Intelligent delivery method and deviceTechnical field
The present invention relates to a kind of cargo delivering method and devices, belong to logistical applications direction, information technology field.
Background technique
With the prosperity of internet, logistics is more and more flourishing, express delivery quantity is more and more, but express delivery is substantially by placeThen express company, by manually consigning to residential area, will deliver in logistics cabinet after express delivery automotive to the section of cargo Relatively centralizedIt is taken away by the owner of cargo, or is sent in owner of cargo family by courier within a certain period of time.Current this mode, there are Railway Projects: not havingThere is logistics cabinet or be reluctant in the case of payment logistics cabinet, there are the owners of cargo to be difficult the face-to-face addressee of right times, reduces and delivers effectRate, there is also the hidden danger of owner of cargo's safety；In a manner of logistics cabinet, it is limited by the confined space and cost issues of logistics cabinet；Mould at presentFormula manual intervention is more, and because labour cost is higher and higher, it is higher and higher to deliver expense.
The satellite navigation of existing unmanned plane routine is transported, and because precision is inadequate, can not achieve the delivery of accurate location.And it is fastIt passs delivery not only to have needed accurately to deliver, but also with needing to deliver overall cost expense.
Summary of the invention
It is an object of the invention to overcome the above problem of the existing technology, a kind of cargo delivering method and dress are providedIt sets, realizes and deliver that accurate, convenient, high-efficient, expense is low, process and intellectual management.
To achieve the above object, The technical solution adopted by the invention is as follows:
This intelligent delivery method and device, including unmanned plane, cargo reception device, it is characterised in that: cargo reception deviceIncluding owner of cargo's location information, at least one indicating label, unmanned plane includes radar sensor, at least one video camera；Owner of cargo positionInformation is the satellite or base station or 3D digital map navigation information for including height above sea level.Its working method is that deliverer is in advance by cargoOwner of cargo's location information of reception device, indicating label information, which are stored in, delivers in customer data base, when deliverer has the owner of cargo to wait throwingWhen passing cargo and UAV Intelligent being needed to deliver, deliverer delivery system intends owner of cargo's location information, indicating label information inputFor delivering the unmanned plane of owner of cargo's cargo, unmanned plane self-navigation, which reaches cargo reception device nearby and starts video camera search, to be referred toIndicating label, unmanned plane discharge cargo to target area according to the indicating label information of detection, if do not examined in certain timeIt measures indicating label information then to abandon delivering, and successful information will be delivered or abandon delivery information, delivery system is passed through by unmanned planeIt is sent to the owner of cargo, unmanned plane directly makes a return voyage next designated position to deliverer or delivery system arrangement after the completion of delivery.
The cargo reception device includes bluetooth module, power module, and blue module is connected with power module, and unmanned plane includesBluetooth module.Its working method is, deliverer in advance by the bluetooth module information of cargo reception device and owner of cargo's location information, refer toShow that label information is stored in deliver in customer data base, when deliverer has owner of cargo's cargo to be delivered and UAV Intelligent is needed to deliverWhen, deliverer delivery system intends owner of cargo's location information of cargo reception device, bluetooth module information, indicating label information inputFor delivering the unmanned plane of owner of cargo's cargo, unmanned plane self-navigation reaches cargo reception device nearby and starts bluetooth module connectionThe bluetooth module of cargo reception device, the not connected upper bluetooth module of unmanned plane is then abandoned delivering in certain time, bluetooth in connectionThe distance relation and distance for judging unmanned plane Yu cargo reception device after module by signal strength, apart from it is close when start video cameraIndicating label is searched, unmanned plane discharges cargo to target area according to the indicating label information of detection, if in certain timeIt does not detect that indicating label information is then abandoned delivering, and successful information will be delivered or put delivery information, delivery is passed through by unmanned planeSystem is sent to the owner of cargo.
The cargo reception device includes two indicating labels, first finds cargo by an indicating label guidance unmanned plane and connectsReceiving apparatus, the specific location for then being discharged cargo by another indicating label instruction unmanned plane；The bluetooth module can be withIt is replaced by wifi module.
The indicating label is symbol code label or pattern label.
The indicating label is photoelectricity indicating label, and the photoelectricity indicating label is made of 3 and the above light emitting diode,Power module is connected with light emitting diode.
The cargo reception device includes two indicating labels, wherein guidance unmanned plane finds the instruction of cargo reception deviceLabel is symbol code label or pattern label, another label is photoelectricity indicating label.
The cargo reception device includes microprocessor, microprocessor be connected with bluetooth module and respectively with power module phaseEven；The cargo reception device includes memory；The microprocessor can also be arranged in bluetooth module.Its working methodIt is that owner of cargo's location information, indicating label information are sent to goods by bluetooth module using mobile phone or tablet computer in advance by the owner of cargoObject reception device, and be stored in cargo reception device with the bluetooth module information of cargo reception device, when unmanned plane is with bluetoothRead when module booting enters cargo reception device range owner of cargo's location information in cargo reception device, indicating label information,Bluetooth module information, with prestored in unmanned plane owner of cargo's location information, indicating label information, bluetooth module information implementation compare,Continue to deliver if consistent, no person, which is judged as, to deliver.
When the unmanned plane delivers multiple owner of cargo's cargos, multiple owner of cargo's location informations, indicating label information, indigo plant can be setTooth module information.
