Urban unmanned aerial vehicle cargo distribution route planning method and system and unmanned aerial vehicle

Abstract

The invention discloses an urban unmanned aerial vehicle cargo distribution route planning method and system and an unmanned aerial vehicle. The method comprises the following steps: acquiring flight information of an urban area; analyzing the flight information to obtain a planned route; setting a landing site in the urban area according to the planned route; and transferring the carried goods at the landing site according to the planned route, so that the goods are conveyed from the ground to a destination within a preset mileage. According to the method, the unmanned aerial vehicle route is formulated, the stations are set in the route, and the unmanned aerial vehicle delivers goods in the planned unmanned aerial vehicle route, so that the delivery efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of drone delivery technology, and in particular to a route planning method, system and drone for drone delivery of goods in urban areas. Background Art

[0002] Existing drone delivery technology usually involves using small drones to fly directly from distribution centers or stores to the customer's designated delivery location. This model faces many challenges in urban areas, including flight safety, privacy protection, noise pollution, and airspace conflicts with commercial aviation and private aircraft.

[0003] In cities, urban areas generally restrict drone flights based on ground safety and warning zones, resulting in low efficiency for delivery using only road motor vehicles.

[0004] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0005] The main purpose of this application is to provide a route planning method, system and drone for urban drone delivery of goods, aiming to solve the problem in the prior art that the flight environment in urban areas is complex and has flight restrictions, resulting in low delivery efficiency using only road motor vehicles.

[0006] A first aspect of an embodiment of the present application provides a route planning method for urban drone delivery of goods, the route planning method for urban drone delivery of goods comprising the following steps: acquiring flight information of the urban area; analyzing the flight information to obtain a planned route; setting a landing site in the urban area according to the planned route; and delivering the carried goods at the landing site according to the planned route, so that the goods are transported from the ground to a destination within a preset mileage.

[0007] Optionally, in one embodiment of the present application, the flight information includes terrain data, building distribution and flight environment; the analysis of the flight information to obtain a planned route specifically includes: identifying flight obstacles and restrictions based on the terrain data and the building distribution to obtain multiple flight routes; and determining the planned route from the multiple flight routes based on the flight environment.

[0008] Optionally, in one embodiment of the present application, the flight environment includes wind speed and weather conditions; and determining the planned route from the multiple flight routes based on the flight environment specifically includes: determining the altitude and lateral overlap of the heading corresponding to each flight route based on the wind speed and the weather conditions; and obtaining the planned route based on each altitude and each lateral overlap of the heading.

[0009] Optionally, in one embodiment of the present application, each of the landing sites is an open space; and the setting of multiple landing sites in the urban area according to the planned route specifically includes: obtaining the expected delivery volume, expected peak and off-peak time periods and delivery addresses of the goods during transportation along the planned route; and designing the landing sites according to the expected delivery volume and the expected peak and off-peak time periods.

[0010] Optionally, in one embodiment of the present application, the designing of a landing site based on the expected delivery volume, the expected peak and off-peak time periods and the delivery address specifically includes: designing multiple sites based on the expected delivery volume and the expected peak and off-peak time periods; and determining at least one landing site from the multiple sites based on the delivery address.

[0011] Optionally, in one embodiment of the present application, the carried goods are handed over at the landing site according to the planned route so that the goods are transported from the ground to a destination within a preset mileage, specifically including: when transporting the goods according to the planned route, obtaining the current position and the expected time of arrival at the landing site; sending the current position and the expected time to a receiving station set up in the landing site, so that the receiving station notifies the ground vehicle to wait to receive and transport the goods.

[0012] Optionally, in one embodiment of the present application, the carried cargo is handed over at the landing site so that the cargo is transported from the ground to a destination within a preset mileage, and then includes: unloading the cargo and obtaining the current power; if the current power exceeds the preset power, leaving the landing site.

