CN114020037A

CN114020037A - Method and device for delivering through unmanned aerial vehicle, electronic equipment and storage medium

Info

Publication number: CN114020037A
Application number: CN202111480573.5A
Authority: CN
Inventors: 于海洋; 江志峰; 封顺天; 崔立鹏
Original assignee: China Telecom Corp Ltd
Current assignee: China Telecom Corp Ltd
Priority date: 2021-12-06
Filing date: 2021-12-06
Publication date: 2022-02-08

Abstract

The present disclosure provides a method, an apparatus, an electronic device and a computer-readable storage medium for delivery by a drone, the method comprising: acquiring a target delivery address of an object to be delivered; determining a first space goods receiving position corresponding to the target delivery address and three-dimensional space position information corresponding to the first space goods receiving position according to the target delivery address; navigating the target unmanned aerial vehicle according to the three-dimensional space position information corresponding to the first space goods receiving position so that the target unmanned aerial vehicle can hover above the second space goods receiving position; acquiring information of the first identification code at the receiving position of the second space through the target unmanned aerial vehicle to obtain receiving information corresponding to the receiving position of the second space; and determining that the second space goods receiving position is consistent with the first space goods receiving position corresponding to the target delivery address according to the goods receiving information corresponding to the second space goods receiving position, and controlling the target unmanned aerial vehicle to deliver the object to be delivered at the second space goods receiving position.

Description

Method and device for delivering through unmanned aerial vehicle, electronic equipment and storage medium

Technical Field

The present disclosure relates to the field of computer and internet technologies, and in particular, to a method and an apparatus for delivering by an unmanned aerial vehicle, an electronic device, and a computer-readable storage medium.

Background

Safe and accurate navigation and positioning are one of key technologies for realizing express delivery to users by the logistics unmanned aerial vehicle. At present, the application practice of unmanned aerial vehicle logistics is to set up a special unmanned aerial vehicle hangar at a harvesting position, and realize fixed-point take-off and landing and goods delivery through special equipment at a fixed position. However, the installation site of the unmanned aerial vehicle hangar is usually limited, the cost of site construction, equipment installation, maintenance and the like is high, and the unmanned aerial vehicle hangar cannot be close to the harvest user to the maximum extent. Therefore, the traditional unmanned aerial vehicle logistics method does not achieve the problems of low cost, easy-to-reach unmanned aerial vehicle accurate navigation, positioning, delivery confirmation and the like, and still cannot be applied in practice in a large-scale mature mode.

It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure.

Disclosure of Invention

The invention aims to provide a method, a device, electronic equipment and a computer readable storage medium for delivering by an unmanned aerial vehicle, which can realize low-cost and easy-to-reach unmanned aerial vehicle accurate navigation, positioning, delivery confirmation and the like.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows, or in part will be obvious from the description, or may be learned by practice of the disclosure.

The embodiment of the disclosure provides a method for delivering by an unmanned aerial vehicle, which comprises the following steps: acquiring a target delivery address of an object to be delivered; determining a first space goods receiving position corresponding to the target delivery address and three-dimensional space position information corresponding to the first space goods receiving position according to the target delivery address; navigating a target unmanned aerial vehicle according to the three-dimensional space position information corresponding to the first space receiving position so that the target unmanned aerial vehicle can hover above the second space receiving position; acquiring information of the first identification code at the second space receiving position through the target unmanned aerial vehicle to obtain receiving information corresponding to the second space receiving position; and determining that the second space goods receiving position is consistent with the first space goods receiving position corresponding to the target delivery address according to the goods receiving information corresponding to the second space goods receiving position, and controlling the target unmanned aerial vehicle to deliver the object to be delivered at the second space goods receiving position.

In some embodiments, the three-dimensional spatial location information corresponding to the first spatial shipment location includes longitude information, latitude information, and altitude information of the first spatial shipment location; wherein, navigate target unmanned aerial vehicle according to the three-dimensional space position information that first space position of receiving goods corresponds, include: determining a first three-dimensional geospatial code corresponding to the first space receiving position according to the longitude information, the latitude information and the altitude information of the first space receiving position; and navigating the target unmanned aerial vehicle according to the first three-dimensional geospatial code.

In some embodiments, the three-dimensional spatial location information corresponding to the first spatial shipment location includes a second three-dimensional geospatial code corresponding to the spatial location at which the first spatial shipment location is located; wherein, navigate target unmanned aerial vehicle according to the three-dimensional space position information that first space position of receiving goods corresponds, include: and navigating the target unmanned aerial vehicle according to the second three-dimensional geospatial code.

In some embodiments, before obtaining the target delivery address of the object to be delivered, the method further comprises: obtaining space goods receiving position information corresponding to a plurality of delivery addresses, wherein the delivery addresses comprise target delivery addresses; and respectively carrying out space three-dimensional gridding on buildings corresponding to the delivery addresses so as to determine three-dimensional space position information of space goods receiving positions corresponding to the delivery addresses.

In some embodiments, the first receiving object information corresponding to the target delivery address is acquired while the space receiving position information corresponding to the target delivery address is acquired; wherein, carry out the space three-dimensional meshing respectively to the building that a plurality of delivery addresses correspond to confirm the three-dimensional space position information of the space delivery position that each delivery address corresponds, include: carrying out space three-dimensional gridding on the building corresponding to the target delivery address so as to determine longitude information, latitude information and height information of a space delivery position corresponding to the target delivery address; determining a third three-dimensional geographic space code of a space receiving position corresponding to a target delivery address according to longitude information, latitude information and altitude information of the space receiving position corresponding to the target delivery address, and taking the third three-dimensional geographic space code of the space receiving position corresponding to the target delivery address as the three-dimensional space position information of the target delivery address; generating a target two-dimensional code according to a third three-dimensional geographic space code corresponding to the target delivery address, first receiving object information corresponding to the target delivery address and the target delivery address; and placing the target two-dimensional code at a space receiving position corresponding to the target delivery address so that the unmanned aerial vehicle can acquire information when delivering to a first space receiving position.

