Unmanned aerial vehicle and unmanned vehicle joint distribution method, system, terminal and medium

Abstract

The invention discloses an unmanned aerial vehicle and unmanned vehicle joint distribution method and system, a terminal and a medium. The method comprises the steps of obtaining a task allocation scheme of cargo distribution of an unmanned aerial vehicle and an unmanned vehicle; according to the task allocation scheme, controlling the unmanned aerial vehicle carrying the goods to sail into a target area; the unmanned aerial vehicle is controlled to throw the goods into the unmanned vehicle located in the target area; according to the task allocation scheme, the unmanned vehicle is controlled to run to a goods receiving position, and goods receiving notification information is generated; and sending the goods receiving notification information to a target device corresponding to a recipient, and when it is detected that the goods are taken out, marking that delivery of the goods is completed. According to the invention, the distribution efficiency is improved through a distribution mode of combining the unmanned aerial vehicle and the unmanned vehicle.

Description

Technical Field

[0001] The present application relates to the technical field of cargo delivery, and in particular to a method, system, terminal and medium for joint delivery by unmanned aerial vehicles and unmanned vehicles. Background Art

[0002] When using existing technologies for cargo delivery, if only drones are used for delivery, drones will no longer be able to land the goods (express delivery and takeout) at the designated location at home, and the recipient will not be able to receive the goods normally, affecting the delivery efficiency.

[0003] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0004] The main purpose of this application is to provide a method, system, terminal and medium for joint delivery by drones and unmanned vehicles, aiming to solve the problem in the prior art that traditional logistics distribution requires manual door-to-door delivery, resulting in low delivery efficiency.

[0005] A first aspect of an embodiment of the present application provides a method for joint delivery by a drone and an unmanned vehicle, the method comprising the following steps: obtaining a task allocation plan for drones and unmanned vehicles to deliver goods; according to the task allocation plan, controlling the drone carrying the goods to navigate to a target area; controlling the drone to put the goods into the unmanned vehicle located in the target area; according to the task allocation plan, controlling the unmanned vehicle to travel to a delivery location and generate delivery notification information; sending the delivery notification information to a target device corresponding to the recipient, and when it is detected that the goods have been taken out, marking the goods as completed.

[0006] Optionally, in one embodiment of the present application, the task allocation plan includes the flight route and delivery task of the drone, and the driving route and delivery task of the unmanned vehicle; the task allocation plan for obtaining drones and unmanned vehicles for cargo delivery specifically includes: obtaining cargo order information, road traffic information, and energy information corresponding to the drone and the unmanned vehicle; performing path planning and resource scheduling based on the order information, the traffic information, and the energy information to obtain the flight route and delivery task of the drone, and the driving route and delivery task of the unmanned vehicle.

[0007] Optionally, in one embodiment of the present application, controlling the drone carrying the goods to navigate to the target area according to the task allocation plan specifically includes: controlling the drone to load the goods according to the delivery task; controlling the drone to navigate according to the flight route, obtaining the current distance between the drone and the target area and the current position of the unmanned vehicle in the target area; determining the handover position of the goods according to the current position; and if the current distance is within a preset distance range, controlling the drone to slow down and land at the handover position.

[0008] Optionally, in one embodiment of the present application, controlling the drone to drop the cargo into the unmanned vehicle located in the target area specifically includes: obtaining monitoring information of the cargo after the drone lands at the handover location; adjusting the height and angle of the drone based on the monitoring information, and controlling the unmanned vehicle to open the loading door based on the delivery task; controlling the drone to release the cargo, and controlling the unmanned vehicle to receive the cargo.

[0009] Optionally, in one embodiment of the present application, according to the task allocation plan, controlling the unmanned vehicle to travel to the delivery location and generating delivery notification information specifically includes: controlling the unmanned vehicle to travel along the driving route and obtaining the current road image collected by the unmanned vehicle; when an obstacle is identified in the road image, obtaining an updated driving route for the unmanned vehicle to bypass the obstacle; controlling the unmanned vehicle to continue to travel along the updated driving route to the delivery location of the goods and obtaining delivery notification information.

