CN113741516A - Multi-unmanned aerial vehicle stacking operation method and system, storage medium and electronic equipment - Google Patents
Multi-unmanned aerial vehicle stacking operation method and system, storage medium and electronic equipment Download PDFInfo
- Publication number
- CN113741516A CN113741516A CN202111005988.7A CN202111005988A CN113741516A CN 113741516 A CN113741516 A CN 113741516A CN 202111005988 A CN202111005988 A CN 202111005988A CN 113741516 A CN113741516 A CN 113741516A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- stacked
- goods
- stacking operation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000004891 communication Methods 0.000 claims description 10
- 241000531116 Blitum bonus-henricus Species 0.000 claims description 3
- 235000008645 Chenopodium bonus henricus Nutrition 0.000 claims description 3
- 239000000463 material Substances 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 description 8
- 238000009434 installation Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 238000004590 computer program Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
Abstract
The invention relates to a multi-unmanned aerial vehicle stacking operation method, a multi-unmanned aerial vehicle stacking operation system, a storage medium and electronic equipment, wherein the method comprises the following steps: obtaining the number of unmanned aerial vehicles for executing the stacking operation according to the planned completion time of the stacking operation, the number of the goods to be stacked, the position to be stacked and the current positions of all the goods to be stacked; and controlling the unmanned aerial vehicles in the number to respectively identify the position and the size of the corresponding goods to be stacked, grabbing the goods, and placing the goods at the position to be stacked until the stacking operation is finished. Can control a plurality of unmanned aerial vehicle according to the demand is nimble to carry out the pile up neatly operation, and a plurality of unmanned aerial vehicle carry out the pile up neatly operation simultaneously, have improved pile up neatly efficiency, and have reduced manpower and materials cost.
Description
Technical Field
The invention relates to the technical field of cargo handling, in particular to a multi-unmanned-aerial-vehicle stacking operation method, a multi-unmanned-aerial-vehicle stacking operation system, a storage medium and electronic equipment.
Background
Unmanned aerial vehicle has with low costs, survivability is strong, mobility can advantage such as good, and along with the development of unmanned aerial vehicle technique, unmanned aerial vehicle can play more and more important effect in the middle of each field of each trade at home and abroad, has wide application prospect, in trades such as commodity circulation, storage, work such as pile up neatly consumes a large amount of manpowers always, though there are automation equipment such as pile up neatly arm, general application production line, and pile up neatly inefficiency, the flexibility ratio is not enough, and is with higher costs.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art and provides a multi-unmanned aerial vehicle stacking operation method, a multi-unmanned aerial vehicle stacking operation system, a storage medium and electronic equipment.
The technical scheme of the multi-unmanned aerial vehicle stacking operation method is as follows:
obtaining the number of unmanned aerial vehicles for executing the stacking operation according to the planned completion time of the stacking operation, the number of the goods to be stacked, the position to be stacked and the current positions of all the goods to be stacked;
and controlling the unmanned aerial vehicles in the number to respectively identify the position and the size of the corresponding goods to be stacked, grabbing the goods, and placing the goods at the position to be stacked until the stacking operation is finished.
The multi-unmanned aerial vehicle stacking operation method has the following beneficial effects:
can control a plurality of unmanned aerial vehicle according to the demand is nimble to carry out the pile up neatly operation, and a plurality of unmanned aerial vehicle carry out the pile up neatly operation simultaneously, have improved pile up neatly efficiency, and have reduced manpower and materials cost.
On the basis of the scheme, the multi-unmanned aerial vehicle stacking operation method can be further improved as follows.
Further, still include:
acquiring a complete image of the whole area of the stacking operation, and performing grid division on the complete image to obtain a plurality of sub-images;
respectively selecting any coordinate point from each subgraph, and forming a navigation map according to all the selected coordinate points;
and when any unmanned aerial vehicle has communication faults, the unmanned aerial vehicle plans the flight route according to the navigation map.
The beneficial effect of adopting the further scheme is that: when any unmanned aerial vehicle has communication faults, the unmanned aerial vehicle can plan a flight route according to a navigation map, continue to execute stacking operation or land to a specified position.
Further, still include: when any unmanned aerial vehicle executes the stacking operation, the unmanned aerial vehicle is controlled to recognize the obstacle of the position to be stacked, and when the obstacle of the position to be stacked is recognized, an alarm is given.