In some embodiments, the receiving information of the second spatial receiving position acquired through the first identification code comprises a target receiving address corresponding to the second spatial receiving position, second receiving object information and a three-dimensional geospatial code corresponding to the second spatial receiving position; the method for acquiring the target delivery address of the object to be delivered comprises the following steps: acquiring a target delivery address of the object to be delivered and receiving a first receiving object of the object to be delivered; determining that the second space delivery position is consistent with the first space delivery position corresponding to the target delivery address according to the delivery information corresponding to the second space delivery position, including: acquiring a three-dimensional geospatial code corresponding to the first spatial delivery position; determining that the three-dimensional geospatial code corresponding to the first spatial shipment position is consistent with the three-dimensional geospatial code corresponding to the second spatial shipment position; determining that the first shipping object is consistent with the second shipping object; and if the target delivery address is consistent with the target delivery address, determining that the second space delivery position is consistent with the first space delivery position corresponding to the target delivery address.

In some embodiments, there is also a third spatial shipping location near the second spatial shipping location; wherein the method further comprises: if the second space goods receiving position is determined to be inconsistent with the first space goods receiving position corresponding to the target delivery address according to the goods receiving information corresponding to the second space goods receiving position, controlling the target unmanned aerial vehicle to search for a third space goods receiving position near the second space goods receiving position; acquiring information of a second identification code at a receiving position in the third space by the target unmanned aerial vehicle to obtain receiving information of the receiving position in the third space; and determining that the third space goods receiving position is consistent with the first space goods receiving position corresponding to the target delivery address according to the goods receiving information of the third space goods receiving position, and controlling the target unmanned aerial vehicle to deliver the object to be delivered at the third space goods receiving position.

The embodiment of the present disclosure provides a device for delivering by an unmanned aerial vehicle, including: the system comprises a target delivery address acquisition module, a three-dimensional space information determination module, a navigation module, an identification code acquisition module and a consistency judgment module.

The target delivery address acquisition module is used for acquiring a target delivery address of an object to be delivered; the three-dimensional space information determining module can be used for determining a first space receiving position corresponding to the target delivery address and three-dimensional space position information corresponding to the first space receiving position according to the target delivery address; the navigation module can be used for navigating the target unmanned aerial vehicle according to the three-dimensional space position information corresponding to the first space goods receiving position so that the target unmanned aerial vehicle can hover above the second space goods receiving position; the identification code acquisition module can be used for acquiring information of the first identification code at the second space goods receiving position through the target unmanned aerial vehicle so as to obtain goods receiving information corresponding to the second space goods receiving position; the consistency judging module can be used for determining that the second space goods receiving position is consistent with the first space goods receiving position corresponding to the target delivery address according to the goods receiving information corresponding to the second space goods receiving position, and then controlling the target unmanned aerial vehicle to deliver the object to be delivered at the second space goods receiving position.

An embodiment of the present disclosure provides an electronic device, including: one or more processors; a storage device, configured to store one or more programs, which when executed by the one or more processors, cause the one or more processors to implement any of the above-mentioned methods for delivery by a drone.

The disclosed embodiments provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the method of delivery by a drone as described in any one of the above.

Embodiments of the present disclosure provide a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer readable storage medium, and executes the computer instructions, so that the computer device executes the method for delivering by the unmanned aerial vehicle.

According to the method and the device for delivering by the unmanned aerial vehicle, the electronic equipment and the computer readable storage medium, on one hand, a first space harvesting position (twin body) corresponding to a target delivery address (body) is determined through a twin model, and then the target unmanned aerial vehicle is navigated according to three-dimensional space position information corresponding to the first space harvesting position, so that the target unmanned aerial vehicle can accurately reach the space harvesting position corresponding to the target delivery address; on the other hand, after the target unmanned aerial vehicle navigates to the corresponding space harvest position, information acquisition can be carried out through the identification code to space harvest position department in order to confirm whether the space harvest position that the target unmanned aerial vehicle arrived is consistent with the space harvest position that the target delivery address corresponds, and the delivery accuracy of the target unmanned aerial vehicle is improved through the identification of the identification code. By the method, the unmanned aerial vehicle can accurately navigate, position, deliver and confirm and the like with low cost and easy access.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure. It is to be understood that the drawings in the following description are merely exemplary of the disclosure, and that other drawings may be derived from those drawings by one of ordinary skill in the art without the exercise of inventive faculty.

Fig. 1 shows a schematic diagram of an exemplary system architecture of a method of delivery by drone or an apparatus of delivery by drone, to which embodiments of the present disclosure may be applied.

Fig. 2 is a flow chart illustrating a method of delivery by a drone in accordance with an exemplary embodiment.

FIG. 3 illustrates a gridding method in accordance with an exemplary embodiment.

Fig. 4 is a flow chart illustrating a method of delivery by a drone in accordance with an exemplary embodiment.

Fig. 5 is a flow chart illustrating a method of delivery by a drone in accordance with an exemplary embodiment.

Fig. 6 is a block diagram illustrating an apparatus for delivery by a drone, according to an example embodiment.

FIG. 7 illustrates a schematic structural diagram of an electronic device suitable for use in implementing embodiments of the present disclosure.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals denote the same or similar parts in the drawings, and thus, a repetitive description thereof will be omitted.

The described features, structures, or characteristics of the disclosure may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and the like. In other instances, well-known methods, devices, implementations, or operations have not been shown or described in detail to avoid obscuring aspects of the disclosure.

The drawings are merely schematic illustrations of the present disclosure, in which the same reference numerals denote the same or similar parts, and thus, a repetitive description thereof will be omitted. Some of the block diagrams shown in the figures do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.

The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the contents and steps, nor do they necessarily have to be performed in the order described. For example, some steps may be decomposed, and some steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.

In this specification, the terms "a", "an", "the", "at least one", and "the" are used to indicate the presence of one or more elements/components/etc.; the terms "comprising," "including," and "having" are intended to be inclusive and mean that there may be additional elements/components/etc. other than the listed elements/components/etc.; the terms "first," "second," and "third," etc. are used merely as labels, and are not limiting on the number of their objects.

In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments, it being understood that the embodiments and features of the embodiments of the present application can be combined with each other without conflict.