[0010] Optionally, in one embodiment of the present application, the delivery notification information includes cargo arrival information, pickup guide information and unmanned vehicle location information; the delivery notification information is sent to the target device corresponding to the recipient, and when it is detected that the cargo is taken out, the cargo is marked as completed. The delivery specifically includes: sending the cargo arrival information, the pickup guide information and the unmanned vehicle location information to the target device corresponding to the recipient to notify the recipient to come and pick up the cargo; when the identity information of the recipient is verified, controlling the unmanned vehicle to open the loading door to allow the recipient to pick up the cargo; when it is recognized that the cargo is taken out from the unmanned vehicle, closing the loading door to complete the delivery of the cargo.

[0011] Optionally, in one embodiment of the present application, the controlling the drone to drop the cargo into the unmanned vehicle located in the target area further includes: controlling the drone to move to a battery life replenishment station in the target area so that the drone can be charged at the battery life replenishment station; and controlling the unmanned vehicle to return to the target area.

[0012] The second aspect of the embodiment of the present application further provides a drone and unmanned vehicle joint delivery system, wherein the drone and unmanned vehicle joint delivery system includes:

[0013] The solution acquisition module is used to obtain the task allocation plan for drones and unmanned vehicles to deliver goods;

[0014] A drone delivery module is used to control the drone carrying the goods to navigate to a target area according to the task allocation plan;

[0015] A cargo transfer module, used to control the drone to put the cargo into the unmanned vehicle located in the target area;

[0016] An unmanned vehicle delivery module, used to control the unmanned vehicle to travel to the delivery location according to the task allocation plan and generate delivery notification information;

[0017] The delivery notification module is used to send the delivery notification information to the target device corresponding to the recipient, and when it is detected that the goods are taken out, mark the goods as having been delivered.

[0018] The third aspect of an embodiment of the present application also provides a terminal, wherein the terminal includes: a memory, a processor, and a drone and unmanned vehicle joint delivery program stored on the memory and executable on the processor, wherein the drone and unmanned vehicle joint delivery program, when executed by the processor, implements the steps of the drone and unmanned vehicle joint delivery method 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 drone and unmanned vehicle joint delivery program, and when the drone and unmanned vehicle joint delivery program is executed by a processor, the steps of the drone and unmanned vehicle joint delivery method as described above are implemented.

[0020] Beneficial effects: The present application provides a method, system, terminal and medium for joint delivery of drones and unmanned vehicles. In this method, the delivery method combining drones and unmanned vehicles is used to enable the goods to be picked up at the designated location, ensuring that the goods can be accurately delivered to the designated location of the recipient's home, while reducing labor costs, improving delivery stability, and improving delivery efficiency. 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 method for joint delivery of unmanned aerial vehicles and unmanned vehicles of the present application;

[0023] Figure 2 It is a structural diagram of a preferred embodiment of the joint delivery system of unmanned aerial vehicles and unmanned vehicles of the present application;

[0024] Figure 3 This is a structural diagram of a preferred embodiment of the terminal of this application.

[0025] Description of reference numerals:

[0026] 10. Unmanned aerial vehicle and unmanned vehicle joint delivery system; 100. Solution acquisition module; 200. Unmanned aerial vehicle delivery module; 300. Cargo transfer module; 400. Unmanned vehicle delivery module; 500. Notification of receipt 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, the traditional delivery method of express delivery and takeout mainly relies on manpower for door-to-door delivery services, and some use drone delivery technology, but there are still the following disadvantages. Drone delivery is limited by the landing location and cannot land at the designated location at home, resulting in the recipient being unable to receive the goods normally; drone delivery efficiency is affected because it is necessary to find a suitable landing location or wait for the recipient to arrive at the designated location; drone delivery may be affected by factors such as weather and airspace restrictions, resulting in unstable delivery.

