CN107330657B - Distribution system and distribution method - Google Patents
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Abstract
The invention discloses a delivery system and a delivery method, wherein the delivery system comprises a goods receiving station and an unmanned aerial vehicle; the receiving station comprises a display system for displaying a preset pattern; the unmanned aerial vehicle comprises a first image recognition system and a flight control system; the first image recognition system is used for continuously collecting images of the receiving station to obtain a first image and a second image of the receiving station, and carrying out differential operation on the first image and the second image to obtain a third image, wherein the first image is an image collected by the first image recognition system when the display system displays the preset pattern, and the second image is an image collected by the first image recognition system when the display system does not display the pattern; the flight control system can adjust flight parameters according to the third image, so that the unmanned aerial vehicle approaches the receiving station. The invention can improve the automation degree of unmanned aerial vehicle delivery and is beneficial to improving the delivery efficiency.
Description
Technical Field
The invention relates to the technical field of automation, in particular to a distribution system and a distribution method.
Background
The delivery of the package is realized through the small unmanned aerial vehicle, which is a problem that a lot of logistics and technological companies are striving to solve at present, a lot of logistics companies and technological development companies at home and abroad are trying to do the aspect at present, but the current realization mode is not separated from the participation of people, and more people remotely control the delivery of the logistics by the aircraft, so that the requirement on the unmanned aerial vehicle control personnel is very high, the delivery efficiency is easily influenced, and therefore, how to improve the automation degree of the delivery of the unmanned aerial vehicle is a problem to be solved at present.
Disclosure of Invention
The invention aims to provide a delivery system and a delivery method, which can improve the automation degree of unmanned aerial vehicle delivery.
In order to achieve the above purpose, the technical scheme of the invention provides a distribution system, which comprises a goods receiving station and an unmanned aerial vehicle;
the receiving station comprises a display system for displaying a preset pattern;
the unmanned aerial vehicle comprises a first image recognition system and a flight control system;
the first image recognition system is used for continuously acquiring images of the receiving station to obtain a first image and a second image of the receiving station, and performing differential operation on the first image and the second image to obtain a third image, wherein the first image is an image acquired by the first image recognition system when the display system displays the preset pattern, and the second image is an image acquired by the first image recognition system when the display system does not display the pattern;
the flight control system can adjust flight parameters according to the third image, so that the unmanned aerial vehicle approaches the goods receiving station.
Preferably, the unmanned aerial vehicle further comprises a first control unit and a satellite positioning system;
the flight control system can also adjust flight parameters according to the positioning information of the satellite positioning system and the position information of the receiving station, so that the unmanned aerial vehicle approaches the receiving station;
when the relative position relation between the unmanned aerial vehicle and the receiving station meets a first preset condition, the first control unit controls the flight control system to adjust flight parameters according to the positioning information of the satellite positioning system and the position information of the receiving station so as to approach the receiving station; when the relative position relationship between the unmanned aerial vehicle and the receiving station meets a second preset condition, the first control unit controls the flight control system to adjust flight parameters according to the third image so as to approach the receiving station.
Preferably, the unmanned aerial vehicle further comprises a landing control system comprising at least one of: the system comprises an ultrasonic positioning system for determining the position information of the unmanned aerial vehicle by utilizing ultrasonic waves and a second image recognition system for acquiring images of stop marks on the goods receiving station;
the flight control system can also adjust flight parameters according to the position information determined by the ultrasonic positioning system and/or the image acquired by the second image recognition system, so that the unmanned aerial vehicle drops to the receiving station;
when the relative position relationship between the unmanned aerial vehicle and the goods receiving station meets a third preset condition, the first control unit controls the flight control system to adjust flight parameters according to the position information determined by the ultrasonic positioning system and/or the image acquired by the second image recognition system, so that the unmanned aerial vehicle drops to the goods receiving station.
