Dispensing method, device, dispenser, dispensing system and computer readable storage medium

Abstract

The application discloses a kind of delivery method, device, delivery ware, delivery system and computer readable storage medium, wherein the delivery method specifically includes comparing the real-time rotation data of unmanned aerial vehicle delivery ware in the preset time period with the preset number of laps threshold value;If real-time rotation data exceeds preset number of laps threshold value, then output the first control information for controlling the delivery ware actuator;If not, do not execute.I.e.the technical solution of the present application only needs the delivery ware to be able to sense the rotation of completing specific number of laps in the set time to be judged as delivery information, and realizes delivery according to the delivery information.The present delivery method is suitable for all unmanned aerial vehicles that can realize in-place rotation or surrounding flight, and the operation mode is simple, strong in universality, and well meets the use of users.

Description

Technical Field

[0001] This invention relates to the field of drone delivery technology, and in particular to a delivery method, apparatus, delivery device, delivery system, and computer-readable storage medium. Background Technology

[0002] Drones are currently widely used in various fields, with the delivery of goods, such as packages, being a common application. Currently, the delivery of goods by drones is controlled by servo motors, which require a flight control platform. The main process is as follows: a signal is sent from the remote controller to a receiver, which then transmits the signal to the flight control platform. The flight control platform analyzes and calculates the signal to control the servo motor movement, thereby controlling the delivery of the loaded goods.

[0003] Typically, this type of delivery control method requires the delivery function to be set on the remote controller when the drone leaves the factory. Alternatively, the delivery device may be paired with the corresponding remote controller to form a system to complete the delivery.

[0004] This type of technology is feasible for new drones or delivery systems. However, it is not feasible for existing drones that do not have automated delivery control.

[0005] To address this issue, some new delivery technologies have emerged. For example, by installing a photosensitive element in the delivery device, the delivery device and the drone's light are aligned during assembly. The delivery is controlled by operating the drone's remote control to activate the light. When the photosensitive element detects the light, the delivery can be controlled.

[0006] This technology effectively solves the problem that existing drones cannot be deployed, and also eliminates the need for a separate remote control to operate the deployer.

[0007] Nevertheless, some technical issues remain. Some drones lack bottom lights, making these dispensers unusable on existing drones and causing inconvenience in drone deployment.

[0008] Therefore, the aforementioned technical problems need to be solved. Summary of the Invention

[0009] In order to overcome the shortcomings of the prior art, the present invention proposes a dispensing method, device, dispenser, dispensing system and computer-readable storage medium, aiming to solve the problem of inconvenient dispensing control of the existing dispenser.

[0010] To solve the above-mentioned technical problems, one of the basic technical solutions proposed by this invention is as follows:

[0011] A delivery method for a drone delivery device, the delivery method comprising the following steps:

[0012] The real-time rotation data, which represents the number of rotations of the drone dispenser within a preset time period, is compared with a preset threshold number of rotations.

[0013] If the real-time rotation data exceeds the preset number of rotations threshold, the first control information for controlling the actuator of the dispenser will be output.

[0014] If the limit is not met, the operation will not be performed.

[0015] The present invention also proposes a dispensing device, comprising:

[0016] The first judgment module is used to compare the real-time rotation data, which represents the number of rotations of the drone dispenser within a preset time period, with a preset number of rotations threshold.

[0017] The output module is used to output first control information for controlling the actuator of the dispenser when the real-time rotation data exceeds a preset number of rotations threshold.

[0018] The present invention further proposes a dispenser, comprising:

[0019] A gyroscope, a memory, a processor, and a delivery program stored in the memory and executable on the processor, wherein:

[0020] The gyroscope is used to obtain real-time rotation data that characterizes the number of rotations of the drone dispenser within a preset time period;

[0021] When the delivery program is executed by the processor, it implements the steps of the delivery method described above.

[0022] Furthermore, this invention also proposes a drone delivery system, comprising:

[0023] Unmanned aerial vehicles (UAVs) are used to perform flight operations.

[0024] The dispenser is detachably assembled with the drone;

[0025] A remote controller, which is communicatively connected to the drone, is used to control the flight of the drone;

[0026] The dispenser includes a gyroscope, a memory, a processor, and a dispensing program stored in the memory and capable of running on the processor;

[0027] The gyroscope is used to obtain real-time rotation data that characterizes the number of rotations of the drone dispenser within a preset time period;

[0028] When the delivery program is executed by the processor, it implements the steps of any of the delivery methods described above.