The following detailed description of exemplary embodiments of the disclosure refers to the accompanying drawings.

As shown in fig. 1, the system architecture 100 may include a drone 101,

terminal devices

102, 103, a network 104, and a server 105. The network 104 is used to provide the medium of communication links between the drones 101, the

terminal devices

102, 103 and the server 105. Network 104 may include various connection types, such as wired, wireless communication links, or fiber optic cables, to name a few.

The user may use the

terminal devices

102, 103 to interact with the drone 101, the server 105 over the network 104, to receive or send messages, etc. The

terminal devices

102, 103 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop portable computers, desktop computers, wearable devices, virtual reality devices, smart homes, and the like.

The

terminals

102, 103 may be used, for example, to obtain a target delivery address of an object to be delivered; determining a first space goods receiving position corresponding to the target delivery address and three-dimensional space position information corresponding to the first space goods receiving position according to the target delivery address; navigating the target unmanned aerial vehicle according to the three-dimensional space position information corresponding to the first space goods receiving position so as to control the target unmanned aerial vehicle to hover above the second space goods receiving position; acquiring information of the first identification code at the receiving position of the second space through the target unmanned aerial vehicle to obtain receiving information corresponding to the receiving position of the second space; and determining that the second space goods receiving position is consistent with the first space goods receiving position corresponding to the target delivery address according to the goods receiving information corresponding to the second space goods receiving position, and controlling the target unmanned aerial vehicle to deliver the object to be delivered at the second space goods receiving position.

Of course, the drone 101 may also be used to obtain a target delivery address of an object to be delivered; determining a first space goods receiving position corresponding to the target delivery address and three-dimensional space position information corresponding to the first space goods receiving position according to the target delivery address; navigating the target unmanned aerial vehicle according to the three-dimensional space position information corresponding to the first space goods receiving position so that the target unmanned aerial vehicle can hover above the second space goods receiving position; acquiring information of the first identification code at the receiving position of the second space through the target unmanned aerial vehicle to obtain receiving information corresponding to the receiving position of the second space; and determining that the second space goods receiving position is consistent with the first space goods receiving position corresponding to the target delivery address according to the goods receiving information corresponding to the second space goods receiving position, and controlling the target unmanned aerial vehicle to deliver the object to be delivered at the second space goods receiving position.

The server 105 may be a server that provides various services, such as a background management server that provides support for devices operated by users with the terminal devices 101102, 103. The background management server can analyze and process the received data such as the request and feed back the processing result to the terminal equipment.

The server may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server that provides basic cloud computing services such as a cloud service, a cloud database, cloud computing, a cloud function, cloud storage, a Network service, cloud communication, a middleware service, a domain name service, a security service, a CDN (Content Delivery Network), a big data and artificial intelligence platform, and the like, which is not limited in this disclosure.

The server 105 may, for example, obtain a target delivery address of the object to be delivered; the server 105 can determine a first space receiving position corresponding to the target delivery address and three-dimensional space position information corresponding to the first space receiving position according to the target delivery address; the server 105 may, for example, navigate the target drone according to the three-dimensional spatial location information corresponding to the first spatial shipment location so that the target drone hovers over the second spatial shipment location; the server 105 may perform information acquisition on the first identification code at the second space receiving position, for example, by the target drone, to obtain receiving information corresponding to the second space receiving position; the server 105 may determine, for example, according to the receiving information corresponding to the second space receiving position, that the second space receiving position is consistent with the first space receiving position corresponding to the target delivery address, and then control the target drone to deliver the object to be delivered at the second space receiving position.

It should be understood that the number of terminal devices, networks and servers in fig. 1 is only illustrative, and the server 105 may be a physical server or may be composed of a plurality of servers, and there may be any number of terminal devices, networks and servers according to actual needs.

Fig. 2 is a flow chart illustrating a method of delivery by a drone in accordance with an exemplary embodiment. The method provided by the embodiment of the present disclosure may be executed by any electronic device with computing processing capability, for example, the method may be executed by the above-mentioned drone, the terminal device, or the server in the embodiment of fig. 1, or may be executed by the drone, the terminal device, or the server together.

Before the technical scheme provided by the embodiment is executed, space receiving position information corresponding to a plurality of delivery addresses can be acquired and acquired from a user, wherein the plurality of delivery addresses comprise target delivery addresses related to the disclosure; and respectively carrying out space three-dimensional gridding on buildings corresponding to the delivery addresses so as to determine three-dimensional space position information of space goods receiving positions corresponding to the delivery addresses.

The plurality of delivery addresses may refer to address information provided in advance by a user who needs to perform unmanned aerial vehicle delivery, and the address information may be specific to a house number, for example.

When the user provides the delivery address information in advance, the user may also provide a space delivery position corresponding to the delivery address, where the delivery position may be a delivery position corresponding to the delivery address, for example, a doorway of a large door, a doorway of a room, a balcony, a roof, a center of a hospital, and the like.

Wherein a delivery address may be associated with at least one spatial shipping location object, and the disclosure is not limited in this respect.

When the delivery address provided by the user and the space receiving position corresponding to the delivery address are collected, the space three-dimensional gridding can be carried out on the building corresponding to the delivery address. Wherein, the spatial stereo gridding may refer to gridding the building from a three-dimensional perspective.

After the building is spatially and stereoscopically meshed, longitude information, latitude information, and altitude information of each mesh can be further determined, and further, three-dimensional spatial position information (including the longitude information, the latitude information, and the altitude information, for example) of a spatial delivery position corresponding to each delivery address can be determined.

Referring to fig. 2, a method for delivery by a drone provided by an embodiment of the present disclosure may include the following steps.

Step S202, obtaining the target delivery address of the object to be delivered.

The object to be delivered is any object needing delivery, such as express delivery, takeaway and the like.

And S204, determining a first space receiving position corresponding to the target delivery address and three-dimensional space position information corresponding to the first space receiving position according to the target delivery address.

In some embodiments, the space delivery position corresponding to each delivery address may be stored in advance through a twin model, wherein the delivery address may be a body, and the space delivery position or three-dimensional space information corresponding to the space delivery position may be a twin body.