[0013] The second aspect of the embodiment of the present application further provides a route planning system for urban drone delivery of goods, wherein the route planning system for urban drone delivery of goods includes:

[0014] Information acquisition module, used to obtain flight information in urban areas;

[0015] A route planning module, used to analyze the flight information to obtain a planned route;

[0016] A site setting module, used to set a landing site in the urban area according to the planned route;

[0017] The cargo transfer module is used to transfer the carried cargo at the landing site according to the planned route, so that the cargo is transported from the ground to a destination within a preset mileage.

[0018] A third aspect of an embodiment of the present application further provides a drone, wherein the drone comprises: a memory, a processor, and a route planning program for urban drone delivery of goods stored in the memory and executable on the processor, wherein the route planning program for urban drone delivery of goods, when executed by the processor, implements the steps of the route planning method for urban drone delivery of goods as described above.

[0019] The fourth aspect of an embodiment of the present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a route planning program for urban drone delivery of goods, and when the route planning program for urban drone delivery of goods is executed by a processor, the steps of the route planning method for urban drone delivery of goods as described above are implemented.

[0020] Beneficial effects: The present application provides a route planning method, system and drone for urban drone delivery of goods. The present application achieves the purpose of efficient and safe drone delivery in an urban environment by setting specific routes and landing sites, thereby improving delivery efficiency, reducing safety risks, reducing interference with residents' lives, and complying with the requirements of urban regulations. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 It is a flow chart of a preferred embodiment of the route planning method for urban drone delivery of goods in the present application;

[0023] Figure 2 It is a structural schematic diagram of a preferred embodiment of the route planning system for urban drone delivery of goods in the present application;

[0024] Figure 3 This is a schematic structural diagram of a preferred embodiment of the drone of the present application.

[0025] Description of reference numerals:

[0026] 10. Route planning system for urban drone delivery of goods; 100. Information acquisition module; 200. Route planning module; 300. Site setting module; 400. Goods transfer module.

[0027] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical scheme and effect of the present application clearer and more specific, the technical scheme in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. The described embodiments are only possible technical implementations of the present application, not all possible implementations. Based on the embodiments in the present application, those skilled in the art can completely combine the embodiments of the present application to obtain other embodiments without creative work, and these embodiments are also within the scope of protection of the present application.

[0029] Among the related technologies, there are safety issues: there are many high-rise buildings in cities, the flying environment is complex, and collision accidents are prone to occur; regulatory restrictions: urban areas often have strict drone flight restrictions to avoid affecting pedestrians and traffic on the ground; delivery efficiency: direct delivery to end users may result in a longer distance for each delivery and low efficiency; privacy and noise issues: frequent low-altitude flights may cause privacy and noise complaints from residents.

[0030] The route planning method, system and drone for urban drone delivery of goods in the embodiment of the present application are described below with reference to the accompanying drawings. In view of the problem in the above-mentioned related art that the flight environment in urban areas is complex and has flight restrictions, resulting in low efficiency of delivery using only road motor vehicles, the present application provides a route planning method for urban drone delivery of goods. In this method, by formulating a fixed drone route and setting stations in the route, the drone delivers goods (such as express delivery and takeout) in the planned drone route, thereby improving the delivery efficiency. As a result, the technical problem in the related art that the flight environment in urban areas is complex and has flight restrictions, resulting in low efficiency of delivery using only road motor vehicles, is solved.

[0031] In the embodiments of the present application, by setting specific routes and landing sites, the purpose of efficient and safe drone delivery in an urban environment is achieved, thereby improving delivery efficiency, reducing safety risks, reducing interference with residents' lives, and complying with urban regulations.

[0032] The embodiments of the present application have the following advantages:

[0033] (1) Fixed routes and stations: Fixed routes and stations reduce the need for drones to fly directly to their destinations, thereby reducing safety risks and management difficulties during flight.

[0034] (2) Combining drone delivery with ground transportation: Combining drone delivery with ground transportation solves the limitations of direct drone delivery in cities and improves overall delivery efficiency.

[0035] (3) Compliance with regulations: This solution makes it easier to adapt to and comply with various regulatory restrictions on drone flights in cities.

