An unmanned aerial vehicle automated delivery method and system

Abstract

The application discloses an unmanned aerial vehicle automatic goods delivery method and system, relates to the technical field of unmanned aerial vehicles, and comprises the following steps: the unmanned aerial vehicle flies to a preset delivery point and hovers in the airspace to obtain a target delivery posture; the ground of the delivery point is scanned to obtain a horizontal offset and a release height increment; the goods type of goods is acquired, and a goods delivery mode is obtained according to the goods type; if the delivery mode is free delivery, the goods are delivered freely; if the delivery mode is man-machine cooperation delivery, the horizontal offset and the release height increment are dynamically adjusted in real time according to personnel operation data; personnel action marks required for goods release are set, and the unmanned aerial vehicle releases the goods when the ground personnel makes the personnel action marks towards the unmanned aerial vehicle. The application has the effects of improving the accuracy of unmanned aerial vehicle goods delivery, the adaptability to the site environment and the man-machine cooperation degree.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle automatic goods delivery method and system. BACKGROUND

[0002] With the continuous progress of unmanned aerial vehicle technology, the use of unmanned aerial vehicles is becoming more and more diversified. There is now a use of unmanned aerial vehicles to deliver goods.

[0003] In the prior art, unmanned aerial vehicle goods delivery mainly relies on GPS positioning system or similar positioning technology to locate the target point. The unmanned aerial vehicle flies to the preset target point, and releases the goods after reaching the predetermined height. However, this method has significant defects. First, the GPS positioning system has a meter-level error. Second, the unmanned aerial vehicle is difficult to maintain stability in the hovering state due to the influence of the surrounding environment, resulting in deviation of the actual delivery location from the target point. On the other hand, the actual ground conditions of the delivery point are complex and variable, especially in remote areas, which can cause damage to the goods. At the same time, some goods need the cooperation of unmanned aerial vehicles and humans due to their special nature, and the existing unmanned aerial vehicles cannot complete this task. Therefore, how to solve the precision, adaptability and human-machine cooperation of unmanned aerial vehicles when delivering goods has become a problem to be solved. SUMMARY

[0004] The purpose of the present application is to provide an unmanned aerial vehicle automatic goods delivery method and system to solve the problems raised in the background.

[0005] In a first aspect, the present application provides an unmanned aerial vehicle automatic goods delivery method, which comprises:

[0006] The unmanned aerial vehicle flies to the airspace of the preset delivery point and hovers, acquires meteorological / environmental data of the airspace around the delivery point, and obtains a target delivery attitude according to the meteorological / environmental data;

[0007] The ground of the delivery point is scanned to obtain micro-topographic data of the delivery point, and a horizontal offset and a release height increment are obtained according to the micro-topographic data;

[0008] The type of the goods is acquired, and a goods delivery method is obtained according to the type of the goods, the goods delivery method including free delivery and human-machine cooperation delivery;

[0009] If the delivery method is the free delivery, the goods are delivered freely according to the target delivery attitude, the horizontal offset and the release height increment;

[0010] If the delivery method is the human-machine cooperation delivery, 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.

[0011] Marking a personnel action required for releasing the goods, and the UAV releases the goods when the ground personnel makes the personnel action mark towards the UAV.

[0012] Preferably, meteorological / environmental data of the airspace around the drop point is acquired, and the target drop posture is obtained according to the meteorological / environmental data, specifically as follows:

[0013] 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 respectively, and the meteorological / environmental data is obtained by combination;

[0014] The wind speed data and the rain and snow data of the airspace around the drop point are obtained based on the meteorological data, and the dust concentration data and the environmental pressure distribution are obtained based on the environmental data;

[0015] The first posture adjustment parameter of the UAV when approaching the ground is obtained according to the wind speed data and the rain and snow data;

[0016] The second posture adjustment parameter of the UAV when approaching the ground is obtained according to the dust concentration data and the environmental pressure distribution;

[0017] The target drop posture of the UAV is obtained by combining the first posture adjustment parameter and the second posture adjustment parameter.

