Unmanned aerial vehicle distribution method, unmanned aerial vehicle and UWB positioning device

Abstract

The invention relates to an unmanned aerial vehicle distribution method, an unmanned aerial vehicle and a UWB positioning device, the method is applied to the unmanned aerial vehicle, and the method comprises the following steps: the unmanned aerial vehicle obtains a target action space of a target balcony; the unmanned aerial vehicle flies into a target action space according to the real-time positioning information; the unmanned aerial vehicle hovers in the target action space and obtains hovering position information; the unmanned aerial vehicle broadcasts and sends a first positioning signal, so that the UWB positioning device is activated according to the first positioning signal and sends a response signal, and the first positioning signal comprises hovering position information; the unmanned aerial vehicle analyzes the response signal and obtains position information and identification information of the UWB positioning device; the unmanned aerial vehicle constructs a take-off and landing space on the target balcony according to the position information and the identification information; and the unmanned aerial vehicle lands on the target balcony according to the take-off and landing space. According to the invention, the bandwidth of the UWB positioning device can be saved, and the positioning requirements of high-density arrangement and large-scale unmanned aerial vehicles are met.

Description

Technical Field

[0001] The present invention relates to the field of logistics, and in particular to a drone delivery method, a drone and a UWB positioning device. Background Art

[0002] With the development of information technology, the Internet and drone technology, drone delivery has become a hot topic in the industry. Drone delivery is a new form of low-altitude economy that closely combines logistics with low-altitude economy.

[0003] In the existing technology, drone delivery is mainly used to achieve delivery between logistics stations, such as delivery from a logistics center to a logistics substation, etc. However, in actual applications, the pain point of express delivery and logistics transportation is the "last 100 meters" of delivery, that is, the journey from the logistics substation to the hands of consumers / end users.

[0004] Since the space in the end user's home is limited, drones are used to deliver the goods directly to the end user. The first problem to be solved is how to realize the take-off and landing of drones in limited space. To realize the take-off and landing of drones in the limited space of the balcony, a positioning device is required. The commonly used positioning device is the UWB (Ultra Wide Band, wireless carrier communication technology, referred to as UWB) positioning device, but the existing UWB positioning device is still difficult to meet the requirements of take-off and landing in the limited space of the balcony. Summary of the invention

[0005] In order to solve the above technical problems or at least partially solve the above technical problems, the present invention provides a drone delivery method, a drone and a UWB positioning device.

[0006] In a first aspect, the present invention provides a drone delivery method, which is applied to a drone, wherein the drone is used to deliver goods to a target balcony of a residence, and at least one UWB positioning device is provided on the target balcony, and the method comprises:

[0007] The drone acquires a target action space of the target balcony;

[0008] The UAV flies into the target action space according to the real-time positioning information;

[0009] The UAV hovers in the target action space to obtain hovering position information;

[0010] The UAV broadcasts and sends a first positioning signal, so that the UWB positioning device is activated and sends a response signal according to the first positioning signal, wherein the first positioning signal includes the hovering position information;

[0011] The drone analyzes the response signal to obtain location information and identification information of the UWB positioning device;

[0012] The drone constructs a take-off and landing space on the target balcony according to the location information and the identification information;

[0013] The UAV lands on the target balcony according to the take-off and landing space.

[0014] Optionally, the UAV hovers in the target action space, and obtains hovering position information, including:

[0015] The drone obtains the real-time positioning information and the hovering position information according to a recorded navigation system arranged on the drone and / or according to a satellite navigation system.

[0016] Optionally, the identification information includes balcony information to which the UWB positioning device belongs and an ID of the UWB positioning device.

[0017] The drone constructs a take-off and landing space on the target balcony according to the location information and the identification information, including:

[0018] The drone determines, based on the balcony information to which the UWB positioning device belongs, whether the received identification information comes from the UWB positioning device belonging to the same balcony;

[0019] If the received identification information comes from the UWB positioning device belonging to the same balcony, the drone obtains a first quantity of the received identification information according to the ID of the UWB positioning device in the identification information;

[0020] The drone determines whether the first number is greater than or equal to a preset threshold;

[0021] If the first number is greater than or equal to a preset threshold, the UAV constructs a take-off and landing space on the target balcony according to the position information of the UWB positioning device.

