Takeaway delivery method, device, equipment and storage medium based on drone

Abstract

The present application discloses a takeaway delivery method, device, equipment and storage medium based on drones, and belongs to the field of drone delivery technology. The present application obtains the first temperature of the takeaway placed in the drone, obtains the itinerary information of the delivery order corresponding to the takeaway, and obtains the second temperature of the current flight environment of the drone; based on the first temperature, the itinerary information and the second temperature, predicts the third temperature of the takeaway when the drone arrives at the target location corresponding to the delivery order; if the third temperature is lower than the preset temperature, starts the heating device preset in the drone, wherein the heating device is used to heat the takeaway, and after starting the heating device and when the drone arrives at the target location, the temperature of the takeaway is the preset temperature, thereby achieving that the drone still maintains a certain temperature when delivering the takeaway, and the drone does not consume too much energy due to the heating device.

Description

Technical Field

[0001] The present application relates to the field of drone delivery technology, and in particular to a drone-based food delivery method, device, equipment and storage medium. Background Art

[0002] With the development and popularization of drone technology, some food delivery industries have adopted drone delivery solutions, reducing the labor costs of corresponding delivery personnel. At the same time, they use the flight characteristics of drones to avoid road congestion and effectively improve delivery efficiency.

[0003] However, in the application process of drone delivery of takeout, since the drone flies at high altitude, the storage temperature of the takeout stored inside is difficult to control. In order to ensure the temperature of the takeout when it is delivered, it is usually necessary to configure corresponding insulation or heating devices.

[0004] However, installing insulation or heating devices on drones will increase the energy output of the drones, thereby affecting the drones' endurance in delivering food. Summary of the invention

[0005] The main purpose of this application is to provide a drone-based food delivery method, device, equipment and storage medium, aiming to solve the technical problem of excessive energy loss of the heating device when drones deliver food.

[0006] To achieve the above objectives, the present application provides a takeaway delivery method based on a drone, and the takeaway delivery method based on a drone comprises the following steps:

[0007] Obtaining a first temperature of the takeaway placed in the drone, obtaining itinerary information of a delivery order corresponding to the takeaway, and obtaining a second temperature of the current flight environment of the drone;

[0008] predicting, based on the first temperature, the itinerary information, and the second temperature, a third temperature of the takeaway food when the drone arrives at a target location corresponding to the delivery order;

[0009] If the third temperature is lower than the preset temperature, a heating device preset in the drone is started, wherein the heating device is used to heat the takeaway. After the heating device is started and when the drone arrives at the target location, the temperature of the takeaway is the preset temperature.

[0010] In one embodiment, if the predicted temperature is lower than a preset temperature, the step of activating a heating device preset in the drone comprises:

[0011] If the predicted temperature is lower than the preset temperature, the delivery time and real-time flight position when the takeaway temperature drops to the preset temperature are predicted based on the first temperature, the itinerary information and the second temperature, and the remaining time required for the drone to reach the target location at the delivery time is determined based on the real-time flight position;

[0012] Predicting the heating time required for the heating device preset in the drone to heat the takeaway from the third temperature to the preset temperature;

[0013] If the heating time is less than the remaining time, the start time of the heating device is determined according to the heating time, and the heating device is started according to the start time.

[0014] In one embodiment, after the step of predicting the heating time required for the heating device preset in the drone to heat the takeaway from the third temperature to the preset temperature, the method further includes:

[0015] If the heating time is greater than the remaining time, determining the start time of the heating device according to the heating time;

[0016] Predicting the temperature rise of the heating device according to the start-up time;

[0017] Predicting a new fourth temperature of the takeaway when the drone arrives at the target location based on the temperature rise, the first temperature, the trip information, and the second temperature;

[0018] The start time is adjusted according to the fourth temperature, and the heating device is started according to the adjusted start time.

[0019] In one embodiment, the step of adjusting the start time according to the fourth temperature includes:

[0020] Determining, according to the fourth temperature, an influence value of the temperature rise on the third temperature;

[0021] According to the preset startup time debugging table, select the time optimization parameter matching the impact value;

[0022] The startup time is adjusted according to the time optimization parameter.

[0023] In one embodiment, after the step of activating a heating device preset in the drone if the third temperature is lower than a preset temperature, the method further includes:

[0024] Obtaining the real-time temperature of the takeaway after the heating device is activated, and obtaining a real-time delivery location map of the drone delivery;

[0025] The real-time temperature and the real-time delivery location map are sent to a user terminal corresponding to the takeaway, so that the user terminal can combine the real-time temperature and the real-time delivery location map to display the location and temperature of the takeaway in the drone in real time.

[0026] In one embodiment, after the step of activating a heating device preset in the drone if the third temperature is lower than a preset temperature, the method further includes:

[0027] Acquire the posture information of the drone during flight, and identify the location status of the takeaway through a monitoring module provided inside the drone;

[0028] The flight state of the UAV is adjusted according to the attitude information and the position state.