[0018] Preferably, the ground of the drop point is scanned to obtain micro-topographic data of the drop point, and the horizontal offset and the release height increment are obtained according to the micro-topographic data, specifically as follows:

[0019] The ground of the drop point is scanned to obtain ground relief distribution data of the drop point, and the ground pit distribution data, the ground slope data and the ground obstacle data are obtained according to the ground relief distribution data;

[0020] The ground slope distribution and the slope inclination value are obtained according to the ground slope data, 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 value;

[0021] The target concave-convex data is obtained by data screening the ground pit distribution data and the ground obstacle data according to the initial release point;

[0022] It is judged whether the recess value and the protrusion value exceed a preset limit threshold according to the target concave-convex data, and if it is judged that the recess value and / or the protrusion value exceeds the limit threshold, the target release point is obtained by position query around the initial release point;

[0023] obtaining a horizontal offset of the UAV according to the relative distance between the target release point and the initial release point;

[0024] extracting target obstacle data of the target release point, extracting height data of the target obstacle data, and generating a release height increment according to the height data.

[0025] Preferably, the cargo type of the cargo is obtained, and the cargo release mode is obtained according to the cargo type, specifically:

[0026] The cargo type of the cargo is obtained, and the size data and the gravity center data of the cargo are further obtained according to the cargo type;

[0027] 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;

[0028] 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 a preset first threshold value, it is marked as human-computer cooperation release;

[0029] If it is judged that the drop resistance value is greater than or equal to the first threshold value, it is marked as free release;

[0030] Among them, when the drop resistance value is greater than or equal to the first threshold value and less than a preset 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.

[0031] Preferably, the free release of the cargo according to the target release posture, the horizontal offset and the release height increment is specifically:

[0032] According to the target release posture, the hovering posture of the UAV is adjusted, and the horizontal angle and the vertical angle of the cargo are adjusted according to the hovering posture of the UAV to obtain the target release posture of the cargo;

[0033] According to the horizontal offset, the horizontal release position of the cargo is adjusted, and according to the release height increment, the vertical release position of the cargo is adjusted to obtain the target release horizontal position and the target release vertical position;

[0034] When the target release horizontal position, the target release vertical position and the target release posture all reach the best values, the cargo is released freely.

[0035] Preferably, the personnel operation data of the ground personnel is obtained, and the horizontal offset and the release height increment are dynamically adjusted in real time according to the personnel operation data.

[0036] acquiring personnel operation data of the ground personnel, obtaining personnel moving data and personnel action data according to the personnel operation data;

[0037] obtaining real-time moving speed data and real-time moving direction data of the personnel according to the personnel moving data, and dynamically adjusting the horizontal offset in real time according to the real-time moving speed data and the real-time moving direction data;

[0038] obtaining upper limb action data of the ground personnel according to the personnel action data, and judging whether the ground personnel is in a state of cooperating to receive the goods according to the upper limb action data;

[0039] if it is judged that the ground personnel is in the state of cooperating to receive the goods, then the release height increment is adjusted in real time at a slow speed so that the goods are closer to the ground personnel.

[0040] Preferably, a personnel action mark required for releasing the goods is set, and when the ground personnel makes the personnel action mark towards the UAV, the UAV releases the goods.

[0041] The personnel action mark required for releasing the goods by the UAV is set in advance;

[0042] When the UAV is in free delivery, the ground personnel is identified to obtain a unique target personnel, and the unique target personnel is monitored, and when the ground personnel makes the personnel action mark towards the UAV, the UAV releases the goods.

[0043] When the UAV is in man-machine cooperative delivery, the ground personnel is identified to obtain a target personnel quantity receiving the goods, and the target personnel is marked according to the target personnel quantity;

[0044] The actions of a plurality of the target personnel are monitored to judge whether the target personnel make the personnel action mark;

[0045] If it is judged that the target personnel make the personnel action mark, the action speed and the repetition frequency of the target personnel are identified;

[0046] It is judged whether the action speed is too fast or too slow, and whether the repetition frequency reaches a preset standard frequency;

[0047] If it is judged that the action speed is too fast or too slow, and the repetition frequency does not reach the standard frequency, it is determined as invalid action, and the man-machine cooperation is continued;

[0048] If it is judged that the action speed is moderate, and the repetition frequency reaches the standard frequency, it is determined as valid action, and the UAV releases the goods.