Preferably, the receiving station further comprises a first communication system for communicating with the unmanned aerial vehicle, the unmanned aerial vehicle further comprises a second control unit and a second communication system for communicating with the receiving station;
the second control unit is used for sending a display start instruction to the receiving station and sending a first image acquisition instruction to the first image recognition system, so that the first image recognition system can acquire images of the receiving station when the display system displays the preset pattern to obtain the first image, and the second control unit is also used for sending a display close instruction to the receiving station and sending a second image acquisition instruction to the first image recognition system, so that the first image recognition system can acquire images of the receiving station when the display system does not display the pattern to obtain the second image.
Preferably, the display system comprises a number of LED lamps.
Preferably, the receiving station further comprises a mechanical motion control system comprising a control module and a retractable and/or folding apron, the control module being adapted to control the extension of the apron and the retraction and/or folding of the apron.
Preferably, the distribution system further comprises a server, the server stores identity information and/or position information of the receiving station, and the unmanned aerial vehicle can acquire the identity information and/or position information of the receiving station from the server.
In order to achieve the above object, the present invention further provides a distribution method, including:
step a: the method comprises the steps that a first image recognition system of an unmanned aerial vehicle continuously collects images of a receiving station to obtain a first image and a second image of the receiving station, wherein the first image is an image collected by the first image recognition system when a display system of the receiving station displays a preset pattern, and the second image is an image collected by the first image recognition system when the display system does not display the pattern;
step b: the first image recognition system performs differential operation on the first image and the second image to obtain a third image;
step c: the flight control system of the unmanned aerial vehicle adjusts flight parameters according to the third image, so that the unmanned aerial vehicle approaches the receiving station;
step d: repeating steps a-c.
Preferably, when the relative position relationship between the unmanned aerial vehicle and the receiving station meets a first preset condition, the first control unit of the unmanned aerial vehicle controls the flight control system to adjust flight parameters according to positioning information of a satellite positioning system of the unmanned aerial vehicle and position information of the receiving station, and the unmanned aerial vehicle approaches to the receiving station;
and when the relative position relation between the unmanned aerial vehicle and the goods receiving station meets a second preset condition, the first control unit controls the first image recognition system and the flight control system to execute the steps a-d.
Preferably, when the relative position relationship between the unmanned aerial vehicle and the receiving station meets a third preset condition, the first control unit controls the flight control system to adjust flight parameters according to position information determined by an ultrasonic positioning system of the unmanned aerial vehicle and/or images acquired by a second image recognition system of the unmanned aerial vehicle, so that the unmanned aerial vehicle drops to the receiving station;
the ultrasonic positioning system determines position information of the unmanned aerial vehicle by utilizing ultrasonic waves, and the second image recognition system is used for acquiring images of stop marks on the receiving station.
According to the distribution system provided by the invention, the display system is arranged on the receiving station, the unmanned aerial vehicle is guided by using the display system, and the unmanned aerial vehicle can automatically approach the receiving station by collecting and processing the images of the receiving station, so that the automation degree of distribution of the unmanned aerial vehicle can be improved, and the improvement of distribution efficiency is facilitated.
Drawings
FIG. 1 is a schematic illustration of a dispensing system according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a receiving station according to an embodiment of the present invention.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
The embodiment of the invention discloses a distribution system, which comprises a goods receiving station and an unmanned aerial vehicle;
the receiving station comprises a display system for displaying a preset pattern;
the unmanned aerial vehicle comprises a first image recognition system and a flight control system;
the first image recognition system is used for continuously acquiring images of the receiving station to obtain a first image and a second image of the receiving station, and performing differential operation on the first image and the second image to obtain a third image, wherein the first image is an image acquired by the first image recognition system when the display system displays the preset pattern, and the second image is an image acquired by the first image recognition system when the display system does not display the pattern (namely, the display system is closed for display);
the flight control system can adjust flight parameters according to the third image, so that the unmanned aerial vehicle approaches the goods receiving station.
According to the distribution system provided by the embodiment of the invention, the display system is arranged on the receiving station, the unmanned aerial vehicle is guided by using the display system, and the unmanned aerial vehicle can automatically approach the receiving station by collecting and processing the image of the receiving station, so that the automation degree of distribution of the unmanned aerial vehicle can be improved, and the improvement of distribution efficiency is facilitated.