The beneficial effect of adopting the further scheme is that: whether the barrier exists in the stacking position can be identified in time, if yes, an alarm is given, and the phenomenon that the stacking goods collapse to cause accidents is avoided.
Further, still include:
when judging that the residual capacity of any unmanned aerial vehicle is less than the preset residual capacity threshold value, control this unmanned aerial vehicle to descend to control and replace this unmanned aerial vehicle of unmanned aerial vehicle replacement.
The beneficial effect of adopting the further scheme is that: can in time replace the unmanned aerial vehicle that residual capacity is low to guarantee to accomplish the pile up neatly operation on time.
The technical scheme of the multi-unmanned aerial vehicle stacking operation system is as follows:
the stacking system comprises an unmanned aerial vehicle number calculating module and a control module, wherein the unmanned aerial vehicle number calculating module is used for obtaining the number of unmanned aerial vehicles for executing stacking operation according to the planned completion time of the stacking operation, the number of goods to be stacked, the position to be stacked and the current positions of all goods to be stacked;
the control module is used for controlling the unmanned aerial vehicles in the number to respectively identify the position and the size of the corresponding goods to be stacked, grab the goods and place the goods at the positions to be stacked until the stacking operation is finished.
The multi-unmanned aerial vehicle stacking operation system has the following beneficial effects:
can control a plurality of unmanned aerial vehicle according to the demand is nimble to carry out the pile up neatly operation, and a plurality of unmanned aerial vehicle carry out the pile up neatly operation simultaneously, have improved pile up neatly efficiency, and have reduced manpower and materials cost.
On the basis of the scheme, the multi-unmanned aerial vehicle stacking operation system can be further improved as follows.
Further, still include the navigation module, the navigation module is used for:
acquiring a complete image of the whole area of the stacking operation, and performing grid division on the complete image to obtain a plurality of sub-images;
respectively selecting any coordinate point from each subgraph, and forming a navigation map according to all the selected coordinate points;
and when any unmanned aerial vehicle has communication faults, the unmanned aerial vehicle plans the flight route according to the navigation map.
The beneficial effect of adopting the further scheme is that: when any unmanned aerial vehicle has communication faults, the unmanned aerial vehicle can plan a flight route according to a navigation map, continue to execute stacking operation or land to a specified position.
Further, the system also comprises an alarm module, wherein the alarm module is used for: when any unmanned aerial vehicle executes the stacking operation, the unmanned aerial vehicle is controlled to recognize the obstacle of the position to be stacked, and when the obstacle of the position to be stacked is recognized, an alarm is given.
The beneficial effect of adopting the further scheme is that: whether the barrier exists in the stacking position can be identified in time, if yes, an alarm is given, and the phenomenon that the stacking goods collapse to cause accidents is avoided.
Further, the control module is further configured to: when judging that the residual capacity of any unmanned aerial vehicle is less than the preset residual capacity threshold value, control this unmanned aerial vehicle to descend to control and replace this unmanned aerial vehicle of unmanned aerial vehicle replacement.
The beneficial effect of adopting the further scheme is that: can in time replace the unmanned aerial vehicle that residual capacity is low to guarantee to accomplish the pile up neatly operation on time.
The storage medium stores instructions, and when the instructions are read by a computer, the computer is enabled to execute any one of the above-mentioned multi-unmanned aerial vehicle stacking operation methods.
The electronic equipment comprises a memory, a processor and a program which is stored in the memory and runs on the processor, wherein the processor executes the program to realize the steps of any one of the unmanned aerial vehicle stacking operation methods.