When a target delivery address of an object to be delivered is received, a first space receiving position corresponding to the target delivery address and three-dimensional space position information corresponding to the first space receiving position can be directly determined according to the twin model.

For example, after obtaining a target delivery address of a certain delivery object as XX unit XX house number in XX district XX street XX, XX unit XX, the twin model may further determine a first delivery space position corresponding to the target delivery address or three-dimensional space position information corresponding to the first delivery space position, where the first delivery space position may be, for example, a balcony, a doorway, a roof, a center of a yard, and the like, which is not limited by the disclosure.

It is to be understood that, if the target delivery address corresponds to two or more spatial receiving locations, one of the two or more spatial receiving locations may be arbitrarily selected as the first spatial receiving location corresponding to the target delivery address, which is not limited by the present disclosure.

In some embodiments, after determining the first receiving space position corresponding to the target delivery address, three-dimensional space position information corresponding to the first receiving space position may be further determined, where the three-dimensional space position information corresponding to the first receiving space position may include longitude information, latitude information, and altitude information of the first receiving space, or may include a three-dimensional geospatial code generated from the longitude information, the latitude information, and the altitude information of the first receiving space, and the three-dimensional geospatial code may be a GNSS (Global Navigation Satellite System) beidou grid code, a code corresponding to GeoHash, a spatial code corresponding to GPS (Global Positioning System) Navigation, and the like, which is not limited by this disclosure.

And S206, navigating the target unmanned aerial vehicle according to the three-dimensional space position information corresponding to the first space delivery position so that the target unmanned aerial vehicle can hover above the second space delivery position.

In some embodiments, the target drone may be navigated by beidou navigation, GPS navigation, and the like.

In some embodiments, the three-dimensional spatial location information corresponding to the first spatial shipping location may include longitude information, latitude information, and altitude information where the first spatial shipping location is located. If the target unmanned aerial vehicle is navigated through the GNSS and the like, determining a first three-dimensional geospatial code corresponding to the first space delivery position according to the longitude information, the latitude information and the altitude information of the first space delivery position; and then navigating the target unmanned aerial vehicle according to the first three-dimensional geospatial code.

In some embodiments, the three-dimensional spatial location information corresponding to the first receiving spatial location may include a second three-dimensional geospatial code corresponding to the spatial location at which the first receiving spatial location is located; then if the target drone is navigated via GNSS or the like, the target drone may be directly navigated according to the second three-dimensional geospatial code.

And S208, acquiring information of the first identification code at the receiving position of the second space by the target unmanned aerial vehicle to obtain receiving information corresponding to the receiving position of the second space.

In some embodiments, after navigation is complete, the target drone may hover at a second spatial shipping location that may or may not coincide with the first shipping space location.

In summary, any identification code that can identify the delivery address and the space position corresponding to the second receiving space position information may be the first identification code in the present disclosure.

In some embodiments, the receiving information of the second spatial receiving position collected by the first identification code may include a target receiving address corresponding to the second spatial receiving position, second receiving object information, and a three-dimensional geospatial code corresponding to the second spatial receiving position.

And the target delivery address for acquiring the object to be delivered is the first receiving object which can acquire the target delivery address for the object to be delivered and receive the object to be delivered.

And S210, determining that the second space delivery position is consistent with the first space delivery position corresponding to the target delivery address according to the delivery information corresponding to the second space delivery position, and controlling the target unmanned aerial vehicle to deliver the object to be delivered at the second space delivery position.

In some embodiments, to determine whether the second receiving location is consistent with the first receiving location, the first identification code at the second receiving location may be scanned to collect relevant information, and then it may be determined whether the second receiving location is consistent with the first receiving location based on the information obtained by the scanning.

In some embodiments, a three-dimensional geospatial code corresponding to the first spatial shipment location may be obtained via the first identification code; when the three-dimensional geographic space code corresponding to the first space receiving position is determined to be consistent with the three-dimensional geographic space code corresponding to the second space receiving position, the first receiving object is determined to be consistent with the second receiving object, and the target delivery address is determined to be consistent with the target receiving address, the second space receiving position can be determined to be consistent with the first space receiving position corresponding to the target delivery address.

According to the technical scheme provided by the embodiment, on one hand, a first space harvesting position (twin body) corresponding to a target delivery address (body) is determined through a twin model, and then a target unmanned aerial vehicle is navigated according to three-dimensional space position information corresponding to the first space harvesting position, so that the target unmanned aerial vehicle can accurately reach the space harvesting position corresponding to the target delivery address; on the other hand, after the target unmanned aerial vehicle navigates to the corresponding space harvest position, information acquisition can be carried out through the identification code to space harvest position department in order to confirm whether the space harvest position that the target unmanned aerial vehicle arrived is consistent with the space harvest position that the target delivery address corresponds, and the delivery accuracy of the target unmanned aerial vehicle is improved through the identification of the identification code. By the method, the unmanned aerial vehicle can accurately navigate, position, deliver and confirm and the like with low cost and easy access.

In some embodiments, the first receiving object information corresponding to the target delivery address is acquired at the same time of acquiring the space receiving position information corresponding to the target delivery address. That is, while determining the target delivery address of the object to be delivered, the method may further obtain consignee information (i.e., first consignee information) corresponding to the object to be delivered, where the first consignee information may include a consignee name, a consignee phone, and the like, which is not limited by the present disclosure

Referring to fig. 3, the buildings corresponding to a plurality of delivery addresses may be respectively spatially and stereoscopically gridded through the following steps to determine three-dimensional spatial position information of spatial delivery positions corresponding to the delivery addresses.

Step S302, the building corresponding to the target delivery address is subjected to space three-dimensional gridding so as to determine longitude information, latitude information and height information of a space receiving position corresponding to the target delivery address.

In some embodiments, spatial stereo gridding may refer to gridding a space where a building is located from three aspects of longitude, latitude and height, so that longitude information, latitude information and height information corresponding to each grid can be determined.