[0029] Finally, the present invention proposes a computer-readable storage medium storing a delivery program, which, when executed by a processor, implements the steps of the delivery method described in any of the above claims.

[0030] The beneficial effects of this invention are:

[0031] The present invention provides a delivery method, apparatus, delivery device, delivery system, and computer-readable storage medium. Specifically, the delivery method includes comparing real-time rotation data, representing the number of rotations of a drone delivery device within a preset time period, with a preset rotation threshold. If the real-time rotation data exceeds the preset threshold, first control information for controlling the delivery device's actuator is output; otherwise, no control is executed. In other words, the present invention only requires the delivery device to sense a specific number of rotations completed within a set time period to determine it as a delivery message, and then perform the delivery according to that message. This delivery method is applicable to all drones capable of stationary or circling flight, and its operation is simple, highly versatile, and well meets user needs. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the terminal structure of the hardware operating environment involved in this invention;

[0033] Figure 2 This is a schematic diagram of the dispenser's external shape;

[0034] Figure 3 This is a circuit connection diagram of the dispenser;

[0035] Figure 4 This is a schematic diagram illustrating the principle of a delivery method according to the present invention;

[0036] Figure 5 A schematic diagram of a drone performing planar rotation in a horizontal plane;

[0037] Figure 6 A schematic diagram illustrating the spiral rotation of a drone;

[0038] Figure 7 This is a schematic diagram of a drone rotating in place.

[0039] Figure 8 Schematic diagram showing the rotation of the actuator relative to the dispenser.

[0040] Figure 9 A schematic diagram of a drone rotating around a rotation axis;

[0041] Figure 10 A schematic diagram illustrating the method for obtaining real-time rotation data;

[0042] Figure 11A schematic diagram illustrating the principle of a second embodiment of a delivery method;

[0043] Figure 12 This is a structural diagram of a preset location range;

[0044] Figure 13 This is a schematic diagram of the dispensing device. Detailed Implementation

[0045] The following will be combined with the appendix Figure 1 To be continued Figure 13 The technical solutions in the embodiments of the present invention have been clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0046] This invention proposes a delivery method, apparatus, delivery device, delivery system, and computer-readable storage medium. This technology can be applied to the vast majority of existing drones, improving the universality of delivery and simplifying the operation.

[0047] like Figure 1 As shown, Figure 1 This is a schematic diagram of the terminal structure of the hardware operating environment involved in the embodiments of the present invention. Specifically, Figure 1 This is a drone system equipped with a delivery device. It should be understood that this drone system is merely an illustrative example and does not impose any constraints on specific drone application scenarios.

[0048] See Figure 1 The unmanned aerial vehicle (UAV) system includes a UAV 10, a dispenser 20, and a remote controller 30. The UAV 10 includes a body 101 and a propeller 102 mounted on the body 101 for providing lift and flight control. A bottom surface 103 is located beneath the body 101. The dispenser 20 is detachably connected to this bottom surface 103. Assembly can be achieved using methods such as fastening, strapping, or screws. The dispenser 20 moves synchronously with the UAV 10. The remote controller 30 communicates with the UAV 10 to control its flight. The remote controller 30 can control the UAV 10 to rotate in place or to rotate in a circle around a central axis.

[0049] like Figure 2 and Figure 3As shown, the dispenser includes a gyroscope 1, a memory 2, a processor 3, and an actuator 4. The gyroscope 1, memory 2, and actuator 4 are electrically connected to corresponding ports of the processor 3 to achieve various data transmissions and control operations. The gyroscope 1, memory 2, processor 3, and actuator 4 are all housed within the housing 201 of the dispenser 20 for protection. The gyroscope 1 measures the rotation angle of the dispenser 20 as it moves with the drone 10. The measured rotation angle is transmitted to the processor 3, which executes various preset operations based on this angle. The memory 2 can be a high-speed RAM or a stable, non-volatile memory, such as a disk drive. Any memory that can be housed within the dispenser 20 is acceptable. The memory 2 can be integrated with the processor 3 or optionally be a storage device independent of the processor 3. The actuator 4 is used for loading and dispensing materials. In practical application, the material is attached to the actuator 4, and the processor 3 controls the actuator 4 according to the actual operating procedure. It should be understood that the actuator 4 in this embodiment can be any suitable structure, as long as it can achieve electronic control. That is, the processor 3 can automatically control the actuator 4. This technical solution does not provide a detailed description of the specific structure of the actuator 4, but this should not be considered as insufficient disclosure of the technical solution.

