user be arranged in user house outside wall surface 4 connects on goods device 5 laser positioning guiding device and pattern recognition device, plays navigation function to unmanned plane; Unmanned plane according to cloud computing control center 200 exclusive course line (as show in figure course line 6, shown in course line 7 and course line 8) fly respectively, each exclusive course line is " Π " type course line, first vertically when taking off to rise, then level advance, vertically drop to again and connect on goods device 5; Also be according to " Π " type airline operation when making a return voyage, first connect vertically rising goods device 5, then level advance from user, vertically drop to the platform that makes a return voyage again, unmanned plane completes flight task.To make a return voyage the unique air route during the platform that makes a return voyage to unmanned plane after each exclusive airline generation, its upper and lower, left and right, course line all have 5 times to the safe distance of own dimensions, guarantee unmanned plane safe flight.
Further, in one embodiment of the invention, the place of safety determinator of the embodiment of the present invention comprises: judge module, speed measuring module and detection module.Wherein, judge module detects in preset security region whether there is barrier, and the character of disturbance in judgement thing, the character of barrier comprises homologous signal unmanned plane, static-obstacle thing and dynamic barrier.After disturbance in judgement thing is dynamic barrier, speed measuring module detects dynamic barrier and whether unmanned plane during flying direction liquidates.When detecting dynamic barrier and unmanned plane during flying direction and liquidating, detection module detection unmanned plane and dynamic barrier relative position and relative distance.
Further, in one embodiment of the invention, detection module comprises: relative position detecting unit and relative distance detecting unit.Relative position detecting unit detects the relative position of unmanned plane and dynamic barrier.Relative distance detecting unit detects the relative distance of unmanned plane and dynamic barrier.
Particularly, with reference to shown in Fig. 4, unmanned plane is aloft in flight course, and cloud computing control center 200 keeps real-time communication with the place of safety determinator on unmanned aerial vehicle body, can control in real time; When the place of safety determinator on unmanned aerial vehicle body to be detected in self unmanned plane place of safety by judge module have barrier time, first hover in aerial position, then carried out the judgement of barrier character by judge module; If the barrier entering place of safety is the unmanned plane of homologous signal, then cloud computing control center 200 assigns upwards place of safety and detects instruction, detection signal is safety, then unmanned plane flies vertically upward, until the whole place of safety of this unmanned plane detect accessible after be returned to own unique course line continue flight; If detection signal is dangerous, then unmanned plane keep hovering, until detection signal be safety till, carry out command adapted thereto flight as continue flight or fly vertically upward be returned to again exclusive course line continue fly.If detect that the barrier entering place of safety is non-homogeneous signal, then judge that this barrier is dynamic barrier or static-obstacle thing, as then kept on the basis of hovering for static-obstacle thing unmanned plane, instruction is assigned by cloud computing control center 200, be back on own unique course line, then can planning safe flight on course line; As being dynamic barrier, the relative position then carrying out unmanned plane and dynamic barrier by the relative position detecting unit in detection module detects, first whether liquidated by speed measuring module detection dynamic barrier and unmanned plane during flying direction, if direction liquidates, then unmanned plane flies rapidly vertically upward, fly over behind unmanned plane place of safety until dynamic barrier, unmanned plane is returned to exclusive course line and continues flight; If direction does not liquidate, the relative distance of unmanned plane and dynamic barrier is then detected by the relative distance detecting unit in detection module, when apart from time dangerous, then unmanned plane side direction dynamic barrier 90 ° flight, until during the checking network barrier of unmanned plane place of safety, unmanned plane is returned to exclusive course line and continues flight.
In an embodiment of the present invention, by the dispensing of express delivery unmanned plane, cloud computing control center 200 realizes whole-process control, with express delivery unmanned plane, user connect goods device with the use of, unmanned aerial vehicle body is equipped with place of safety determinator, connects on goods device and laser positioning guiding device and pattern recognition device are housed.Express delivery unmanned plane can be for residential block, Office Area, client's Relatively centralized such as building district, but the many rotor wing unmanned aerial vehicles of terminal express delivery of dispensing relative distribution, its dead weight can reach 5kg, the express delivery dispensing demand of client more than 85% can be met, especially need for residential block daily life, be particularly suitable for vegetables of providing and delivering, fruit, commodity equal-volume is moderate, the express delivery dispensing of quality within 5kg, realize the selectivity in unmanned plane aloft respective course line, course line when preventing aerial multiple UAVs from simultaneously flying is overlapping, and the safe flight of unmanned plane is ensured by course line correction and Emergency avoidance principle, guarantee that the goods equipment safety that connects of client terminal is received.