In the present invention, the display system of the receiving station may be any display device capable of displaying a pattern, for example, may be a liquid crystal display, an OLED display, etc., preferably, in order to reduce power consumption, the display system may include a plurality of LED lamps, a desired pattern may be formed by an arrangement of the plurality of LED lamps, for example, the display system may include a plurality of LED lamps arranged in an array, and the preset pattern displayed by the display system may be any pattern, for example, may be a rectangular pattern, a circular pattern, a polygonal pattern, a linear pattern, etc.;
the first image recognition system can perform continuous image acquisition on the receiving station so as to obtain a first image and a second image of the receiving station, for example, a display system of the receiving station can display a preset pattern at preset frequency (namely, the preset pattern is displayed for a certain time interval), the first image recognition system also performs image acquisition on the receiving station at preset frequency, so that one of two images continuously acquired by the first image recognition system contains the preset pattern displayed by the display system, the other image does not contain the preset pattern, and in addition, the acquisition of the first image and the second image can be realized in a mode of respectively sending control commands to the first image recognition system and the display system, preferably, in the invention, the difference of acquisition time of the first image and the second image for differential operation is less than 0.01 seconds;
the first image recognition system acquires a first image and a second image, and then performs differential operation on the two images to obtain a third image, wherein the difference between the first image and the second image is a preset pattern displayed by the display system, so that the third image obtained after differential operation only contains the preset pattern;
because the size, shape and position of the preset pattern in the obtained third image are different under the condition that the relative positions of the unmanned aerial vehicle and the receiving station are different, the flight control system can adjust the flight parameters according to the third image so that the unmanned aerial vehicle approaches the receiving station, for example, the flight control system can adjust the flight parameters according to the preset parameters and the current third image, and the preset parameters can include the size, shape and position of the preset pattern in the third pattern when the unmanned aerial vehicle reaches the target position (such as the preset range above the receiving station), wherein the preset parameters can be directly stored in the unmanned aerial vehicle in advance or stored in the receiving station in advance and then sent to the unmanned aerial vehicle by the receiving station.
Referring to fig. 1, fig. 1 is a schematic view of a delivery system according to an embodiment of the present invention, the delivery system including a receiving station 100 and a drone 200;
wherein the receiving station 100 comprises a display system 101 for displaying a preset pattern, a first communication system 102 for communicating with the unmanned aerial vehicle 200, and a mechanical motion control system 103;
the drone 20 includes a first image recognition system 201, a flight control system 202, a central control system 203, a satellite positioning system 204, a landing control system 205, and a second communication system 206 for communicating with the receiving station 100;
the display system 101 of the receiving station 100 may include a plurality of LED lamps 1011 arranged in an array, and the mechanical motion control system 103 includes a control module and a retractable and/or foldable apron 1031, where the apron is provided with an apron mark (e.g. an "H" -shaped pattern), and the control module is used to control the extension of the apron and the retraction and/or folding of the apron, so that when the apron is extended, the space can be increased, thereby facilitating the landing of the unmanned aerial vehicle, and when the apron is not in use, the apron can be retracted and/or folded under the control of the control module, so as to save space;
the first image recognition system 201 is configured to perform continuous image acquisition on the receiving station 100 to obtain a first image and a second image of the receiving station, and perform differential operation on the first image and the second image to obtain a third image, where the first image is an image acquired by the first image recognition system when the display system displays the preset pattern, and the second image is an image acquired by the first image recognition system when the display system does not display the pattern, for example, the first image recognition system may include an image acquisition device and an image processing device, and the first image and the second image of the receiving station are acquired by the image acquisition device, and the first image and the second image may be subjected to differential operation by the image processing device, so as to obtain the third image;
flight control system 202 may include flight components and corresponding controllers that may control the flight components via corresponding flight parameters to achieve flight control;
the central control system 203 may include a first control unit 2031 and a second control unit 2032, where the second control unit 2032 is configured to send a display start instruction to the receiving station and send a first image acquisition instruction to the first image recognition system, so that the first image recognition system performs image acquisition on the receiving station when the display system displays the preset pattern to obtain the first image, and the second control unit is further configured to send a display close instruction to the receiving station and send a second image acquisition instruction to the first image recognition system, so that the first image recognition system performs image acquisition on the receiving station when the display system does not display the pattern to obtain the second image;