[0050] In addition, the dispenser 20 may also include a gravity acceleration sensor to detect the magnitude of acceleration in various directions (generally three axes). When stationary, it can detect the magnitude and direction of gravity, which can be used to identify the attitude of the dispenser 20. Of course, the dispenser 20 may also be configured with other sensors such as barometers, hygrometers, thermometers, and infrared sensors according to specific actual use, which will not be elaborated here.

[0051] Those skilled in the art will understand that Figure 2 and Figure 3 The dispenser structure shown above does not constitute a limitation on the dispenser and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0052] Reference Figure 4 The first embodiment of the present invention provides a delivery method for use with a drone delivery device. The delivery method includes the following steps:

[0053] The real-time rotation data, which represents the number of rotations of the drone dispenser within a preset time period, is compared with a preset threshold number of rotations.

[0054] If the real-time rotation data exceeds the preset number of rotations threshold, the first control information for controlling the actuator of the dispenser will be output.

[0055] If the limit is not met, the operation will not be performed.

[0056] In detail, the delivery method of this invention determines whether to deliver a drone by sensing the number of rotations of the delivery device along with the drone. The number of rotations of the drone can be controlled by the remote controller 30. Therefore, delivery control can be achieved simply by controlling the remote controller 30. Since the remote controller 30 is an essential device in every drone system, the delivery method of this invention can meet the needs of delivery in situations where the remote controller 30 is used, regardless of whether the drone 10 has a light on its bottom. Therefore, the delivery method of this invention has particularly strong applicability and meets the needs of most existing drones.

[0057] It should be understood that the number of rotations within the preset time period refers to the number of rotations the dispenser makes within a reference plane. Each rotation is 360°. This number of rotations can be a natural number such as 1, 2, 3, or 4, or any number such as 0.2, 0.23, 1.3, or 2.32. It can be preset according to actual use. Alternatively, the number of rotations within the preset time period can also be understood as the angle of rotation within a reference plane within a preset time. This angle is set according to specific usage.

[0058] Importantly, the number of rotations is predetermined to be completed within a preset time. This preset time can be arbitrarily set, depending on the actual operation. For example, it could be 3 seconds, 5 seconds, 10 seconds, etc. Any scheme that merely changes this preset time falls within the protection scope of this invention.

[0059] In detail, in some specific solutions, the number of rotations refers to the effective number of rotations of the drone dispenser relative to the horizontal plane. It is generally understood that setting the rotation with a reference plane is necessary. For example... Figure 5 As shown, under ideal flight conditions, the drone rotates in the horizontal plane. During this process, the drone does not deviate in the altitude direction, or the deviation is within a preset control range, such as a vertical height difference of only 0.1 meters. That is, referring to the arrow in the figure, it rotates on the same altitude plane.

[0060] In some locations with poor flight conditions, such as strong winds, drones cannot guarantee rotation on a single horizontal plane. For example... Figure 6 As shown, due to wind, the drone will shake up and down in the altitude direction, causing instability. During this process, the drone's rotation, accompanied by the up-and-down shaking, forms a spiral-like trajectory. In this case, the number of rotations is based on the effective number of rotations relative to the horizontal plane, which can eliminate the adverse effects of incorrect deployment caused by the operating environment.

[0061] It should be understood that, in the preferred embodiment, the number of rotations of the drone relative to the horizontal plane is recorded by a gyroscope built into the drone dispenser. Specifically, the number of rotations is automatically measured by the dispenser 20 and does not depend on the external environment. In actual operation, the drone 10 is controlled by the remote controller 30 to rotate synchronously with the dispenser 20, thus recording the number of rotations by the gyroscope built into the dispenser. Importantly, the gyroscope automatically determines the number of rotations relative to the horizontal plane, and this automatic measurement is based on existing technology, which will not be elaborated upon in this embodiment, but this should not be construed as insufficient disclosure of the technical solution. The core of this solution is to compare the number of rotations within a preset time obtained by the gyroscope with a preset threshold, and to control the dispenser's delivery based on the comparison result.