[0030] The following describes the drone and unmanned vehicle joint delivery method, system, terminal and medium of the embodiment of the present application with reference to the accompanying drawings. In view of the problem that traditional logistics distribution in the above-mentioned related technology requires manual door-to-door delivery, resulting in low delivery efficiency, the present application provides a drone and unmanned vehicle joint delivery method. In this method, the delivery method combined with drones and unmanned vehicles allows the goods to be picked up at the designated location, ensuring that the goods can be accurately delivered to the designated location of the recipient's home, while reducing labor costs and improving delivery stability, thereby improving delivery efficiency. As a result, the technical problem that traditional logistics distribution in the related technology requires manual door-to-door delivery, resulting in low delivery efficiency, is solved.

[0031] 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.

[0032] The preferred embodiment of the present application describes a method for joint delivery of unmanned aerial vehicles and unmanned vehicles, such as Figure 1 As shown, the unmanned aerial vehicle and unmanned vehicle joint delivery method comprises the following steps:

[0033] In step S101, a task allocation plan for cargo delivery by drones and unmanned vehicles is obtained.

[0034] In a possible implementation, the task allocation scheme includes the flight route and delivery task of the drone, and the driving route and delivery task of the unmanned vehicle. The order information of the goods, the traffic information of the road, and the energy information corresponding to the drone and the unmanned vehicle are obtained; the path planning and resource scheduling are performed according to the order information, the traffic information and the energy information to obtain the flight route and delivery task of the drone, and the driving route and delivery task of the unmanned vehicle.

[0035] It should be noted that task allocation and planning are carried out: receiving delivery orders, assigning tasks to drones and unmanned vehicles based on destinations and real-time traffic data, and planning the best routes; the dispatch center is the starting point of the entire delivery process and is responsible for overall task scheduling and resource optimization.

[0036] Specifically, it receives customer order information, including delivery address, cargo type, weight and size, etc.; obtains inventory status, location and status of drones and unmanned vehicles in real time, ensuring the real-time and accuracy of information, and providing data support for task allocation. It uses advanced algorithms, such as path planning, resource optimization and scheduling algorithms, to determine the best delivery route and resource utilization plan. The algorithm considers multiple factors, including distance, traffic conditions, and the battery / fuel status of drones and unmanned vehicles. Based on the output of the algorithm, the scheduling platform assigns specific delivery tasks and routes to each drone and unmanned vehicle. Task allocation aims to optimize the efficiency of the entire distribution network, reduce delivery time, and reduce operating costs. The scheduling platform sends the assigned delivery tasks and routes to the control systems of the corresponding drones and unmanned vehicles; drones and unmanned vehicles perform delivery tasks according to the received task instructions.

[0037] In other words, the embodiments of the present application achieve optimal allocation of resources and maximized distribution efficiency through precise algorithms and system integration.

[0038] In step S102, according to the task allocation plan, the drone carrying the cargo is controlled to navigate into a target area.

[0039] In one possible implementation, according to the delivery task, the drone is controlled to load the goods; the drone is controlled to navigate according to the flight route to obtain the current distance between the drone and the target area and the current position of the unmanned vehicle in the target area; the handover position of the goods is determined according to the current position; if the current distance is within a preset distance range, the drone is controlled to slow down and land at the handover position.

[0040] It should be noted that the drone takes off from the starting point carrying the goods and flies to the target area according to the predetermined route; the drone, as the means of transportation in the first stage, is responsible for quickly delivering the goods to the target area, but is limited by the inability to land accurately at the designated location at home.

[0041] Specifically, the drone loads cargo at the starting point and checks the status of the drone, including battery power, positioning system, communication system, etc., to ensure that the drone is in the best condition and ready to take off; the drone takes off and flies to the target area according to the predetermined flight plan and route. During take-off, the drone may be accurately positioned through GPS and other navigation systems to ensure the accuracy of the route; during the flight, the drone keeps in touch with the dispatching platform through the real-time communication system to report location and status information. The dispatching platform monitors the flight of the drone and adjusts the route or handles emergencies when necessary; when the drone approaches the target area, it will slow down and look for the location of the unmanned vehicle to prepare for cargo transfer. The drone determines the precise location of the unmanned vehicle through a high-precision positioning system.