[0049] In a second aspect, the application provides an unmanned aerial vehicle automatic goods delivery system, which comprises:

[0050] a posture adjustment module, configured to make the unmanned aerial vehicle hover in the airspace of a preset delivery point, acquire meteorological / environmental data of the airspace around the delivery point, and obtain a target delivery posture according to the meteorological / environmental data;

[0051] a position correction module, configured to scan the ground of the delivery point to obtain micro-terrain data of the delivery point, and obtain a horizontal offset and a release height increment according to the micro-terrain data;

[0052] a delivery mode determination module, configured to acquire a goods type of the goods, and obtain a goods delivery mode according to the goods type, the goods delivery mode comprising free delivery and man-machine cooperative delivery;

[0053] a free delivery module, configured to, if the delivery mode is the free delivery, perform free delivery of the goods according to the target delivery posture, the horizontal offset and the release height increment;

[0054] a cooperative adjustment module, configured to, if the delivery mode is the man-machine cooperative delivery, acquire personnel operation data of a ground personnel, and perform real-time dynamic adjustment of the horizontal offset and the release height increment according to the personnel operation data;

[0055] an action marking module, configured to set a personnel action marking required for release of the goods, and release the goods when the ground personnel makes the personnel action marking towards the unmanned aerial vehicle.

[0056] In summary, the application has at least one of the following beneficial technical effects:

[0057] The attitude of the unmanned aerial vehicle when hovering is adjusted by collecting the environment and meteorological data around the release point, and a target release attitude is obtained. Then the ground of the release point is scanned to obtain micro-terrain data, and the horizontal and vertical positions of the unmanned aerial vehicle are adjusted according to the micro-terrain data to obtain a horizontal offset and a release height increment, which can be negative, that is, moving vertically downward. Then the type of the goods is collected, and it is judged whether human cooperation is needed according to the type of the goods. If human cooperation is not needed, it is marked as free release, and if human cooperation is needed, it is marked as man-machine cooperative release. When free release, the goods are released onto the ground of the release point according to the target release attitude, the horizontal offset and the release height increment. When man-machine cooperative release, the unmanned aerial vehicle monitors the ground personnel operation to determine the moving speed and direction of the ground personnel, and then adjusts the horizontal offset and the release height increment for adjustment and cooperation with the ground personnel. When the ground personnel make a personnel action mark, the unmanned aerial vehicle recognizes the action mark, indicating that the goods can be released, and then the unmanned aerial vehicle releases the goods. The accuracy of the unmanned aerial vehicle when releasing goods is improved, and the adaptability to the site environment and the man-machine cooperation degree are improved. BRIEF DESCRIPTION OF DRAWINGS

[0058] Fig. 1 is a step flow chart of a unmanned aerial vehicle automatic goods release method provided by the embodiment of the present application;

[0059] Fig. 2 is a module block diagram of a unmanned aerial vehicle automatic goods release system provided by the embodiment of the present application.

[0060] Explanation of reference numerals: 1, attitude adjustment module; 2, position correction module; 3, release mode determination module; 4, free release module; 5, cooperation adjustment module; 6, action mark module. DETAILED DESCRIPTION

[0061] The following will be described in detail in combination with the accompanying Figs. 1-2 The present application will be described in further detail, but the embodiments of the present application are not limited to this.

[0062] The embodiment of the present application discloses a unmanned aerial vehicle automatic goods release method and system.

[0063] In the embodiment, a unmanned aerial vehicle automatic goods release method is involved, which comprises:

[0064] S100: The unmanned aerial vehicle flies to the airspace of a preset release point and hovers, acquires meteorological / environmental data of the airspace around the release point, and obtains a target release attitude according to the meteorological / environmental data;

[0065] S200: The ground of the release point is scanned to obtain micro-terrain data of the release point, and a horizontal offset and a release height increment are obtained according to the micro-terrain data;

[0066] S300: Obtain the cargo type of the cargo, and obtain a cargo release mode according to the cargo type, the cargo release mode including free release and man-machine cooperation release;

[0067] S400: If the release mode is free release, free release is performed on the cargo according to the target release posture, the horizontal offset, and the release height increment;

[0068] S500: If the release mode is man-machine cooperation release, personnel operation data of a ground personnel is obtained, and the horizontal offset and the release height increment are dynamically adjusted in real time according to the personnel operation data;

[0069] S600: A personnel action mark required for cargo release is set, and the cargo is released when the ground personnel makes the personnel action mark toward the unmanned aerial vehicle.

[0070] It should be pointed out that the above process is only the basic step of the embodiment, and in the specific implementation process, part of the steps can be appropriately added, reduced or modified without affecting the overall implementation effect.