[0062] Additionally, in some specific embodiments, the number of rotations refers to the number of times the drone dispenser rotates in place or the number of times it rotates around a center of rotation. Preferably, as shown below... Figure 7 As shown, the number of rotations refers to the number of times the drone dispenser rotates in place. This diagram illustrates the dispenser rotating with the drone. This method is suitable for point-to-point delivery applications. In actual operation, the drone 10 is fixed in a suitable position using the remote controller 30, and then its rotation is controlled. When the number of rotations within a predetermined time reaches a preset threshold, the delivery operation is completed.

[0063] It should also be noted that in other embodiments, if the actuator 4 of the dispenser 20 is fixed, during the rapid rotation of the drone 10, the drone 10 will cause the material to rotate at high speed, which is not conducive to dispensing. Therefore, when setting the number of rotations within a preset time, the number of rotations can be set relatively small to ensure that the rotation speed is not too fast. In other methods, such as... Figure 8 As shown, in some embodiments, the actuator 4 is movably assembled with the dispenser 20. Specifically, the actuator 4 can rotate relative to the rotation center of the dispenser 20. Therefore, when the dispenser 20 rotates, the actuator 4 may not move with the dispenser 20, or its rotation speed may be low. This facilitates the dispensing of materials.

[0064] Furthermore, in practical applications, the number of rotations can also refer to the number of revolutions around a center of rotation. For example... Figure 9 As shown. The drone 10 drives the dispenser 20 to rotate around the axis L0. During the rotation of the dispenser 20, the gyroscope will record the corresponding number of rotations.

[0065] See Figure 10 In some specific embodiments, the real-time rotation data representing the number of rotations of the drone dispenser within a preset time period is obtained by the following method:

[0066] S10: Obtain the second cumulative rotation value at the second moment, which represents the number of rotations of the drone dispenser;

[0067] S20: When the first time point corresponding to the preset time interval T before the second time point is moved forward is found, the first cumulative rotation value used to characterize the number of rotations of the drone dispenser is used.

[0068] S30: Calculate the difference between the second cumulative rotation value and the first cumulative rotation value;

[0069] The difference is the real-time rotation data at the second moment.

[0070] It should be understood that any preset time T includes a start point and an end point. In this embodiment, the start point is defined as the first moment, and the end point is defined as the second moment. Any moment after the drone 10 begins flight can be defined as the second moment, and the moment corresponding to the preset time T is the first moment. For example, if the preset time T is 10 seconds, and the moment 10 minutes after the drone takes off is the second moment, then 9 minutes and 50 seconds after the drone takes off is the first moment.

[0071] The second cumulative rotation value is recorded by the gyroscope; the first cumulative rotation value is also recorded by the gyroscope. The corresponding rotation value received at each moment is stored in the memory 2.

[0072] The step of finding the first cumulative rotation value, which is used to characterize the number of rotations of the drone dispenser, when the second time point is shifted forward by a preset time period T, is implemented by processor 3.

[0073] That is, whenever a new second cumulative rotation value is received, processor 3 will automatically look up a first cumulative rotation value.

[0074] Once the corresponding first cumulative rotation value is found, the processor 3 will calculate the difference between the second cumulative rotation value and the first cumulative rotation value. The difference is the real-time rotation data at the second moment.

[0075] This method enables the acquisition of the real-time rotation data.

[0076] It should be understood that the specific method for finding the first cumulative rotation count and the calculation of the difference between the first and second cumulative rotation counts in this embodiment can be implemented using existing technical means. These methods are not detailed in this technical solution, but this should not be considered as insufficient disclosure of the solution.

[0077] Furthermore, to prevent accidental deployments under abnormal circumstances, such as when the drone 10 suddenly drops too much altitude while rotating and the number of rotations within a preset time exceeds a preset threshold, an accidental deployment may occur. The preferred solution proposes the following method to address this issue.

[0078] Detailed, such as Figure 11 As shown, before outputting the first control information for controlling the dispenser actuator when the real-time rotation data exceeds a preset threshold, the following steps are also included:

[0079] Determine whether the positional offset of the drone dispenser at two points corresponding to the real-time circling data is within the preset position range;

[0080] If the limit is exceeded, the first control information will not be output.

[0081] If it does not exceed the limit, then output the first control information.

[0082] This technical solution determines the location of the drone 10 before outputting the first control information after determining that the real-time circling data exceeds a preset threshold, to prevent problems such as misdeployment or incorrect deployment due to excessive positional deviation. Specifically, if the positional error between the two moments before and after the determination does not exceed a preset positional range, it is considered that misdeployment or incorrect deployment will not occur.

