Unmanned aerial vehicle automatic cargo delivery method and system

Abstract

The invention discloses an unmanned aerial vehicle automatic cargo delivery method and system, and relates to the technical field of unmanned aerial vehicles, and the method comprises the steps: enabling an unmanned aerial vehicle to fly to an airspace of a preset delivery point for hovering, and obtaining a target delivery posture; scanning the ground of the release point to obtain a horizontal offset and a release height increment; obtaining a cargo type of the cargo, and obtaining a cargo putting mode according to the cargo type; if the delivery mode is free delivery, the goods are freely delivered; if the releasing mode is man-machine cooperation releasing, the horizontal offset and the releasing height increment are dynamically adjusted in real time according to the personnel operation data; and personnel action marks required for cargo release are set, and when the personnel on the ground make the personnel action marks towards the unmanned aerial vehicle, the unmanned aerial vehicle releases the cargoes. The unmanned aerial vehicle has the effects of improving the precision, adaptability to the site environment and the man-machine adaptability when the unmanned aerial vehicle throws the goods.

Description

Technical Field

[0001] This application relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a method and system for automated cargo delivery by UAVs. Background Technology

[0002] With the continuous advancement of drone technology, the ways in which drones are used are becoming increasingly diverse. Drones are now being used for cargo delivery.

[0003] In existing technologies, drone cargo delivery primarily relies on GPS positioning systems or similar technologies for target point positioning. The drone flies above the preset target point and releases the cargo after reaching a predetermined altitude. However, this method has significant drawbacks. First, GPS positioning systems have meter-level errors. Second, drones are affected by the surrounding environment while hovering, making it difficult to maintain stability and causing the actual delivery location to deviate from the target point. Furthermore, the actual ground conditions at delivery points are complex and variable, especially in remote areas, which can damage the cargo. Additionally, some cargo, due to its specific characteristics, requires cooperation between drones and humans for delivery, which current drones cannot handle. Therefore, solving the problems of accuracy, adaptability, and human-machine cooperation in drone cargo delivery is an urgent issue to be addressed. Summary of the Invention

[0004] The purpose of this invention is to provide a method and system for automated cargo delivery by unmanned aerial vehicles (UAVs) to solve the problems mentioned in the background art.

[0005] In a first aspect, this application provides a method for automated cargo delivery by unmanned aerial vehicles (UAVs), the method comprising: The drone flies to the airspace of the preset delivery point and hovers to acquire meteorological / environmental data of the airspace around the delivery point. Based on the meteorological / environmental data, the target delivery attitude is obtained. The ground at the drop point is scanned to obtain micro-topographic data of the drop point, and the horizontal offset and release height increment are obtained based on the micro-topographic data; The type of goods is obtained, and the delivery method is determined based on the type of goods. The delivery method includes free delivery and delivery by human-machine cooperation. If the delivery method is free delivery, then the goods are delivered freely according to the target delivery posture, the horizontal offset, and the release height increment. If the delivery method is human-machine cooperative delivery, then the personnel operation data of the ground personnel are obtained, and the horizontal offset and the release height increment are dynamically adjusted in real time based on the personnel operation data; The drone releases cargo when a ground-based person makes the specified action signal towards it.

[0006] Preferably, the step of acquiring meteorological / environmental data of the airspace surrounding the delivery point, and obtaining the target delivery attitude based on the meteorological / environmental data, specifically includes: Once the drone hovers over the airspace of the preset delivery point, it collects data on the airspace surrounding the delivery point, obtaining meteorological data and environmental data respectively, and combines them to obtain meteorological / environmental data. Based on the meteorological data, wind speed data and rain / snow data for the surrounding airspace are obtained; based on the environmental data, dust concentration data and ambient air pressure distribution are obtained. Based on the wind speed data and the rain and snow data, the first attitude adjustment parameters of the UAV when it approaches the ground are obtained; Based on the dust concentration data and the ambient air pressure distribution, the second attitude adjustment parameters of the UAV when it is close to the ground are obtained; By combining the first attitude adjustment parameters and the second attitude adjustment parameters, the target deployment attitude of the UAV is obtained.