[0022] Optionally, if the received identification information comes from the UWB positioning device that does not belong to the same balcony, the drone removes the identification information of the UWB positioning device that does not belong to the target balcony according to the target balcony information, and uses the number of the removed identification information as the first number;

[0023] The drone determines whether the first number is greater than or equal to a preset threshold;

[0024] If the first number is greater than or equal to a preset threshold, the UAV constructs a take-off and landing space on the target balcony according to the position information of the UWB positioning device.

[0025] Optionally, if the number is less than the preset threshold, the drone rebroadcasts the first positioning signal after vertically moving a first preset distance from the hovering position; and / or

[0026] After the drone moves horizontally from the hovering position by a second preset distance, it rebroadcasts the first positioning signal.

[0027] In a second aspect, a drone delivery method is provided, which is applied to a residence, wherein at least one UWB positioning device is provided on the balcony of the residence.

[0028] The UWB positioning device receives a first positioning signal;

[0029] The UWB positioning device obtains the hovering position information of the UAV in the first positioning signal;

[0030] The UWB positioning device determines whether the UAV is within the positioning space of the UWB positioning device according to the hovering position information;

[0031] If the UAV is within the positioning space of the UWB positioning device, the UWB positioning device is activated;

[0032] The UWB positioning device sends a response signal to the drone, and the response signal includes the location information and identification information of the UWB positioning device.

[0033] Optionally, if the drone is not within the positioning space of the UWB positioning device, the UWB positioning device remains silent.

[0034] In a third aspect, a drone is provided, the drone being used to deliver goods to a target balcony of a residence, the target balcony being provided with at least one UWB positioning device, the drone comprising:

[0035] A controller, used for obtaining a target action space of the target balcony;

[0036] A driver, used for flying into the target action space according to the real-time positioning information;

[0037] The driver is also used to make the drone hover in the target action space;

[0038] Navigator, used to obtain hover position information;

[0039] A transmitter, configured to broadcast and send a first positioning signal, so that the UWB positioning device is activated and sends a response signal according to the first positioning signal, wherein the first positioning signal includes the hovering position information;

[0040] The controller is also used to parse the response signal to obtain the location information and identification information of the UWB positioning device;

[0041] The controller is also used to construct a take-off and landing space on the target balcony according to the position information and the identification information;

[0042] The drive is further used for landing on the target balcony according to the take-off and landing space.

[0043] In a fourth aspect, a drone is provided, applying the method described in any one of the above items.

[0044] In a fifth aspect, a UWB positioning device is provided, applying the method described above.

[0045] The present invention provides a drone delivery method, a drone and a UWB positioning device, which are applied to a drone, wherein the drone is used to deliver goods to a target balcony of a residence, and at least one UWB positioning device is arranged on the target balcony. The method comprises: the drone obtains a target action space of the target balcony; the drone flies into the target action space according to real-time positioning information; the drone hovers in the target action space to obtain hovering position information; the drone broadcasts and sends a first positioning signal, so that the UWB positioning device is activated and sends a response signal according to the first positioning signal, and the first positioning signal includes the hovering position information; the drone parses the response signal to obtain the position information and identification information of the UWB positioning device; the drone constructs a take-off and landing space on the target balcony according to the position information and the identification information; the drone lands on the target balcony according to the take-off and landing space. In an embodiment of the present invention, after the drone enters the target action space, the drone broadcasts and sends the first positioning signal, which can save the energy consumption of the drone and also avoid excessive interference of the signal broadcasted by the drone to other drones or other signals. In addition, the UWB positioning device is activated and sends a response signal according to the first positioning signal, rather than sending signals all the time, which can save the bandwidth capacity of the UWB positioning device, reduce the energy consumption of the UWB positioning device, and meet the high-density deployment of UWB positioning devices and the positioning requirements of large-scale drones. In the embodiment of the present invention, the UWB positioning device has a high accuracy and can achieve relatively accurate positioning of the balcony, so that the drone can take off and land in the limited space of the balcony, and realize the delivery of the drone to the end user. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0047] In order to more clearly illustrate the embodiments of the present invention 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, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0048] Figure 1 The figure shows an application environment diagram of the drone delivery method according to an embodiment of the present invention;

[0049] Figure 2 FIG. 1 is a flow chart of a drone delivery method according to an embodiment of the present invention;

[0050] Figure 3 It is a schematic diagram showing the arrangement of a positioning device according to an embodiment of the present invention;

[0051] Figure 4 FIG. 1 is a flow chart of a drone delivery method according to an embodiment of the present invention;

[0052] Figure 5 Shown is a structural block diagram of a drone according to an embodiment of the present invention. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] Figure 1 The figure shows the application environment of the drone delivery method in the embodiment of the present invention. The drone in the embodiment of the present invention delivers to the target balcony.