[0083] In some embodiments, such as Figure 12 The coordinates at the first moment are shown as A(X1,Y1,Z1). Based on the horizontal plane where point A is located, the error is ±△(X0,Y0,Z0). That is, the first quadrant space formed by the two reference planes (X2,Y2,Z2) and (X3,Y3,Z3) above and below plane A in the figure is the allowed space at the second moment, as shown in the figure. Figure 12 As shown, when the position corresponding to the second moment is within the space formed by the solid line, it is determined that the position offset between the two moments is within the preset position range. Afterwards, the first control information can be output to control the operation of the actuator 4.

[0084] In detail, the location information of the dispenser 20 at each moment is obtained by the locator 5 installed inside the dispenser 20. The locator 5 can be any suitable positioning chip, such as a Beidou positioning module or a GPS positioning module. The locator 5 can transmit the positioning information to the processor 3 in real time, and the processor 3 will then execute the commands.

[0085] Specifically, the preset position range can be a spherical space with point A as the center and radius R. The value of R is preset. The spherical space can be implemented using existing technologies, which will not be elaborated here. As long as the position at the second moment is within the spherical space with radius R centered at point A, the offset can be considered to have not exceeded the preset position range. Of course, in practice, it is not limited to this. Any method that outputs the first control information only when the position at the second moment deviates from the position at the first moment beyond the range should fall within the protection scope of this invention.

[0086] In summary, the delivery method of this invention controls whether or not the delivery device is deployed based on the angle of rotation of the delivery device driven by the drone, making it more convenient for users. It meets the needs of existing remote-controlled drones, expands the application range of drone delivery, and solves the technical problem that existing drones cannot perform delivery operations.

[0087] Example 2

[0088] like Figure 13 As shown, the present invention also proposes a dispensing device, which includes:

[0089] The first judgment module 100 is used to compare the real-time rotation data representing the number of rotations of the drone dispenser within a preset time period with a preset number of rotations threshold.

[0090] The output module 200 is used to output first control information for controlling the actuator of the dispenser when the real-time rotation data exceeds a preset number of rotations threshold.

[0091] The delivery device determines whether to deliver a drone by sensing the number of rotations of the delivery device along with the drone. The number of rotations of the drone can be controlled by the remote controller 30. Therefore, delivery control can be achieved simply by controlling the remote controller 30. Since the remote controller 30 is an essential device in every drone system, the delivery method of this invention can meet the needs of situations where the drone 10 is controlled by the remote controller 30, regardless of whether the drone 10 has a light on its bottom. Therefore, the delivery method of this invention has particularly strong applicability and meets the needs of most existing drones. By outputting the first control information for the delivery device based on the existing drone rotation number, the operation is very convenient and greatly expands the delivery range, especially solving the problem that existing drones cannot deliver drones.

[0092] Example 3

[0093] The present invention further proposes a dispenser, which specifically includes:

[0094] The system comprises a gyroscope 1, a memory 2, a processor 3, and a delivery program stored in the memory 2 and executable on the processor 3, wherein:

[0095] The gyroscope 1 is used to obtain real-time rotation data that characterizes the number of rotations of the drone dispenser within a preset time period;

[0096] When the delivery program is executed by the processor 3, it implements the steps of any of the delivery methods described in Embodiment 1 above.

[0097] The delivery method has been described in detail above and will not be repeated here.

[0098] The dispenser 20 can determine whether to control the delivery based on the number of rotations within a preset time. In actual use, it is used in conjunction with the drone 10, which drives the dispenser 20 to fly. When the dispenser 20 detects that the number of rotations exceeds the preset value through its gyroscope 1, the delivery is completed, making it very convenient to use.

[0099] Example 4

[0100] Furthermore, this invention also proposes a drone delivery system, comprising:

[0101] Unmanned Aerial Vehicle 10, used for flight operations;

[0102] The dispenser 20 is detachably assembled with the drone 10;

[0103] Remote controller 30 is communicatively connected to the drone 10 for controlling the flight of the drone 10;

[0104] The dispenser 20 includes a gyroscope 1, a memory 2, a processor 3, and a dispensing program stored in the memory 2 and capable of running on the processor 3;

[0105] The gyroscope 1 is used to obtain real-time rotation data that characterizes the number of rotations of the drone dispenser within a preset time period;

[0106] When the delivery program is executed by the processor 3, it implements the steps of any of the delivery methods described above.