[0007] Preferably, the steps of scanning the ground at the deployment point to obtain micro-topographic data of the deployment point, and obtaining the horizontal offset and release height increment based on the micro-topographic data, are as follows: The ground at the delivery point is scanned to obtain ground undulation distribution data. Based on the ground undulation distribution data, ground pothole distribution data, ground slope data, and ground obstacle data are obtained. Based on the ground slope data, the ground slope distribution and slope inclination value are obtained. The cargo release point is confirmed based on the ground slope distribution and slope inclination value to obtain the initial release point. Based on the initial release point, the ground pothole distribution data and the ground obstacle data are filtered to obtain the target concavity / convexity data; Based on the target concavity and convexity data, determine whether the concavity value and convexity value exceed the preset limit threshold. If it is determined that the concavity value and / or the convexity value exceed the limit threshold, then perform a position query around the initial release point to obtain the target release point. The horizontal offset of the UAV is obtained based on the relative distance between the target release point and the initial release point; Extract the target obstacle data of the target release point, extract the height data of the target obstacle data, and generate the release height increment based on the height data.

[0008] Preferably, the step of obtaining the type of goods and determining the delivery method based on the type of goods specifically includes: Obtain the cargo type, and further obtain the cargo's size and center of gravity data based on the cargo type; Based on the size data, the projected area of ​​the goods on the ground is obtained, and based on the center of gravity data, the stability value of the goods when placed is obtained. Based on the type of goods, the drop resistance value of the goods is obtained. If it is determined that the drop resistance value is lower than a preset first threshold, it is marked as a human-machine cooperative delivery. If the drop resistance value is determined to be greater than or equal to the first threshold, it is marked as freely deployable; Specifically, if the drop resistance value is greater than or equal to the first threshold and less than the preset second threshold, it is marked as slow free release; if the drop resistance value is greater than or equal to the second threshold, it is marked as fast free release.

[0009] Preferably, the step of freely releasing the goods based on the target release posture, the horizontal offset, and the release height increment specifically includes: Based on the target release posture, the hovering posture of the UAV is adjusted, and the horizontal and vertical angles of the cargo are adjusted based on the hovering posture of the UAV to obtain the target release posture of the cargo. The horizontal position of the cargo is adjusted according to the horizontal offset, and the vertical position of the cargo is adjusted according to the release height increment, so as to obtain the target horizontal position and the target vertical position of the cargo release. When the target release horizontal position, the target release vertical position, and the target release posture all reach their optimal values, the cargo is released freely.

[0010] Preferably, the step of acquiring personnel operation data from ground personnel and dynamically adjusting the horizontal offset and the release height increment in real time based on the personnel operation data specifically includes: Obtain personnel operation data from ground personnel, and based on the personnel operation data, obtain personnel movement data and personnel action data; Based on the personnel movement data, the real-time movement speed data and real-time movement direction data of the personnel are obtained. Based on the real-time movement speed data and the real-time movement direction data, the horizontal offset is dynamically adjusted in real time. Based on the personnel movement data, the upper limb movement data of the ground personnel is obtained. Based on the upper limb movement data, it is determined whether the ground personnel are in a state of cooperating in receiving goods. If it is determined that ground personnel are in a state of cooperating in receiving goods, the release height increment is adjusted slowly in real time to bring the goods closer to the ground personnel.

[0011] Preferably, a personnel action marker is set for cargo release. When a ground personnel makes the personnel action marker towards the drone, the drone releases the cargo. The specific steps are as follows: Pre-set the personnel action markers required for ground personnel to release cargo when the drone releases the cargo; When the drone is in a free-deployment state, it identifies ground personnel, obtains a unique target person, and monitors the unique target person on screen. When the ground personnel make the personnel action mark towards the drone, the drone releases the cargo. When the drone is used for human-machine cooperative delivery, it identifies ground personnel, obtains the number of target personnel to receive the goods, and marks the target personnel according to the number of target personnel. The actions of multiple target personnel are monitored to determine whether any of the target personnel have made the personnel action mark; If it is determined that the target person has made the action mark, then the speed and number of repetitions of the target person's action are identified; Determine whether the speed of the action is too fast or too slow, and determine whether the number of repetitions has reached the preset standard number of times; If the action is determined to be too fast or too slow, and the number of repetitions does not reach the standard number of repetitions, it is determined to be an invalid action, and the human-machine cooperation continues. If the speed of the action is deemed appropriate and the number of repetitions reaches the standard number, the action is deemed valid, and the drone releases the cargo.