[0036] (4) Reduced interference: Through centralized distribution and last-mile road transportation, noise and privacy interference with residents' lives are reduced.

[0037] The technical solution of the present application is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0038] The route planning method for urban drone delivery of goods described in the preferred embodiment of the present application is as follows: Figure 1 As shown, the route planning method for urban drone delivery of goods includes the following steps:

[0039] In step S101, flight information of the urban area is obtained.

[0040] In a possible implementation, the flight information includes terrain data, building distribution and flight environment.

[0041] In step S102, the flight information is analyzed to obtain a planned route.

[0042] In a possible implementation, flight obstacles and restrictions are identified based on the terrain data and the building distribution to obtain a plurality of flight routes; and a planned route is determined from the plurality of flight routes based on the flight environment.

[0043] In a possible implementation, the flight environment includes wind speed and weather conditions; based on the wind speed and the weather conditions, the altitude and lateral overlap of the heading corresponding to each flight route are determined; and based on the altitudes and lateral overlaps of the headings, the planned route is obtained.

[0044] It should be noted that in the embodiment of the present application, route planning: one or more drone delivery routes are planned based on information such as urban terrain, building distribution and population density.

[0045] Specifically, determine the scope of the aerial survey. Preparatory work before planning: Before planning the route, you need to use map software such as G oo Determine the flight scope of the project in gle Earth and understand the topography of the survey area; Field survey: Understand the topography of the survey area on the spot or through maps, and evaluate whether the performance of the drone system is suitable for the flight environment, including wind speed, weather conditions, etc.

[0046] Flight environment assessment. Altitude impact: confirm that the altitude of the survey area meets the requirements of drone operations, and ensure that the flight altitude is greater than the local altitude and flight altitude; terrain and landform conditions: consider the impact of terrain and landforms on the quality of the map, such as areas with strong reflectiveness and mountainous areas that require photography at specific time periods.

[0047] Altitude and resolution determination. Calculate altitude: According to the selected camera and scale, use the image scale formula to calculate altitude, ensuring that the altitude difference of each camera station is within the specified range during flight; Determine resolution: Reduce altitude based on actual terrain, and fly at a resolution better than the specified resolution.

[0048] Overlap confirmation. Heading and lateral overlap: Specify sufficient heading and lateral overlap to meet the requirements of aerial survey mapping, and adjust the overlap according to project needs.

[0049] Weather conditions. Choose suitable weather conditions: select sunny days with light clouds, no wind, dry ground, no snow, and no haze for aerial survey.

[0050] Plan the route. Pre-planning and re-planning: Combine electronic maps and drone technical indicators to pre-plan the optimal reference path, and adjust the flight path locally according to emergencies during flight; Route planning scheme: Commonly used route planning schemes include "S"-shaped routes and framework lines.

[0051] Flight settings. Flight safety settings: Set the pitch angle, return altitude and other parameters to ensure flight safety. Pre-flight check: Check before flight to ensure that all conditions of the drone meet the take-off requirements.

[0052] In addition, to ensure the accuracy and practicality of route planning, the following points need to be considered: The flight capabilities of the drone, including maximum flight distance, hovering time, maximum flight speed, etc. Battery life to ensure that the drone can complete the entire route. Airspace restrictions and laws and regulations to avoid routes passing through no-fly zones or areas that require special permission. Real-time monitoring and communication systems to adjust the route in real time during flight to respond to emergencies. Ensure that the route planning tool or software can accurately reflect the actual geographical environment and provide reliable route optimization suggestions.

[0053] That is to say, the embodiment of the present application formulates the optimal or suboptimal path by comprehensively applying navigation technology, map information technology and remote sensing technology, combining the technical indicators and characteristics of the drone itself, and following a certain track planning method. At the same time, track planning needs to fully refer to the selection, bidding, route reservation planning and online adjustment timing of electronic maps.

[0054] In step S103, a landing site is set in the urban area according to the planned route.