[0029] In one embodiment, the step of adjusting the flight state of the drone according to the attitude information and the position state includes:

[0030] Determining, according to the attitude information, an instantaneous turbulence peak value generated during the flight of the UAV;

[0031] Predicting the change in the flight attitude of the UAV according to the instantaneous turbulence peak value, and determining the flight compensation angle required to maintain the position state of the takeaway according to the change in the flight attitude;

[0032] The flight state of the UAV is adjusted according to the flight compensation angle.

[0033] In addition, to achieve the above-mentioned purpose, the present application also provides a takeaway delivery device based on a drone, and the takeaway delivery device based on a drone includes:

[0034] An acquisition module, used to acquire a first temperature of the takeaway placed in the drone, acquire itinerary information of a delivery order corresponding to the takeaway, and acquire a second temperature of the current flight environment of the drone;

[0035] a prediction module, configured to predict, based on the first temperature, the itinerary information and the second temperature, a third temperature of the takeaway food when the drone arrives at a target location corresponding to the delivery order;

[0036] A starting module is used to start a heating device preset in the drone if the third temperature is lower than a preset temperature, wherein the heating device is used to heat the takeaway. After the heating device is started and the drone arrives at the target location, the temperature of the takeaway is the preset temperature.

[0037] In addition, to achieve the above-mentioned objectives, the present application also provides a drone-based food delivery device, which includes: a memory, a processor, and a drone-based food delivery program stored on the memory and executable on the processor, wherein the drone-based food delivery program is configured to implement the steps of the drone-based food delivery method as described above.

[0038] In addition, to achieve the above-mentioned purpose, the present application also provides a computer-readable storage medium, on which a drone-based food delivery program is stored. When the drone-based food delivery program is executed by a processor, the steps of the drone-based food delivery method as described above are implemented.

[0039] In addition, to achieve the above-mentioned purpose, the present invention also provides a computer program product, which includes a drone-based takeout delivery program, and when the drone-based takeout delivery program is executed by a processor, it implements the steps of the drone-based takeout delivery method described above.

[0040] One or more technical solutions proposed in the present application have at least the following technical effects: by obtaining the first temperature of the takeaway placed in the drone, obtaining the itinerary information of the delivery order corresponding to the takeaway, and obtaining the second temperature of the current flight environment of the drone; based on the first temperature, the itinerary information and the second temperature, predicting the third temperature of the takeaway when the drone arrives at the target location corresponding to the delivery order; if the third temperature is lower than the preset temperature, starting a heating device preset in the drone, wherein the heating device is used to heat the takeaway, and after starting the heating device and when the drone arrives at the target location, the temperature of the takeaway is the preset temperature, thereby achieving When drones deliver takeout, they monitor the temperature of the takeout and predict the temperature change of the takeout. When it is determined that the temperature is lower than the preset temperature when the drone arrives at the delivery location, the temperature change is predicted in advance, and the preset heating device in the drone is controlled at the appropriate time to add the takeout inside the drone. This ensures that when the drone arrives at the destination, the takeout it delivers is still kept at a certain temperature, and only the heating device of the drone is controlled to keep the temperature of the takeout at the preset temperature when the drone arrives, avoiding the use of constant temperature heating and consuming the energy of the drone. This ensures that the takeout remains at a certain temperature when the drone arrives at the target location, and the drone does not consume too much energy due to the heating device. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0042] 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, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0043] Figure 1 A flowchart of the first embodiment of the method for food delivery based on drones provided in this application;

[0044] Figure 2 A flowchart of the second embodiment of the drone-based takeaway delivery method of the present application is provided;

[0045] Figure 3 This is a schematic diagram of the module structure of a takeaway delivery device based on a drone according to an embodiment of the present application;

[0046] Figure 4 Schematic diagram of the device structure of the hardware operating environment involved in the drone-based takeout delivery method in the embodiment of the present application.

[0047] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0048] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0049] Reference Figure 1 , Figure 1 This is a flow chart of the first embodiment of the drone-based takeout delivery method of the present application.

[0050] In a first embodiment, the drone-based food delivery method comprises the following steps:

[0051] S10, obtaining a first temperature of the takeaway placed in the drone, obtaining itinerary information of the delivery order corresponding to the takeaway, and obtaining a second temperature of the current flight environment of the drone;

[0052] It should be noted that the application of drones is highly feasible in the future, and can perform delivery tasks according to set routes, specifically in drone takeaway delivery services, drone logistics delivery tasks, etc. In the present embodiment, it is mainly used in drone takeaway delivery services. In order to ensure delivery in any environment (for example, the flight environment temperature of the drone is low in winter, which affects the temperature of the takeaway placed in the drone), it is necessary to configure a corresponding heating device inside the drone. However, considering that the total energy of the power supply equipped with the drone is fixed, if the heating device is always on, it will cause the drone to output too much energy, which may cause the drone to run out of energy during the round trip, resulting in the drone being unable to return normally, or causing the drone's endurance to decrease, and it can only land early or fly at a reduced speed.

[0053] To this end, in this embodiment, the start-up time of the heating device of the drone is controlled, on the one hand to avoid excessive energy consumption caused by the heating device being activated for too long, and on the other hand to avoid flavor changes caused by the takeaway being heated for too long.