[0012] Secondly, this application provides an automated cargo delivery system using unmanned aerial vehicles (UAVs), the system comprising: Attitude adjustment module: used for the UAV to hover in the airspace of the preset delivery point, acquire meteorological / environmental data of the airspace around the delivery point, and obtain the target delivery attitude based on the meteorological / environmental data; Position correction module: used to scan the ground at the deployment point to obtain micro-topographic data of the deployment point, and to obtain the horizontal offset and release height increment based on the micro-topographic data; Delivery method determination module: used to obtain the type of goods and determine the delivery method based on the type of goods. The delivery method includes free delivery and human-machine cooperative delivery. Free-deployment module: If the deployment method is free-deployment, then the goods are deployed freely according to the target deployment posture, the horizontal offset, and the release height increment. Coordination adjustment module: If the delivery method is human-machine cooperative delivery, it acquires the personnel operation data of the ground personnel and dynamically adjusts the horizontal offset and the release height increment in real time according to the personnel operation data; Action Marking Module: Used to set the personnel action markings required for cargo release. When ground personnel make the personnel action markings towards the drone, the drone releases the cargo.

[0013] In summary, this application includes at least one of the following beneficial technical effects: By collecting environmental and meteorological data around the delivery point, the drone's hovering attitude is adjusted to obtain the target delivery attitude. Then, the ground at the delivery point is scanned to obtain micro-topography data. Based on this data, the drone's horizontal and vertical positions are adjusted to obtain horizontal offset and release height increments. These release height increments can be negative, indicating a vertical downward movement. Next, the cargo type is collected, and based on the cargo type, it is determined whether human assistance is required. Cargo that does not require human assistance is marked as free delivery; cargo requiring human assistance is marked as human-machine coordinated delivery. In free delivery, the cargo is released onto the ground at the delivery point based on the target delivery attitude, horizontal offset, and release height increment. In human-machine coordinated delivery, the drone monitors the ground personnel's actions, determining their movement speed and direction, and then adjusts the horizontal offset and release height increments accordingly to coordinate with the ground personnel. When the ground personnel make a gesture marking, the drone recognizes the gesture, indicating that the cargo can be delivered, and then releases the cargo. This improves the accuracy of drone cargo delivery, its adaptability to the site environment, and the degree of human-machine coordination. Attached Figure Description

[0014] Figure 1 This is a flowchart illustrating the steps of an automated cargo delivery method using a drone, as provided in an embodiment of this application. Figure 2 This is a block diagram of an automated cargo delivery system for unmanned aerial vehicles (UAVs) provided in an embodiment of this application.

[0015] Explanation of reference numerals in the attached diagram: 1. Posture adjustment module; 2. Position correction module; 3. Deployment method determination module; 4. Free deployment module; 5. Coordination adjustment module; 6. Action marking module. Detailed Implementation

[0016] The following is in conjunction with the appendix Figures 1-2 This application will be described in further detail, but the embodiments of the present invention are not limited thereto.

[0017] This application discloses a method and system for automated cargo delivery by unmanned aerial vehicles (UAVs).

[0018] This embodiment relates to a method for automated cargo delivery by unmanned aerial vehicles (UAVs), the method comprising: S100: The drone flies to the airspace of the preset delivery point and hovers to obtain meteorological / environmental data of the airspace around the delivery point. Based on the meteorological / environmental data, the target delivery attitude is obtained. S200: Scan the ground at the drop point to obtain micro-topographic data of the drop point, and obtain the horizontal offset and release height increment based on the micro-topographic data; S300: Obtain the type of goods and determine the delivery method based on the type of goods. The delivery method includes free delivery and delivery by human and machine cooperation. S400: If the delivery method is free delivery, the goods will be delivered freely according to the target delivery posture, horizontal offset, and release height increment. S500: If the deployment method is human-machine cooperative deployment, the system acquires the personnel operation data of the ground personnel and makes real-time dynamic adjustments to the horizontal offset and release height increment based on the personnel operation data. S600: Sets the personnel action marker required for cargo release. When ground personnel make the personnel action marker towards the drone, the drone releases the cargo.

