CN106204400B - Commodity circulation transportation positioning system based on unmanned aerial vehicle - Google Patents

Abstract

The invention discloses a logistics transportation positioning system based on an unmanned aerial vehicle. After receiving initial data and target data, the unmanned aerial vehicle carrying the onboard video camera system moves to a target position and acquires video camera data; after the unmanned aerial vehicle finishes the target data, the target data is determined through a target position calling system, and target putting is carried out to obtain target putting data. According to the invention, logistics transportation is carried out through the carrier carrying airborne video camera system based on the unmanned aerial vehicle and the stable platform, image supervision of a target transportation process is carried out through the airborne video camera system, data recording is carried out, safety and logistics guarantee in logistics transportation are improved, accurate confirmation of a target position and delivery and receiving confirmation of articles are carried out by adopting the target position calling system, delivery of the articles at wrong positions and removal of the articles by other people are avoided, and interaction between a target person and the unmanned aerial vehicle is realized.

Description

Commodity circulation transportation positioning system based on unmanned aerial vehicle

Technical Field

The invention belongs to the technical field of logistics transportation, and particularly relates to a logistics transportation positioning system based on an unmanned aerial vehicle.

Background

Unmanned aerial vehicle commodity circulation, the unmanned low latitude aircraft that operates through utilizing radio remote control equipment and self-contained program control device promptly carries the parcel, reaches the destination automatically, and its advantage mainly lies in solving the delivery problem in remote area, improves delivery efficiency, reduces the human cost simultaneously. The defects mainly lie in that no one can send goods inefficiently in severe weather, and the artificial damage can not be avoided in the process of flying again. At present, the Shufeng express is available, but the Shufeng express is not widely used.

Unmanned aerial vehicle delivery can not only reduce the delivery cost by a wide margin, still can raise the efficiency, solves the delivery difficult problem in remote area. The regulation of the unmanned aerial vehicle for the transportation of goods must occur because the main business of the logistics industry is in densely populated towns. To try to see, if the unmanned aerial vehicle carries prohibited or dangerous goods, or the unmanned aerial vehicle itself has technical failure, what threat can be formed to the residences and areas through which the unmanned aerial vehicle passes on the way? And how can goods be secured during the transportation of goods?

The unmanned aerial vehicle can quickly acquire video data of a target area, and can quickly acquire information of the target area through the video data, but under emergency conditions, certain specific places or ground objects are often required to be quickly positioned, and rescue goods and materials are put in, and people are required to search and rescue. The prior art is difficult to realize the rapid positioning of the target by directly utilizing the real-time image of the unmanned aerial vehicle.

And uncertain interference is encountered in the flight environment process of the unmanned aerial vehicle, and functions of relevant management monitoring and information interactive confirmation after the target arrives and the like on the result in target transportation are not provided.

Disclosure of Invention

The invention aims to provide a logistics transportation positioning system based on an unmanned aerial vehicle, which carries out logistics transportation by a carrier based on the unmanned aerial vehicle, carries an airborne video camera system and a stable platform, and carries out image supervision on a target transportation process by the airborne video camera system; the target position calling system is adopted to carry out accurate confirmation of the target position and receiving confirmation of the delivery of the article, and the problems of existing remote logistics positioning, interaction and the like are solved.

In order to solve the technical problems, the invention is realized by the following technical scheme:

the invention relates to a logistics transportation positioning system based on an unmanned aerial vehicle, which comprises the unmanned aerial vehicle, an airborne video camera system, a ground control center and target positioning resolving software, and is characterized in that: also included is a target location calling system that,

after the unmanned aerial vehicle receives the initial data and the target data, the unmanned aerial vehicle carrying the onboard video camera system moves to a target position and acquires video camera data;

the airborne video camera system records image data of an initial position of the unmanned aerial vehicle;

the airborne video camera system records image data of the target position of the unmanned aerial vehicle;

after the unmanned aerial vehicle finishes the target data, determining the target data through a target position calling system, and performing target delivery to obtain target delivery data;

the GPS/IMU, the target delivery data and the video shooting data of the unmanned aerial vehicle are transmitted to a ground control center in real time, and the target positioning resolving software is used for rapidly resolving the three-dimensional space coordinates of a target point to realize rapid positioning of the target.

Preferably, the unmanned aerial vehicle is provided with a GPS/IMU directional positioning navigation device and a stable platform, and the GPS/IMU directional positioning navigation device can acquire real-time aircraft position and attitude information.

Preferably, the stabilizing platform levels the onboard video camera system and provides attitude information of the onboard video camera system when the onboard video camera system shoots video images.

Preferably, the target positioning calculation software calculates the three-dimensional space coordinates of the target point by adopting the principle of intersection in the front of the photogrammetry space according to the multi-station video images and the position and attitude data acquired in real time.

Preferably, the target position calling system adopts VoIP network telephone to perform voice interaction with the target.