[0054] Among them, the drone used in this embodiment is equipped with components such as a temperature sensor device, a heating device, a positioning device, a communication device and a controller. Among them, the controller is used for controlling the flight attitude of the drone, temperature calculation, and starting and stopping the heating device of the drone. The temperature sensor device is used to detect the temperature of the takeaway placed inside the drone and the ambient temperature. The positioning device is used to detect the real-time position of the drone during flight. The communication device is used for communication interaction between the drone and the user end.

[0055] It is understandable that in order to control the temperature of the takeout delivered by the drone, it is necessary to collect the first temperature of the takeout placed inside the drone in real time. The first temperature only refers to the real-time temperature of the takeout collected by the temperature sensing device, and the temperature sensing device collects the second temperature of the drone's current flight environment, which is the real-time temperature of the flight environment.

[0056] Among them, the corresponding order of takeout will involve the ordering user corresponding to the order, as well as the location information of the destination filled in by the user, etc. Therefore, the drone needs to obtain the itinerary information corresponding to the takeout order, which includes the destination location and the departure location of the drone, and can be used by the drone controller to calculate the estimated time and shortest flight route required to reach the destination from the departure location.

[0057] Among them, after the itinerary information is determined, the drone needs to autonomously plan the shortest flight route, which will bypass the obstacles involved in the flight process. In this embodiment, the shortest flight route specifically refers to the shortest straight-line distance route from the departure location to the destination, and the situation of detour flight is not considered.

[0058] S20, predicting a third temperature of the takeaway food when the drone arrives at a target location corresponding to the delivery order based on the first temperature, the travel information, and the second temperature;

[0059] It is understandable that the first temperature is the temperature of the takeout, and the second temperature is the temperature of the flight environment. Normally, the temperature of the takeout when it is just served is higher than the temperature of the flight environment. Especially in the low temperature environment in winter, the first temperature must be higher than the second temperature. Therefore, in this embodiment, the explanation is based on the premise that the first temperature is higher than the second temperature and the two have a certain temperature difference.

[0060] It should be noted that the default straight-line flight speed of the drone is a fixed value. During the drone delivery process, due to the temperature difference between the first temperature and the second temperature, and the impact of lowering the temperature of the takeout when the drone flies at a fixed speed, the third temperature of the takeout when the drone arrives at the target location corresponding to the delivery order can be predicted based on the first temperature, itinerary information, and the second temperature. The third temperature only refers to the actual temperature when the drone arrives at the target location.

[0061] It should be noted that the travel information includes the flight route and the speed of the drone, from which the estimated flight time can be calculated, and from which the change of the first temperature under the influence of the drone's flight speed and the second temperature during the flight time can be calculated, and the third temperature can be calculated based on this.

[0062] The specific calculation formula of the third temperature can be referred to as: ;

[0063] Among them, T is the first temperature of the takeaway, Tenv is the second temperature of the flight environment, t is the flight time, and k is a proportional constant that depends on the properties of the object (such as shape, material, etc.) and environmental conditions (such as air circulation). In this embodiment, k is 0.05, which means that the temperature difference decreases by about 5% per minute.

[0064] S30, if the third temperature is lower than the preset temperature, start a heating device preset in the drone, wherein the heating device is used to heat the takeaway, and after the heating device is started and when the drone arrives at the target location, the temperature of the takeaway is the preset temperature.

[0065] It is understandable that in order to ensure that the takeaway remains warm when it is delivered to the user, it is necessary to set a corresponding preset temperature for takeaway delivery. The preset temperature can be 25° or 30°, etc., and can be determined according to the actual season when the drone is delivering the food, for example, slightly higher in winter and slightly lower in summer.

[0066] Therefore, after predicting the third temperature, when it is determined that the third temperature is lower than the preset temperature, it is necessary to activate the heating device to heat the takeout to ensure that the temperature is maintained at or above the preset temperature when it arrives at the target location.

[0067] In this embodiment, if the predicted temperature is lower than the preset temperature, the step of starting a heating device preset in the drone comprises:

[0068] If the predicted temperature is lower than the preset temperature, the delivery time and real-time flight position when the takeaway temperature drops to the preset temperature are predicted based on the first temperature, the itinerary information and the second temperature, and the remaining time required for the drone to reach the target location at the delivery time is determined based on the real-time flight position;

[0069] Predicting the heating time required for the heating device preset in the drone to heat the takeaway from the third temperature to the preset temperature;

[0070] If the heating time is less than the remaining time, the start time of the heating device is determined according to the heating time, and the heating device is started according to the start time.

[0071] It is understandable that when the third temperature is predicted and is lower than the preset temperature, the heating device needs to be activated. However, if the heating device is activated for too long, although the temperature of the takeout can be guaranteed to be higher than the preset temperature, the heating device will consume too much energy and the temperature of the takeout will be too high, resulting in energy waste.

[0072] Similarly, if the drone detects in real time that the temperature of the takeout is lower than the preset temperature during flight, the heating device will be activated; if it is higher than the preset temperature, the heating device will be turned off, which will cause the heating device to start and stop frequently and cause additional energy waste.