[0019] It should be noted that the above process is only the basic steps of this embodiment. In the specific implementation process, some steps may be added, reduced or modified appropriately without affecting the overall implementation effect.

[0020] The steps for obtaining meteorological / environmental data of the airspace surrounding the delivery point, and for determining the target delivery attitude based on this data, are as follows: Once the drone hovers over the airspace of the preset delivery point, it collects data on the airspace surrounding the delivery point, obtaining meteorological data and environmental data respectively, and combines them to obtain meteorological / environmental data. Based on meteorological data, wind speed and rain / snow data for the surrounding airspace are obtained; based on environmental data, dust concentration data and ambient air pressure distribution are obtained. Based on wind speed and rain / snow data, the first attitude adjustment parameters of the drone when it approaches the ground are obtained; Based on dust concentration data and ambient air pressure distribution, the second attitude adjustment parameters of the UAV when it approaches the ground are obtained; By combining the first attitude adjustment parameters and the second attitude adjustment parameters, the target deployment attitude of the UAV is obtained.

[0021] In practice, taking a drone delivering medical supplies as an example, after hovering over the airspace of the pre-set delivery point, the drone collects data on the surrounding airspace. First, it acquires meteorological data, including wind speed and rain / snow data; the wind speed is 5 meters per second, and the rain / snow data is 10 millimeters per hour. Then, it acquires environmental data, including dust concentration data and ambient air pressure distribution; the dust concentration is 30 micrograms per cubic meter, and the ambient air pressure distribution shows a high-pressure area in the east and a low-pressure area in the west. Next, based on the wind speed and rain / snow data, it calculates the first attitude adjustment parameters for the drone as it approaches the ground, such as adjusting the pitch angle to -3 degrees to counteract wind pressure. Then, based on the dust concentration and ambient air pressure distribution, it calculates the second attitude adjustment parameters, such as adjusting the roll angle to +2 degrees to cope with the dust effect. Finally, combining the first and second attitude adjustment parameters, it obtains the drone's target delivery attitude: a pitch angle of -3 degrees and a roll angle of +2 degrees. The entire process ensures the drone remains stable under adverse weather conditions.

[0022] The steps for scanning the ground at the deployment point to obtain micro-topographic data, and then determining the horizontal offset and release height increment based on this data, are as follows: The ground at the delivery point is scanned to obtain data on the distribution of ground undulations. Based on the data on the distribution of ground undulations, data on the distribution of ground potholes, ground slope, and ground obstacles are obtained. Based on the ground slope data, the ground slope distribution and slope inclination value are obtained. The cargo release point is then confirmed based on the ground slope distribution and slope inclination value to obtain the initial release point. Based on the initial release point, the ground pothole distribution data and ground obstacle data are filtered to obtain the target concavity and convexity data; Based on the target concavity and convexity data, determine whether the concavity value and convexity value exceed the preset limit threshold. If it is determined that the concavity value and / or convexity value exceed the limit threshold, then perform a location query around the initial release point to obtain the target release point. The horizontal offset of the UAV is obtained based on the relative distance between the target release point and the initial release point; Extract target obstacle data from the target release point, extract the height data of the target obstacle data, and generate the release height increment based on the height data.

[0023] In practice, taking a drone delivering medical supplies as an example, the drone performs laser scanning of the ground at the drop point to obtain ground undulation data. The data shows two deep pits, 20 cm and 30 cm deep respectively; the ground slope is higher in the north and lower in the south, with a slope inclination of 15 degrees; and obstacles include a large rock and a tree. Based on the ground slope distribution and inclination, the initial release point is confirmed to be on the south slope. Next, using the initial release point as the center, the ground pit and obstacle data are filtered to obtain target undulation data, including the locations of the deep pits and the rock. The 30 cm depression value of the deep pit exceeds the preset threshold of 20 cm, so a flat area is found in the vicinity of this point as the target release point, 3 meters east of the initial point. Finally, based on the relative distance between the target release point and the initial release point, the drone's horizontal offset is determined to be 3 meters east; the height data of the obstacle rock at the target release point is extracted (50 cm), generating a release height increment of 50 cm. In this way, the drone avoids dangerous terrain.