[0055] In the embodiment of the present invention, the target balcony can be the balcony of the end user's home. The end user can be a consumer who shops online, or can be the recipient of the goods to be delivered, or can be a cohabitant, family member, etc. who is to be delivered, or can be a temporary depositor of the goods to be delivered, etc. The destination of the end user's drone delivery can usually be the balcony of a residential building, or can be the balcony of an office building. In the embodiment of the present invention, the end user can also refer to other users other than the logistics station and the professional logistics receiving yard.

[0056] In the embodiment of the present invention, "balcony" is a broad concept, which can be a balcony in a user's home in a narrow sense, such as Figure 1As shown; it can also be a semi-open or open area such as a terrace, entrance garden, roof garden, etc.; it can also be an area that is changed from a closed space to a semi-open or open area by opening windows, entrance doors, sun room roof, etc.

[0057] Since the height of balconies in ordinary buildings is limited and there are safety facilities such as railings on the balconies, there are high requirements for the take-off and landing control of drones, so there is a need for more precise positioning of the take-off and landing space of the balcony.

[0058] In the embodiment of the present invention, at least one UWB positioning device is arranged on the target balcony.

[0059] Figure 2 FIG. 1 is a flow chart of a method for delivering residential goods by drone according to an embodiment of the present invention. Figure 2 As shown, the method includes:

[0060] Step 210, the drone acquires the target action space of the target balcony;

[0061] Step 220, the UAV flies into the target action space according to the real-time positioning information;

[0062] Step 230, the UAV hovers in the target action space to obtain hovering position information;

[0063] Step 240: the UAV broadcasts and sends a first positioning signal, so that the UWB positioning device is activated according to the first positioning signal and sends a response signal, wherein the first positioning signal includes the hovering position information;

[0064] Step 250, the drone parses the response signal to obtain the location information and identification information of the UWB positioning device;

[0065] Step 260, the drone constructs a take-off and landing space on the target balcony according to the location information and the identification information;

[0066] Step 270: the UAV lands on the target balcony according to the take-off and landing space.

[0067] In the embodiment of the present invention, the target action space is set according to the UWB positioning device. Usually, the target action space refers to a space area covering the target balcony, or a space area near the target balcony.

[0068] In one embodiment of the present invention, if a plurality of UWB positioning devices are arranged on a balcony, the target action space can also be limited according to UWB.

[0069]

[0070] Among them, C is the set threshold, (x i-2,j-2 y i-2,j-2 z i-2,j-2 )、(x i+2,j+2 y i+2,j+2 z i+2,j+2 ) are the coordinates of the UWB positioning device.

[0071] In the embodiment of the present invention, after entering the target action space, the drone broadcasts and sends the first positioning signal, which can save the energy consumption of the drone and prevent the signal broadcast by the drone from causing excessive interference to other drones or other signals. In addition, the UWB positioning device is activated and sends a response signal according to the first positioning signal, rather than sending the signal all the time, which can save the bandwidth capacity of the UWB positioning device, reduce the energy consumption of the UWB positioning device, and meet the high-density deployment of UWB positioning devices and the positioning requirements of large-scale drones. In the embodiment of the present invention, the UWB positioning device has a high accuracy and can achieve relatively accurate positioning of the balcony, so that the drone can take off and land in the limited space of the balcony, and realize the delivery of the drone to the end user.

[0072] In the embodiment of the present invention, in step 230, the drone hovers in the target action space, and the hovering position information is obtained, including:

[0073] The drone obtains the real-time positioning information and the hovering position information according to a recorded navigation system arranged on the drone and / or according to a satellite navigation system.

[0074] In the embodiment of the present invention, the identification information includes the balcony information to which the UWB positioning device belongs and the ID of the UWB positioning device.