[0042] It is understandable that drones, as the first-stage means of transportation, quickly deliver goods from the starting point to the target area and solve the efficiency problem of long-distance delivery. However, due to the inability to land accurately at the designated location of the home, drones cannot directly complete the last mile of delivery. This is because drones need open space to land, and such conditions are difficult to provide in urban environments.

[0043] In other words, the embodiments of the present application overcome limitations and achieve the goal of efficient delivery through the collaborative operation of drones and unmanned vehicles.

[0044] In step S103, the drone is controlled to put the cargo into the unmanned vehicle located in the target area.

[0045] In a possible implementation, after the drone lands at the handover location, monitoring information of the cargo is obtained; based on the monitoring information, the height and angle of the drone are adjusted, and the unmanned vehicle is controlled to open the loading door according to the delivery task; the drone is controlled to release the cargo, and the unmanned vehicle is controlled to receive the cargo.

[0046] It should be noted that the unmanned vehicle is on standby in the target area and maintains real-time communication with the drone to ensure timely receipt of the goods; the unmanned vehicle, as the second-stage transportation tool, relays the drone and is responsible for completing the last mile of delivery on the ground. During the cargo transfer process, after the drone arrives at the target area, it uses a precise positioning system to drop the cargo to the designated location of the unmanned vehicle; the unmanned vehicle uses sensors and control systems to ensure safe receipt of the cargo; the collaborative operation of the drone and the unmanned vehicle ensures the safety and efficiency of the cargo transfer process.

[0047] Specifically, the unmanned vehicle is on standby in the target area, usually at a preset handover point, waiting for the arrival of the drone. During the standby period, the unmanned vehicle will perform self-inspection to ensure that all systems are operating normally and ready to receive the goods; the unmanned vehicle maintains contact with the drone through a high-speed wireless communication system to obtain the drone's location and estimated arrival time, and the unmanned vehicle will also send its own status and location back to the dispatch center and the drone to ensure that both parties can understand each other's latest information in real time; when the drone approaches, the unmanned vehicle will adjust its own position according to the precise location sent by the drone to ensure that it can accurately receive the goods. The unmanned vehicle may start the loading platform or adjust the mechanical arm to prepare for the receiving operation. The drone will drop the goods to the location specified by the unmanned vehicle, and the unmanned vehicle will safely receive the goods through a mechanical arm or other device. During the handover of goods, the unmanned vehicle needs to be precisely controlled to avoid damage or loss of the goods.

[0048] It is understandable that unmanned vehicles, as the second-stage means of transportation, are relay drones, responsible for completing the last mile of delivery on the ground. Relay means that after the drone arrives, the unmanned vehicle takes over the goods and continues the delivery task. This is to solve the problem that drones cannot land in complex or narrow environments.

[0049] That is to say, the relay steps of the unmanned vehicle in the embodiment of the present application reflect its role and importance in the joint distribution method, and how to overcome limitations and achieve efficient and accurate distribution services through collaborative operations with drones.

[0050] In step S104, according to the task allocation plan, the unmanned vehicle is controlled to travel to the delivery location and delivery notification information is generated.

[0051] In one possible implementation, the unmanned vehicle is controlled to travel along the driving route, and a current road image collected by the unmanned vehicle is obtained; when an obstacle is identified in the road image, an updated driving route for the unmanned vehicle to bypass the obstacle is obtained; the unmanned vehicle is controlled to continue to travel along the updated driving route to the delivery location of the goods, and delivery notification information is obtained.

[0052] It should be noted that for ground delivery: after the unmanned vehicle receives the goods, it drives to the designated location of the recipient's home according to the preset route; the unmanned vehicle uses its ground driving capabilities to cross possible obstacles to ensure that the goods can be delivered accurately.