[0024] The steps for obtaining the cargo type and determining the cargo delivery method based on the cargo type are as follows: Obtain the cargo type, and further obtain the cargo's size and center of gravity data based on the cargo type; Based on the size data, the projected area of ​​the goods on the ground is obtained; based on the center of gravity data, the stability value of the goods when placed is obtained. Based on the type of goods, the drop resistance value of the goods is obtained. If the drop resistance value is determined to be lower than the preset first threshold, it is marked as a human-machine cooperative delivery. If the drop resistance value is determined to be greater than or equal to the first threshold, it is marked as free to be released. Specifically, if the drop resistance value is greater than or equal to the first threshold but less than the preset second threshold, it is marked as slow free release; if the drop resistance value is greater than or equal to the second threshold, it is marked as fast free release.

[0025] In practice, taking a drone delivering medical supplies as an example, the type of cargo acquired by the drone is a vaccine box. Based on the cargo type, the dimensions are further determined to be 50 cm long, 30 cm wide, and 20 cm high, with the center of gravity at the bottom center and a stability rating of medium. Then, based on the cargo type, a drop resistance rating of 5 is obtained (lower values ​​indicate greater fragility), with a preset first threshold of 8 and a second threshold of 15. If the drop resistance rating of 5 is lower than the first threshold of 8, it is marked as a human-robot coordinated delivery. If the cargo is protective clothing, the drop resistance rating is 10, greater than the first threshold of 8 but less than the second threshold of 15, and it is marked as a slow free release. Finally, if the cargo is a face mask, the drop resistance rating is 20, greater than the second threshold of 15, and it is marked as a rapid free release. The entire process automatically determines the delivery method based on the cargo characteristics, ensuring the safety of fragile items.

[0026] The steps for freely deploying cargo, based on the target deployment posture, horizontal offset, and release height increment, are as follows: Based on the target release posture, the hovering posture of the drone is adjusted, and the horizontal and vertical angles of the cargo are adjusted based on the hovering posture of the drone to obtain the target release posture of the cargo. The horizontal position of the cargo is adjusted based on the horizontal offset, and the vertical position of the cargo is adjusted based on the release height increment, to obtain the target horizontal and vertical release positions. When the target release horizontal position, target release vertical position, and target release posture all reach their optimal values, the cargo is released freely.

[0027] In practice, taking a drone delivering medical supplies as an example, the drone operates in free-drop mode. First, based on the target delivery attitude (pitch angle -3 degrees, roll angle +2 degrees), the drone's hovering attitude is adjusted. Based on this hovering attitude, the horizontal angle of the cargo is set to true north, and the vertical angle to 90 degrees downwards, thus obtaining the target release attitude. Then, based on a horizontal offset of 3 meters eastward, the cargo's horizontal release position is adjusted to the new coordinate point. Next, based on a release height increment of 50 centimeters, the cargo's vertical release position is adjusted to 3 meters above the ground. Finally, the target release horizontal position, target release vertical position, and target release attitude are monitored. When all three reach optimal values ​​(e.g., position error less than 10 centimeters, stable attitude), the drone freely releases the cargo. The cargo lands smoothly on a flat area of ​​the ground, avoiding damage.

[0028] The steps for acquiring personnel operation data from ground personnel and dynamically adjusting the horizontal offset and release height increment in real time based on this data are as follows: Acquire personnel operation data from ground personnel, and based on the personnel operation data, obtain personnel movement data and personnel action data; Based on personnel movement data, real-time movement speed data and real-time movement direction data of personnel are obtained. Based on the real-time movement speed data and real-time movement direction data, the horizontal offset is dynamically adjusted in real time. Based on the personnel movement data, the upper limb movement data of the ground personnel is obtained. Based on the upper limb movement data, it is determined whether the ground personnel are in a state of cooperating to receive the goods. If it is determined that ground personnel are in a state of cooperating in receiving goods, the release height increment will be adjusted slowly in real time to bring the goods closer to the ground personnel.