[0055] In one possible implementation, each of the landing sites is an open space; the expected delivery volume, expected peak and off-peak time periods, and delivery addresses of the goods along the planned route are obtained; and the landing site is designed based on the expected delivery volume and the expected peak and off-peak time periods.

[0056] In a possible implementation, a plurality of sites are designed based on the expected delivery volume and the expected peak and off-peak time periods; and at least one landing site is determined among the plurality of sites based on the delivery address.

[0057] It should be noted that the embodiment of the present application sets up several fixed landing sites on the route by setting up sites. These sites can be located on rooftops, parks or other open spaces to facilitate the take-off and landing of drones.

[0058] Specifically, assess the scale and distribution of delivery demand in the area to be served, including commercial areas, residential areas and other key locations; determine the expected delivery volume, as well as peak and off-peak time periods to optimize the location and number of sites. Based on the results of the demand analysis, find suitable locations to set up fixed sites, give priority to public spaces or private properties, obtain necessary permits and coordination; consider terrain, traffic flow, noise impact and residents' privacy, and choose locations with less impact on the community. Design sites to meet the physical requirements for drone takeoff and landing, including landing pads, charging facilities, safety systems, etc.; ensure that each site can easily load and unload cargo and has sufficient space for package sorting. Work with local aviation authorities to ensure that all sites comply with laws and regulations on drone flights and obtain appropriate certification; pay attention to privacy and noise issues to ensure that the operation of the site does not violate local regulations. Install necessary communication and navigation equipment at each site to achieve precise takeoff and landing of drones; integrate software systems to achieve cargo tracking, drone scheduling and delivery management.

[0059] In step S104, the carried goods are handed over at the landing site according to the planned route, so that the goods are transported from the ground to the destination within a preset mileage.

[0060] In one possible implementation, when transporting cargo according to the planned route, the current position and the expected time of arrival at the landing site are obtained; the current position and the expected time are sent to a receiving station set up in the landing site, so that the receiving station notifies the ground vehicle to wait to receive and transport the cargo.

[0061] It should be noted that the embodiment of the present application uses centralized distribution, and after the drone is loaded with goods from the distribution center, it flies along the planned route to the nearest landing site. And through the last mile delivery, the goods are handed over to road motor vehicles or walking delivery personnel at the landing site, and they complete the last mile delivery work.

[0062] Specifically, before takeoff, ensure that the drone's navigation system has received the new flight plan and that all systems are in optimal condition; perform a safety check to confirm that there are no obstacles in the takeoff area. The drone takes off and flies to the landing site according to the flight plan provided by the management system; during the flight, the drone will send its location and status information back to the distribution center in real time. If any problems are encountered during the flight, such as technical failures or bad weather, the drone needs to initiate emergency procedures; this may include automatically landing in a safe place or switching to a backup system.

[0063] Specifically, choose suitable locations to establish landing sites. These locations need to be convenient for drone takeoff and landing, and at the same time convenient for ground transportation access; build site infrastructure, including landing areas, loading and unloading areas, temporary storage areas, etc. Determine ground transportation resources, such as vehicles and personnel, and how they are scheduled; coordinate the arrival time of drones with the connection time of ground transportation to ensure seamless connection. Design the cargo transfer process from drones to ground transportation to ensure fast and safe handling of cargo; develop specific handling procedures for different types of cargo, such as fragile goods, refrigerated goods, etc.; integrate the information platform of drone delivery system and ground delivery system to achieve real-time data exchange; use logistics tracking technology, such as GPS and RFID, to monitor the entire process of cargo from drones to customers. Divide the service areas of ground delivery personnel according to terrain, traffic conditions and customer needs; optimize routes, reduce delivery time, and improve the efficiency of ground transportation. Ensure that ground transportation complies with local traffic laws and safety regulations; deal with insurance and legal liability issues related to ground transportation. Develop contingency plans to deal with emergencies such as drone failures, weather changes, and ground traffic congestion; ensure that there are sufficient resources and backup plans to deal with problems that may arise during the delivery process. Monitor the performance indicators of the delivery process, such as delivery time, cargo damage rate, customer satisfaction, etc.; continuously optimize the delivery process and service quality based on monitoring results and customer feedback.

