Delivery method for different floors of solar-assisted charging drones under occlusion scenarios

Abstract

The present invention discloses a method for delivering different floors of a solar-assisted charging drone in an obstruction scenario, including: obtaining a user set for delivery services of different floors by a drone, the floor height of each user is, and at the same time, for the user, the required delivery time is, where is the earliest delivery time of the user and is the latest delivery time of the user; the drone selects the user with the earliest delivery time as the target delivery user, and updates the user set that the drone can deliver at any time; multiple rounds of delivery or hovering charging are performed according to the floor height of the user and the shadow height of the obstacle at the target delivery building, and the earliest delivery time of the user. This is a drone multi-round delivery method. In a scenario with obstructions, the drone can be charged by finding a suitable sunlight exposure area, thereby extending the flight time.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicle flight control, and the present invention relates to a method for delivering goods to different floors of a solar-assisted charging unmanned aerial vehicle in an obstructed scene. Background Art

[0002] With the rapid development of drone technology, drones have become more stable in flight, have longer endurance, more accurate positioning capabilities, and have stronger load capacity, making them competent for logistics and distribution tasks. However, in practical applications, especially in environments with obstructions such as cities, the endurance and charging issues of drones have become key factors restricting their development. In order to solve this problem, solar panels are installed on drones. This method uses solar energy to provide power support for drones. In scenarios with obstructions, how drones can find suitable sunlight areas to charge and thus extend their flight time is a key issue that needs to be solved. Summary of the invention

[0003] The purpose of the present invention is to provide a method for delivering drones to different floors by solar-assisted charging in obstructed scenes, and propose a multi-round delivery method for drones. In scenes with obstructions, the drone can be charged by finding a suitable sunlight area, thereby extending the flight time.

[0004] The technical solution to achieve the purpose of the present invention is:

[0005] A method for delivering different floors of a solar-assisted charging drone in an obstructed scene includes the following steps:

[0006] S01: Get the user set for drone delivery services on different floors. , the floor height of each user is At the same time, for users , and its required delivery time is ,in For users The earliest delivery time, For users The latest delivery time;

[0007] S02: The drone selects the user with the earliest delivery time as the target delivery user and updates the time The set of users to whom drones can deliver;

[0008] S03: According to the height of the floor where the user is located and the shadow height of obstacles at the target distribution building, as well as the user The earliest delivery time can be used for multiple rounds of delivery or hovering charging.

[0009] In the preferred technical solution, in step S01, users are arranged in ascending order according to their earliest delivery time, that is, .

[0010] In the preferred technical solution, step S03 includes:

[0011] S31: Calculate the shadow height of the obstacle at the target distribution building is the solar incidence angle, is the height of the obstruction, is the distance between the obstruction and the target delivery building;

[0012] S32: In the first round of delivery, the drone waits on the ground and Flying to High-speed delivery, the time it takes for drones to complete user delivery services is ; is the movement speed of the drone;

[0013] S33: The user set of drone delivery service is updated to , and at the time The set of users that drones can deliver to is ; Among them, & is and;

[0014] S34: On delivery, ,like If the set is empty, the drone selects the user with the earliest delivery time as the target delivery user. Floor height Standard delivery user's floor height and shadow height Carry out delivery or hover charging;

[0015] S35: The drone selects the user with the earliest and latest delivery time as the next target delivery user , where argmin{} is the variable value when the objective function takes the minimum value. The drone completes the user Delivery service time is ;

[0016] S36: The user set of drone delivery service is updated to , and at the time The set of users that drones can deliver to is , where & is and; until Is an empty set.

[0017] In the preferred technical solution, in step S34:

[0018] when When The drone ascends to Hovering and charging at high altitude Fly down to High and user To provide delivery services;

[0019] like The drone hovered over The time it takes for the drone to complete the delivery service for the user is .

[0020] In the preferred technical solution, in step S34:

[0021] when When When the drone rises to Hovering and charging at high altitude Fly down to High and user To provide delivery services;

[0022] like The drone hovered over The time it takes for the drone to complete the delivery service for the user is .

[0023] In the preferred technical solution, in step S34:

[0024] when When the drone chooses to rise to The drone hovers at a high altitude and receives sunlight. The time it takes for the drone to complete the delivery service to the user is .

[0025] In the preferred technical solution, in step S34:

[0026] when When the drone is at altitude Hover, and Flight time to High and user The delivery service is carried out. The time it takes for the drone to complete the user's delivery service is .

[0027] The present invention also discloses a system for distributing different floors of a solar-assisted charging drone in an obstruction scenario, comprising a processor, wherein the processor is equipped with the method for distributing different floors of a solar-assisted charging drone in an obstruction scenario.