[0029] In practice, taking a drone delivering medical supplies as an example, the drone operates in a human-machine cooperative delivery mode. First, it acquires personnel operation data from the ground crew, including movement and motion data. The personnel movement data shows a real-time speed of 1 meter per second and a real-time eastward movement. Then, based on the real-time speed and direction, the horizontal offset is adjusted in real-time, for example, dynamically changing the offset from 3 meters east to 4 meters east to follow the personnel. Next, personnel motion data is acquired, including upper limb movements such as arm extension, to determine if the ground crew is cooperative in receiving the goods. Following this, if the personnel are cooperative, the release height increment is slowly adjusted, for example, gradually decreasing from an increase of 50 centimeters to an increase of 20 centimeters, bringing the goods closer to the personnel. Finally, the drone continuously monitors to ensure position synchronization.

[0030] The steps for setting up personnel action markers required for cargo release, and for the drone to release cargo when ground personnel make personnel action markers towards the drone, are as follows: Pre-set the personnel action markers required for ground personnel to release cargo when the drone releases the cargo; When the drone is in a free-deployment state, it identifies ground personnel, obtains a unique target person, and monitors the unique target person on screen. When the ground personnel make a personnel action mark towards the drone, the drone releases the cargo. When the drone is used for human-machine collaborative delivery, it identifies ground personnel, obtains the number of target personnel to receive the goods, and marks the target personnel according to the number of target personnel; Monitor the actions of multiple target personnel to determine whether any target personnel have made any action markers; If it is determined that a target person has made a movement mark, then identify the speed and number of repetitions of the target person's movement; Determine if the speed of the action is too fast or too slow, and determine if the number of repetitions has reached the preset standard number of times; If the movement speed is judged to be too fast or too slow, and the number of repetitions does not reach the standard number, it is judged as an invalid movement, and the human-machine cooperation continues; If the speed of the action is deemed appropriate and the number of repetitions reaches the standard number, the action is considered valid, and the drone releases the cargo.

[0031] In practice, taking a drone delivering medical supplies as an example, the drone is pre-programmed with a gesture marker of raising both hands and waving three times. During free-fall delivery, the drone identifies a single target person on the ground and monitors their movements. When the person makes the gesture towards the drone, the drone immediately releases the goods. During human-machine coordinated delivery, the drone identifies two target persons, labeled A and B, and monitors their movements. When A raises both hands and waves, the drone identifies the movement speed as once per second, repeated three times. The movement speed is then deemed appropriate (once per second within the preset range of 0.5-2 seconds), and the number of repetitions reaches the standard of three, thus being considered a valid movement. Finally, the drone releases the goods. If B's ​​movement speed is too fast (three times per second) or too slow (0.2 times per second), and the number of repetitions is less than three, the movement is considered invalid, and the coordination continues. The entire process ensures safe release.

[0032] This invention provides an automated cargo delivery system using unmanned aerial vehicles (UAVs), employing any of the methods described above for automated cargo delivery using UAVs. The system includes the following components: Attitude adjustment module 1: Used for the UAV to hover in the airspace of the preset delivery point, acquire meteorological / environmental data of the airspace around the delivery point, and obtain the target delivery attitude based on the meteorological / environmental data; Position correction module 2: used to scan the ground at the deployment point to obtain micro-topographic data of the deployment point, and to obtain the horizontal offset and release height increment based on the micro-topographic data; Delivery method determination module 3: used to obtain the type of goods and determine the delivery method based on the type of goods. The delivery methods include free delivery and human-machine cooperative delivery. Free Drop Module 4: If the drop method is free drop, then the goods are dropped freely according to the target drop posture, horizontal offset and release height increment. Module 5: If the delivery method is human-machine collaborative delivery, it acquires the personnel operation data of the ground personnel and makes real-time dynamic adjustments to the horizontal offset and release height increment based on the personnel operation data; Action Marking Module 6: Used to set the personnel action markings required for cargo release. When ground personnel make personnel action markings towards the drone, the drone releases the cargo.

