CN113359858A - Commodity circulation unmanned aerial vehicle is with city air traffic system - Google Patents
Commodity circulation unmanned aerial vehicle is with city air traffic system Download PDFInfo
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Abstract
The invention provides a logistics unmanned aerial vehicle same-city air transportation system, and relates to the technical field of same-city logistics. The terminal server, the unmanned aerial vehicle main body and the junction station are controlled by the terminal server; the unmanned aerial vehicle control module is used for controlling the unmanned aerial vehicle main body to run; the unmanned aerial vehicle traffic path planning module is used for combing the running track of the unmanned aerial vehicle main body; the positioning module is used for acquiring the accurate positioning of the unmanned aerial vehicle main body; therefore, the purpose of conveying express by the unmanned aerial vehicle is adopted, and the characteristics of high flexibility, low cost, stable flight and the like of the unmanned aerial vehicle are utilized, so that the unmanned aerial vehicle is more outstanding in application in the field of logistics; on one hand, the work of the current express delivery workers is greatly reduced, and the progress of social civilization is promoted; on the other hand, the express taking is more convenient for people.
Description
Technical Field
The invention relates to the technical field of city-sharing logistics, in particular to a city-sharing air transportation system of a logistics unmanned aerial vehicle.
Background
In recent years, the explosive development of e-commerce enterprises has led to a dramatic increase in the task volume of logistics companies, and the rapidity, safety, privacy, and the like of logistics have gradually become the basic requirements of users on logistics enterprises. With the continuous development of transportation industry, electronic technology and service concept, each large logistics company provides excellent industrial service.
In urban communities with dense population, the last mile is a big problem facing logistics companies except in remote areas, the gathering of population brings about a large accumulation of goods, and logistics enterprises need to hire a large amount of labor to complete the transportation task of the last mile, which finally leads to the increase of logistics cost.
All large logistics companies continue to be free from the limitation of terrain and traffic environment, and labor-saving tools can finish goods delivery work quickly and efficiently. The unmanned aerial vehicle has the characteristics of high flexibility, low cost, stable flight and the like, is favored by various companies in the field of logistics, and becomes a technical plateau for competing and seizing logistics enterprises.
Therefore, how to design a logistics unmanned aerial vehicle city air transportation system is an urgent need to solve at present.
Disclosure of Invention
The invention aims to provide a logistics unmanned aerial vehicle same-city air transportation system to solve the problems in the background technology.
The embodiment of the invention is realized by the following steps:
the embodiment of the application provides a logistics unmanned aerial vehicle same-city air transportation system, which comprises a terminal server, an unmanned aerial vehicle main body and a junction station, wherein the unmanned aerial vehicle main body and the junction station are controlled by the terminal server;
the unmanned aerial vehicle control module is used for controlling the unmanned aerial vehicle main body to run;
the unmanned aerial vehicle traffic path planning module is used for combing the running track of the unmanned aerial vehicle main body;
and the positioning module is used for acquiring the accurate positioning of the unmanned aerial vehicle main body.
In some embodiments of the present invention, the main body of the unmanned aerial vehicle includes a frame structure, blades, and a control module, configured to control commands sent by an unmanned aerial vehicle control module and an unmanned aerial vehicle traffic path planning module executed by the unmanned aerial vehicle;
the data transmission module is used for exchanging data with other modules;
the visual module is used for analyzing the moving image of the unmanned aerial vehicle main body, avoiding the barrier function and visually identifying;
the lighting module is used for air safety prompt and assistance of the unmanned aerial vehicle;
and the power supply module is used for supplying power to the unmanned aerial vehicle main body.
In some embodiments of the present invention, in the unmanned aerial vehicle traffic path planning module, an algorithm formula for path planning is represented as: (n) ═ g (n) + h (n);
wherein f (n) is an evaluation function from an initial point to a target point via node n;
g (n) is the actual cost from the initial node to the n nodes in the state space;
h (n) is the estimated cost of the best path from n to the target node.