[0028] The present invention further discloses a drone, including the distribution system for different floors of the solar-assisted charging drone in the shielding scene.

[0029] The present invention further discloses a computer storage medium on which a computer program is stored. When the computer program is executed, the method for delivering to different floors of a solar-assisted charging drone in the above-mentioned shielding scenario is implemented.

[0030] Compared with the prior art, the present invention has the following significant advantages:

[0031] The present invention discloses a method for delivering drones to different floors based on solar-assisted charging in scenes with obstructions. Aiming at the problem that the solar panels of drones cannot be charged in some areas due to the shadows cast by obstacles in front of them, a method for delivering drones in multiple rounds is proposed. The charging efficiency of drones during delivery on floors where obstacles cast shadows can be improved. In the present invention, according to the solar incident angle, , Height of obstruction , the distance between the obstruction and the target delivery building , the floor height of each user And the required delivery time , the speed of the drone , the execution time of UAV to perform delivery service at the user The paper conducts in-depth theoretical analysis and application exploration of drone delivery problems on different floors with parameters such as 3D images, 4D images, 5D images, 6D images, 7D images, 8D images, 9D images, 10 ... BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a scene diagram of the delivery method of the solar-assisted charging drone on different floors in the occlusion scenario of this embodiment;

[0033] Figure 2 This is a flow chart of the method for delivering solar-assisted charging drones to different floors in an obstruction scenario of this embodiment;

[0034] Figure 3 This is a specific implementation diagram of the method for delivering solar-assisted charging drones to different floors in an obstruction scenario of this embodiment. DETAILED DESCRIPTION

[0035] Example

[0036] like Figure 1 , Figure 2 As shown, a method for delivering different floors of a solar-assisted charging drone in an obstructed scene includes the following steps:

[0037] S01: Get the user set for drone delivery services on different floors. , the floor height of each user is At the same time, for users , and its required delivery time is ,in For users The earliest delivery time, For users The latest delivery time;

[0038] S02: The drone selects the user with the earliest delivery time as the target delivery user and updates the time The set of users to whom drones can deliver;

[0039] S03: According to the height of the floor where the user is located and the shadow height of obstacles at the target distribution building, as well as the user The earliest delivery time can be used for multiple rounds of delivery or hovering charging.

[0040] In the network described in the scheme of the present invention, drones provide delivery services to users on different floors. Since traditional drones are usually powered by batteries and have limited flight time, installing solar panels on drones can enable the UAV to absorb solar energy and convert it into electrical energy during flight to charge the drone's battery, thereby extending the flight time of the drone. is the incident angle radiating the earth. In front of the target building for drone delivery (in the direction of the sun), there is a high The distance between the obstruction and the target delivery building is In the present invention, it is assumed that the user set for which drones provide delivery services for different floors is , the floor height of each user is At the same time, each user has a time window requirement for delivery time, that is, for users , and its required delivery time is ,in For users The earliest delivery time, For users Without loss of generality, assume that users are sorted in ascending order according to their earliest delivery time, that is, .

[0041] Since there is an obstacle in front of the target delivery building of the drone, it will produce a partial shadow at the target building. Therefore, it is necessary to calculate the shadow height of the obstacle at the target delivery building:

[0042] ;

[0043] Therefore, if the user's height is If the drone is below 100%, it will not be able to receive sunlight during the hovering delivery period, and the solar panels will not work.

[0044] In order to improve the utilization rate of solar energy, the present invention provides a multi-round delivery method of UAV. In the first round, the UAV chooses to wait on the ground and Flying to Highly perform delivery services;

[0045] In the In the wheel, if If is an empty set, then UAV selects the next target delivery user as ;

[0046] In the In the wheel, if is a non-empty set, then the UAV selects the next target delivery user as ; Among them, argmin{} is the variable value when the objective function takes the minimum value;

[0047] In the In the wheel, if is an empty set and When When the drone rises to Hovering and charging at high altitude Fly down to High and user For delivery service; if The drone hovered over The time it takes for UAV to complete the user delivery service is ;

[0048] In the In the wheel, if is an empty set and When When the drone rises to Hovering and charging at high altitude Fly down to High and user For delivery service; if The drone hovered over Highly awaited delivery;

[0049] In the In the wheel, if is an empty set and When the drone chooses to rise to Hover at high altitude and receive sunlight;

[0050] In the In the wheel, if is an empty set and When the UAV is at an altitude Hover, and Flight time to High and user To provide delivery services;

[0051] In the At the end of the round, the set of users to be served by drones is updated to , and at the time The set of users that drones can deliver to is , where & is and; considering the drone from the previous user To User of flight time.