[0071] Obtain the meteorological / environmental data of the airspace around the release point, and obtain the target release posture according to the meteorological / environmental data, specifically as follows:

[0072] After the unmanned aerial vehicle hovers in the airspace of the preset release point, data of the airspace around the release point is collected to obtain meteorological data and environmental data, and the meteorological / environmental data is obtained by combining the meteorological data and the environmental data;

[0073] Based on the meteorological data, wind speed data and rain and snow data of the surrounding airspace are obtained, and based on the environmental data, dust concentration data and environmental pressure distribution are obtained;

[0074] According to the wind speed data and the rain and snow data, first posture adjustment parameters of the unmanned aerial vehicle when approaching the ground are obtained;

[0075] According to the dust concentration data and the environmental pressure distribution, second posture adjustment parameters of the unmanned aerial vehicle when approaching the ground are obtained;

[0076] The target release posture of the unmanned aerial vehicle is obtained by combining the first posture adjustment parameters and the second posture adjustment parameters.

[0077] In an implementation, a UAV for delivering medical supplies is used as an example. After the UAV hovers in the airspace of a preset drop point, it collects data of the surrounding airspace. First, it acquires meteorological data, including wind speed data and rain and snow data. The wind speed is 5 meters per second, and the rain and snow data is 10 millimeters of rainfall per hour. Then, it acquires environmental data, including dust concentration data and environmental pressure distribution. The dust concentration is 30 micrograms per cubic meter, and the environmental pressure distribution shows that the high-pressure area is in the east and the low-pressure area is in the west. Next, according to the wind speed and rain and snow data, the first attitude adjustment parameter of the UAV when close to the ground is calculated, for example, the pitch angle is adjusted to negative 3 degrees to resist wind pressure. Then, according to the dust concentration and environmental pressure distribution, the second attitude adjustment parameter is calculated, for example, the roll angle is adjusted to positive 2 degrees to cope with the dust impact. Finally, the target drop attitude of the UAV is obtained by combining the first attitude adjustment parameter and the second attitude adjustment parameter, that is, the pitch angle is negative 3 degrees and the roll angle is positive 2 degrees. The whole process ensures that the UAV remains stable in bad weather.

[0078] The ground of the drop point is scanned to obtain micro-terrain data of the drop point. According to the micro-terrain data, the horizontal offset and the release height increment are obtained. Specifically, the steps are as follows:

[0079] The ground of the drop point is scanned to obtain ground undulation distribution data of the drop point. According to the ground undulation distribution data, ground pit distribution data, ground slope data, and ground obstacle data are obtained.

[0080] According to the ground slope data, the ground slope distribution and the slope inclination value are obtained. According to the ground slope distribution and the slope inclination value, the initial release point is confirmed.

[0081] According to the initial release point, the ground pit distribution data and the ground obstacle data are filtered to obtain target concave-convex data.

[0082] According to the target concave-convex data, it is determined whether the concave value and the convex value exceed the preset limit threshold. If it is determined that the concave value and / or the convex value exceeds the limit threshold, a position query is performed around the initial release point to obtain a target release point.

[0083] According to the relative distance between the target release point and the initial release point, the horizontal offset of the UAV is obtained.

[0084] The target obstacle data of the target release point is extracted, the height data of the target obstacle data is extracted, and the release height increment is generated according to the height data.

[0085] In an implementation, a UAV for delivering medical supplies is taken as an example. The UAV scans the ground at the delivery point by laser, and obtains the ground unevenness distribution data. The data shows that there are two pits in the ground unevenness distribution data, with depths of 20 cm and 30 cm respectively; the ground slope data is that the slope is higher in the north and lower in the south, and the slope inclination value is 15 degrees; the ground obstacle data includes a large stone and a tree. Then, according to the ground slope distribution and the slope inclination value, the initial release point is confirmed to be located on the south slope. Next, the initial release point is taken as the center to screen the ground unevenness distribution data and the ground obstacle data, and the target unevenness data including the positions of the pits and the stone are obtained. It is then judged that the pit with a depth of 30 cm exceeds the preset limit threshold of 20 cm, and thus a flat area is found as the target release point by querying the surrounding area of the point. The target release point is 3 meters east of the initial point. Finally, according to the relative distance between the target release point and the initial release point, the horizontal offset of the UAV is obtained as 3 meters east; the obstacle stone height data of the target release point is extracted as 50 cm, and a release height increment of 50 cm is generated. In this way, the UAV avoids dangerous terrain.