[0053] Specifically, the unmanned vehicle has received the goods during the cargo transfer phase and secured them inside the vehicle or on the loading platform. Then, the unmanned vehicle calculates the best path to the designated location of the recipient's home based on the instructions of the dispatching platform and the preset route. The path planning takes into account factors such as road conditions, traffic rules, and obstacles to ensure that it reaches the destination quickly and safely. The unmanned vehicle starts and drives along the planned route, using its ground driving capabilities to cross city streets and possible obstacles. The unmanned vehicle is equipped with sensors and cameras to monitor the surrounding environment in real time to avoid collisions and other safety accidents. During the driving process, if it encounters temporary obstacles, such as traffic accidents or temporary construction, the unmanned vehicle can navigate autonomously and bypass the obstacles to continue moving forward. The unmanned vehicle's automatic driving system has a high degree of flexibility and adaptability to ensure that driving safety and efficiency can be maintained under any circumstances. The human-car finds the recipient's designated home location based on precise GPS positioning and stops accurately at the designated delivery point. After the unmanned vehicle arrives, it notifies the recipient to pick up the goods through SMS, APP or other communication methods. If necessary, the unmanned vehicle can provide a password or QR code for the recipient to confirm his identity to ensure the safe delivery of the goods. After the recipient arrives, he opens the loading door of the unmanned vehicle or receives the goods according to the instructions. The unmanned vehicle may need to verify the identity of the recipient to ensure that the goods are delivered to the right person. After the goods are delivered, the unmanned vehicle closes the loading door and returns to the standby point along the set return route to prepare for the next delivery task.

[0054] In other words, the ground delivery capability of the unmanned vehicle in the embodiment of the present application enables it to traverse complex urban environments and solve the problem that drones cannot accurately land at designated locations at home. From receiving goods to planning routes, to driving and delivering, dealing with obstacles, arriving at the destination, notifying the recipient, and the recipient picking up the goods, and finally returning to standby, it reflects the independence and efficiency of unmanned vehicles in ground delivery.

[0055] In step S105, the delivery notification information is sent to the target device corresponding to the recipient, and when it is detected that the goods are taken out, the goods are marked as having been delivered.

[0056] In a possible implementation, the delivery notification information includes cargo arrival information, pickup guide information, and unmanned vehicle location information. The cargo arrival information, pickup guide information, and unmanned vehicle location information are sent to the target device corresponding to the recipient to notify the recipient to come and pick up the cargo; when the recipient's identity information is verified, the unmanned vehicle is controlled to open the loading door so that the recipient can pick up the cargo; when the cargo is identified to be taken out of the unmanned vehicle, the loading door is closed to complete the delivery of the cargo.

[0057] It should be noted that after the unmanned vehicle arrives at the designated location, it will notify the recipient to pick up the goods through text messages, APP, etc. After receiving the notification, the recipient goes to the unmanned vehicle to confirm receipt of the goods; ensuring that the recipient is informed of the arrival of the goods in a timely manner and completes the delivery process.

[0058] Specifically, the unmanned vehicle drives along the preset route to the designated location of the recipient's home and stops accurately at the designated delivery point. After the unmanned vehicle arrives, it automatically sends a notification to the recipient through a pre-set communication method, such as SMS, APP push or other instant messaging tools. The content of the notification usually contains information about the arrival of the goods, a guide to picking up the goods and the location of the unmanned vehicle. After receiving the notification, the recipient goes to the location of the unmanned vehicle to confirm the receipt of the goods. In order to ensure the safety of the goods, the unmanned vehicle may require the recipient to provide certain identity authentication information, such as entering a password, scanning a QR code or using facial recognition. The recipient operates according to the instructions of the unmanned vehicle, such as opening a specific loading door or picking up the goods. The unmanned vehicle is equipped with a camera or other monitoring equipment to record the receipt process and ensure the safety of the goods handover. After the recipient takes the goods, he needs to confirm the operation on the interface of the unmanned vehicle, or confirm the receipt through the APP, indicating that the delivery task has been completed. The unmanned vehicle records the receipt confirmation information and updates the status back to the dispatch center.

[0059] In other words, the embodiments of the present application can ensure that the goods are delivered to the recipient safely and accurately, improve delivery efficiency, and enhance customer satisfaction.

[0060] In a possible implementation, the UAV is controlled to move to a battery life replenishment station in the target area, and the UAV is charged at the battery life replenishment station; and the unmanned vehicle is controlled to return to the target area.