Drawings
Fig. 1 is a schematic flow chart of a multi-unmanned aerial vehicle stacking operation method according to an embodiment of the invention;
fig. 2 is a schematic structural diagram of a multi-unmanned aerial vehicle palletizing operation system according to an embodiment of the present invention;
Detailed Description
As shown in fig. 1, a multi-unmanned aerial vehicle stacking operation method according to an embodiment of the present invention includes the following steps:
s1, obtaining the number of unmanned aerial vehicles for executing the stacking operation according to the planned completion time of the stacking operation, the number of goods to be stacked, the positions to be stacked and the current positions of all the goods to be stacked; specifically, the method comprises the following steps:
for example, the planned completion time is 120 minutes, the number of the goods to be palletized is 1000, the distance between the position to be palletized and the current position of the goods to be palletized is obtained according to the position to be palletized and the current position of the goods to be palletized, and the time for one unmanned aerial vehicle to carry the goods to be palletized once can be calculated according to the flight speed of the unmanned aerial vehicle, for example, the time for one unmanned aerial vehicle to carry the goods to be palletized once is 2 minutes, and if it is guaranteed that the palletizing operation is completed within 1 hour, the minimum number N of the unmanned aerial vehicles for executing the palletizing operation is calculated according to a first formula′The first formula is:
wherein T represents a plan completion time length, M represents the number of goods to be palletized, and T represents a time length for which no one carries the goods to be palletized once, in this embodiment, T is 120 minutes, M is 1000 minutes, and T is 2 minutes, which is obtained by substituting into the first formula:
N′not less than 16.67, and adopting one-bit rounding to obtain N′17, carry out this pile up neatly operation and need 17 unmanned aerial vehicle at a minimum, just can guarantee to accomplish in the plan length of completion i.e. 120 minutes.
Then:
1) a minimum number N of drones available for carrying out said palletization operation′As a number of drones for performing the palletization job;
2) when actual pile up neatly operation, for the emergence that can not accomplish the condition of pile up neatly operation on time that causes such as the accident that prevents unmanned aerial vehicle damages or the electric quantity is not enough, often can prepare several unmanned aerial vehicles more with reserve, so:
calculating the number N of unmanned aerial vehicles for executing the stacking operation by using a second formula, wherein the second formula is as follows: N-N′+ W, wherein W represents the number of standby supplementary unmanned aerial vehicles, and the value of W can be set according to experience;
calculating the number N of the unmanned aerial vehicles for executing the stacking operation by using a third formula, wherein the third formula is as follows: N-N′+Q×N′Wherein Q represents the percentage, and the value of Q can be set according to experience;
s2, controlling the unmanned aerial vehicles to respectively identify the positions and the sizes of corresponding goods to be stacked, grab and place the goods in the positions to be stacked until the stacking operation is completed, wherein the unmanned aerial vehicles can be understood as stacking all the goods to be stacked layer by layer in the positions to be stacked and placing the goods, and for any unmanned aerial vehicle, the placement positions of the goods to be stacked and grabbed by the unmanned aerial vehicle can be obtained in an image identification mode so as to realize the stacking and placing of all the goods to be stacked.
The specific implementation mode that the unmanned aerial vehicle snatchs and treats pile up neatly goods does: unmanned aerial vehicle includes camera, goods grabbing device, the camera is used for treating the pile up neatly goods and carries out image acquisition to carry out image recognition, obtain the position and the size of treating the pile up neatly goods, fly to when treating the position of pile up neatly goods when unmanned aerial vehicle, snatch according to the size of treating the pile up neatly goods, goods grabbing device specifically is:
1) goods grabbing device includes the connecting plate, the connecting plate is installed on the mounting panel, driving motor is connected to the lower surface of connecting plate, driving motor's output connection telescopic link, the end connection installation cavity of telescopic link, the end connection gripper seat of installation cavity, the inside electric putter that is equipped with of installation cavity, electric putter is fixed in the installation cavity through the push rod support, the upper end side of gripper seat is through pivot connection gripper, electric putter's push rod passes gripper seat and connects the drive ring, the articulated actuating lever one end of drive ring, the articulated gripper of the actuating lever other end, electric putter and driving motor connection director, can change the extension length of gripper through the telescopic link, can independently snatch.
2) And the existing goods grabbing device in the market can be adopted.
According to the multi-unmanned-aerial-vehicle stacking operation method, the plurality of unmanned aerial vehicles can be flexibly controlled to execute stacking operation according to demands, and the plurality of unmanned aerial vehicles execute stacking operation simultaneously, so that stacking efficiency is improved, and manpower and material resources costs are reduced.
Preferably, in the above technical solution, the method further comprises:
s30, acquiring a complete image of the whole area of the stacking operation, and performing grid division on the complete image to obtain a plurality of sub-images; specifically, the method comprises the following steps:
when the complete image of the whole area cannot be acquired at one time, shooting can be performed for multiple times, and the shot image is subjected to de-duplication splicing to obtain the complete image.