[0073] Therefore, based on the above two situations, in this embodiment, when it is predicted that the third temperature is lower than the preset temperature, the heating device will be enabled at a certain moment during the flight of the drone, and it will be ensured that the heating device is only controlled to start once during the entire delivery process. When it arrives at the target location, the heating device will be enabled to heat the takeout to the preset temperature, thereby avoiding the heating device consuming extra energy and causing no heat waste.

[0074] Specifically, in this embodiment, the delivery time and the real-time flight position when the temperature of the takeout is reduced to the preset temperature during the delivery process are determined mainly based on the first temperature, the travel information, and the second temperature, and the remaining time required for the drone to fly from the real-time flight position to the target location is calculated, and the heating time required for the takeout to be heated from the third temperature to the preset temperature after the heating device is activated is predicted.

[0075] It should be noted that after the heating device is activated, it still takes some time for it to heat up. In order to produce a heating effect on the takeout, it is necessary to maintain a heating effect higher than the takeout temperature for a period of time. Therefore, in this embodiment, the heating time is calculated directly according to the predicted lowest third temperature of the takeout, rather than calculating the heating time according to the real-time temperature during the actual delivery of the takeout. This makes up for the time difference between the heating device heating up and continuous heating, and ensures that after the heating device is activated, the temperature of the takeout is guaranteed to be at the preset temperature when the drone arrives at the target location.

[0076] Among them, when the heating time is less than the remaining time, the start time of the heating device can be determined according to the heating time, and the heating device can be started according to the start time, that is, when the heating time is short, the start time can be delayed. Specifically, the preset temperature of takeout is 20°. When the heating time is less than the remaining time, the drone can continue to fly when the takeout temperature is 20°, and the heating device is not started. It is assumed that when the takeout temperature drops to 18° during the actual takeout delivery process, the heating device is started again. It can still ensure that the temperature of the takeout is 20° when it arrives at the target location, that is, the start time is shortened, and the heating device is avoided from being started in advance at 20°, thereby reducing the energy consumed by the heating device.

[0077] In this embodiment, after the step of predicting the heating time required for the heating device preset in the drone to heat the takeaway from the third temperature to the preset temperature, the method further includes:

[0078] If the heating time is greater than the remaining time, determining the start time of the heating device according to the heating time;

[0079] Predicting the temperature rise of the heating device according to the start-up time;

[0080] Predicting a new fourth temperature of the takeaway when the drone arrives at the target location based on the temperature rise, the first temperature, the trip information, and the second temperature;

[0081] The start time is adjusted according to the fourth temperature, and the heating device is started according to the adjusted start time.

[0082] It is understandable that when the heating time is greater than the remaining time, it is necessary to directly use the total length of the heating time to reversely predict the start-up time of the heating device, and the moment corresponding to the start-up time of the heating device will be earlier than the previously predicted moment when the takeaway reaches the preset temperature. Therefore, it is equivalent to starting the heating device in advance and affecting the size of the third temperature previously predicted.

[0083] In order to avoid the heating device generating too much heat after starting the heating device in advance, in this embodiment, it is necessary to predict the temperature rise of the takeout caused by the heating device at the start-up time, and re-predict the fourth temperature when arriving at the target location based on the temperature rise, the first temperature, the second temperature and the itinerary information, and adjust the start-up time based on the fourth temperature, so as to avoid the temperature of the takeout being much higher than the preset temperature after delivery and to avoid excessive energy loss of the heating device.

[0084] In this embodiment, the step of adjusting the start time according to the fourth temperature includes:

[0085] According to the fourth temperature, determine the impact value of the temperature rise on the third temperature; according to a preset startup time debugging table, select a time optimization parameter that matches the impact value; according to the time optimization parameter, adjust the startup time.

[0086] It should be noted that the impact value of the fourth temperature on the temperature rise on the third temperature is determined based on the fourth temperature. This is mainly because the heating device will be started before the takeout temperature drops to the preset temperature. The temperature after startup will affect the actual reduction in the takeout temperature, which will specifically affect the third temperature of the takeout when it is delivered to the target location. Therefore, it is necessary to first determine the impact value of the third temperature based on the fourth temperature, and the impact value is mainly the temperature difference between the third temperature and the fourth temperature.

[0087] In this embodiment, a preset start time debugging table is also created in advance, and multiple groups of parameters are set in the debugging table, where each group of parameters includes an impact value and a corresponding time optimization parameter. The time optimization parameter is mainly used to adjust the start time, advance or delay the start time, thereby affecting the temperature control of the heating device for heating the takeaway.

[0088] It should be noted that since the fourth temperature is the temperature after the heating device is started in advance, the fourth temperature should be a temperature greater than the third temperature. Therefore, after determining the impact value of the temperature difference between the two, the time optimization parameter that can be selected from the preset start time debugging table should be a negative number, and the start time is delayed to ensure that the temperature of the takeout is not too high when it arrives at the target location.