[0075] The drone constructs a take-off and landing space on the target balcony according to the location information and the identification information, including:

[0076] The drone determines, based on the balcony information to which the UWB positioning device belongs, whether the received identification information comes from the UWB positioning device belonging to the same balcony;

[0077] If the received identification information comes from the UWB positioning device belonging to the same balcony, the drone obtains a first quantity of the received identification information according to the ID of the UWB positioning device in the identification information;

[0078] The drone determines whether the first number is greater than or equal to a preset threshold;

[0079] If the first number is greater than or equal to a preset threshold, the UAV constructs a take-off and landing space on the target balcony according to the position information of the UWB positioning device.

[0080] In the embodiment of the present invention, if the received identification information comes from the UWB positioning device that does not belong to the same balcony, the drone removes the identification information of the UWB positioning device that does not belong to the target balcony according to the target balcony information, and uses the number of the removed identification information as the first number;

[0081] The drone determines whether the first number is greater than or equal to a preset threshold;

[0082] If the first number is greater than or equal to a preset threshold, the UAV constructs a take-off and landing space on the target balcony according to the position information of the UWB positioning device.

[0083] In the embodiment of the present invention, if the number is less than the preset threshold, the UAV rebroadcasts the first positioning signal after vertically moving a first preset distance from the hovering position; and / or

[0084] After the drone moves horizontally from the hovering position by a second preset distance, it rebroadcasts the first positioning signal.

[0085] In an embodiment of the present invention, there may be multiple balconies for drone delivery, and each balcony is provided with at least one UWB positioning device. For more accurate positioning, multiple UWB positioning devices are usually provided on the balcony. In a high-rise residential building, there may be multiple balconies on the same floor, and each balcony may also have an upper adjacent balcony and a lower adjacent balcony. Therefore, there may be multiple UWB positioning devices in a high-rise residential building. Even if the drone sends the first positioning signal only after entering the target action space, it is still possible to receive a response signal from the UWB positioning device on other balconies due to system redundancy and communication distance margin. If there is interference from other UWB positioning devices on non-target balconies during positioning, positioning errors will occur. Therefore, in an embodiment of the present invention, it is necessary to use identification information to determine whether these identification information come from the UWB positioning device belonging to the same balcony, thereby reducing misjudgment and increasing positioning precision and accuracy.

[0086] In an embodiment of the present invention, the response signal sent by the UWB positioning device may be sent only once in a time period, or may be sent multiple times in a time period. Sending the response signal multiple times can avoid the failure to receive the response signal due to signal interference or signal noise. However, in an embodiment of the present invention, no matter how many times the response information is received, if the ID of the positioning device in the response information is the same, it is considered that one identification information has been received. For example, the response information of the UWB positioning device with ID 1-3 is received 3 times, and the response information of the UWB positioning device with ID 1-4 is received 5 times, and the number of received identification information is considered to be 2.

[0087] In an embodiment of the present invention, the preset threshold may be zero. In another embodiment of the present invention, the preset threshold may also be 4, 8, 12, etc.

[0088] like Figure 3 As shown, the positioning device can be arranged on the ceiling of the balcony or on the protrusion of the ceiling, such as Figure 3 310; The positioning device can also be set on the balcony railing, such as Figure 3 The positioning device can also be set on the floor of the balcony, such as Figure 3 330; or the positioning device is arranged on the ceiling and the floor, or is arranged on the railing and the floor, etc., which will not be repeated here.

[0089] It can be understood that on the same balcony, the positioning devices are set on the ceiling, railings and floor at the same time, and 4 or more positioning devices are set on each plane. The higher the positioning accuracy will be, the smaller the chance of misjudgment will be, and the more precise the constructed take-off and landing space will be.

[0090] However, due to cost or other factors such as signal interference, there may be less than 12 positioning devices installed on the balcony, but at least one.

[0091] Different drones, different buildings, and different balconies have different requirements for positioning devices, so a preset threshold can be set according to actual conditions. In the embodiment of the present invention, determining whether the first amount of received identification information is greater than or equal to the preset threshold can improve positioning accuracy and avoid misjudgment.

[0092] In the embodiment of the present invention, if the first number is less than the preset threshold, it means that the received response signal is insufficient to build a take-off and landing space, and an accident will occur if the drone takes off and lands. Therefore, the drone needs to move and resend the first positioning signal to reactivate the UWB positioning device. At this time, the drone can move vertically, horizontally, or first vertically and then horizontally, etc., which will not be described in detail here.