Step S304, determining a third three-dimensional geographic space code of the space receiving position corresponding to the target delivery address according to the longitude information, the latitude information and the altitude information of the space receiving position corresponding to the target delivery address, and taking the third three-dimensional geographic space code of the space receiving position corresponding to the target delivery address as the three-dimensional space position information of the target delivery address.

And S306, generating a target two-dimensional code according to the third three-dimensional geographic space code corresponding to the target delivery address, the first receiving object information corresponding to the target delivery address and the target delivery address.

And S308, placing the target two-dimensional code at a space receiving position corresponding to the target delivery address so that the unmanned aerial vehicle can acquire information when delivering to the first space receiving position.

Wherein, above-mentioned target two-dimensional code can be the identification code of first space delivery position department to unmanned aerial vehicle delivers the information comparison when delivering to first space delivery position, avoids misdelivery or misdelivery.

The technical scheme that this embodiment provided can be according to the three-dimensional geospatial code that the delivery address corresponds, information generation two-dimensional code such as delivery address and receiving object, then place the space receiving position department that the delivery address corresponds in with the two-dimensional code, whether simple and convenient definite delivery position is correct before the unmanned aerial vehicle delivers the goods to space receiving position department, thereby improve the precision that unmanned aerial vehicle delivered, solve last kilometer delivery inefficiency, problem with high costs such as balcony commodity circulation.

Referring to fig. 4, the method of delivering by drone may report the following steps.

Step S402, obtaining the target delivery address of the object to be delivered.

And S404, determining a first space receiving position corresponding to the target delivery address and three-dimensional space position information corresponding to the first space receiving position according to the target delivery address.

Step S406, navigating the target unmanned aerial vehicle according to the three-dimensional space position information corresponding to the first space delivery position, so that the target unmanned aerial vehicle can hover above the second space delivery position.

Step S408, the target unmanned aerial vehicle acquires information of the first identification code at the receiving position of the second space so as to obtain receiving information corresponding to the receiving position of the second space.

And S410, determining that the second space goods receiving position is consistent with the first space goods receiving position corresponding to the target delivery address according to the goods receiving information corresponding to the second space goods receiving position, and controlling the target unmanned aerial vehicle to deliver the object to be delivered at the second space goods receiving position.

Step S412, if it is determined according to the receiving information corresponding to the second space receiving position that the second space receiving position is inconsistent with the first space receiving position corresponding to the target delivery address, controlling the target unmanned aerial vehicle to search for a third space receiving position near the second space receiving position.

In some embodiments, a third spatial shipping location is also present proximate the second spatial shipping location.

When the target unmanned aerial vehicle determines that the second space receiving position corresponding to the current hovering position does not correspond to the second space receiving position corresponding to the target delivery address, the unmanned aerial vehicle can be controlled to search nearby the second space receiving position so as to determine the next second space receiving position where the identification code is placed.

Step S414, acquiring information of the second identification code at the receiving position in the third space by the target unmanned aerial vehicle, so as to obtain receiving information of the receiving position in the third space.

Step S416, determining that the receiving position of the third space is consistent with the first space receiving position corresponding to the target delivery address according to the receiving information of the receiving position of the third space, and controlling the target unmanned aerial vehicle to deliver the object to be delivered at the receiving position of the third space.

By the method, when the navigation is inaccurate or the hovering second space receiving position of the target unmanned aerial vehicle does not correspond to the first space receiving position corresponding to the target delivery address due to other reasons, the identification code of the attachment of the second space receiving position is searched, so that the first space receiving position corresponding to the target address is searched in a fuzzy mode until the object to be delivered is delivered to the first space receiving position corresponding to the target delivery address accurately.

The technical scheme provided by the embodiment of the disclosure mainly comprises a twin body matching unit, a three-dimensional geospatial coding unit, a two-dimensional code generating unit, an unmanned aerial vehicle flight navigation unit and an unmanned aerial vehicle visual positioning delivery unit, and the flow of the technical scheme is shown in the attached figure 5.

S1: receive logistics and deliver express delivery.

1. Twin matching unit: s2: based on the delivery address (e.g., target delivery address), a bank of place name addresses is retrieved, matching the precise spatial location of the delivery address in the twin model (e.g., spatial ship-to location).

2. Three-dimensional geocoding unit: s3 obtains a digital twin model (e.g., the delivery address may be used as an ontology, and the spatial shipment location corresponding to the delivery address or the unique geospatial code corresponding to the spatial shipment location may be used as a twin). S4-S5: determining a globally unique geospatial code according to a three-dimensional space with a delivery address in a twin model;

3. two-dimensional code generation unit: s6: generating a two-dimensional code plane graph with three-dimensional geospatial coding information by taking the three-dimensional geospatial coding as input;

4. unmanned aerial vehicle flight navigation unit: s7: realizing navigation flight of a delivery path of the logistics unmanned aerial vehicle according to the three-dimensional space code corresponding to the logistics delivery address;

5. unmanned aerial vehicle location delivery unit: S8-S10: based on the target area twin model, the unmanned aerial vehicle flies to a suitable area (such as a balcony or a courtyard) of a target area and hovers at a high height, two-dimensional code graphs laid in a vacant area such as the ground or the balcony are retrieved, whether the address associated with the two-dimensional code is consistent with a receiving address or not is verified, delivery position confirmation is carried out, visual accurate positioning is carried out based on the two-dimensional code graphs, and logistics delivery is completed.

Specifically, the technical solution provided in this embodiment can be completed through the following steps:

1. and after receiving a logistics delivery task, searching a place name address library according to a delivery address, and matching the accurate space position of the delivery address in the digital twin model.

2. According to space-time coding rules, such as Beidou grid codes, GeoHash and the like, giving a globally unique geospatial code to an independent stereo space with a delivery address in a twin model, and constructing a space stereo grid model with fusion association of the twin model, a geographical address and a three-dimensional space code;

3. and generating a two-dimensional code plane graph with three-dimensional geospatial coding information by taking the three-dimensional geospatial coding as input.

4. And based on the logistics delivery address, searching the spatial three-dimensional grid model, acquiring a three-dimensional space code of the spatial three-dimensional grid model, and planning a delivery path of the logistics unmanned aerial vehicle and navigating and flying by combining a high-precision digital twin model.