Preferably, the unmanned aerial vehicle carries an onboard video camera system and a stable platform to fly to a target area, and according to the GPS/IMU directional positioning information of the unmanned aerial vehicle and the attitude angle data of the stable platform, the external orientation elements of the images of all stations of the target are calculated, the forward intersection calculation of the photogrammetry space is carried out, the three-dimensional space coordinates of the target point are worked out, and the target is rapidly positioned.

The invention has the following beneficial effects:

1. according to the invention, logistics transportation is carried out by the carrier carrying the airborne video camera system and the stable platform based on the unmanned aerial vehicle, image supervision of a target transportation process is carried out by the airborne video camera system, data recording is carried out, and safety and logistics guarantee in logistics transportation are improved.

2. According to the invention, the target position calling system is adopted to accurately confirm the target position and receive and confirm the release of the object, so that the object is prevented from being delivered in a wrong position and taken away by other people, and the interaction between the target character and the unmanned aerial vehicle is realized.

Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a system structure diagram of the positioning system for logistics transportation based on unmanned aerial vehicle of the invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, the invention relates to a logistics transportation positioning system based on an unmanned aerial vehicle, which comprises the unmanned aerial vehicle, an airborne video camera system, a ground control center, target positioning resolving software and a target position calling system, wherein after the unmanned aerial vehicle receives initial data and target data, the unmanned aerial vehicle carrying the airborne video camera system moves to a target position and acquires video camera data; the method comprises the following steps that an airborne video camera system records image data of an initial position of an unmanned aerial vehicle; the method comprises the following steps that an airborne video camera system records image data of a target position of an unmanned aerial vehicle; after the unmanned aerial vehicle finishes the target data, determining the target data through a target position calling system, and performing target delivery to obtain target delivery data; GPS/IMU, target delivery data and video camera data of the unmanned aerial vehicle are transmitted to a ground control center in real time, and target positioning resolving software is used for rapidly resolving three-dimensional space coordinates of a target point to realize rapid positioning of the target.

The unmanned aerial vehicle is provided with a GPS/IMU directional positioning navigation device and a stable platform, and the GPS/IMU directional positioning navigation device can acquire real-time aircraft position and attitude information.

The stabilizing platform is used for leveling the airborne video camera system and providing attitude information when the airborne video camera system shoots video images.

The target positioning calculation software calculates the three-dimensional space coordinates of the target point by adopting the principle of photogrammetry space forward intersection according to the multi-station video images and the position and attitude data acquired in real time.

The target position calling system adopts VoIP network telephone to carry out voice interaction with the target.

The unmanned aerial vehicle carries an onboard video camera system and a stable platform and flies to a target area, external orientation elements of images of all stations of the target are calculated according to GPS/IMU orientation positioning information of the unmanned aerial vehicle and attitude angle data of the stable platform, forward intersection calculation of a photogrammetry space is carried out, three-dimensional space coordinates of a target point are solved, and rapid positioning of the target is achieved.

It should be noted that, in the above system embodiment, each included unit is only divided according to functional logic, but is not limited to the above division as long as the corresponding function can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.

In addition, it can be understood by those skilled in the art that all or part of the steps in the method for implementing the embodiments described above can be implemented by instructing the relevant hardware through a program, and the corresponding program can be stored in a computer-readable storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, or the like.

The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims (1)

1. Commodity circulation transportation positioning system based on unmanned aerial vehicle, including unmanned aerial vehicle, machine carry video camera system, ground control center and target location software of resolving, its characterized in that: also included is a target location calling system that,

after the unmanned aerial vehicle receives the initial data and the target data, the unmanned aerial vehicle carrying the onboard video camera system moves to a target position and acquires video camera data;

the airborne video camera system records image data of an initial position of the unmanned aerial vehicle; the airborne video camera system records image data of the target position of the unmanned aerial vehicle;

after the unmanned aerial vehicle finishes the target data, determining the target data through a target position calling system, and performing target delivery to obtain target delivery data;

the GPS/IMU, the target delivery data and the video camera data of the unmanned aerial vehicle are transmitted to a ground control center in real time, and the target positioning resolving software is used for rapidly resolving the three-dimensional space coordinates of a target point to realize rapid positioning of the target;

the unmanned aerial vehicle is provided with a GPS/IMU directional positioning navigation device and a stable platform, and the GPS/IMU directional positioning navigation device can acquire real-time airplane position and attitude information;

the stabilization platform is used for leveling the airborne video camera system and providing attitude information when the airborne video camera system shoots video images;

the target positioning resolving software calculates the three-dimensional space coordinates of a target point by adopting the principle of photogrammetry space forward intersection according to the multi-station video images and the position and attitude data acquired in real time;

the target position calling system adopts a VoIP network telephone to carry out voice interaction with a target;

the unmanned aerial vehicle carries an onboard video camera system and a stable platform to fly to a target area, external orientation elements of images of all stations of the target are calculated according to GPS/IMU orientation positioning information of the unmanned aerial vehicle and attitude angle data of the stable platform, photogrammetry space front intersection calculation is carried out, three-dimensional space coordinates of a target point are solved, and rapid positioning of the target is realized.

Images