[0086] The cargo type of the cargo is obtained, and the cargo delivery method is obtained according to the cargo type. Specifically, the steps are as follows:

[0087] The cargo type of the cargo is obtained, and the size data and the gravity center data of the cargo are further obtained according to the cargo type.

[0088] 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.

[0089] According to the cargo type, the drop resistance value of the cargo is obtained. If it is judged that the drop resistance value is lower than a preset first threshold, it is marked as human-machine cooperation delivery.

[0090] If it is judged that the drop resistance value is greater than or equal to the first threshold, it is marked as free delivery.

[0091] Among them, when the drop resistance value is greater than or equal to the first threshold and less than a preset second threshold, it is marked as slow free release, and when the drop resistance value is greater than or equal to the second threshold, it is marked as fast free release.

[0092] In use, taking a certain unmanned aerial vehicle for delivering medical supplies as an example, the unmanned aerial vehicle obtains the cargo type of the cargo as a vaccine box. According to the cargo type, further size data is obtained as 50 cm long, 30 cm wide, and 20 cm high, and the center of gravity data is obtained as the center position of the bottom of the box. Then, according to the cargo type, the drop resistance value is obtained as 5 (the lower the value, the more fragile), the first threshold value is set as 8, and the second threshold value is set as 15. Then, it is judged that the drop resistance value 5 is lower than the first threshold value 8, and therefore marked as human-machine cooperation delivery. If the cargo is a protective suit, the drop resistance value is 10, which is greater than the first threshold value 8 but less than the second threshold value 15, and therefore marked as slow free release. Finally, if the cargo is a mask, the drop resistance value is 20, which is greater than the second threshold value 15, and therefore marked as fast free release. The whole process automatically determines the delivery method based on the characteristics of the cargo to ensure the safety of fragile goods.

[0093] According to the target delivery posture, the horizontal offset, and the release height increment, the step of freely delivering the cargo is as follows:

[0094] According to the target delivery 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;

[0095] According to the horizontal offset, the release horizontal position of the cargo is adjusted, and according to the release height increment, the release vertical position of the cargo is adjusted, to obtain the target release horizontal position and the target release vertical position;

[0096] When the target release horizontal position, the target release vertical position, and the target release posture all reach the best values, the cargo is freely released.

[0097] In use, taking a certain unmanned aerial vehicle for delivering medical supplies as an example, the unmanned aerial vehicle operates in a free delivery mode. First, according to the target delivery posture (pitch angle negative 3 degrees, roll angle positive 2 degrees), the hovering posture of the unmanned aerial vehicle is adjusted, and based on the hovering posture, the horizontal angle of the cargo is set to the north direction and the vertical angle is set to 90 degrees downward, to obtain the target release posture of the cargo. Then, according to the horizontal offset of 3 meters east, the release horizontal position of the cargo is adjusted to a new coordinate point. Then, according to the release height increment of 50 cm, the release vertical position of the cargo is adjusted to 3 meters high from the ground. Next, the target release horizontal position, the target release vertical position, and the target release posture are monitored, and when all of them reach the best values (such as position error less than 10 cm and stable posture), the unmanned aerial vehicle freely releases the cargo. The cargo is smoothly landed on the ground flat area, avoiding damage.

[0098] The personnel operation data of the ground personnel is obtained, and the horizontal offset and the release height increment are dynamically adjusted in real time according to the personnel operation data.

[0099] acquiring personnel operation data of the ground personnel, obtaining personnel movement data and personnel action data from the personnel operation data;

[0100] obtaining real-time moving speed data and real-time moving direction data of the personnel from the personnel movement data, and dynamically adjusting the horizontal offset in real time according to the real-time moving speed data and the real-time moving direction data;

[0101] obtaining upper limb action data of the ground personnel from the personnel action data, and judging whether the ground personnel is in a state of cooperating to receive the goods according to the upper limb action data;

[0102] if it is judged that the ground personnel is in the state of cooperating to receive the goods, then adjusting the release height increment in real time at a slow speed to make the goods closer to the ground personnel.