the satellite positioning system 204 may be a GPS satellite positioning system or a beidou satellite positioning system, and is configured to determine satellite positioning information of the unmanned aerial vehicle;
the landing control system 205 may adopt an existing unmanned aerial vehicle landing control manner, for example, may include at least one of the following: an ultrasonic positioning system for determining the position information of the unmanned aerial vehicle by utilizing ultrasonic waves, and a second image recognition system (such as a close-range image recognition system) for performing image acquisition on a stop sign on the goods receiving station;
the flight control system 202 may not only adjust the flight parameters according to the third image output by the first image recognition system 201 to make the unmanned aerial vehicle approach the receiving station, but also adjust the flight parameters according to the positioning information of the satellite positioning system 204 and the position information of the receiving station to make the unmanned aerial vehicle approach the receiving station, and further adjust the flight parameters according to the position information determined by the above-mentioned ultrasonic positioning system and/or the image collected by the second image recognition system to make the unmanned aerial vehicle drop to the receiving station;
specifically, when the relative positional relationship between the unmanned aerial vehicle and the receiving station satisfies a first preset condition, the first control unit 2031 of the central control system 203 controls the flight control system 202 to adjust the flight parameters according to the positioning information of the satellite positioning system 204 and the position information of the receiving station to approach the receiving station, for example, the first preset condition may be that the distance between the unmanned aerial vehicle and the receiving station is greater than or equal to a preset distance (e.g., 20 meters);
when the relative position relationship between the unmanned aerial vehicle and the receiving station meets a second preset condition, the first control unit 2031 controls the flight control system to adjust the flight parameters according to the third image so as to approach the receiving station, for example, the second preset condition may be that the distance between the unmanned aerial vehicle and the receiving station is smaller than a preset distance (for example, 20 meters), and the unmanned aerial vehicle is out of a preset range above the receiving station;
for example, when the relative position relationship between the unmanned aerial vehicle and the receiving station meets a second preset condition, the first control unit 2031 sends a start control command to the second control unit 2032, after receiving the start control command, the second control unit 2032 sends a display start command to the receiving station, so that the display system of the receiving station displays a preset pattern, and simultaneously sends a first image acquisition command to the first image recognition system, so that the first image recognition system performs image acquisition on the receiving station when the display system displays the preset pattern, and obtains the first image, after the first image is acquired, the second control unit sends a display close command to the receiving station, so that the display system of the receiving station stops displaying the pattern (i.e. the display system closes the display function), and simultaneously sends a second image acquisition command to the first image recognition system, so that the first image recognition system performs image acquisition on the receiving station when the display system does not display the pattern, and obtains a second image, and then performs differential operation on the two acquired images, so as to obtain a third image only including the preset pattern, and the control system performs differential operation on the receiving station in a mode of not needing to be close to 0.005 seconds, and the time of flight parameter is adjusted by the receiving the second image;
when the relative position relationship between the unmanned aerial vehicle and the goods receiving station meets a third preset condition, the first control unit controls the flight control system to adjust flight parameters according to the position information determined by the ultrasonic positioning system and/or the image acquired by the second image recognition system, so that the unmanned aerial vehicle drops to the goods receiving station, for example, the third preset condition can be that the unmanned aerial vehicle is in a preset range above the goods receiving station.
Preferably, the delivery system in the present invention may further include a server (e.g. a cloud server), where the server stores identity information and/or location information of the receiving station, and the unmanned aerial vehicle may acquire the identity information and/or location information of the receiving station from the server, for example, the identity information of the receiving station may be a code (or an identification code), which has uniqueness, different receiving stations have different codes, and when delivering, the identity information of the receiving station may be associated with the delivered order, so that automatic delivery under the condition of unmanned sign-up may be achieved.
The distribution system provided by the embodiment of the invention not only can improve the automation degree of unmanned aerial vehicle distribution and the distribution efficiency, but also can realize unmanned aerial vehicle autonomous landing and centimeter-level accurate positioning, and in addition, the distribution system can comprise a plurality of unmanned aerial vehicles, so that the distribution efficiency can be further improved.