[0052] The specific implementation is as follows Figure 3 As shown in the figure, the delivery method of different floors of the solar-assisted charging drone under the occlusion scene includes the following steps:

[0053] Step 1, solar incidence angle , Height of obstruction , the distance between the obstruction and the target delivery building , drones provide delivery services to users on different floors , the floor height of each user And the required delivery time , the speed of the drone , the execution time of UAV to perform delivery service at the user ;

[0054] Step 2: Calculate the shadow height of the obstacle at the target distribution building ;

[0055] Step 3, let , the UAV is waiting on the ground and Flying to High-speed delivery, the time it takes for UAV to complete the user delivery service is ;

[0056] Step 4: The user set of drone delivery services is updated to , and at the time The set of users that drones can deliver to is , where & is and; and let ;

[0057] Step 5: If If it is an empty set, go to step 6; otherwise, go to step 11;

[0058] Step 6: UAV selects the user with the earliest delivery time as the next target delivery user ,like When , go to step 7; if When , go to step 8; if When , go to step 9; if When , go to step 10;

[0059] Step 7, when When the drone rises to Hovering and charging at high altitude Fly down to High and user For delivery service; The drone hovered over The time it takes for UAV to complete the user delivery service is ;

[0060] Step 8, when When the drone rises to Hovering and charging at high altitude Fly down to High and user For delivery service; The drone hovered over The time it takes for UAV to complete the user delivery service is ;

[0061] Step 9, the drone chooses to rise to The UAV hovers at a high altitude and receives sunlight. The time it takes for the UAV to complete the user delivery service is ;

[0062] Step 10, the drone selects Hovering at a high altitude and receiving sunlight, the UAV Flight time to High and user The time it takes for UAV to complete the user delivery service is ;

[0063] Step 11: UAV selects the user with the earliest and latest delivery time as the next target delivery user , where argmin{} is the variable value when the objective function takes the minimum value. UAV completes the user Delivery service time is ;

[0064] Step 12: The user set of drone delivery services is updated to , and order And at the moment The set of users that drones can deliver to is , where & is and; return to step 5 until .

[0065] 1) In the first round, the drone The drone takes off from the ground fully loaded with cargo at all times. Due to the drone's weight requirement, the weight of cargo for each user is basically the same during the drone's delivery phase.

[0066] Since the flight energy consumption of UAV is

[0067] ;

[0068] in, is the total mass of the UAV, is the local gravitational acceleration; is the air density; and are the rotor area and the number of rotors and The flight or hovering time of the drone.

[0069] Therefore, the energy and time consumed by the drone can be known. A positively correlated relationship.

[0070] Since drones consume energy when flying or hovering and the amount of solar energy charged is lower than the energy consumed in flight, in the first round of drone delivery methods, the UAV waits on the ground and Flying to Highly distributed, is the speed of the drone.

[0071] The user set of drone delivery service is updated to , and at the time The set of users that drones can deliver to is , where & is and; and let .

[0072] 2) In the In the wheel, if If it is an empty set, it means that the drone currently has no delivery users, and then the drone selects the user set to be delivered The user with the earliest delivery time is the next target delivery user, that is .

[0073] (1) If When the drone can choose to ascend to Hover at a high altitude and receive sunlight or hover at Highly awaiting delivery.

[0074] when When the drone is waiting for the user If the pickup time is longer, the drone can rise to The UAV can hover and charge at a high altitude. Fly down to High and user Therefore, the time it takes for UAV to complete the user delivery service is .

[0075] when , it means the drone is waiting for the user The time to pick up the goods is short. If the drone rises to Then descend to The energy consumed at this height is greater than if it were to hover in the shadow. High Waiting The energy consumption of the delivery at any time, so the drone hovers When the UAV chooses to hover at If the UAV is waiting for delivery at a high altitude, the UAV is in the shadow and cannot obtain solar energy. The time it takes for the UAV to complete the user's delivery service is .

[0076] (2) If When the drone can choose to ascend to Hover at a high altitude and receive sunlight or hover at Highly awaiting delivery.

[0077] when When the drone is waiting for the user If the pickup time is longer, the drone can rise to The UAV can hover and charge at a high altitude. Fly down to High and user Therefore, the time it takes for UAV to complete the user delivery service is .

[0078] when , it means the drone is waiting for the user The time to pick up the goods is short. If the drone rises to Then descend to The energy consumed at this height is greater than if it were to hover in the shadow. High Waiting The energy consumption of the delivery at any time, so the drone hovers When the UAV chooses to hover at If the UAV is waiting for delivery at a high altitude, the UAV is in the shadow and cannot obtain solar energy. The time it takes for the UAV to complete the user delivery service is .

[0079] (3) If When the drone chooses to rise to The UAV hovers at a high altitude and receives sunlight, so the time it takes for the UAV to complete the user delivery service is .