5. Based on the target area twin model, the unmanned aerial vehicle flies to a suitable area (such as a balcony or a courtyard) of a target place and hovers at a high altitude, two-dimensional code graphs laid in a vacant area such as the ground or the balcony are searched, whether the address associated with the two-dimensional code is consistent with a receiving address or not is verified, and delivery position confirmation is carried out.

6. And if the delivery address is confirmed to be correct, performing visual accurate positioning based on the two-dimensional code pattern to finish logistics delivery. If the address is checked to be wrong, other two-dimensional code patterns nearby the address are searched.

This technical scheme can be applied to scenes such as unmanned aerial vehicle commodity circulation to family, balcony commodity circulation among the operation of wisdom city, promotes the last kilometer delivery efficiency of commodity circulation, reduces logistics cost, and emergent abilities such as reinforcing medicine delivery, emergency rescue promote the online shopping experience of citizen.

According to the technical scheme provided by the embodiment, a delivery address and a globally unique three-dimensional geographic coding association model can be established based on a logistics delivery address twin model, and a receiving area twin body with three-dimensional geographic space codes as indexes is constructed; then generating a navigation positioning graph two-dimensional code according to the three-dimensional geographic code, and then placing the graph two-dimensional code at a spatial goods receiving position; the logistics unmanned aerial vehicle navigates based on three-dimensional geocoding, and after the logistics unmanned aerial vehicle arrives at an expected position, the express delivery address and the house information are verified through the scanning two-dimensional code pattern, and after the delivery address is verified to be correct, the accurate visual positioning of the unmanned aerial vehicle is realized based on the two-dimensional code pattern, so that express delivery is completed.

The technical scheme provided by the embodiment at least has the following beneficial effects:

1. the method realizes the flight navigation of the unmanned aerial vehicle in the complex space by means of a twin model and a unique three-dimensional geospatial code;

2. the method and the device realize address association and visual positioning based on three-dimensional geocoding, are beneficial to accurate delivery of logistics, and effectively reduce delivery errors.

3. Through three-dimensional geocoding, a delivery target, a digital twin model and a place name address are associated, so that the flight navigation, position identification and confirmation of the logistics unmanned aerial vehicle are realized conveniently;

4. according to the two-dimensional code pattern generated by the three-dimensional geographic coding, the receiver and the address information can be associated, and the unmanned aerial vehicle can be used for visual positioning to realize accurate landing or logistics delivery.

Fig. 6 is a block diagram illustrating an apparatus for delivery by a drone, according to an example embodiment. Referring to fig. 6, an apparatus 600 for delivering by a drone provided by an embodiment of the present disclosure may include: the system comprises a target delivery address acquisition module 601, a three-dimensional space information determination module 602, a navigation module 603, an identification code acquisition module 604 and a consistency judgment module 605.

The target delivery address obtaining module 601 may be configured to obtain a target delivery address of an object to be delivered; the three-dimensional space information determining module 602 may be configured to determine, according to the target delivery address, a first space receiving position corresponding to the target delivery address and three-dimensional space position information corresponding to the first space receiving position; the navigation module 603 may be configured to navigate the target unmanned aerial vehicle according to the three-dimensional spatial location information corresponding to the first spatial shipment location, so that the target unmanned aerial vehicle hovers above the second spatial shipment location; the identification code acquisition module 604 may be configured to acquire, by the target drone, information of the first identification code at the second space receiving position to obtain receiving information corresponding to the second space receiving position; the consistency determining module 605 may be configured to determine that the second space receiving position is consistent with the first space receiving position corresponding to the target delivery address according to the receiving information corresponding to the second space receiving position, and control the target unmanned aerial vehicle to deliver the object to be delivered at the second space receiving position.

In some embodiments, the three-dimensional spatial location information corresponding to the first spatial shipment location includes longitude information, latitude information, and altitude information of the first spatial shipment location; the navigation module 603 may include: the system comprises a first three-dimensional geospatial code generation unit and a first navigation unit.

The first three-dimensional geospatial code generating unit may be configured to determine a first three-dimensional geospatial code corresponding to the first spatial shipment position according to longitude information, latitude information, and altitude information of the first spatial shipment position; the first navigation unit may be configured to navigate the target drone according to the first three-dimensional geospatial code.

In some embodiments, the three-dimensional spatial location information corresponding to the first spatial shipment location includes a second three-dimensional geospatial code corresponding to the spatial location at which the first spatial shipment location is located; the navigation module 603 may include: a second navigation unit.

Wherein the second navigation unit may be configured to navigate the target drone according to the second three-dimensional geospatial code.

In some embodiments, the means for delivering by drone 600 includes: and a gridding module.

The gridding module is used for acquiring space receiving position information corresponding to a plurality of delivery addresses before acquiring a target delivery address of an object to be delivered, wherein the plurality of delivery addresses comprise the target delivery address; and respectively carrying out space three-dimensional gridding on buildings corresponding to the delivery addresses so as to determine three-dimensional space position information of space goods receiving positions corresponding to the delivery addresses.

In some embodiments, the first receiving object information corresponding to the target delivery address is acquired while the space receiving position information corresponding to the target delivery address is acquired; wherein the meshing module includes: the device comprises a space stereo gridding unit, a third three-dimensional geographic space code determining unit, a target two-dimensional code generating unit and a placing unit.

The space three-dimensional gridding unit can be used for carrying out space three-dimensional gridding on a building corresponding to the target delivery address so as to determine longitude information, latitude information and height information of a space receiving position corresponding to the target delivery address; the third three-dimensional geographic space code determining unit can be used for determining a third three-dimensional geographic space code of the spatial delivery position corresponding to the target delivery address according to the longitude information, the latitude information and the altitude information of the spatial delivery position corresponding to the target delivery address, and taking the third three-dimensional geographic space code of the spatial delivery position corresponding to the target delivery address as the three-dimensional spatial position information of the target delivery address; the target two-dimensional code generating unit can be used for generating a target two-dimensional code according to a third three-dimensional geographic space code corresponding to the target delivery address, first receiving object information corresponding to the target delivery address and the target delivery address; the placing unit can be used for placing the target two-dimensional code at the space receiving position corresponding to the target delivery address, so that the unmanned aerial vehicle can acquire information when delivering to the first space receiving position.