In some embodiments of the present invention, in the unmanned aerial vehicle traffic path planning module, the speed and accuracy of the algorithm are controlled by adjusting the heuristic function.
In some embodiments of the invention, the heuristic function when allowing the main body of the drone to move in four directions is expressed as:
C＝D*(|x1-x2|+|y1-y2|)。
in some embodiments of the invention, the heuristic function when allowing the main body of the drone to move in eight directions is expressed as:
C＝D*(|x1-x2|+|y1-y2|)+(D2-2D)*min(|x1-x2|，|y1-y2|)。
in some embodiments of the invention, the heuristic function when allowing the main body of the drone to move in any direction is expressed as:
compared with the prior art, the embodiment of the invention has at least the following advantages or beneficial effects: the unmanned aerial vehicle logistics system is built through the terminal server, the unmanned aerial vehicle main body and the functional module for controlling and feeding back the unmanned aerial vehicle running data, so that the purpose of conveying express by adopting the unmanned aerial vehicle is achieved, the unmanned aerial vehicle has the characteristics of high flexibility, low cost, stable flight and the like, the unmanned aerial vehicle logistics system is more outstanding to be applied in the logistics field, on one hand, the work of the current express delivery staff is greatly reduced, and the progress of social civilization is promoted; on the other hand, people can take the express more conveniently;
the junction station matched with the unmanned aerial vehicle logistics system is built on the roof; and roof space is as one of city public space compensation's important measure, with the splitting of city space lead to many city synthesis roof space to be just true to be the furnishings, even do not know its existence, caused serious space resource waste, make it not exert due effect, and combine this system attribute, thereby utilize city building roof space to build hub station and unmanned aerial vehicle green energy roof hangar, existing effective roof space of having utilized avoids the wasting of resources, also accord with the development appeal of this system, effectual a great deal of realistic problems such as unmanned aerial vehicle noise pollution, start-stop stage potential safety hazard of having solved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic diagram of a terminal server and an unmanned aerial vehicle main body according to an embodiment of the present invention;
fig. 2 is a connection block diagram of the drone in an embodiment of the invention;
fig. 3 is a structural diagram of the main body of the unmanned aerial vehicle in the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally found in use of products of the application, and are used only for convenience in describing the present application and for simplification of description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present application.
In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the individual features of the embodiments can be combined with one another without conflict.
Examples
Referring to fig. 1-2, fig. 1 is a schematic diagram illustrating a terminal server and a main body of an unmanned aerial vehicle according to an embodiment of the present invention; fig. 2 is a connection block diagram of the drone in the embodiment of the present invention.
The embodiment of the application provides a logistics unmanned aerial vehicle same-city air transportation system, which comprises a terminal server, an unmanned aerial vehicle main body and a junction station, wherein the unmanned aerial vehicle main body and the junction station are controlled by the terminal server;
the unmanned aerial vehicle control module is used for controlling the unmanned aerial vehicle main body to run;
the unmanned aerial vehicle traffic path planning module is used for combing the running track of the unmanned aerial vehicle main body;
the positioning module is used for acquiring the accurate positioning of the unmanned aerial vehicle main body;
and the storage module is used for maintaining the operation of the system and storing relevant data.
In this embodiment, the main body of the unmanned aerial vehicle includes a frame structure, blades, a motor, an electronic controller, a battery, and the like, and further includes a control module for controlling the unmanned aerial vehicle to execute commands sent by an unmanned aerial vehicle control module and an unmanned aerial vehicle traffic path planning module;
the data transmission module is used for exchanging data with other modules;
the visual module is used for analyzing the moving image of the unmanned aerial vehicle main body, avoiding the barrier function and visually identifying; the optical flow method is an important method for analyzing the current moving image, and refers to the mode moving speed in the time-varying image. Because when an object is in motion, the luminance pattern of its corresponding point on the image is also in motion, the apparent motion of the image luminance pattern is the optical flow.