[0089] In this embodiment, after the step of starting a heating device preset in the drone if the third temperature is lower than a preset temperature, the method further includes:

[0090] The real-time temperature of the takeout after the heating device is activated is obtained, and a real-time delivery location map of the drone delivery is obtained; the real-time temperature and the real-time delivery location map are sent to a user terminal corresponding to the takeout, so that the user terminal can combine the real-time temperature and the real-time delivery location map to display the location and temperature of the takeout in the drone in real time.

[0091] It is understandable that in order to ensure that users can monitor the delivery progress of takeout before collecting it, the temperature of the takeout and the real-time location of the drone can be collected during the flight of the drone and fed back to the user end. At the user end, the dynamic location of the takeout and the real-time temperature of the takeout can be displayed in the form of a map, thereby ensuring that users can check the progress of drone delivery of takeout and the temperature information of the takeout at any time.

[0092] In this embodiment, after the heating device set in the drone is started, the real-time temperature change of the takeout can be obtained. For example, the temperature of the takeout is 20 degrees, and the temperature change process when it is heated to 25 degrees is expected to be collected in real time, and the No. 14 delivery position map of the drone delivering the takeout can be obtained simultaneously. The map is mainly a flight plan map of the drone planned according to the actual scene. The real-time delivery map will synchronously display the actual scene passed by the drone when flying, for example, passing over a certain street, passing near a certain landmark building, etc., and the planned route of the drone will be displayed in the real-time delivery map, as well as the real-time position changes of the drone on the planned route, for example, the flight time of the drone, the distance to be flown from the destination, the estimated time when the drone is expected to arrive at the destination, and other information.

[0093] This embodiment obtains the first temperature of the takeout placed in the drone, obtains the itinerary information of the delivery order corresponding to the takeout, and obtains the second temperature of the current flight environment of the drone; based on the first temperature, the itinerary information and the second temperature, predicts the third temperature of the takeout when the drone arrives at the target location corresponding to the delivery order; if the third temperature is lower than the preset temperature, starts a heating device preset in the drone, wherein the heating device is used to heat the takeout, and after the heating device is started and when the drone arrives at the target location, the temperature of the takeout is the preset temperature, thereby achieving delivery of the takeout by the drone When the drone arrives at the delivery location, the temperature of the takeout is monitored and the temperature change of the takeout is predicted. When it is determined that the temperature is lower than the preset temperature when the drone arrives at the delivery location, the temperature change is predicted in advance, and the preset heating device in the drone is controlled at the appropriate time to add the takeout inside the drone. This ensures that when the drone arrives at the destination, the takeout it delivers is still kept at a certain temperature, and only the heating device of the drone is controlled to keep the temperature of the takeout at the preset temperature when the drone arrives, avoiding the use of constant temperature heating to consume the energy of the drone. This ensures that the takeout still maintains a certain temperature when the drone arrives at the target location, and the drone does not consume too much energy due to the heating device.

[0094] like Figure 2 As shown, based on the first embodiment, a second embodiment of the takeaway delivery method based on a drone of the present application is proposed. In this embodiment, the second embodiment also includes:

[0095] S110, obtaining the posture information of the drone during flight, and identifying the location status of the takeaway through a monitoring module provided inside the drone;

[0096] It is understandable that during the flight of a drone, it will be affected by its own flight posture and the external environment, and needs to constantly adjust its flight tendency. For example, take-off, landing, flying against the wind, accelerated flight, etc. change the flight posture of the drone's horizontal position. When the drone changes its flight posture, due to the influence of acceleration, it may cause the takeaway placed inside the drone to change. In severe cases, it may cause the takeaway to overturn, causing the takeaway to spill, affecting the internal mechanical structure of the drone and causing loss of the takeaway.

[0097] In order to avoid the above-mentioned problems, in this embodiment, the attitude information of the drone during flight is obtained in real time, and the location status of the takeaway is identified through the monitoring module set inside the drone. Based on the attitude information of the drone during flight and the location status of the takeaway, it is judged whether the takeaway will overturn. When the possibility of overturning of the takeaway is detected, the flight attitude of the drone is timely controlled, its flight status is adjusted, and the integrity of the takeaway is ensured.

[0098] Among them, attitude information mainly refers to the flight angle of the drone during flight. The flight angle is the horizontal angle between the fuselage plane of the drone and the ground. When the flight angle of the drone is greater than the preset angle threshold, it is determined that there is a possibility of capsizing.

[0099] Among them, the monitoring module refers to a camera or an infrared scanning device, which is mainly used to identify the location of the takeaway. The initial position of the takeaway can be set inside the drone, and when the takeaway exceeds its initial position, it is determined that there is a possibility of overturning.

[0100] S120: Adjust the flight state of the UAV according to the posture information and the position state.

[0101] It is understandable that based on the attitude information and position information, it is possible to determine whether the takeaway has the possibility of overturning. Therefore, the flight status of the drone can be adjusted based on the two pieces of information. The specific adjustment process mainly refers to the current flight status of the drone to compensate for the position of the takeaway due to inertia or oblique gravity caused by the flight angle.

[0102] In this embodiment, the step of adjusting the flight state of the drone according to the attitude information and the position state includes:

[0103] Based on the attitude information, determine the instantaneous turbulence peak value generated during the flight of the UAV; based on the instantaneous turbulence peak value, predict the flight attitude change of the UAV, and based on the flight attitude change, determine the flight compensation angle required to maintain the position state of the takeaway; based on the flight compensation angle, adjust the flight state of the UAV.