[0107] The delivery method has been described in detail above and will not be repeated here.

[0108] This drone delivery system uses a dispenser 20 mounted on the drone 10 to automatically sense the number of rotations within a preset time to determine whether to control the delivery. The entire system requires no changes to the existing structure; the dispenser 20 can be directly mounted on the drone 10 for use. It is simple in structure, low in cost, and easy to operate, greatly meeting the needs of existing drone users.

[0109] Example 5

[0110] Finally, the present invention proposes a computer-readable storage medium storing a delivery program, which, when executed by a processor, implements the steps of the delivery method described in any of the above claims.

[0111] The computer-readable storage medium can be any available medium accessible to a computer, or a data storage device such as a server or data center that integrates one or more available media. It should be noted that those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, which can include, but is not limited to: magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., Digital Versatile Disc (DVD)), or semiconductor media (e.g., Solid State Disk (SSD)).

[0112] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0113] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0114] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural modifications made based on the description and drawings of this invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of this invention.

Claims

1. A delivery method for a drone delivery device, characterized in that, The delivery method includes the following steps: The real-time rotation data, which represents the number of rotations of the drone dispenser within a preset time period, is compared with a preset threshold number of rotations. If the real-time rotation data exceeds the preset number of rotations threshold, the first control information for controlling the actuator of the dispenser will be output. If the value does not exceed the limit, then the operation will not be performed; The step of outputting the first control information for controlling the dispenser actuator when the real-time rotation data exceeds a preset threshold also includes the following steps: Determine whether the positional offset of the drone dispenser at two points corresponding to the real-time circling data is within the preset position range; If the limit is exceeded, the first control information will not be output. If it does not exceed the limit, then output the first control information.

2. The delivery method as described in claim 1, characterized in that: The number of rotations refers to the effective number of rotations of the drone dispenser relative to the horizontal plane.

3. The delivery method as described in claim 1, characterized in that: The number of rotations refers to the number of times the drone dispenser rotates in place or the number of times it flies around a rotation center.

4. The delivery method as described in claim 1, characterized in that: The real-time rotation data is recorded by a gyroscope built into the drone dispenser.

5. The delivery method as described in claim 1, characterized in that, The real-time rotation data, which characterizes the number of rotations of the drone dispenser within a preset time period, is obtained using the following method: Obtain the second cumulative rotation value at the second moment, which represents the number of rotations of the drone dispenser; Find the first cumulative rotation value used to characterize the number of rotations of the drone dispenser when the second time point is moved forward by a preset time period T; Calculate the difference between the second cumulative rotation value and the first cumulative rotation value; The difference is the real-time rotation data at the second moment.

6. A dispensing device, characterized in that, include: The first judgment module is used to compare the real-time rotation data, which represents the number of rotations of the drone dispenser within a preset time period, with a preset number of rotations threshold. The output module is used to output first control information for controlling the dispenser actuator when the real-time circling data exceeds a preset number of circlings threshold; and to determine whether the position offset of the drone dispenser at the two moments corresponding to the real-time circling data is within a preset position range before outputting the first control information for controlling the dispenser actuator if the real-time circling data exceeds the preset threshold; if it exceeds the preset threshold, the first control information is not output. If it does not exceed the limit, then output the first control information.

7. A dispenser, characterized in that, include: A gyroscope (1), a memory (2), a processor (3), and a delivery program stored in the memory (2) and executable on the processor (3), wherein: The gyroscope (1) is used to obtain real-time rotation data that characterizes the number of rotations of the drone dispenser within a preset time period; When the delivery program is executed by the processor (3), it implements the steps of the delivery method as described in any one of claims 1 to 5.

8. A drone delivery system, comprising: Unmanned aerial vehicle (UAV) (10), used to perform flight; The dispenser (20) is detachably assembled with the drone (10); A remote controller (30) is communicatively connected to the drone (10) for controlling the flight of the drone (10); Its features are: The dispenser (20) includes a gyroscope (1), a memory (2), a processor (3), and a dispensing program stored in the memory (2) and capable of running on the processor (3); The gyroscope (1) is used to obtain real-time rotation data that characterizes the number of rotations of the drone dispenser within a preset time period; When the delivery program is executed by the processor (3), it implements the steps of the delivery method as described in any one of claims 1 to 5.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a delivery program, which, when executed by a processor, implements the steps of the delivery method as described in any one of claims 1 to 5.

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