[0064] The embodiments of the present application can ensure a smooth transition from drones to the ground, achieve efficient and safe last-mile delivery, make full use of the aerial advantages of drones and the flexibility of ground transportation, and improve the efficiency of cargo delivery.

[0065] In a possible implementation, the cargo is unloaded and the current power level is obtained; if the current power level exceeds a preset power level, the vehicle leaves the landing site.

[0066] It should be noted that, in the embodiment of the present application, through the return process, the drone returns to the distribution center or goes to the next task point after unloading.

[0067] Specifically, after unloading the cargo at the landing site, the relevant personnel need to confirm that the cargo has been correctly delivered to the ground transport personnel or placed in a safe storage area; the drone management system will receive confirmation that the unloading is complete. The drone performs a quick status check, including checks on the battery, mechanical components, and communication systems to ensure that it can safely return or go to the next mission point; if necessary, simple maintenance or battery replacement is performed.

[0068] According to the current location of the drone, the battery status and the requirements of the subsequent mission, a flight plan for returning or heading to the next mission point is formulated; weather conditions, airspace restrictions and possible emergencies are taken into consideration. If the drone needs to return to the distribution center, the system will assess its urgency and may need to make way for other drones that are about to depart; for drones that are about to go to the next mission point, the system will schedule them according to the mission priority and timeliness.

[0069] After the drone returns safely, it will land in a designated area and perform necessary maintenance and charging. If the drone needs to perform the next mission, it will be quickly loaded according to the mission requirements. After each mission is completed, the drone's data will be synchronized to the management system for performance analysis and optimization of future missions; analyze the drone's flight data, battery usage, and delivery efficiency to improve future delivery processes. The system will confirm that the drone has completed the mission of returning or arriving at the next mission point; the staff will update the drone's status in the system to prepare for the next mission.

[0070] The embodiments of the present application can ensure the smooth completion of each delivery mission and enable the drone to be quickly ready to perform the next mission, thereby maintaining the efficiency and continuous operation of the entire delivery chain.

[0071] Next, a route planning system for urban drone delivery of goods proposed in accordance with an embodiment of the present application will be described with reference to the accompanying drawings.

[0072] FIG. 8 is a block diagram of a route planning system for urban drone delivery of goods according to an embodiment of the present application.

[0073] like Figure 2 As shown, the route planning system 10 for urban drone cargo delivery includes: an information acquisition module 100, a route planning module 200, a site setting module 300 and a pre-cargo transfer module 400.

[0074] Specifically, the information acquisition module 100 is used to obtain flight information in the urban area;

[0075] The route planning module 200 is used to analyze the flight information to obtain a planned route;

[0076] A site setting module 300, for setting a landing site in an urban area according to the planned route;

[0077] The cargo transfer module 400 is used to transfer the carried cargo at the landing site according to the planned route, so that the cargo is transported from the ground to a destination within a preset mileage.

[0078] Figure 3 A schematic diagram of the structure of a drone provided in an embodiment of the present application. The drone may include:

[0079] A memory 501 , a processor 502 , and a computer program stored in the memory 501 and executable on the processor 502 .

[0080] When the processor 502 executes the program, the route planning method for urban drone delivery of goods provided in the above embodiment is implemented.

[0081] Furthermore, the drone also includes:

[0082] The communication interface 503 is used for communication between the memory 501 and the processor 502 .

[0083] The memory 501 is used to store computer programs that can be executed on the processor 502 .

[0084] The memory 501 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0085] If the memory 501, the processor 502 and the communication interface 503 are implemented independently, the communication interface 503, the memory 501 and the processor 502 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EIS) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0086] Optionally, in a specific implementation, if the memory 501, the processor 502 and the communication interface 503 are integrated on a chip, the memory 501, the processor 502 and the communication interface 503 can communicate with each other through an internal interface.

[0087] The processor 502 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0088] This embodiment also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned route planning method for urban drone delivery of goods.