[0033] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A method for automated cargo delivery by unmanned aerial vehicles (UAVs), characterized in that, The method comprises the following steps: The UAV flies to a preset drop point and hovers in the airspace of the drop point, acquires meteorological / environmental data of the airspace around the drop point, and obtains a target drop posture according to the meteorological / environmental data; The ground of the drop point is scanned to obtain micro-terrain data of the drop point, and a horizontal offset and a release height increment are obtained according to the micro-terrain data; The type of the goods is acquired, and a goods drop mode is obtained according to the type of the goods, the goods drop mode including free drop and man-machine cooperative drop; If the drop mode is the free drop, the goods are dropped freely according to the target drop posture, the horizontal offset, and the release height increment; If the drop mode is the man-machine cooperative drop, personnel operation data of the ground personnel is acquired, and the horizontal offset and the release height increment are dynamically adjusted in real time according to the personnel operation data; A personnel action mark required for releasing the goods is set, and the UAV releases the goods when the ground personnel makes the personnel action mark towards the UAV. 2.The unmanned aerial vehicle automated cargo delivery method of claim 1, wherein, The step of acquiring meteorological / environmental data of the airspace around the drop point and obtaining a target drop posture according to the meteorological / environmental data comprises the following steps: After the UAV hovers in the airspace of the preset drop point, data of the airspace around the drop point is collected to obtain meteorological data and environmental data, and the meteorological / environmental data is obtained by combination; Based on the meteorological data, wind speed data and rain and snow data of the airspace around the drop point are obtained, and based on the environmental data, dust concentration data and environmental air pressure distribution are obtained; According to the wind speed data and the rain and snow data, first posture adjustment parameters of the UAV when approaching the ground are obtained; According to the dust concentration data and the environmental air pressure distribution, second posture adjustment parameters of the UAV when approaching the ground are obtained; The target drop posture of the UAV is obtained by combination of the first posture adjustment parameters and the second posture adjustment parameters. 3.The unmanned aerial vehicle automated cargo delivery method of claim 2, wherein, The step of scanning the ground of the drop point to obtain micro-terrain data of the drop point and obtaining a horizontal offset and a release height increment according to the micro-terrain data comprises the following steps: The ground of the drop point is scanned to obtain ground undulation distribution data of the drop point, and ground pit and hole distribution data, ground slope data, and ground obstacle data are obtained according to the ground undulation distribution data; According to the ground slope data, ground slope distribution and slope inclination are obtained, and the initial release point is obtained by confirming the release point of the goods according to the ground slope distribution and the slope inclination; The target concave-convex data is obtained by data screening of the ground pit and hole distribution data and the ground obstacle data according to the initial release point; It is judged whether the concave value and the convex value exceed a preset limit threshold according to the target concave-convex data, and if it is judged that the concave value and / or the convex value exceeds the limit threshold, a target release point is obtained by position query around the initial release point; The horizontal offset of the UAV is obtained according to the relative distance between the target release point and the initial release point. Extract target obstacle data of the target release point, extract height data of the target obstacle data, and generate a release height increment according to the height data.

4. The unmanned aerial vehicle automated cargo delivery method of claim 3, wherein, Obtaining the cargo type of the cargo, and obtaining the cargo drop method according to the cargo type, specifically comprising: Obtaining the cargo type of the cargo, and further obtaining the size data and the gravity center data of the cargo according to the cargo type; According to the size data, the projection area size of the cargo on the ground is obtained, and according to the gravity center data, the stability value of the cargo when placed is obtained; According to the cargo type, the drop resistance value of the cargo is obtained, and if it is judged that the drop resistance value is lower than the first threshold value, it is marked as human-machine cooperation drop; If it is judged that the drop resistance value is greater than or equal to the first threshold value, it is marked as free drop; Wherein, when the drop resistance value is greater than or equal to the first threshold value and less than the second threshold value, it is marked as slow free release, and when the drop resistance value is greater than or equal to the second threshold value, it is marked as fast free release.