S31, respectively selecting any coordinate point from each subgraph, and forming a navigation map according to all the selected coordinate points, specifically:
and optionally selecting one point in the complete image as an origin, establishing a two-position coordinate system on a plane where the complete image is located, mapping the complete image to the two-position coordinate system, respectively selecting any one coordinate point from each sub-image, and forming a navigation map according to all the selected coordinate points, wherein at the moment, the navigation map comprises a plurality of coordinate points.
S32, when any unmanned aerial vehicle has communication faults, the unmanned aerial vehicle plans the flight route according to the navigation map, namely plans the flight route according to a plurality of coordinate points on the navigation map, and compared with the planning of the flight route by using all coordinate points in each sub-graph range, the unmanned aerial vehicle can accurately plan the flight route and greatly simplify the calculation process.
When any unmanned aerial vehicle has communication faults, the unmanned aerial vehicle can not receive instructions, can carry out the planning of flight route according to the navigation map at this moment, continue to carry out the pile up neatly operation, further guarantee to complete the pile up neatly operation on time, perhaps, descend to appointed position to carry out follow-up maintenance processing.
Preferably, in the above technical solution, the method further comprises: when any unmanned aerial vehicle executes the stacking operation, the unmanned aerial vehicle is controlled to recognize the obstacle of the stacking position, when the obstacle of the stacking position is recognized, an alarm is given, the stacking position is recognized in a specific image recognition mode, for example, a person appears in the stacking position, so that an acousto-optic alarm can be given in time, and accidents caused by collapse of the stacking goods are avoided.
Moreover, when other obstacles appear at the position to be stacked, the sound-light alarm can be timely sent out, and collapse of the goods to be stacked is avoided.
Preferably, in the above technical solution, the method further comprises:
when judging that the residual capacity of any unmanned aerial vehicle is less than the preset residual capacity threshold value, control this unmanned aerial vehicle to descend to control and replace this unmanned aerial vehicle of unmanned aerial vehicle replacement. Can in time replace the unmanned aerial vehicle that residual capacity is low to guarantee to accomplish the pile up neatly operation on time.
In the above embodiments, although the steps are numbered as S1, S2, etc., but only the specific embodiments are given in this application, and those skilled in the art may adjust the execution sequence of S1, S2, etc. according to the actual situation, which is also within the protection scope of the present invention, it is understood that some embodiments may include some or all of the above embodiments.
As shown in fig. 2, a multi-unmanned aerial vehicle palletizing operation system 200 according to an embodiment of the present invention includes an unmanned aerial vehicle number calculating module 210 and a control module 220, where the unmanned aerial vehicle number calculating module 210 is configured to obtain the number of unmanned aerial vehicles for executing a palletizing operation according to a plan completion duration of the palletizing operation, the number of goods to be palletized, a position to be palletized, and current positions of all goods to be palletized;
the control module 220 is configured to control the number of unmanned aerial vehicles to identify and grab the position and size of the corresponding goods to be palletized, and place the goods at the position to be palletized until the palletizing operation is completed.
Can control a plurality of unmanned aerial vehicle according to the demand is nimble to carry out the pile up neatly operation, and a plurality of unmanned aerial vehicle carry out the pile up neatly operation simultaneously, have improved pile up neatly efficiency, and have reduced manpower and materials cost.
Preferably, in the above technical solution, the navigation apparatus further comprises a navigation module, wherein the navigation module is configured to:
acquiring a complete image of the whole area of the stacking operation, and performing grid division on the complete image to obtain a plurality of sub-images;
respectively selecting any coordinate point from each subgraph, and forming a navigation map according to all the selected coordinate points;
and when any unmanned aerial vehicle has communication faults, the unmanned aerial vehicle plans the flight route according to the navigation map.
When any unmanned aerial vehicle has communication faults, the unmanned aerial vehicle can plan a flight route according to a navigation map, continue to execute stacking operation or land to a specified position.
Preferably, in the above technical solution, the mobile terminal further includes an alarm module, and the alarm module is configured to: when any unmanned aerial vehicle executes the stacking operation, the unmanned aerial vehicle is controlled to recognize the obstacle of the position to be stacked, and when the obstacle of the position to be stacked is recognized, an alarm is given. Whether the barrier exists in the stacking position can be identified in time, if yes, an alarm is given, and the phenomenon that the stacking goods collapse to cause accidents is avoided.