[0103] In an example, a drone for delivering medical supplies is used as an example. In the human-machine cooperative delivery mode, the drone is operated as follows. First, personnel operation data of the ground personnel is acquired, including personnel movement data and personnel action data. The personnel movement data shows that the real-time moving speed is 1 meter per second and the real-time moving direction is eastward. Then, the horizontal offset is adjusted in real time according to the real-time moving speed and the real-time moving direction, for example, the offset is dynamically changed from 3 meters eastward to 4 meters eastward to follow the personnel. The personnel action data is acquired, including upper limb actions such as arm stretching, and it is judged that the ground personnel is in the state of cooperating to receive the goods. Next, if it is judged that the personnel cooperates, the release height increment is adjusted at a slow speed, for example, from 50 centimeters to 20 centimeters, to make the goods closer to the personnel. Finally, the drone continuously monitors to ensure the synchronization of the position.

[0104] setting a personnel action mark required for releasing the goods, and when the ground personnel makes the personnel action mark towards the drone, the drone releases the goods, and the steps are as follows:

[0105] previously setting the personnel action mark required for the ground personnel to make when the drone releases the goods;

[0106] when the drone is in the free delivery mode, identifying the ground personnel to obtain a unique target personnel, and monitoring the unique target personnel, when the ground personnel makes the personnel action mark towards the drone, the drone releases the goods;

[0107] when the drone is in the human-machine cooperative delivery mode, identifying the ground personnel to obtain a number of target personnel receiving the goods, and marking the target personnel according to the number of target personnel;

[0108] monitoring the actions of the multiple target personnel to judge whether any target personnel makes the personnel action mark;

[0109] If it is judged that the target personnel makes the personnel action mark, the action speed and the repetition number of the target personnel are identified;

[0110] It is judged whether the action speed is too fast or too slow, and whether the repetition number reaches a preset standard number;

[0111] If it is judged 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;

[0112] If it is judged that the action speed is moderate, and the repetition number reaches the standard number, it is determined that the action is valid, and the unmanned aerial vehicle releases the goods.

[0113] In the application, the unmanned aerial vehicle for delivering medical supplies is taken as an example. The unmanned aerial vehicle is preset to have the personnel action mark as waving hands three times. In free delivery, the unmanned aerial vehicle identifies the only target personnel on the ground, and monitors the picture. When the personnel makes the mark towards the unmanned aerial vehicle, the goods are immediately released. In man-machine cooperation delivery, the unmanned aerial vehicle identifies that the target personnel receiving the goods is two, and the marks are A and B. The actions of the multiple target personnel are monitored. When A waves hands, the action speed is identified as once per second, and the repetition number is three. Then, it is judged that the action speed is moderate (once per second is in the preset range of 0.5-2 seconds), and the repetition number reaches the standard three times, so it is determined that the action is valid. Finally, the unmanned aerial vehicle releases the goods. If the action speed of B is too fast (three times per second) or too slow (0.2 times per second), and the repetition number is less than three times, it is determined that the action is invalid, and the cooperation is continued. The whole process ensures safe release.

[0114] The embodiment of the application provides an unmanned aerial vehicle automatic goods delivery system using any one of the unmanned aerial vehicle automatic goods delivery methods.

[0115] The attitude adjustment module 1 is used for the unmanned aerial vehicle to fly to a preset delivery point and hover in the airspace, acquires meteorological / environmental data of the airspace around the delivery point, and obtains a target delivery attitude according to the meteorological / environmental data;

[0116] The position correction module 2 is used for scanning the ground of the delivery point to obtain micro-terrain data of the delivery point, and obtaining a horizontal offset and a release height increment according to the micro-terrain data;

[0117] The delivery mode determination module 3 is used for acquiring a goods type of the goods, and obtaining a goods delivery mode according to the goods type. The goods delivery mode includes free delivery and man-machine cooperation delivery.

[0118] The free delivery module 4 is used for, if the delivery mode is free delivery, performing free delivery on the goods according to the target delivery attitude, the horizontal offset and the release height increment.

[0119] The cooperation adjustment module 5 is used for acquiring personnel operation data of the ground personnel, and dynamically adjusting the horizontal offset and the release height increment in real time according to the personnel operation data if the delivery mode is the man-machine cooperation delivery.

[0120] The action marking module 6 is used for setting a personnel action marking required for releasing the goods, and the unmanned aerial vehicle releases the goods when the ground personnel makes the personnel action marking towards the unmanned aerial vehicle.