In addition, the embodiment of the invention also provides a distribution method, which comprises the following steps:
step a: the method comprises the steps that a first image recognition system of an unmanned aerial vehicle continuously collects images of a receiving station to obtain a first image and a second image of the receiving station, wherein the first image is an image collected by the first image recognition system when a display system of the receiving station displays a preset pattern, and the second image is an image collected by the first image recognition system when the display system does not display the pattern;
step b: the first image recognition system performs differential operation on the first image and the second image to obtain a third image;
step c: the flight control system of the unmanned aerial vehicle adjusts flight parameters according to the third image, so that the unmanned aerial vehicle approaches the receiving station;
step d: repeating steps a-c.
Preferably, when the relative position relationship between the unmanned aerial vehicle and the receiving station meets a first preset condition, the first control unit of the unmanned aerial vehicle controls the flight control system to adjust flight parameters according to positioning information of a satellite positioning system of the unmanned aerial vehicle and position information of the receiving station, and the unmanned aerial vehicle approaches to the receiving station;
and when the relative position relation between the unmanned aerial vehicle and the goods receiving station meets a second preset condition, the first control unit controls the first image recognition system and the flight control system to execute the steps a-d.
Preferably, when the relative position relationship between the unmanned aerial vehicle and the receiving station meets a third preset condition, the first control unit controls the flight control system to adjust flight parameters according to position information determined by an ultrasonic positioning system of the unmanned aerial vehicle and/or images acquired by a second image recognition system of the unmanned aerial vehicle, so that the unmanned aerial vehicle drops to the receiving station;
the ultrasonic positioning system determines position information of the unmanned aerial vehicle by utilizing ultrasonic waves, and the second image recognition system is used for acquiring images of stop marks on the receiving station.
The above delivery method may be applied to the above delivery system;
specifically, the workflow of the above delivery system may be as follows:
step S1: after an operator arrives at the ground of the area where the target receiving station is located, the intelligent equipment can read the delivery order information of the goods to be delivered and send the delivery order information to the server, the server returns the identity information and the position information (namely three-dimensional space data) of the receiving station (namely the target receiving station) related to the delivery order information to the intelligent equipment, and then the intelligent equipment sends the identity information and the position information of the target receiving station to the unmanned aerial vehicle;
step S2: the unmanned aerial vehicle determines the relative position relation between the unmanned aerial vehicle and the receiving station according to the position information of the target receiving station and the positioning information of the satellite positioning system of the unmanned aerial vehicle, and if the relative position relation meets a first preset condition (if the distance between the unmanned aerial vehicle and the receiving station is greater than or equal to a preset distance), the first control unit of the unmanned aerial vehicle controls the flight control system to enter an airspace of the target receiving station by utilizing the guidance of the satellite positioning system, and at the moment, the unmanned aerial vehicle enters an autonomous navigation mode;
after reaching the airspace of the target receiving station (the distance between the unmanned aerial vehicle and the receiving station is smaller than the preset distance), the central control system of the unmanned aerial vehicle firstly sends a request landing instruction to the target receiving station by using a second communication system;
step S3: after receiving a landing request instruction of the unmanned aerial vehicle, if the target receiving station does not have a landing condition at the moment, replying a reason (such as platform readiness failure, full loading of a warehouse and the like) that the unmanned aerial vehicle cannot land to the unmanned aerial vehicle through a first communication system, recording after the unmanned aerial vehicle receives the information, and automatically returning;
step S4: after the target receiving station receives a landing request instruction of the unmanned aerial vehicle, if a landing condition is met, the target receiving station controls a mechanical motion control system of the unmanned aerial vehicle to complete actions such as stretching and sliding, so that the target receiving station makes preparation work of the unmanned aerial vehicle for landing and unloading goods, meanwhile, a display system of the target receiving station is ready, and then a preset parameter of the target receiving station and a platform ready instruction are returned to the unmanned aerial vehicle, wherein the preset parameter can comprise the size, the shape and the position of a preset pattern in a third pattern when the unmanned aerial vehicle reaches a target position (such as a preset range above the receiving station), in addition, the target receiving station can also send self identity information to the unmanned aerial vehicle, and the unmanned aerial vehicle can carry out identity verification on the unmanned aerial vehicle according to the identity information obtained from a service end so as to ensure that the unmanned aerial vehicle sends the goods to the correct receiving station;