The optical flow expresses the change of the image, and since it contains information on the movement of the object, it can be used by the observer to determine the movement of the object. The optical flow definition can extend the optical flow field, which is a two-dimensional instantaneous velocity field formed by all pixel points in an image, wherein the two-dimensional velocity vector is the projection of the three-dimensional velocity vector of a visible point in a scene on an imaging surface. The optical flow contains not only motion information of the observed object but also rich information about the three-dimensional structure of the scene. The study of optical flow has become an important part of the field of computer vision and related research. Because optical flow plays an important role in computer vision, the optical flow has very important applications in target object segmentation, recognition, tracking, robot navigation, shape information recovery and the like; thereby ensured the accurate control and the stable flight of unmanned aerial vehicle main part.
And the light module is used for aerial safety prompt and assistance of the unmanned aerial vehicle.
And the power supply module is used for supplying power to the unmanned aerial vehicle main body.
The control module model that the unmanned aerial vehicle main part adopted does: CPU STM32H 743; the model of the data transmission module is as follows: air724UG 4G LTE; the type of the optical flow module is as follows: ARK Flow; the type of the positioning module is as follows: ZED-F9P, and the antenna of being connected with the unmanned aerial vehicle main part: GNSS SSY 3701A.
The terminal server is also the control rear end, and it is used for controlling whole logistics system's operation, and links through data transmission module between terminal server and the unmanned aerial vehicle main part, controls the flight through OFFBOARD mode. The control process mainly realizes the control of takeoff, landing, pointing flight, orientation and the like through a series of MAVROS commands and MAVLink control protocols.
The junction station in this embodiment is an intelligent express cabinet system facing a user side and linked with an unmanned aerial vehicle main body. And the equipment is based on the Internet of things and can identify, temporarily store, monitor and manage articles and express mails. And the intelligent express terminal system is formed together with the PC server. And the PC server can carry out unified management on each express terminal of the system, such as information of the express terminal, information of express, information of a user and the like, and carry out integrated analysis processing on the information.
The innovative multi-cargo-compartment intelligent express cabinet mode can bear 30-36 goods at most, changes the goods placing and taking mode of one cabinet and one port in the current market, provides further guarantee for the goods safety, and enables the goods placing and taking mode of a user side to be more convenient and humanized. The container adopts an ultra-precise multi-axis motion numerical control module system, carries an QMP-SynqNet motion control card, and realizes automatic cargo sorting and homing. In appearance, independently outward appearance design, the whole cabinet body is waterproof dustproof, carries on intelligent warning light and shows the system, brings better mutual experience for the user. Due to the limitation of a use scene, an unmanned aerial vehicle GNSS-RTK accurate base station end receiver is configured, IP67 level is waterproof and dustproof, a high-accuracy Beidou mainboard is carried, accuracy reaches centimeter level positioning, and the safety problem of accurate take-off and landing between the unmanned aerial vehicle and a container is better solved. The middle part of the cabinet body is provided with a 17-inch touch display screen which carries common functions such as a face recognition system and a two-dimensional code recognition system.
And unmanned aerial vehicle also need charge or trade electric work at the in-process of work, from this, still including being used for trading electric installation for unmanned aerial vehicle's automation, its main function is commodity circulation unmanned aerial vehicle's parking, unmanned aerial vehicle and stand-by battery's charging, unmanned aerial vehicle trade the electricity fast. Whether the weather environment meets the flight requirement is automatically learned and judged by the weather monitoring module, so that the safety is ensured.
The roof space is one of important measures for urban public space compensation, and the roof space and the urban space are split, so that many urban complex roof spaces are just like furnishings, even the existence of the roof space is unknown, and serious space resource waste is caused, so that the roof space does not play a due role. Combine this system attribute, thereby the innovation utilizes city building roof space to build unmanned aerial vehicle green energy roof hangar, and the resource waste is avoided in the roof space of having utilized effectively, accords with this project development appeal again, solves a great deal of realistic problems such as unmanned aerial vehicle noise pollution, start-stop stage potential safety hazard.