[0104] It is understandable that the attitude information of the drone during flight includes the flight angle of the drone, which may change frequently due to external influences. For example, when the drone is flying against the wind, it may experience severe turbulence and frequent changes in flight angle due to the influence of wind. Therefore, the size of the flight angle and the frequency of change of the flight angle can be combined to determine the instantaneous turbulence peak value generated during the flight of the drone. The instantaneous turbulence peak value may be the maximum flight angle value generated when flying at a large angle, or it may be the frequency value of the maximum change in the flight angle. The instantaneous turbulence peak value can be used to characterize the possibility that the drone's flight at this time may cause the takeaway to overturn. The larger the instantaneous turbulence value, the greater the possibility of the takeaway overturning.

[0105] Among them, the change of the UAV's flight attitude can be predicted according to the instantaneous turbulence peak. For example, when the current UAV is affected by the wind and produces a large flight angle, the UAV will need to correct the flight angle for smooth operation. However, if the corrected flight angle is too large, the takeaway will slide or overturn due to inertia. The attitude information is predicted to determine the flight compensation angle required to maintain the position of the takeaway, and the flight compensation angle is adjusted to ensure that the takeaway placed in the drone can be stably placed.

[0106] Specifically, when the drone is flying at a flight angle with the front head low and the rear head high, the drone needs to generate a pitch flight angle starting from the front. At this time, due to inertia, the takeaway may overturn to the rear. Therefore, it is necessary to ensure the speed at which the drone returns to the horizontal flight angle. In order to avoid excessive inertial force causing overturning of the takeaway, the speed at which the drone's flight angle recovers is controlled. When the drone returns to the horizontal flight angle, a flight compensation angle that is lower than the preset flight angle threshold is set in advance. The drone is controlled to first adjust to the flight effect when it is at the flight compensation angle. When the takeaway is determined to remain stable, the drone is further controlled to return to the horizontal flight angle, thereby reducing the possibility of overturning of the takeaway.

[0107] This embodiment obtains the attitude information of the drone during flight and identifies the position status of the takeaway through a monitoring module provided inside the drone; the flight status of the drone is adjusted according to the attitude information and the position status, so that the flight attitude of the drone can be adjusted in real time during the flight of the drone, ensuring that the position of the takeaway placed inside the drone remains stable during the flight of the drone, thereby preventing the drone from tilting during flight.

[0108] In addition, the present application also proposes a takeaway delivery device based on a drone, referring to Figure 3 , the drone-based food delivery device comprises:

[0109] The acquisition module 10 is used to acquire a first temperature of the takeaway placed in the drone, acquire itinerary information of the delivery order corresponding to the takeaway, and acquire a second temperature of the current flight environment of the drone;

[0110] A prediction module 20, configured to predict a third temperature of the takeaway food when the drone arrives at a target location corresponding to the delivery order based on the first temperature, the travel information and the second temperature;

[0111] The starting module 30 is used to start the heating device preset in the drone if the third temperature is lower than the preset temperature, wherein the heating device is used to heat the takeaway. After the heating device is started and the drone arrives at the target location, the temperature of the takeaway is the preset temperature.

[0112] This embodiment obtains the first temperature of the takeout placed in the drone, obtains the itinerary information of the delivery order corresponding to the takeout, and obtains the second temperature of the current flight environment of the drone; based on the first temperature, the itinerary information and the second temperature, predicts the third temperature of the takeout when the drone arrives at the target location corresponding to the delivery order; if the third temperature is lower than the preset temperature, starts a heating device preset in the drone, wherein the heating device is used to heat the takeout, and after the heating device is started and when the drone arrives at the target location, the temperature of the takeout is the preset temperature, thereby achieving delivery of the takeout by the drone When the drone arrives at the delivery location, the temperature of the takeout is monitored and the temperature change of the takeout is predicted. When it is determined that the temperature is lower than the preset temperature when the drone arrives at the delivery location, the temperature change is predicted in advance, and the preset heating device in the drone is controlled at the appropriate time to add the takeout inside the drone. This ensures that when the drone arrives at the destination, the takeout it delivers is still kept at a certain temperature, and only the heating device of the drone is controlled to keep the temperature of the takeout at the preset temperature when the drone arrives, avoiding the use of constant temperature heating to consume the energy of the drone. This ensures that the takeout still maintains a certain temperature when the drone arrives at the target location, and the drone does not consume too much energy due to the heating device.

[0113] It should be noted that each module in the above-mentioned device can be used to implement each step in the above-mentioned method and achieve corresponding technical effects, which will not be described in detail in this embodiment.

[0114] Reference Figure 4 , Figure 4 A schematic diagram of the structure of the device of the hardware operating environment involved in the embodiment of the present application.

[0115] like Figure 4As shown, the device may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0116] Those skilled in the art will understand that Figure 4 The structure shown in the figure does not constitute a limitation of the device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0117] like Figure 4 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a drone-based food delivery program.