[0061] Specifically, after the recipient takes the goods, he / she confirms the receipt of the goods through the unmanned vehicle interface or APP. After receiving the confirmation information, the unmanned vehicle updates the delivery status to "completed" and sends the status back to the dispatch center through the communication system. After completing the delivery task, the unmanned vehicle returns to the standby point along the predetermined route according to the instructions of the dispatch center, or goes directly to the starting point of the next delivery task; at the standby point, the unmanned vehicle may undergo simple inspection and maintenance to ensure that it is in the best condition and ready to perform the next delivery task; the unmanned vehicle waits for the next instruction from the dispatch center at the standby point and prepares to perform the next delivery task according to the instructions.

[0062] It is understandable that the unmanned vehicle returns to safely complete the current delivery mission and ensure that the unmanned vehicle can accept new tasks at the standby point. Preparation for subsequent tasks is to keep the unmanned vehicle operating efficiently and ensure the continuity and reliability of the delivery service. The return of the unmanned vehicle and the preparation for subsequent tasks form a closed loop of the delivery process. The completion of each delivery task prepares for the start of the next task.

[0063] Next, the drone and unmanned vehicle joint delivery system proposed in accordance with the embodiment of the present application will be described with reference to the accompanying drawings.

[0064] Figure 2 It is a block diagram of a drone and unmanned vehicle joint delivery system according to an embodiment of the present application.

[0065] like Figure 2 As shown, the drone and unmanned vehicle joint delivery system 10 includes: a solution acquisition module 100, a drone delivery module 200, a cargo transfer module 300, an unmanned vehicle delivery module 400 and a notification receipt module 500.

[0066] Specifically, the solution acquisition module 100 is used to obtain the task allocation solution for the drone and the unmanned vehicle to perform cargo delivery;

[0067] The drone delivery module 200 is used to control the drone carrying the goods to navigate to a target area according to the task allocation plan;

[0068] The cargo transfer module 300 is used to control the drone to put the cargo into the unmanned vehicle located in the target area;

[0069] The unmanned vehicle delivery module 400 is used to control the unmanned vehicle to travel to the delivery location according to the task allocation plan and generate delivery notification information;

[0070] The delivery notification module 500 is used to send the delivery notification information to the target device corresponding to the recipient, and when it is detected that the goods are taken out, mark the goods as having been delivered.

[0071] Figure 3 A schematic diagram of the structure of a terminal provided in an embodiment of the present application. The terminal may include:

[0072] A memory 501 , a processor 502 , and a computer program stored in the memory 501 and executable on the processor 502 .

[0073] When the processor 502 executes the program, the drone and unmanned vehicle joint delivery method provided in the above embodiment is implemented.

[0074] Furthermore, the terminal further includes:

[0075] The communication interface 503 is used for communication between the memory 501 and the processor 502 .

[0076] The memory 501 is used to store computer programs that can be executed on the processor 502 .

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] This embodiment also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the above-mentioned drone and unmanned vehicle joint delivery method is implemented.

[0082] 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 The drone and unmanned vehicle joint delivery method provided in any embodiment of the corresponding embodiment.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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 method for joint delivery of unmanned aerial vehicles and unmanned vehicles, characterized in that: The unmanned aerial vehicle and unmanned vehicle joint delivery method comprises: Obtaining task allocation plans for drones and unmanned vehicles for cargo delivery; According to the task allocation plan, controlling the drone carrying the cargo to navigate to a target area; Controlling the drone to drop the cargo into the unmanned vehicle located in the target area; According to the task allocation plan, control the unmanned vehicle to travel to the delivery location and generate delivery notification information; The delivery notification information is sent to the target device corresponding to the recipient, and when it is detected that the goods are taken out, the goods are marked as completed for delivery.

2. The method for joint delivery of unmanned aerial vehicles and unmanned vehicles according to claim 1, characterized in that: The task allocation plan includes the flight route and delivery task of the drone, and the driving route and delivery task of the unmanned vehicle; The task allocation scheme for obtaining drones and unmanned vehicles for cargo delivery specifically includes: Obtaining order information of goods, traffic information of roads, and energy information corresponding to the drone and the unmanned vehicle; Path planning and resource scheduling are performed according to the order information, the traffic information and the energy information to obtain the flight route and delivery task of the drone, as well as the driving route and delivery task of the unmanned vehicle.