Wherein, the embodiment of the present invention compared with prior art, its obvious advantage is: (1) is at present also not used for express delivery unmanned plane multi-Cluster safety lanes control method, embodiments provide a kind of clear logic, safe and reliable unmanned plane safe flight flight course control method, navigate by water while being specially adapted to express delivery unmanned plane multi-Cluster, express delivery dispensing efficiency can be increased substantially, shorten distribution time, save manpower deliver goods, capital of receiving, set up the control method of express delivery unmanned plane air security navigation; (2) embodiment of the present invention adopts three level security Support Modes, first be that every frame unmanned plane customizes zero lap safety lanes by cloud computing control center, the selectivity in unmanned plane course line is ensured during its flight, secondly by course line corrective system, the correction of real-time course line is carried out to off-line unmanned plane, guarantee unmanned plane airline safety flight belonging to it, again when barrier appears in unmanned plane place of safety, start Emergency avoidance system, principle is dodged in appointment science course line, realizes safe flight; (3) the exclusive course line of the embodiment of the present invention is " Π " type course line, and the vertical rising of main use, level are advanced, vertical these three kinds of offline mode of decline, and unmanned plane during flying pattern switches simply, guarantees the accurate control in unmanned plane during flying course line; (4) unmanned plane is many rotor structures, the change of heading can be realized rapidly, ensure that unmanned plane carries out the fastest dodging selection for various emergencies that may run into such as homologous signal unmanned plane, non-homogeneous signal static-obstacle thing, non-homogeneous signal dynamics barriers.
According to the express delivery unmanned plane multi-Cluster safety lanes control system that the embodiment of the present invention proposes, after receiving the placing an order of client, by planning the exclusive course line of each unmanned plane according to lower single-address message, thus control each unmanned plane according to exclusive airline operation to destination, and carry out course line correction when unmanned plane during flying departs from exclusive course line, and control unmanned plane hovering when there is barrier in the safety zone of unmanned plane and dodge principle navigation according to course line, by exclusive flight course planning, course line offset correction, flight-safety region Emergency avoidance, realize the skyborne orderly flight of unmanned plane, ensure the safety that unmanned plane multi-Cluster flies simultaneously in the air, be particularly useful for express delivery industry to fly unmanned aerial vehicle group system frequently, improve the experience of client, simple.
Describe and can be understood in process flow diagram or in this any process otherwise described or method, represent and comprise one or more for realizing the module of the code of the executable instruction of the step of specific logical function or process, fragment or part, and the scope of the preferred embodiment of the present invention comprises other realization, wherein can not according to order that is shown or that discuss, comprise according to involved function by the mode while of basic or by contrary order, carry out n-back test, this should understand by embodiments of the invention person of ordinary skill in the field.
In flow charts represent or in this logic otherwise described and/or step, such as, the sequencing list of the executable instruction for realizing logic function can be considered to, may be embodied in any computer-readable medium, for instruction execution system, device or equipment (as computer based system, comprise the system of processor or other can from instruction execution system, device or equipment instruction fetch and perform the system of instruction) use, or to use in conjunction with these instruction execution systems, device or equipment.With regard to this instructions, " computer-readable medium " can be anyly can to comprise, store, communicate, propagate or transmission procedure for instruction execution system, device or equipment or the device that uses in conjunction with these instruction execution systems, device or equipment.The example more specifically (non-exhaustive list) of computer-readable medium comprises following: the electrical connection section (electronic installation) with one or more wiring, portable computer diskette box (magnetic device), random access memory (RAM), ROM (read-only memory) (ROM), erasablely edit ROM (read-only memory) (EPROM or flash memory), fiber device, and portable optic disk ROM (read-only memory) (CDROM).In addition, computer-readable medium can be even paper or other suitable media that can print described program thereon, because can such as by carrying out optical scanning to paper or other media, then carry out editing, decipher or carry out process with other suitable methods if desired and electronically obtain described program, be then stored in computer memory.
Should be appreciated that each several part of the present invention can realize with hardware, software, firmware or their combination.In the above-described embodiment, multiple step or method can with to store in memory and the software performed by suitable instruction execution system or firmware realize.Such as, if realized with hardware, the same in another embodiment, can realize by any one in following technology well known in the art or their combination: the discrete logic with the logic gates for realizing logic function to data-signal, there is the special IC of suitable combinational logic gate circuit, programmable gate array (PGA), field programmable gate array (FPGA) etc.
Those skilled in the art are appreciated that realizing all or part of step that above-described embodiment method carries is that the hardware that can carry out instruction relevant by program completes, described program can be stored in a kind of computer-readable recording medium, this program perform time, step comprising embodiment of the method one or a combination set of.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, also can be that the independent physics of unit exists, also can be integrated in a module by two or more unit.Above-mentioned integrated module both can adopt the form of hardware to realize, and the form of software function module also can be adopted to realize.If described integrated module using the form of software function module realize and as independently production marketing or use time, also can be stored in a computer read/write memory medium.