5. The unmanned aerial vehicle automated delivery method of claim 4, wherein, According to the target drop posture, the horizontal offset and the release height increment, the step of freely dropping the cargo, specifically comprising: According to the target drop posture, the hovering posture of the unmanned aerial vehicle is adjusted, and the horizontal angle and the vertical angle of the cargo are adjusted according to the hovering posture of the unmanned aerial vehicle, to obtain the target release posture of the cargo; According to the horizontal offset, the horizontal position of the cargo release is adjusted, and according to the release height increment, the vertical position of the cargo release is adjusted, to obtain the target release horizontal position and the target release vertical position; When the target release horizontal position, the target release vertical position and the target release posture all reach the best value, the cargo is freely released.

6. The unmanned aerial vehicle automated delivery method of claim 5, wherein, Obtaining the personnel operation data of the ground personnel, and dynamically adjusting the horizontal offset and the release height increment according to the personnel operation data, specifically comprising: Obtaining the personnel operation data of the ground personnel, and obtaining the personnel movement data and the personnel action data according to the personnel operation data; According to the personnel movement data, the real-time moving speed data and the real-time moving direction data of the personnel are obtained, and the horizontal offset is dynamically adjusted in real time according to the real-time moving speed data and the real-time moving direction data; According to the personnel action data, the upper limb action data of the ground personnel is obtained, and whether the ground personnel is in the state of cooperating to receive the cargo is judged according to the upper limb action data; If it is judged that the ground personnel is in the state of cooperating to receive the cargo, the release height increment is adjusted slowly in real time, so that the cargo is closer to the ground personnel.

7. The unmanned aerial vehicle automated delivery method of claim 6, wherein, Setting the personnel action mark required for cargo release, and releasing the cargo when the ground personnel makes the personnel action mark towards the unmanned aerial vehicle, specifically comprising: The personnel action mark required for the unmanned aerial vehicle to release the cargo is set in advance; When the unmanned aerial vehicle is in free drop, the ground personnel is identified to obtain the only target personnel, and the only target personnel is monitored, and the unmanned aerial vehicle releases the cargo when the ground personnel makes the personnel action mark towards the unmanned aerial vehicle. When the UAV is in the man-machine cooperation delivery mode, the ground personnel are identified to obtain the target personnel quantity receiving the goods, and the target personnel are marked according to the target personnel quantity; The actions of the plurality of target personnel are monitored to determine whether the target personnel make the personnel action mark; If it is determined that the target personnel make the personnel action mark, the action speed and the repetition number of the target personnel are identified; It is determined whether the action speed is too fast or too slow, and whether the repetition number reaches a preset standard number; If it is determined that the action speed is too fast or too slow, and the repetition number does not reach the standard number, it is determined that the action is invalid, and the man-machine cooperation is continued; If it is determined that the action speed is moderate, and the repetition number reaches the standard number, it is determined that the action is valid, and the UAV releases the goods.

8. An unmanned aerial vehicle automated delivery system using the unmanned aerial vehicle automated delivery method of any one of claims 1-7, wherein, The system comprises: An attitude adjustment module for the UAV to fly to a preset delivery point and hover in the airspace, to obtain meteorological / environmental data of the airspace around the delivery point, and to obtain a target delivery attitude according to the meteorological / environmental data; A position correction module for scanning the ground of the delivery point to obtain micro-terrain data of the delivery point, and to obtain a horizontal offset and a release height increment according to the micro-terrain data; A delivery mode determination module for obtaining a goods type of the goods, and obtaining a goods delivery mode according to the goods type, the goods delivery mode comprising free delivery and man-machine cooperation delivery; A free delivery module for, if the delivery mode is the free delivery, performing free delivery of the goods according to the target delivery attitude, the horizontal offset, and the release height increment; A cooperation adjustment module for, if the delivery mode is the man-machine cooperation delivery, obtaining personnel operation data of the ground personnel, and performing real-time dynamic adjustment of the horizontal offset and the release height increment according to the personnel operation data; An action mark module for setting a personnel action mark required for the goods release, and releasing the goods by the UAV when the ground personnel make the personnel action mark towards the UAV.

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