3. The method for joint delivery of unmanned aerial vehicles and unmanned vehicles according to claim 2, characterized in that: According to the task allocation plan, controlling the drone carrying the cargo to navigate to the target area specifically includes: According to the delivery task, controlling the drone to load the goods; Controlling the UAV to navigate along the flight route, and obtaining a current distance between the UAV and the target area and a current position of the UAV in the target area; Determining the delivery position of the goods according to the current position; If the current distance is within a preset distance range, the drone is controlled to decelerate and land at the handover position.

4. The method for joint delivery of unmanned aerial vehicles and unmanned vehicles according to claim 3, characterized in that: The controlling the drone to put the cargo into the unmanned vehicle located in the target area specifically includes: After the drone lands at the handover location, obtaining monitoring information of the cargo; According to the monitoring information, the height and angle of the drone are adjusted, and according to the delivery task, the unmanned vehicle is controlled to open the loading door; The drone is controlled to release the cargo, and the unmanned vehicle is controlled to receive the cargo.

5. The unmanned aerial vehicle and unmanned vehicle combined delivery method according to claim 4, characterized in that: According to the task allocation plan, controlling the unmanned vehicle to travel to the delivery location and generating delivery notification information specifically includes: Controlling the unmanned vehicle to travel along the driving route, and acquiring a current road surface image collected by the unmanned vehicle; When an obstacle is identified in the road image, an updated driving route of the unmanned vehicle is obtained to avoid the obstacle; The unmanned vehicle is controlled to continue to travel to the delivery location of the goods according to the updated driving route, and delivery notification information is obtained.

6. The unmanned aerial vehicle and unmanned vehicle combined delivery method according to claim 4, characterized in that: The delivery notification information includes cargo arrival information, pickup guide information and unmanned vehicle location information; The sending of the delivery notification information to the target device corresponding to the recipient and marking the delivery of the goods as completed when detecting that the goods have been taken out specifically includes: Sending the cargo arrival information, the cargo pickup guide information and the unmanned vehicle location information to a target device corresponding to the recipient to notify the recipient to pick up the cargo; When the identity information of the recipient is verified, the unmanned vehicle is controlled to open the loading door so that the recipient can pick up the goods; When it is recognized that the goods are taken out from the unmanned vehicle, the loading door is closed to complete the delivery of the goods.

7. The method for joint delivery of unmanned aerial vehicles and unmanned vehicles according to claim 3, characterized in that: The controlling the drone to put the cargo into the unmanned vehicle located in the target area further includes: Controlling the UAV to move to a battery life replenishment station in the target area, so that the UAV is charged at the battery life replenishment station; Control the unmanned vehicle to return to the target area.

8. A drone and unmanned vehicle joint delivery system, characterized in that: The UAV and unmanned vehicle joint delivery system comprises: The solution acquisition module is used to obtain the task allocation plan for drones and unmanned vehicles to deliver goods; A drone delivery module is used to control the drone carrying the goods to navigate to a target area according to the task allocation plan; A cargo transfer module, used to control the drone to put the cargo into the unmanned vehicle located in the target area; An unmanned vehicle delivery module, used to control the unmanned vehicle to travel to the delivery location according to the task allocation plan and generate delivery notification information; The delivery notification module is used to send the delivery notification information to the target device corresponding to the recipient, and when it is detected that the goods are taken out, mark the goods as having been delivered.

9. A terminal, characterized in that: The terminal includes: a memory, a processor, and a drone and unmanned vehicle joint delivery program stored in the memory and executable on the processor. When the drone and unmanned vehicle joint delivery program is executed by the processor, the steps of the drone and unmanned vehicle joint delivery method as described in any one of claims 1-7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a drone and unmanned vehicle joint delivery program, which, when executed by a processor, implements the steps of the drone and unmanned vehicle joint delivery method as described in any one of claims 1-7.

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