[0118] exist Figure 4 In the device shown, the network interface 1004 is mainly used for data communication with an external network; the user interface 1003 is mainly used for receiving user input instructions; the device calls the drone-based food delivery program stored in the memory 1005 through the processor 1001, and performs the following operations:

[0119] Obtaining a first temperature of the takeaway placed in the drone, obtaining itinerary information of a delivery order corresponding to the takeaway, and obtaining a second temperature of the current flight environment of the drone;

[0120] Predicting, based on the first temperature, the itinerary information, and the second temperature, a third temperature of the takeaway when the drone arrives at a target location corresponding to the delivery order;

[0121] If the third temperature is lower than the preset temperature, a heating device preset in the drone is started, wherein the heating device is used to heat the takeaway. After the heating device is started and when the drone arrives at the target location, the temperature of the takeaway is the preset temperature.

[0122] Furthermore, the processor 1001 may call the drone-based food delivery program stored in the memory 1005, and perform the following operations:

[0123] If the predicted temperature is lower than the preset temperature, the delivery time and real-time flight position when the takeaway temperature drops to the preset temperature are predicted based on the first temperature, the itinerary information and the second temperature, and the remaining time required for the drone to reach the target location at the delivery time is determined based on the real-time flight position;

[0124] Predicting the heating time required for the heating device preset in the drone to heat the takeaway from the third temperature to the preset temperature;

[0125] If the heating time is less than the remaining time, the start time of the heating device is determined according to the heating time, and the heating device is started according to the start time.

[0126] Furthermore, the processor 1001 may call the drone-based food delivery program stored in the memory 1005, and perform the following operations:

[0127] If the heating time is greater than the remaining time, determining the start time of the heating device according to the heating time;

[0128] Predicting the temperature rise of the heating device according to the start-up time;

[0129] Predicting a new fourth temperature of the takeaway when the drone arrives at the target location based on the temperature rise, the first temperature, the trip information, and the second temperature;

[0130] The start time is adjusted according to the fourth temperature, and the heating device is started according to the adjusted start time.

[0131] Furthermore, the processor 1001 may call the drone-based food delivery program stored in the memory 1005, and perform the following operations:

[0132] Determining, according to the fourth temperature, an influence value of the temperature rise on the third temperature;

[0133] According to the preset startup time debugging table, select the time optimization parameter matching the impact value;

[0134] The startup time is adjusted according to the time optimization parameter.

[0135] Furthermore, the processor 1001 may call the drone-based food delivery program stored in the memory 1005, and perform the following operations:

[0136] Obtaining the real-time temperature of the takeaway after the heating device is activated, and obtaining a real-time delivery location map of the drone delivery;

[0137] The real-time temperature and the real-time delivery location map are sent to a user terminal corresponding to the takeaway, so that the user terminal can combine the real-time temperature and the real-time delivery location map to display the location and temperature of the takeaway in the drone in real time.

[0138] Furthermore, the processor 1001 may call the drone-based food delivery program stored in the memory 1005, and perform the following operations:

[0139] Acquire the posture information of the drone during flight, and identify the location status of the takeaway through a monitoring module provided inside the drone;

[0140] The flight state of the UAV is adjusted according to the attitude information and the position state.

[0141] Furthermore, the processor 1001 may call the drone-based food delivery program stored in the memory 1005, and perform the following operations:

[0142] Determining, according to the attitude information, an instantaneous turbulence peak value generated during the flight of the UAV;

[0143] Predicting the change in the flight attitude of the UAV according to the instantaneous turbulence peak value, and determining the flight compensation angle required to maintain the position state of the takeaway according to the change in the flight attitude;

[0144] The flight state of the UAV is adjusted according to the flight compensation angle.

[0145] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0146] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0147] The present application provides a computer-readable storage medium having computer-readable program instructions (i.e., computer programs) stored thereon, and the computer-readable program instructions are used to execute the drone-based food delivery method in the above-mentioned embodiment.

[0148] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM: Random Access Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination of the above.

[0149] The above-mentioned computer-readable storage medium may be included in the drone-based food delivery device; or it may exist independently without being assembled into the drone-based food delivery device.

[0150] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the drone-based food delivery device, the drone-based food delivery device is enabled.

[0151] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0152] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0153] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0154] The readable storage medium provided in this application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned drone-based food delivery method, and can solve the technical problems of drone-based food delivery. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the drone-based food delivery method provided in the above-mentioned embodiment, and will not be elaborated here.

[0155] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the drone-based food delivery method as described above.

[0156] The computer program product provided in this application can solve the technical problem of drone-based food delivery. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as the beneficial effects of the drone-based food delivery method provided in the above embodiment, and will not be repeated here.

[0157] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

[0158] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or system including the element.