[0080] (4) If When the drone chooses Hovering at a high altitude and receiving sunlight, the UAV Flight time to High and user Therefore, the time it takes for UAV to complete the user delivery service is .

[0081] like If it is a non-empty set, it means that the drone currently has users that can be delivered, and then the drone selects the user set that can be delivered The user with the earliest and latest delivery time in is selected as the next target delivery user, that is , where argmin{} is the variable value when the objective function takes the minimum value. Therefore, UAV completes the user Delivery service time is .

[0082] The user set of drone delivery service is updated to , and order And at the moment The set of users that drones can deliver to is , where & is and.

[0083] Drone multi-round delivery method Ends when the set is empty.

[0084] In another embodiment, a system for delivering different floors of a solar-assisted charging drone in an obstruction scenario includes a processor having a built-in method for delivering different floors of a solar-assisted charging drone in an obstruction scenario as described above.

[0085] In another embodiment, a drone includes the above-mentioned solar-assisted charging drone distribution system for different floors in an obstructed scenario.

[0086] In another embodiment, a computer storage medium stores a computer program, and when the computer program is executed, the method for delivering to different floors of a solar-assisted charging drone in an obstruction scenario described in any one of the above is implemented.

[0087] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principles of the present invention shall be equivalent replacement modes and shall be included in the protection scope of the present invention.

Claims

1. A method for delivering different floors of a solar-assisted charging drone in an obstructed scene, characterized in that: The following steps are involved: S01: Get the user set for drone delivery services on different floors. , the floor height of each user is At the same time, for users , and its required delivery time is ,in For users The earliest delivery time, For users The latest delivery time; S02: The drone selects the user with the earliest delivery time as the target delivery user and updates the time The set of users to whom drones can deliver; S03: According to the height of the floor where the user is located and the shadow height of obstacles at the target distribution building, as well as the user The earliest delivery time is to carry out multiple rounds of delivery or hover charging; Step S03 includes: S31: Calculate the shadow height of the obstacle at the target distribution building is the solar incidence angle, is the height of the obstruction, is the distance between the obstruction and the target delivery building; S32: In the first round of delivery, the drone waits on the ground and Flying to High-speed delivery, the time it takes for drones to complete user delivery services is ; is the movement speed of the drone; S33: The user set of drone delivery service is updated to , and at the time The set of users that drones can deliver to is ; Among them, & is and; S34: On delivery, ,like If the set is empty, the drone selects the user with the earliest delivery time as the target delivery user. Floor height The floor height where the delivery user is located and shadow height Carry out delivery or hover charging; S35: The drone selects the user with the earliest and latest delivery time as the next target delivery user , where argmin{} is the variable value when the objective function takes the minimum value. The drone completes the user Delivery service time is ; S36: The user set of drone delivery service is updated to , and at the time The set of users that drones can deliver to is , until Is an empty set.

2. The method for delivering different floors of a solar-assisted charging drone in an obstructed scene according to claim 1 is characterized in that: In step S01, users are arranged in ascending order according to their earliest delivery time, i.e. .

3. The method for delivering different floors of a solar-assisted charging drone in an obstructed scene according to claim 1, characterized in that: In step S34: when When The drone ascends to Hovering and charging at high altitude Fly down to High and user To provide delivery services; like The drone hovered over The time it takes for the drone to complete the delivery service for the user is .

4. The method for delivering solar-assisted charging drones to different floors in an obstructed scene according to claim 1, characterized in that: In step S34: when When The drone ascends to Hovering and charging at high altitude Fly down to High and user To provide delivery services; like The drone hovered over The time it takes for the drone to complete the delivery service for the user is .

5. The method for delivering different floors of a solar-assisted charging drone in an obstructed scene according to claim 1, characterized in that: In step S34: when When the drone chooses to rise to The drone hovers at a high altitude and receives sunlight. The time it takes for the drone to complete the delivery service to the user is .

6. The method for delivering different floors of a solar-assisted charging drone in an obstructed scene according to claim 1, characterized in that: In step S34: when When the drone is at altitude Hover, and Flight time to High and user The delivery service is carried out. The time it takes for the drone to complete the user's delivery service is .

7. A distribution system for different floors of a solar-assisted charging drone in an obstructed scene, characterized in that: The invention comprises a processor, wherein the processor has a built-in method for delivering to different floors of a solar-assisted charging drone in an obstructed scene as described in any one of claims 1 to 6.

8. A drone, characterized in that: Including the different floor distribution system of solar-assisted charging drone in the shielding scene as described in claim 7.

9. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the method for delivering different floors of a solar-assisted charging drone in an obstructed scene as described in any one of claims 1 to 6 is implemented.

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