[0089] One embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the present application Figure 1 A route planning method for urban drone delivery of goods provided in any of the corresponding embodiments.

[0090] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0091] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0092] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0093] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable storage medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, a "computer-readable storage medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples (non-exhaustive list) of computer-readable storage media include the following: an electrical connection with one or N wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable storage medium may even be paper or other suitable medium on which the program is printed, since the program can be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways as necessary, and then storing it in a computer memory.

[0094] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0095] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0096] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0097] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

[0098] It should be understood that the application of the present application is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to this application.

[0099] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A route planning method for urban drone delivery of goods. It is characterized in that The route planning method for urban drone delivery of goods includes: Get flight information in urban areas; Analyzing the flight information to obtain a planned route; According to the planned route, a landing site is set in the urban area; The carried goods are handed over at the landing site according to the planned route, so that the goods are transported from the ground to a destination within a preset mileage.

2. The route planning method for urban drone delivery of goods according to claim 1, It is characterized in that The flight information includes terrain data, building distribution and flight environment; The analyzing the flight information to obtain the planned route specifically includes: According to the terrain data and the building distribution, flight obstacles and restrictions are identified to obtain multiple flight routes; According to the flight environment, a planned route is determined from the plurality of flight routes.

3. The route planning method for urban drone delivery of goods according to claim 2, It is characterized in that The flight environment includes wind speed and weather conditions; Determining a planned route from a plurality of flight routes according to the flight environment specifically includes: Determine the altitude and lateral overlap of the heading corresponding to each flight route according to the wind speed and the weather conditions; The planned route is obtained according to the altitudes and the lateral overlaps of the headings.

4. The route planning method for urban drone delivery of goods according to claim 1, It is characterized in that Each of the landing sites is an open space; The step of setting a plurality of landing sites in the urban area according to the planned route specifically includes: Obtain the expected delivery volume, expected peak and off-peak time periods and delivery addresses of the goods along the planned route; Design the landing site based on the expected delivery volume and the expected peak and off-peak time periods.

5. The route planning method for urban drone delivery of goods according to claim 4, It is characterized in that The designing of the landing site according to the expected delivery volume, the expected peak and off-peak time periods and the delivery address specifically includes: Design multiple sites according to the expected delivery volume and the expected peak and off-peak time periods; At least one landing site is determined from among the plurality of sites according to the delivery address.

6. The route planning method for urban drone delivery of goods according to claim 1, It is characterized in that The method of delivering the carried goods at the landing site according to the planned route so as to transport the goods from the ground to the destination within a preset mileage specifically includes: When transporting cargo according to the planned route, obtaining the current location and the expected time of arrival at the landing site; The current position and the expected time are sent to a receiving station arranged in the landing site, so that the receiving station notifies a ground vehicle to wait for receiving and transporting the cargo.

7. The route planning method for urban drone delivery of goods according to claim 6, It is characterized in that The carried goods are transferred at the landing site so that the goods are transported from the ground to the destination within a preset mileage, and then further include: Unloading the cargo and obtaining the current power; If the current power level exceeds the preset power level, the vehicle leaves the landing site.

8. A route planning system for urban drone delivery of goods. It is characterized in that The route planning system for urban drone delivery of goods includes: Information acquisition module, used to obtain flight information in urban areas; A route planning module, used to analyze the flight information to obtain a planned route; A site setting module, used to set a landing site in the urban area according to the planned route; The cargo transfer module is used to transfer the carried cargo at the landing site according to the planned route, so that the cargo is transported from the ground to a destination within a preset mileage.

9. A drone, It is characterized in that The drone includes: a memory, a processor, and a route planning program for urban drone delivery of goods stored in the memory and executable on the processor. When the route planning program for urban drone delivery of goods is executed by the processor, the steps of the route planning method for urban drone delivery of goods as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores a route planning program for urban drone delivery of goods. When the route planning program for urban drone delivery of goods is executed by the processor, the steps of the route planning method for urban drone delivery of goods are implemented as described in any one of claims 1-7.

Images