step S5: after receiving a platform ready instruction of a target receiving station and verifying the identity of the target receiving station, the unmanned aerial vehicle starts an automatic searching mode, a first control unit of the unmanned aerial vehicle sends a starting control command to a second control unit, the second control unit sends a display starting instruction to the target receiving station after receiving the starting control command, a display system of the target receiving station displays a preset pattern, and simultaneously sends a first image acquisition instruction to a first image recognition system, so that the first image recognition system performs image acquisition on the target receiving station when displaying the preset pattern to obtain a first image, and after acquiring the first image, a second control unit sends a display closing instruction to the target receiving station, so that the display system of the target receiving station closes a display function, and simultaneously sends a second image acquisition instruction to the first image recognition system, so that the first image recognition system performs image acquisition on the receiving station when the display system does not display the pattern to obtain a second image;
step S6: the first image recognition system performs differential operation on the two images to obtain an image only containing a preset pattern, and obtains flight parameters (navigation parameters) through calculation according to preset parameters of a target receiving station, and the flight control system of the unmanned aerial vehicle automatically approaches the target receiving station according to the parameters;
step S7: in the process that the unmanned aerial vehicle approaches the landing platform autonomously, the image acquisition in the step S5 and the action in the step S6 are continuously repeated until the unmanned aerial vehicle flies to a preset range above the target receiving station (namely, an area meeting the landing requirement);
step S8: when the unmanned aerial vehicle reaches a preset range above the target receiving station, the first control unit starts a landing control system of the unmanned aerial vehicle, controls the flight control system to adjust flight parameters according to information output by the landing control system, enables the unmanned aerial vehicle to land on an apron of the target receiving station, and achieves final accurate positioning and landing;
step S9: after the unmanned aerial vehicle releases the package, sending successful delivery information to the target receiving station, closing a display system of the target receiving station, updating related data records, and automatically returning the unmanned aerial vehicle.
According to the invention, accurate delivery without manual participation can be realized, automatic unmanned aerial vehicle delivery under the condition of unmanned signing is realized, secondary delivery is effectively reduced, the operation cost of enterprises is reduced, particularly, for logistics delivery of the last hundred meters in a relatively dense area, a dispatcher does not need to walk stairs or sit on an elevator, single-piece delivery time can be compressed from 5-10 minutes to 1 minute, and the delivery efficiency can be greatly improved.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.
Claims (10)
1. A delivery system comprising a receiving station and an unmanned aerial vehicle;
the receiving station comprises a display system for displaying a preset pattern;
the unmanned aerial vehicle comprises a first image recognition system and a flight control system;
the first image recognition system is used for continuously acquiring images of the receiving station to obtain a first image and a second image of the receiving station, and performing differential operation on the first image and the second image to obtain a third image, wherein the first image is an image acquired by the first image recognition system when the display system displays the preset pattern, and the second image is an image acquired by the first image recognition system when the display system does not display the pattern; the third image comprises the size and shape of the preset pattern and the position of the preset pattern in the third image;
the flight control system can adjust flight parameters according to pre-stored preset parameters and the third image, so that the unmanned aerial vehicle approaches the receiving station; the pre-stored preset parameters are the size, shape and position of the preset pattern in the third image when the unmanned aerial vehicle reaches the target position.
2. The delivery system of claim 1, wherein the drone further comprises a first control unit and a satellite positioning system;
the flight control system can also adjust flight parameters according to the positioning information of the satellite positioning system and the position information of the receiving station, so that the unmanned aerial vehicle approaches the receiving station;
when the relative position relation between the unmanned aerial vehicle and the receiving station meets a first preset condition, the first control unit controls the flight control system to adjust flight parameters according to the positioning information of the satellite positioning system and the position information of the receiving station so as to approach the receiving station; when the relative position relationship between the unmanned aerial vehicle and the receiving station meets a second preset condition, the first control unit controls the flight control system to adjust the flight parameters according to the preset parameters stored in advance and the third image so as to approach the receiving station.