[0159] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0160] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0161] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A takeaway delivery method based on drones, characterized in that: The drone-based food delivery method comprises the following steps: Obtaining a first temperature of the takeaway placed in the drone, obtaining itinerary information of a delivery order corresponding to the takeaway, and obtaining a second temperature of the current flight environment of the drone; Predicting, based on the first temperature, the itinerary information, and the second temperature, a third temperature of the takeaway when the drone arrives at a target location corresponding to the delivery order; If the third temperature is lower than the preset temperature, a heating device preset in the drone is activated, wherein the heating device is used to heat the takeaway food, and after the heating device is activated and when the drone arrives at the target location, the temperature of the takeaway food is the preset temperature; When the third temperature is lower than a preset temperature, a heating device preset in the drone is started, and the method comprises: If the third temperature is lower than the preset temperature, the delivery time and the real-time flight position when the temperature of the takeaway food is reduced to the preset temperature are predicted based on the first temperature, the itinerary information and the second temperature, and the remaining time required for the drone to reach the target location at the delivery time is determined based on the real-time flight position; Predicting the heating time required for the heating device preset in the drone to heat the takeaway from the third temperature to the preset temperature; After the step of predicting the heating time required for the heating device preset in the drone to heat the takeaway from the third temperature to the preset temperature, the method further includes: If the heating time is greater than the remaining time, determining the start time of the heating device according to the heating time; Predicting the temperature rise of the heating device according to the start-up time; Predicting a new fourth temperature of the takeaway when the drone arrives at the target location based on the temperature rise, the first temperature, the trip information, and the second temperature; adjusting the start time according to the fourth temperature, and starting the heating device according to the adjusted start time; If the heating time is less than the remaining time, the start time of the heating device is determined according to the heating time, and the heating device is started according to the start time.

2. The method according to claim 1, characterized in that The step of adjusting the start time according to the fourth temperature includes: Determining, according to the fourth temperature, an influence value of the temperature rise on the third temperature; According to the preset startup time debugging table, select the time optimization parameter matching the impact value; The startup time is adjusted according to the time optimization parameter.

3. The method according to any one of claims 1 to 2, characterized in that: After the step of activating a heating device preset in the drone if the third temperature is lower than a preset temperature, the method further includes: Obtaining the real-time temperature of the takeaway after the heating device is activated, and obtaining a real-time delivery location map of the drone delivery; The real-time temperature and the real-time delivery location map are sent to a user terminal corresponding to the takeaway, so that the user terminal can combine the real-time temperature and the real-time delivery location map to display the location and temperature of the takeaway in the drone in real time.

4. The method according to claim 1, characterized in that After the step of activating a heating device preset in the drone if the third temperature is lower than a preset temperature, the method further includes: Acquire the posture information of the drone during flight, and identify the location status of the takeaway through a monitoring module provided inside the drone; The flight state of the UAV is adjusted according to the attitude information and the position state.

5. The method according to claim 4, characterized in that The step of adjusting the flight state of the drone according to the attitude information and the position state comprises: Determining, according to the attitude information, an instantaneous turbulence peak value generated during the flight of the UAV; Predicting the change in the flight attitude of the UAV according to the instantaneous turbulence peak value, and determining the flight compensation angle required to maintain the position state of the takeaway according to the change in the flight attitude; The flight state of the UAV is adjusted according to the flight compensation angle.

6. A takeaway delivery device based on drone, characterized in that: The drone-based takeaway delivery device comprises: An acquisition module, used to acquire a first temperature of the takeaway placed in the drone, acquire itinerary information of a delivery order corresponding to the takeaway, and acquire a second temperature of the current flight environment of the drone; a prediction module, configured to predict, based on the first temperature, the itinerary information and the second temperature, a third temperature of the takeaway food when the drone arrives at a target location corresponding to the delivery order; a start-up module, for starting a heating device preset in the drone if the third temperature is lower than a preset temperature, wherein the heating device is used to heat the takeaway, and after the heating device is started and when the drone arrives at the target location, the temperature of the takeaway is the preset temperature, wherein the start-up module also includes, if the third temperature is lower than the preset temperature, predicting the delivery time and real-time flight position when the temperature of the takeaway drops to the preset temperature based on the first temperature, the itinerary information and the second temperature, and determining the remaining time required for the drone to arrive at the target location at the delivery time based on the real-time flight position; predicting the time at which the heating device preset in the drone will drop to the preset temperature The heating time required for the takeout to be heated from the third temperature to the preset temperature; if the heating time is greater than the remaining time, determining the start time of the heating device according to the heating time; predicting the heating condition of the heating device according to the start time; predicting the new fourth temperature of the takeout when the drone arrives at the target location according to the heating condition, the first temperature, the trip information and the second temperature; adjusting the start time according to the fourth temperature, and starting the heating device according to the adjusted start time; if the heating time is less than the remaining time, determining the start time of the heating device according to the heating time, and starting the heating device according to the start time.

7. A takeaway delivery device based on drone, characterized in that: The drone-based food delivery device comprises: a memory, a processor, and a drone-based food delivery program stored in the memory and executable on the processor, wherein the drone-based food delivery program is configured to implement the steps of the drone-based food delivery method as described in any one of claims 1 to 5.

8. A storage medium, characterized in that: A program for implementing a drone-based food delivery method is stored on the storage medium, and the program for implementing a drone-based food delivery method is executed by a processor to implement the steps of the drone-based food delivery method as described in any one of claims 1 to 5.

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