The hangar undertakes functions of storing, charging, standby battery charging and storing, automatic battery changing and the like of a Tianshi V1 logistics unmanned aerial vehicle, is in modular design, has an IP66 protection grade, is configured with an intelligent photovoltaic power generation technology, carries an intelligent photovoltaic controller meeting NB/T32004-2018 standard requirements, and achieves a green energy mode of functions of hangar work, battery charging and the like.
The automatic power switching function adopts an ultra-precise multi-axis motion numerical control module system, carries an QMP-SynqNet motion control card, and realizes a highly stable automatic power switching function of the unmanned aerial vehicle. In protection and outward appearance, combine reality work scene to carry out the design of independently researching and developing entirely to hangar protection and outward appearance, carry on intelligent atmospheric control system to guarantee the hangar still normal operating under extreme environment. In addition, the hangar carries on intelligent meteorological observation module, for ground end real-time observation meteorological information to with this automatic judgement environment of taking off, ensure unmanned aerial vehicle flight safety.
That is in the operation in-process, the staff sends unmanned aerial vehicle delivery order through terminal server, namely from a junction station through unmanned aerial vehicle transport to another junction station, and through unmanned aerial vehicle control module and unmanned aerial vehicle traffic route planning module to just can control the operation of unmanned aerial vehicle main part and the selection of route, thereby reach the purpose of transporting to another place by one.
The centimeter-level positioning system of the unmanned aerial vehicle adopts Real-time kinematical carrier phase differential technology, one receiver is arranged on a hub station, the other receiver or receivers are arranged on the unmanned aerial vehicle (called a rover station), the hub station and the rover station simultaneously receive signals transmitted by the same GPS satellite at the same time, the hub station transmits measured carrier phase observation values, pseudo-range observation values, reference station coordinates and the like to the rover station in motion by radio in Real time, the rover station receives the carrier phase observation values collected from the hub station through a data transmission module (4G data transmission module) on the unmanned aerial vehicle to carry out differential processing in Real time to obtain base line vectors (delta X, delta Y and delta Z) of the hub station and the rover station, and the base line vectors and the coordinates of the hub station are added to obtain the coordinates of the rover station, obtaining the accurate coordinates of the rover station through coordinate conversion parameter conversion; thereby obtaining accurate positioning of the non-host main body.
In this embodiment, in the unmanned aerial vehicle traffic path planning module, an algorithm formula for path planning is represented as: (n) ═ g (n) + h (n);
wherein f (n) is an evaluation function from an initial point to a target point via node n;
g (n) is the actual cost from the initial node to the n nodes in the state space;
h (n) is the estimated cost of the best path from n to the target node.
In the extreme case, when the heuristic function h (n) is always 0, the priority of the node will be determined by g (n), and the algorithm is degraded to Dijkstra algorithm.
If h (n) is always less than or equal to the cost from the node n to the end point, the a-algorithm ensures that the shortest path can be found. But as the value of h (n) is smaller, the more nodes the algorithm will traverse, resulting in a slower algorithm.
If h (n) is exactly equal to the cost of node n to the end point, the a-algorithm will find the best path and speed is fast. Unfortunately, this is not possible in all scenarios. Since it is difficult to exactly figure out how far from the end point before the end point is reached.
If the value of h (n) is more costly than the cost of node n to the end, the a-x algorithm cannot guarantee that the shortest path is found, but this time it is very fast.
On the other extreme, if h (n) is much larger than g (n), then only h (n) will have an effect, which becomes the best first search.
In this embodiment, in the unmanned aerial vehicle traffic route planning module, the speed and accuracy of the algorithm are controlled by adjusting the heuristic function.