Preferably, in the above technical solution, the control module 220 is further configured to: when judging that the residual capacity of any unmanned aerial vehicle is less than the preset residual capacity threshold value, control this unmanned aerial vehicle to descend to control and replace this unmanned aerial vehicle of unmanned aerial vehicle replacement. Can in time replace the unmanned aerial vehicle that residual capacity is low to guarantee to accomplish the pile up neatly operation on time.
The above steps for realizing the corresponding functions of each parameter and each unit module in the multi-unmanned aerial vehicle stacking operation system 200 according to the present invention can refer to each parameter and step in the above embodiment of the multi-unmanned aerial vehicle stacking operation method, which are not described herein again.
The storage medium stores instructions, and when the instructions are read by a computer, the computer is enabled to execute any one of the multi-unmanned aerial vehicle stacking operation methods.
The electronic equipment comprises a memory, a processor and a program which is stored in the memory and runs on the processor, wherein the processor executes the program to realize any one of the steps of the multi-unmanned aerial vehicle stacking operation method.
In the above description, for each parameter and step in the electronic device of the present invention, reference may be made to each parameter and step in the above embodiment of the multi-drone stacking operation method, which is not described herein again.
As will be appreciated by one skilled in the art, the present invention may be embodied as a system, method or computer program product.
Accordingly, the present disclosure may be embodied in the form of: may be embodied entirely in hardware, entirely in software (including firmware, resident software, micro-code, etc.) or in a combination of hardware and software, and may be referred to herein generally as a "circuit," module "or" system. Furthermore, in some embodiments, the invention may also be embodied in the form of a computer program product in one or more computer-readable media having computer-readable program code embodied in the medium.
Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A multi-unmanned aerial vehicle stacking operation method is characterized by comprising the following steps:
obtaining the number of unmanned aerial vehicles for executing the stacking operation according to the planned completion time of the stacking operation, the number of the goods to be stacked, the position to be stacked and the current positions of all the goods to be stacked;
and controlling the unmanned aerial vehicles in the number to respectively identify the position and the size of the corresponding goods to be stacked, grabbing the goods, and placing the goods at the position to be stacked until the stacking operation is finished.
2. The multi-drone palletizing operation method according to claim 1, further comprising:
acquiring a complete image of the whole area of the stacking operation, and performing grid division on the complete image to obtain a plurality of sub-images;
respectively selecting any coordinate point from each subgraph, and forming a navigation map according to all the selected coordinate points;
and when any unmanned aerial vehicle has communication faults, the unmanned aerial vehicle plans the flight route according to the navigation map.
3. The multi-drone palletizing work method according to claim 1 or 2, characterized by further comprising: when any unmanned aerial vehicle executes the stacking operation, the unmanned aerial vehicle is controlled to recognize the obstacle of the position to be stacked, and when the obstacle of the position to be stacked is recognized, an alarm is given.
4. The multi-drone palletizing work method according to claim 1 or 2, characterized by further comprising:
when judging that the residual capacity of any unmanned aerial vehicle is less than the preset residual capacity threshold value, control this unmanned aerial vehicle to descend to control and replace this unmanned aerial vehicle of unmanned aerial vehicle replacement.
5. The multi-unmanned aerial vehicle stacking operation system is characterized by comprising an unmanned aerial vehicle number calculating module and a control module, wherein the unmanned aerial vehicle number calculating module is used for obtaining the number of unmanned aerial vehicles for executing stacking operation according to the planned completion time of the stacking operation, the number of goods to be stacked, the position to be stacked and the current positions of all goods to be stacked;
the control module is used for controlling the unmanned aerial vehicles in the number to respectively identify the position and the size of the corresponding goods to be stacked, grab the goods and place the goods at the positions to be stacked until the stacking operation is finished.
6. The multi-drone palletizing operation system according to claim 5, further comprising a navigation module, the navigation module being configured to:
acquiring a complete image of the whole area of the stacking operation, and performing grid division on the complete image to obtain a plurality of sub-images;
respectively selecting any coordinate point from each subgraph, and forming a navigation map according to all the selected coordinate points;
and when any unmanned aerial vehicle has communication faults, the unmanned aerial vehicle plans the flight route according to the navigation map.