In some embodiments, the receiving information of the second spatial receiving position acquired through the first identification code comprises a target receiving address corresponding to the second spatial receiving position, second receiving object information and a three-dimensional geospatial code corresponding to the second spatial receiving position; the target delivery address obtaining module 601 may include: the first receiving object determining unit can be used for acquiring a target delivery address of the object to be delivered and receiving the first receiving object of the object to be delivered;

the consistency determining module 605 may include: determining a three-dimensional geographic space coding unit, a first consistency judgment unit, a second consistency judgment unit and a third consistency judgment unit.

The three-dimensional geographic space coding unit is used for acquiring a three-dimensional geographic space code corresponding to the first space goods receiving position; the first consistency judgment unit may be configured to determine that the three-dimensional geospatial code corresponding to the first spatial shipment location is consistent with the three-dimensional geospatial code corresponding to the second spatial shipment location; the second consistency determination unit may be configured to determine that the first shipment object is consistent with the second shipment object; the third consistency judging unit may be configured to determine that the second space delivery position is consistent with the first space delivery position corresponding to the target delivery address when the target delivery address is consistent with the target delivery address.

In some embodiments, there is also a third spatial shipping location near the second spatial shipping location; wherein, the device 600 for delivering by unmanned aerial vehicle can further include: the system comprises a third space receiving position information determining module, a receiving information determining unit of a third space receiving position and a third space receiving position judging unit.

The third space receiving position information determining module can be used for controlling the target unmanned aerial vehicle to search for a third space receiving position near the second space receiving position if the second space receiving position is determined to be inconsistent with the first space receiving position corresponding to the target delivery address according to the receiving information corresponding to the second space receiving position; the receiving information determining unit of the receiving position in the third space can be used for acquiring information of a second identification code at the receiving position in the third space through the target unmanned aerial vehicle so as to obtain receiving information of the receiving position in the third space; the third space receiving position judging unit can be used for determining that the third space receiving position is consistent with the first space receiving position corresponding to the target delivery address according to the receiving information of the third space receiving position, and controlling the target unmanned aerial vehicle to deliver the object to be delivered at the third space receiving position.

Since the functions of the apparatus 600 have been described in detail in the corresponding method embodiments, the disclosure is not repeated herein.

The module units described in the embodiments of the present application may be implemented by software or hardware. The described modular unit may also be provided in a processor. The names of these modules do not in some cases form a limitation on the module itself.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, 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 or flowchart illustration, and combinations of blocks in the block diagrams 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.

Furthermore, the above-described figures are merely schematic illustrations of processes included in methods according to exemplary embodiments of the present disclosure, and are not intended to be limiting. It will be readily understood that the processes shown in the above figures are not intended to indicate or limit the chronological order of the processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, e.g., in multiple modules.

FIG. 7 illustrates a schematic structural diagram of an electronic device suitable for use in implementing embodiments of the present disclosure. It should be noted that the electronic device 700 shown in fig. 7 is only an example, and should not bring any limitation to the functions and the scope of the embodiments of the present disclosure.

As shown in fig. 7, the electronic apparatus 700 includes a Central Processing Unit (CPU)701, which can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)702 or a program loaded from a storage section 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data necessary for the operation of the electronic apparatus 700 are also stored. The CPU 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.

The following components are connected to the I/O interface 705: an input portion 706 including a keyboard, a mouse, and the like; an output section 707 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section 708 including a hard disk and the like; and a communication section 709 including a network interface card such as a LAN card, a modem, or the like. The communication section 709 performs communication processing via a network such as the internet. A drive 710 is also connected to the I/O interface 705 as needed. A removable medium 711, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like, is mounted on the drive 710 as necessary, so that a computer program read out therefrom is mounted into the storage section 708 as necessary.

In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable storage medium, the computer program containing program code for performing the method illustrated by the flow chart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication section 709, and/or installed from the removable medium 711. The computer program executes the above-described functions defined in the system of the present application when executed by the Central Processing Unit (CPU) 701.

It should be noted that the computer readable storage medium shown in the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. 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 of the computer readable storage medium may include, but are not limited to: 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 present application, 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. In this application, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable storage medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable storage medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

As another aspect, the present application also provides a computer-readable storage medium, which may be contained in the apparatus described in the above embodiments; or may be separate and not incorporated into the device. The computer readable storage medium carries one or more programs which, when executed by a device, cause the device to perform functions including: acquiring a target delivery address of an object to be delivered; determining a first space goods receiving position corresponding to the target delivery address and three-dimensional space position information corresponding to the first space goods receiving position according to the target delivery address; navigating the target unmanned aerial vehicle according to the three-dimensional space position information corresponding to the first space goods receiving position so that the target unmanned aerial vehicle can hover above the second space goods receiving position; acquiring information of the first identification code at the receiving position of the second space through the target unmanned aerial vehicle to obtain receiving information corresponding to the receiving position of the second space; and determining that the second space goods receiving position is consistent with the first space goods receiving position corresponding to the target delivery address according to the goods receiving information corresponding to the second space goods receiving position, and controlling the target unmanned aerial vehicle to deliver the object to be delivered at the second space goods receiving position.

According to an aspect of the application, a computer program product or computer program is provided, comprising computer instructions, the computer instructions being stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the method provided in the various alternative implementations of the embodiments described above.

Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution of the embodiment of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.), and includes several instructions for enabling a computing device (which may be a personal computer, a server, a mobile terminal, or a smart device, etc.) to execute the method according to the embodiment of the present disclosure, such as the steps shown in one or more of fig. 2, fig. 3, or fig. 4.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It is to be understood that the disclosure is not limited to the details of construction, the arrangements of the drawings, or the manner of implementation that have been set forth herein, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A method of delivery by a drone, comprising:

acquiring a target delivery address of an object to be delivered;

determining a first space goods receiving position corresponding to the target delivery address and three-dimensional space position information corresponding to the first space goods receiving position according to the target delivery address;

navigating a target unmanned aerial vehicle according to the three-dimensional space position information corresponding to the first space receiving position so that the target unmanned aerial vehicle can hover above the second space receiving position;

acquiring information of the first identification code at the second space receiving position through the target unmanned aerial vehicle to obtain receiving information corresponding to the second space receiving position;

and determining that the second space goods receiving position is consistent with the first space goods receiving position corresponding to the target delivery address according to the goods receiving information corresponding to the second space goods receiving position, and controlling the target unmanned aerial vehicle to deliver the object to be delivered at the second space goods receiving position.