In this embodiment, when the main body of the drone is allowed to move in four directions, the heuristic function is expressed as:
C＝D*(|x1-x2|+|y1-y2|)。
in this embodiment, when the main body of the drone is allowed to move in eight directions, the heuristic function is expressed as:
C＝D*(|x1-x2|+|y1-y2|)+(D2-2D)*min(|x1-x2|，|y1-y2|)。
in this embodiment, when the main body of the drone is allowed to move in any direction, the heuristic function is expressed as:
for unmanned aerial vehicle path planning, the speed and the accuracy of the algorithm can be controlled by adjusting the heuristic function, the shortest path may not be needed, but a relatively optimal path can be found as soon as possible, and the heuristic functions are adopted according to different conditions of the unmanned aerial vehicle.
The working principle of the logistics unmanned aerial vehicle same-city air transportation system is as follows: when using, that is in the operation, the staff sends unmanned aerial vehicle delivery order through terminal server, namely carries to another hub station through unmanned aerial vehicle from a hub station, and through unmanned aerial vehicle control module and unmanned aerial vehicle traffic route planning module to just can control the operation of unmanned aerial vehicle main part and the selection of route, thereby reach the purpose of carrying to another place by one.
The Memory module may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Read Only Memory (EPROM), an electrically Erasable Read Only Memory (EEPROM), and the like.
The control module may be an integrated circuit chip having signal processing capabilities. The control module may be a general control module, including a Central Processing Unit (CPU), a Network control module (NP), and the like; but also Digital Signal Processing (DSP), Application Specific Integrated Circuit (ASIC), Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component.
It will be appreciated that the configurations shown in fig. 1-3 are merely illustrative and may include more or fewer components than shown in fig. 1-3 or have different configurations than shown in fig. 1-3. The components shown in fig. 1-3 may be implemented in hardware, software, or a combination thereof.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (7)
1. A logistics unmanned aerial vehicle same-city air transportation system is characterized by comprising a terminal server, an unmanned aerial vehicle main body and a junction station, wherein the unmanned aerial vehicle main body and the junction station are controlled by the terminal server;
the unmanned aerial vehicle control module is used for controlling the unmanned aerial vehicle main body to run;
the unmanned aerial vehicle traffic path planning module is used for combing the running track of the unmanned aerial vehicle main body;
and the positioning module is used for acquiring the accurate positioning of the unmanned aerial vehicle main body.
2. The logistics unmanned aerial vehicle city air transportation system of claim 1, wherein the unmanned aerial vehicle body comprises a frame structure and blades, and further comprises a control module for controlling commands sent by the unmanned aerial vehicle control module and the unmanned aerial vehicle traffic path planning module executed by the unmanned aerial vehicle;
the data transmission module is used for exchanging data with other modules;
the visual module is used for analyzing the moving image of the unmanned aerial vehicle main body, avoiding the barrier function and visually identifying;
the lighting module is used for air safety prompt and assistance of the unmanned aerial vehicle;
and the power supply module is used for supplying power to the unmanned aerial vehicle main body.
3. The system of claim 1, wherein the traffic path planning module of the unmanned aerial vehicle has an algorithm formula for path planning, which is: (n) ═ g (n) + h (n);
wherein f (n) is an evaluation function from an initial point to a target point via node n;
g (n) is the actual cost from the initial node to the n nodes in the state space;
h (n) is the estimated cost of the best path from n to the target node.
4. The logistics unmanned aerial vehicle same city air transportation system of claim 3, wherein the unmanned aerial vehicle traffic path planning module controls speed and accuracy of the algorithm by adjusting heuristic functions.
5. The logistics unmanned aerial vehicle city air transportation system of claim 4, wherein when the unmanned aerial vehicle body is allowed to move in four directions, the heuristic function is expressed as:
C＝D*(|x1-x2|+|y1-y2|)。
6. the logistics unmanned aerial vehicle city air transportation system of claim 4, wherein when the unmanned aerial vehicle main body is allowed to move in eight directions, the heuristic function is expressed as:
C＝D*(|x1-x2|+|y1-y2|)+(D2-2D)*min(|x1-x2|，|y1-y2|)。
7. the logistics unmanned aerial vehicle city air transportation system of claim 4, wherein when the main body of the unmanned aerial vehicle is allowed to move in any direction, the heuristic function is expressed as:
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