7. A multi-drone palletizing work system according to claim 5 or 6, further comprising an alarm module for: when any unmanned aerial vehicle executes the stacking operation, the unmanned aerial vehicle is controlled to recognize the obstacle of the position to be stacked, and when the obstacle of the position to be stacked is recognized, an alarm is given.
8. A multi-drone palletizing work system according to claim 5 or 6, wherein the control module is further configured to: when judging that the residual capacity of any unmanned aerial vehicle is less than the preset residual capacity threshold value, control this unmanned aerial vehicle to descend to control and replace this unmanned aerial vehicle of unmanned aerial vehicle replacement.
9. A storage medium having stored therein instructions which, when read by a computer, cause the computer to carry out a method of multiple drone palletizing operations according to any one of claims 1 to 4.
10. An electronic device comprising a memory, a processor and a program stored on the memory and running on the processor, wherein the processor when executing the program implements the steps of a method of multi-drone palletizing operation according to any one of claims 1 to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111005988.7A CN113741516A (en) | 2021-08-30 | 2021-08-30 | Multi-unmanned aerial vehicle stacking operation method and system, storage medium and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111005988.7A CN113741516A (en) | 2021-08-30 | 2021-08-30 | Multi-unmanned aerial vehicle stacking operation method and system, storage medium and electronic equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113741516A true CN113741516A (en) | 2021-12-03 |
Family
ID=78733939
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111005988.7A Pending CN113741516A (en) | 2021-08-30 | 2021-08-30 | Multi-unmanned aerial vehicle stacking operation method and system, storage medium and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113741516A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114633979A (en) * | 2022-03-08 | 2022-06-17 | 北京京东乾石科技有限公司 | Goods stacking method and device, electronic equipment and computer readable medium |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103901892A (en) * | 2014-03-04 | 2014-07-02 | 清华大学 | Control method and system of unmanned aerial vehicle |
| CN104615146A (en) * | 2015-02-05 | 2015-05-13 | 广州快飞计算机科技有限公司 | Unmanned aerial vehicle spraying operation automatic navigation method without need of external navigation signal |
| CN105068559A (en) * | 2015-08-26 | 2015-11-18 | 北京中物智联科技有限公司 | Unmanned plane piling operating system |
| CN110303500A (en) * | 2019-07-10 | 2019-10-08 | 中信梧桐港供应链管理有限公司 | A kind of warehouse robot control system and method |
| CN110597292A (en) * | 2019-10-09 | 2019-12-20 | 朱彬 | Unmanned aerial vehicle cluster operation planning method and device |
| CN110775503A (en) * | 2019-11-01 | 2020-02-11 | 西安交通大学 | Underground warehouse type express delivery and pickup system and method |
| CN110794873A (en) * | 2019-11-28 | 2020-02-14 | 云南电网有限责任公司电力科学研究院 | Automatic inspection system and method for power transmission line |
| CN111369760A (en) * | 2018-12-25 | 2020-07-03 | 西南科技大学 | Night pedestrian safety early warning device and method based on unmanned aerial vehicle |
| CN111618838A (en) * | 2019-11-11 | 2020-09-04 | 沈阳工业大学 | Snatch manipulator |
| CN111866752A (en) * | 2020-05-12 | 2020-10-30 | 顺德职业技术学院 | Intelligent cooperative operation method and system among multiple robots |
| CN112327885A (en) * | 2020-12-01 | 2021-02-05 | 大连海事大学 | Unmanned ship self-adaptive global-local hybrid path planning method |
| CN212553847U (en) * | 2020-04-26 | 2021-02-19 | 江苏汇鼎智能装备有限公司 | Manipulator for assembly |
| CN112793792A (en) * | 2021-02-26 | 2021-05-14 | 上海润璋智能科技股份有限公司 | Unmanned aerial vehicle for delivering light and handy goods |
-
2021
- 2021-08-30 CN CN202111005988.7A patent/CN113741516A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103901892A (en) * | 2014-03-04 | 2014-07-02 | 清华大学 | Control method and system of unmanned aerial vehicle |
| CN104615146A (en) * | 2015-02-05 | 2015-05-13 | 广州快飞计算机科技有限公司 | Unmanned aerial vehicle spraying operation automatic navigation method without need of external navigation signal |