[0093] In the embodiment of the present invention, the UWB positioning device has high accuracy and can achieve relatively accurate positioning of the balcony, so that the drone can take off and land in the limited space of the balcony, thereby realizing the delivery of the drone to the end user.

[0094] In an embodiment of the present invention, a residential drone delivery method is also provided, which is applied to a residential building, wherein at least one UWB positioning device is provided on the balcony of the residential building, such as Figure 4 As shown, the method includes:

[0095] Step 410, the UWB positioning device receives a first positioning signal;

[0096] Step 420, the UWB positioning device obtains the hovering position information of the UAV in the first positioning signal;

[0097] Step 430, the UWB positioning device determines whether the drone is within the positioning space of the UWB positioning device according to the hovering position information;

[0098] Step 440: If the UAV is within the positioning space of the UWB positioning device, the UWB positioning device is turned into an activated state;

[0099] In step 450, the UWB positioning device sends a response signal to the drone, wherein the response signal includes the location information and identification information of the UWB positioning device.

[0100] In the embodiment of the present invention, if the drone is not within the positioning space of the UWB positioning device, the UWB positioning device remains silent. The positioning space of the UWB positioning device refers to a space that can be positioned by the UWB positioning device.

[0101] In the embodiment of the present invention, if the drone is not within the positioning space of the UWB positioning device, the UWB positioning device remains silent, which can save the bandwidth capacity of the UWB positioning device, reduce the energy consumption of the UWB positioning device, and meet the high-density deployment of UWB positioning devices and the positioning requirements of large-scale drones. In the embodiment of the present invention, the UWB positioning device has a high accuracy and can achieve relatively accurate positioning of the balcony, so that the drone can take off and land in the limited space of the balcony, and realize the delivery of the drone to the end user.

[0102] The embodiment of the present invention further provides a drone, which is used to deliver goods to a target balcony of a residence, and at least one UWB positioning device is provided on the target balcony, such as Figure 5 As shown, the drone comprises:

[0103] A controller 510 is used to obtain a target action space of the target balcony;

[0104] A driver 520 is used to fly into the target action space according to the real-time positioning information;

[0105] The driver 520 is also used to make the drone hover in the target action space;

[0106] Navigator 530, used to obtain hovering position information;

[0107] The transmitter 540 is configured to broadcast and send a first positioning signal, so that the UWB positioning device is activated and sends a response signal according to the first positioning signal, wherein the first positioning signal includes the hovering position information;

[0108] The controller 510 is also used to parse the response signal to obtain the location information and identification information of the UWB positioning device;

[0109] The controller 510 is further used to construct a take-off and landing space on the target balcony according to the position information and the identification information;

[0110] The driver 520 is further configured to land on the target balcony according to the take-off and landing space.

[0111] In the embodiment of the present invention, the navigator 530 is further configured to obtain the real-time positioning information and the hovering position information according to a recorded navigation system disposed on the drone and / or according to a satellite navigation system.

[0112] In the embodiment of the present invention, the identification information includes the balcony information to which the UWB positioning device belongs and the ID of the UWB positioning device.

[0113] The controller 510 is also used for:

[0114] According to the balcony information to which the UWB positioning device belongs, determining whether the received identification information comes from the UWB positioning device belonging to the same balcony;

[0115] If the received identification information comes from the UWB positioning device belonging to the same balcony, obtaining a first quantity of the received identification information according to the ID of the UWB positioning device in the identification information;

[0116] Determining whether the first number is greater than or equal to a preset threshold;

[0117] If the first number is greater than or equal to a preset threshold, a take-off and landing space is constructed on the target balcony according to the position information of the UWB positioning device.

[0118] In the embodiment of the present invention, the controller 510 is further used for:

[0119] If the received identification information comes from the UWB positioning device that does not belong to the same balcony, then according to the target balcony information, the identification information of the UWB positioning device that does not belong to the target balcony is eliminated, and the number of the eliminated identification information is used as the first number;

[0120] Determining whether the first number is greater than or equal to a preset threshold;

[0121] If the first number is greater than or equal to a preset threshold, a take-off and landing space is constructed on the target balcony according to the position information of the UWB positioning device.

[0122] In the embodiment of the present invention, the driver 520 is further configured to enable the drone to vertically move a first preset distance from the hovering position and then rebroadcast the first positioning signal if the number is less than the preset threshold; and / or

[0123] After the drone is moved horizontally from the hovering position to a second preset distance, the first positioning signal is rebroadcast.