The above-mentioned storage medium mentioned can be ROM (read-only memory), disk or CD etc.
In the description of this instructions, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, identical embodiment or example are not necessarily referred to the schematic representation of above-mentioned term.And the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiment or example.
Although illustrate and describe embodiments of the invention above, be understandable that, above-described embodiment is exemplary, can not be interpreted as limitation of the present invention, those of ordinary skill in the art can change above-described embodiment within the scope of the invention when not departing from principle of the present invention and aim, revising, replacing and modification.
Claims (10)
1. an express delivery unmanned plane multi-Cluster safety lanes control method, is characterized in that, comprise the following steps:
Receive the placing an order of client, wherein, described in place an order and comprise lower single-address message;
Plan the exclusive course line of each unmanned plane according to lower single-address message, and control the exclusive airline operation of each unmanned plane according to self to destination, the exclusive course line of any two unmanned planes does not have overlapping region, wherein,
If when detecting that unmanned plane during flying departs from the exclusive course line of self, then course line correction is carried out to described unmanned plane;
If detect that the preset security region memory of described unmanned plane is at barrier, then control described unmanned plane and hover, and according to course line dodge principle control described unmanned plane navigation with the safety guaranteeing unmanned plane.
2. express delivery unmanned plane multi-Cluster safety lanes control method according to claim 1, is characterized in that, preset security region according to the exclusive airline generation of described each unmanned plane.
3. if express delivery unmanned plane multi-Cluster safety lanes control method according to claim 1, is characterized in that, when detecting that described unmanned plane during flying departs from the exclusive course line of self, then carries out course line correction to described unmanned plane and specifically comprises:
When detecting that described unmanned plane during flying departs from self exclusive course line predeterminable range described, reporting to the police by controlling course line blinking red lamp, and carrying out course line correction.
4. express delivery unmanned plane multi-Cluster safety lanes control method according to claim 1, is characterized in that, carries out course line guiding by controlling to connect goods device to described unmanned plane.
5. express delivery unmanned plane multi-Cluster safety lanes control method according to claim 1, is characterized in that, described exclusive course line is " Π " type course line.
6. an express delivery unmanned plane multi-Cluster safety lanes control system, is characterized in that, comprising: client, cloud computing control center and unmanned aerial vehicle group, and described unmanned aerial vehicle group comprises multiple unmanned plane, and each unmanned plane has place of safety determinator, wherein,
Described client, places an order to described cloud computing control center, wherein, described in place an order and comprise lower single-address message;
Whether described place of safety determinator, exist barrier in the preset security region of detection unmanned plane;
Described cloud computing control center, the exclusive course line of each unmanned plane is planned according to lower single-address message, and control the exclusive airline operation of each unmanned plane according to self to destination, the exclusive course line of any two unmanned planes does not have overlapping region, wherein, when detecting that described unmanned plane during flying departs from the exclusive course line of self, course line correction is carried out to described unmanned plane, when detecting that the preset security region memory of described unmanned plane is at barrier, then control described unmanned plane to hover, and according to course line dodge principle control described unmanned plane navigation with the safety guaranteeing unmanned plane.
7. express delivery unmanned plane multi-Cluster safety lanes control system according to claim 6, it is characterized in that, described cloud computing control center is preset security region according to the exclusive airline generation of described each unmanned plane.
8. express delivery unmanned plane multi-Cluster safety lanes control system according to claim 6, it is characterized in that, described place of safety determinator specifically comprises:
Judge module, detects in described preset security region whether there is described barrier, judges the character of described barrier, and the character of described barrier comprises homologous signal unmanned plane, static-obstacle thing and dynamic barrier;
Speed measuring module, after judging that described barrier is described dynamic barrier, whether detection dynamic barrier and unmanned plane during flying direction liquidate;
Detection module, when detecting described dynamic barrier and described unmanned plane during flying direction and liquidating, detects described unmanned plane and described dynamic barrier relative position and relative distance.
9. express delivery unmanned plane multi-Cluster safety lanes control system according to claim 8, it is characterized in that, described detection module comprises:
Relative position detecting unit, detects the relative position of described unmanned plane and described dynamic barrier;
Relative distance detecting unit, detects the relative distance of described unmanned plane and described dynamic barrier.
10. express delivery unmanned plane multi-Cluster safety lanes control system according to claim 6, is characterized in that, also comprise:
Connect goods device, described cloud computing control center connects goods device and carries out course line guiding to described unmanned plane described in controlling, wherein, described in connect goods device there is laser positioning guiding device and pattern recognition device.
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