| CN105068559A (en) * | 2015-08-26 | 2015-11-18 | 北京中物智联科技有限公司 | Unmanned plane piling operating system |
| CN111369760A (en) * | 2018-12-25 | 2020-07-03 | 西南科技大学 | Night pedestrian safety early warning device and method based on unmanned aerial vehicle |
| CN110303500A (en) * | 2019-07-10 | 2019-10-08 | 中信梧桐港供应链管理有限公司 | A kind of warehouse robot control system and method |
| CN110597292A (en) * | 2019-10-09 | 2019-12-20 | 朱彬 | Unmanned aerial vehicle cluster operation planning method and device |
| CN110775503A (en) * | 2019-11-01 | 2020-02-11 | 西安交通大学 | Underground warehouse type express delivery and pickup system and method |
| CN111618838A (en) * | 2019-11-11 | 2020-09-04 | 沈阳工业大学 | Snatch manipulator |
| CN110794873A (en) * | 2019-11-28 | 2020-02-14 | 云南电网有限责任公司电力科学研究院 | Automatic inspection system and method for power transmission line |
| CN212553847U (en) * | 2020-04-26 | 2021-02-19 | 江苏汇鼎智能装备有限公司 | Manipulator for assembly |
| CN111866752A (en) * | 2020-05-12 | 2020-10-30 | 顺德职业技术学院 | Intelligent cooperative operation method and system among multiple robots |
| CN112327885A (en) * | 2020-12-01 | 2021-02-05 | 大连海事大学 | Unmanned ship self-adaptive global-local hybrid path planning method |
| CN112793792A (en) * | 2021-02-26 | 2021-05-14 | 上海润璋智能科技股份有限公司 | Unmanned aerial vehicle for delivering light and handy goods |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114633979A (en) * | 2022-03-08 | 2022-06-17 | 北京京东乾石科技有限公司 | Goods stacking method and device, electronic equipment and computer readable medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107963416B (en) | Robot and system and method for conveying materials by using robot | |
| CN110956327B (en) | Multi-robot automatic parking method, medium, terminal and device | |
| CN105739531A (en) | Unmanned plane control system based on unmanned plane air management platform | |
| CN111884333B (en) | Unmanned inspection unmanned aerial vehicle cooperative work system and method thereof | |
| CN112723052B (en) | Elevator dispatching method and device | |
| CN110054084B (en) | Multi-mechanical-arm traveling crane system and control method and fault processing method thereof | |
| CN113741516A (en) | Multi-unmanned aerial vehicle stacking operation method and system, storage medium and electronic equipment | |
| CN110297501A (en) | Unmanned aerial vehicle (UAV) control method, apparatus and equipment | |
| CN111752297B (en) | Unmanned aerial vehicle flight control method and related device | |
| CN116700298A (en) | Path planning method, system, equipment and storage medium | |
| CN113526157B (en) | AGV flexible conveying system, control method and device | |
| CN111391691B (en) | Vision-based target alignment method, system, and computer-readable storage medium | |
| WO2024093616A1 (en) | Unmanned drayage truck alignment method, apparatus, and device, and readable storage medium | |
| CN112799389B (en) | Automatic walking area path planning method and automatic walking equipment | |
| CN105929847A (en) | Unmanned aerial vehicle following waypoint reliability judging method | |
| CN115586552A (en) | Method for accurately secondarily positioning unmanned truck collection under port tyre crane or bridge crane | |
| CN113110485A (en) | Outdoor robot operation arrangement method, system, device and medium | |
| CN112817333A (en) | Routing inspection planning method, device, equipment and computer readable medium | |
| CN110994719B (en) | Charging management method and device for automation equipment | |
| CN111007847A (en) | Route planning method and device | |
| AU2023203801B2 (en) | Movement control method, electronic device, and computer storage medium | |
| US11940809B2 (en) | Movement control method, electronic device, and computer storage medium | |
| FI130312B (en) | Tracking a truck in a container handling area | |
| CN118117680A (en) | Charging method, charging system and computer readable storage medium for robot | |
| CN114764245A (en) | Unmanned inspection robot and control method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20211203 |
|
| RJ01 | Rejection of invention patent application after publication |