[0124] Figure 2 and Figure 4 FIG. 1 is a flow chart of a drone delivery method in one embodiment. It should be understood that although Figure 2 and Figure 4 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 2 and Figure 4 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0125] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided by the present invention can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0126] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0127] The foregoing is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A drone delivery method, characterized in that: Applied to a drone, the drone is used to deliver goods to a target balcony of a residence, and at least one UWB positioning device is provided on the target balcony. The method comprises: The drone acquires a target action space of the target balcony; The UAV flies into the target action space according to the real-time positioning information; The UAV hovers in the target action space to obtain hovering position information; The UAV broadcasts and sends a first positioning signal, so that the UWB positioning device is activated and sends a response signal according to the first positioning signal, wherein the first positioning signal includes the hovering position information; The drone analyzes the response signal to obtain location information and identification information of the UWB positioning device; The drone constructs a take-off and landing space on the target balcony according to the location information and the identification information; The UAV lands on the target balcony according to the take-off and landing space.

2. The method according to claim 1, characterized in that The UAV hovers in the target action space, and obtains hovering position information, including: The drone obtains the real-time positioning information and the hovering position information according to a recorded navigation system arranged on the drone and / or according to a satellite navigation system.

3. The method according to claim 1, characterized in that The identification information includes the balcony information to which the UWB positioning device belongs and the ID of the UWB positioning device. The drone constructs a take-off and landing space on the target balcony according to the location information and the identification information, including: The drone determines, based on the balcony information to which the UWB positioning device belongs, whether the received identification information comes from the UWB positioning device belonging to the same balcony; If the received identification information comes from the UWB positioning device belonging to the same balcony, the drone obtains the first quantity of the received identification information according to the ID of the UWB positioning device in the identification information; The drone determines whether the first number is greater than or equal to a preset threshold; If the first number is greater than or equal to a preset threshold, the UAV constructs a take-off and landing space on the target balcony according to the position information of the UWB positioning device.

4. The method according to claim 3, characterized in that If the received identification information comes from the UWB positioning device that does not belong to the same balcony, the drone removes the identification information of the UWB positioning device that does not belong to the target balcony according to the target balcony information, and uses the number of the removed identification information as the first number; The drone determines whether the first number is greater than or equal to a preset threshold; If the first number is greater than or equal to a preset threshold, the UAV constructs a take-off and landing space on the target balcony according to the position information of the UWB positioning device.

5. The method according to claim 3 or 4, characterized in that: If the number is less than the preset threshold, the UAV rebroadcasts the first positioning signal after vertically moving a first preset distance from the hovering position; and / or After the drone moves horizontally from the hovering position by a second preset distance, it rebroadcasts the first positioning signal.

6. A drone delivery method, characterized in that: Applied to a residence, at least one UWB positioning device is provided on the balcony of the residence. The UWB positioning device receives a first positioning signal; The UWB positioning device obtains the hovering position information of the UAV in the first positioning signal; The UWB positioning device determines whether the UAV is within the positioning space of the UWB positioning device according to the hovering position information; If the UAV is within the positioning space of the UWB positioning device, the UWB positioning device is activated; The UWB positioning device sends a response signal to the drone, and the response signal includes the location information and identification information of the UWB positioning device.

7. The method according to claim 6, characterized in that If the UAV is not within the positioning space of the UWB positioning device, the UWB positioning device remains silent.

8. A drone, characterized in that: The drone is used to deliver goods to a target balcony of a residence, and at least one UWB positioning device is provided on the target balcony. The drone includes: A controller, used for obtaining a target action space of the target balcony; A driver, used for flying into the target action space according to the real-time positioning information; The driver is also used to make the drone hover in the target action space; Navigator, used to obtain hover position information; A transmitter, configured to broadcast and send a first positioning signal, so that the UWB positioning device is activated and sends a response signal according to the first positioning signal, wherein the first positioning signal includes the hovering position information; The controller is also used to parse the response signal to obtain the location information and identification information of the UWB positioning device; The controller is also used to construct a take-off and landing space on the target balcony according to the position information and the identification information; The drive is further used for landing on the target balcony according to the take-off and landing space.

9. A drone, characterized in that: The method according to any one of claims 1 to 5 is applied.

10. A UWB positioning device, characterized in that: The method according to claim 6 or 7 is applied.

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