[0121] The above are preferred embodiments of the present application, and are not used to limit the protection scope of the present application, so that: any equivalent changes made according to the structure, shape, principle of the present application should be covered within the protection scope of the present 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, 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 comprising 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; 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, specifically as follows: The ground of the drop point is scanned to obtain ground fluctuation distribution data of the drop point, and ground pit and hollow distribution data, ground slope data and ground obstacle data are obtained according to the ground fluctuation distribution data; According to the ground slope data, ground slope distribution and slope inclination are obtained, and an initial release point is obtained by confirming the release point of the goods according to the ground slope distribution and the slope inclination; The ground pit and hollow distribution data and the ground obstacle data are filtered according to the initial release point, and target concave and convex data are obtained; It is judged whether the concave value and the convex value exceed a preset limit threshold according to the target concave and convex data, and if it is judged that the concave value and / or the convex value exceeds the limit threshold, a position around the initial release point is queried to obtain a target release point; A horizontal offset of the UAV is obtained according to the relative distance between the target release point and the initial release point; Target obstacle data of the target release point is extracted, height data of the target obstacle data is extracted, and a release height increment is generated according to the height data; The personnel operation data of the ground personnel is acquired, and personnel movement data and personnel action data are obtained according to the personnel operation data; Real-time moving speed data and real-time moving direction data of the personnel are obtained according to the personnel movement data, 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; Upper limb action data of the ground personnel is obtained according to the personnel action data, and it is judged whether the ground personnel is in a state of cooperating to receive the goods according to the upper limb action data. ​ If it is judged that the ground personnel is in a cooperative receiving goods state, the release height increment is adjusted in real time at a slow speed, so that the goods are closer to the ground personnel. 2.The unmanned aerial vehicle automated cargo delivery method of claim 1, wherein, The meteorological / environmental data of the airspace around the release point is acquired, and the target release attitude is obtained according to the meteorological / environmental data, specifically as follows: After the unmanned aerial vehicle hovers in the airspace of the preset release point, data of the airspace around the release point is collected to obtain meteorological data and environmental data respectively, 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 release 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, the first attitude adjustment parameter of the unmanned aerial vehicle when approaching the ground is obtained; According to the dust concentration data and the environmental air pressure distribution, the second attitude adjustment parameter of the unmanned aerial vehicle when approaching the ground is obtained; The target release attitude of the unmanned aerial vehicle is obtained by combining the first attitude adjustment parameter and the second attitude adjustment parameter. 3.The unmanned aerial vehicle automated cargo delivery method of claim 2, wherein, The type of the goods is acquired, and the release mode of the goods is obtained according to the type of the goods, specifically as follows: The type of the goods is acquired, and the size data and the gravity center data of the goods are further obtained according to the type of the goods; According to the size data, the projection area size of the goods on the ground is obtained, and according to the gravity center data, the stability value of the goods when placed is obtained; According to the type of the goods, the falling resistance value of the goods is obtained, and if it is judged that the falling resistance value is lower than a preset first threshold value, it is marked as human-machine cooperative release; If it is judged that the falling resistance value is greater than or equal to the first threshold value, it is marked as free release; Wherein, when the falling resistance value is greater than or equal to the first threshold value and less than a preset second threshold value, it is marked as slow free release, and when the falling resistance value is greater than or equal to the second threshold value, it is marked as fast free release. 4.The unmanned aerial vehicle automated cargo delivery method of claim 3, wherein, The target release attitude, the horizontal offset and the release height increment are used to free release the goods, specifically as follows: According to the target release attitude, the hovering attitude of the unmanned aerial vehicle is adjusted, and the horizontal angle and the vertical angle of the goods are adjusted according to the hovering attitude of the unmanned aerial vehicle to obtain the target release attitude of the goods; According to the horizontal offset, the horizontal position of the goods release is adjusted, and according to the release height increment, the vertical position of the goods 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 attitude all reach the best values, the goods are free released.

5. The unmanned aerial vehicle automated delivery method of claim 4, wherein, The personnel action mark required for goods release is set, and when the ground personnel makes the personnel action mark towards the unmanned aerial vehicle, the unmanned aerial vehicle releases the goods, specifically as follows: The personnel action mark required for goods release by the unmanned aerial vehicle is set in advance; When the unmanned aerial vehicle is in free release, the ground personnel is identified to obtain a unique target personnel, and the unique target personnel is monitored, and when the ground personnel makes the personnel action mark towards the unmanned aerial vehicle, the unmanned aerial vehicle releases the goods. 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.

6. An unmanned aerial vehicle automated delivery system using the unmanned aerial vehicle automated delivery method of any one of claims 1-5, 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 release of the goods, and releasing the goods by the UAV when the ground personnel make the personnel action mark towards the UAV.

Images