2. The method of claim 1, wherein the three-dimensional spatial location information corresponding to the first spatial shipping location comprises longitude information, latitude information, and altitude information of the first spatial shipping location; wherein, navigate target unmanned aerial vehicle according to the three-dimensional space position information that first space position of receiving goods corresponds, include:

determining a first three-dimensional geospatial code corresponding to the first space receiving position according to the longitude information, the latitude information and the altitude information of the first space receiving position;

and navigating the target unmanned aerial vehicle according to the first three-dimensional geospatial code.

3. The method of claim 1, wherein the three-dimensional spatial location information associated with the first spatial shipping location comprises a second three-dimensional geospatial code associated with the spatial location of the first spatial shipping location; wherein, navigate target unmanned aerial vehicle according to the three-dimensional space position information that first space position of receiving goods corresponds, include:

and navigating the target unmanned aerial vehicle according to the second three-dimensional geospatial code.

4. The method of claim 1, wherein before obtaining the target delivery address of the object to be delivered, the method further comprises:

obtaining space goods receiving position information corresponding to a plurality of delivery addresses, wherein the delivery addresses comprise target delivery addresses;

and respectively carrying out space three-dimensional gridding on buildings corresponding to the delivery addresses so as to determine three-dimensional space position information of space goods receiving positions corresponding to the delivery addresses.

5. The method as claimed in claim 4, wherein the information of the receiving location of the space corresponding to the target delivery address is obtained, and simultaneously the information of the first receiving object corresponding to the target delivery address is also obtained; wherein, carry out the space three-dimensional meshing respectively to the building that a plurality of delivery addresses correspond to confirm the three-dimensional space position information of the space delivery position that each delivery address corresponds, include:

carrying out space three-dimensional gridding on the building corresponding to the target delivery address so as to determine longitude information, latitude information and height information of a space delivery position corresponding to the target delivery address;

determining a third three-dimensional geographic space code of a space receiving position corresponding to a target delivery address according to longitude information, latitude information and altitude information of the space receiving position corresponding to the target delivery address, and taking the third three-dimensional geographic space code of the space receiving position corresponding to the target delivery address as the three-dimensional space position information of the target delivery address;

generating a target two-dimensional code according to a third three-dimensional geographic space code corresponding to the target delivery address, first receiving object information corresponding to the target delivery address and the target delivery address;

and placing the target two-dimensional code at a space receiving position corresponding to the target delivery address so that the unmanned aerial vehicle can acquire information when delivering to a first space receiving position.

6. The method of claim 1, wherein the receiving information of the second spatial receiving position collected by the first identification code comprises a target receiving address corresponding to the second spatial receiving position, second receiving object information and a three-dimensional geospatial code corresponding to the second spatial receiving position; the method for acquiring the target delivery address of the object to be delivered comprises the following steps:

acquiring a target delivery address of the object to be delivered and receiving a first receiving object of the object to be delivered;

determining that the second space delivery position is consistent with the first space delivery position corresponding to the target delivery address according to the delivery information corresponding to the second space delivery position, including:

acquiring a three-dimensional geospatial code corresponding to the first spatial delivery position;

determining that the three-dimensional geospatial code corresponding to the first spatial shipment position is consistent with the three-dimensional geospatial code corresponding to the second spatial shipment position;

determining that the first shipping object is consistent with the second shipping object; and the number of the first and second electrodes,

and if the target delivery address is consistent with the target delivery address, determining that the second space delivery position is consistent with the first space delivery position corresponding to the target delivery address.

7. The method of claim 1, wherein a third spatial shipping location is also present proximate the second spatial shipping location; wherein the method further comprises:

if the second space goods receiving position is determined to be inconsistent with the first space goods receiving position corresponding to the target delivery address according to the goods receiving information corresponding to the second space goods receiving position, controlling the target unmanned aerial vehicle to search for a third space goods receiving position near the second space goods receiving position;

acquiring information of a second identification code at a receiving position in the third space by the target unmanned aerial vehicle to obtain receiving information of the receiving position in the third space;

and determining that the third space goods receiving position is consistent with the first space goods receiving position corresponding to the target delivery address according to the goods receiving information of the third space goods receiving position, and controlling the target unmanned aerial vehicle to deliver the object to be delivered at the third space goods receiving position.

8. A device for delivering by unmanned aerial vehicle, comprising:

the target delivery address acquisition module is used for acquiring a target delivery address of an object to be delivered;

the three-dimensional space information determining module is used for determining a first space receiving position corresponding to the target delivery address and three-dimensional space position information corresponding to the first space receiving position according to the target delivery address;

the navigation module is used for navigating the target unmanned aerial vehicle according to the three-dimensional space position information corresponding to the first space goods receiving position so that the target unmanned aerial vehicle can hover above the second space goods receiving position conveniently;

the identification code acquisition module is used for acquiring information of the first identification code at the second space receiving position through the target unmanned aerial vehicle so as to obtain receiving information corresponding to the second space receiving position;

and the consistency judging module is used for determining that the second space goods receiving position is consistent with the first space goods receiving position corresponding to the target delivery address according to the goods receiving information corresponding to the second space goods receiving position, and controlling the target unmanned aerial vehicle to deliver the object to be delivered at the second space goods receiving position.

9. An electronic device, comprising:

a memory; and

a processor coupled to the memory, the processor being configured to perform the method of delivering by drone of any of claims 1-7 based on instructions stored in the memory.

10. A computer-readable storage medium, on which a program is stored which, when being executed by a processor, carries out the method of delivery by a drone according to any one of claims 1 to 7.