3. The delivery system of claim 2, wherein the drone further comprises a landing control system, the landing control system comprising at least one of: the system comprises an ultrasonic positioning system for determining the position information of the unmanned aerial vehicle by utilizing ultrasonic waves and a second image recognition system for acquiring images of stop marks on the goods receiving station;
the flight control system can also adjust flight parameters according to the position information determined by the ultrasonic positioning system and/or the image acquired by the second image recognition system, so that the unmanned aerial vehicle drops to the receiving station;
when the relative position relationship between the unmanned aerial vehicle and the goods receiving station meets a third preset condition, the first control unit controls the flight control system to adjust flight parameters according to the position information determined by the ultrasonic positioning system and/or the image acquired by the second image recognition system, so that the unmanned aerial vehicle drops to the goods receiving station.
4. A delivery system according to any one of claims 1-3, wherein the receiving station further comprises a first communication system for communicating with the drone, the drone further comprising a second control unit and a second communication system for communicating with the receiving station;
the second control unit is used for sending a display start instruction to the receiving station and sending a first image acquisition instruction to the first image recognition system, so that the first image recognition system can acquire images of the receiving station when the display system displays the preset pattern to obtain the first image, and the second control unit is also used for sending a display close instruction to the receiving station and sending a second image acquisition instruction to the first image recognition system, so that the first image recognition system can acquire images of the receiving station when the display system does not display the pattern to obtain the second image.
5. A dispensing system according to any of claims 1-3, wherein said display system comprises a plurality of LED lights.
6. A delivery system according to any one of claims 1-3, characterized in that the receiving station further comprises a mechanical movement control system comprising a control module for controlling the extension of the tarmac and the retraction and/or folding of the tarmac and a retractable and/or folding tarmac.
7. A delivery system according to any one of claims 1 to 3, further comprising a server, wherein the server stores identity information and/or location information of the receiving station, and the unmanned aerial vehicle can obtain the identity information and/or location information of the receiving station from the server.
8. A dispensing method comprising:
step a: the method comprises the steps that a first image recognition system of an unmanned aerial vehicle continuously collects images of a receiving station to obtain a first image and a second image of the receiving station, wherein the first image is an image collected by the first image recognition system when a display system of the receiving station displays a preset pattern, and the second image is an image collected by the first image recognition system when the display system does not display the pattern;
step b: the first image recognition system performs differential operation on the first image and the second image to obtain a third image; the third image comprises the size and shape of the preset pattern and the position of the preset pattern in the third image;
step c: the flight control system of the unmanned aerial vehicle adjusts flight parameters according to pre-stored preset parameters and the third image, so that the unmanned aerial vehicle approaches the receiving station; the pre-stored preset parameters are the size, shape and position of the preset pattern in the third image when the unmanned aerial vehicle reaches the target position;
step d: repeating steps a-c.
9. The delivery method according to claim 8, wherein when the relative positional relationship between the unmanned aerial vehicle and the receiving station satisfies a first preset condition, the first control unit of the unmanned aerial vehicle controls the flight control system to adjust flight parameters according to positioning information of a satellite positioning system of the unmanned aerial vehicle and position information of the receiving station, and approaches the receiving station;
and when the relative position relation between the unmanned aerial vehicle and the goods receiving station meets a second preset condition, the first control unit controls the first image recognition system and the flight control system to execute the steps a-d.
10. The delivery method according to claim 9, wherein when the relative positional relationship between the unmanned aerial vehicle and the receiving station satisfies a third preset condition, the first control unit controls the flight control system to adjust flight parameters according to the positional information determined by the ultrasonic positioning system of the unmanned aerial vehicle and/or the image acquired by the second image recognition system of the unmanned aerial vehicle, so that the unmanned aerial vehicle drops to the receiving station;
the ultrasonic positioning system determines position information of the unmanned aerial vehicle by utilizing ultrasonic waves, and the second image recognition system is used for acquiring images of stop marks on the receiving station.
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