The cargo reception device realizes that the owner of cargo sends cargo, and unmanned plane configures weighing sensor.Its method is that the owner of cargo is firstThe solicited message that mobile phone or tablet computer send cargo to delivery system is first passed through, delivery system is received to unmanned plane sendingIt instructs and to indicate that unmanned plane reaches the hovering of cargo reception device as cargo delivering method aerial, while or passing through delivery slightly beforeSystem reaches information to owner of cargo's mobile phone or tablet computer transmitting unmanned plane, and required transmission cargo is hung up unmanned plane by the owner of cargo, nobodyMachine weighs automatically and weight information is transmitted to delivery system, and the Shipping Information including the amount of money is sent to goods by delivery systemMain confirmation, delivery system instruction unmanned plane directly makes a return voyage next specific bit to deliverer or delivery system arrangement after confirmationIt sets.
The pattern label is at least 1 group of rectangular edges wire, and each group rectangular edges wire is respectively red green or blueAnd it staggers successively；The pattern label can also be at least 1 group of circular frame line, and each group circular frame line is respectively red or greenColor or blue simultaneously stagger successively.
Using the present invention has the advantages that
1, this intelligent delivery method and device, including unmanned plane, cargo reception device, it is characterised in that: cargo receives dressIt sets including owner of cargo's location information, at least one indicating label, unmanned plane includes radar sensor, at least one video camera；Owner of cargo positionConfidence breath is the satellite or base station or 3D digital map navigation information for including height above sea level.Its working method is that deliverer is in advance by goodsOwner of cargo's location information of object reception device, indicating label information, which are stored in, delivers in customer data base, when deliverer has the owner of cargo to wait forDeliver cargo and when UAV Intelligent being needed to deliver, deliverer delivery system is by owner of cargo's location information, indicating label information inputIt is envisaged for delivering the unmanned plane of owner of cargo's cargo, unmanned plane self-navigation reaches owner of cargo position nearby and starts video camera search instructionLabel, unmanned plane discharge cargo to target area according to the indicating label information of detection, if do not detected in certain timeIt then abandons delivering to indicating label information, and successful information will be delivered or abandon delivery information and sent out by unmanned plane by delivery systemIt send to the owner of cargo, unmanned plane directly makes a return voyage next designated position to deliverer or delivery system arrangement after the completion of delivery.
Using apparatus above and method, realize that delivery is accurate, convenient, expense is low, process is intelligent.
2, in the present invention, the cargo reception device includes bluetooth module, power module, blue module and power module phaseEven, unmanned plane includes bluetooth module.Its working method is that deliverer is in advance by the bluetooth module information and goods of cargo reception devicePrimary location information, indicating label information, which are stored in, delivers in customer data base, when deliverer has owner of cargo's cargo to be delivered and needsUAV Intelligent deliver when, deliverer delivery system by owner of cargo's location information of cargo reception device, bluetooth module information, instructionLabel information input is envisaged for delivering the unmanned plane of owner of cargo's cargo, and unmanned plane self-navigation reaches cargo reception device nearby and opensDynamic bluetooth module connects the bluetooth module of cargo reception device, and the not connected upper bluetooth module of unmanned plane is then abandoned throwing in certain timeIt passs, judges the distance relation and distance of unmanned plane Yu cargo reception device, distance in connection after bluetooth module by signal strengthStarting video camera searches indicating label when close, and unmanned plane discharges cargo to target area according to the indicating label information of detection,Abandons delivering if not detecting indicating label information in certain time, and successful information will be delivered or put delivery information byUnmanned plane is sent to the owner of cargo by delivery system.
Using apparatus above and method, realize that delivery is accurate, convenient, more efficient, expense is low, process and management are intelligentChange；Using bluetooth module, be conducive to carry out intelligent communication using owner of cargo's existing equipment, do not increase the owner of cargo and use input cost.
3, in the present invention, the cargo reception device includes two indicating labels, first by an indicating label guides nobodyMachine finds cargo reception device, the specific location for then being discharged cargo by another indicating label instruction unmanned plane；It is describedBluetooth module can be replaced by wifi module.
Using wifi module, be conducive to using owner of cargo's existing equipment carry out intelligent communication, do not increase the owner of cargo using investment atThis.
4, the present invention in, the indicating label be symbol code label or pattern label.
Realize that the diversity of label, the selectivity of the beauty and the owner of cargo that are conducive to label are wide.
5, in the present invention, the indicating label is photoelectricity indicating label, and the photoelectricity indicating label shines by 3 or moreDiode composition, power module are connected with light emitting diode.
Realize photoelectricity label, label service life is more longlasting, more intelligent.
6, in the present invention, the cargo reception device includes two indicating labels, wherein guidance unmanned plane finds cargo and connectsThe indicating label of receiving apparatus is symbol code label or pattern label, another label is photoelectricity indicating label.Facilitate basisEnvironment delivers environment reasonable selection and is more convenient for installing or being easier the indicating label of identification.
7, the present invention in, the cargo reception device includes microprocessor, and microprocessor is connected and distinguishes with bluetooth moduleIt is connected with power module；The cargo reception device includes memory；The microprocessor can also be arranged in bluetooth module.Its working method: owner of cargo's location information, indicating label information are passed through bluetooth module using mobile phone or tablet computer in advance by the owner of cargoIt is sent to cargo reception device, and is stored in cargo reception device with the bluetooth module information of cargo reception device, when nobodyMachine reads owner of cargo's location information, indicateing arm in cargo reception device when leading into cargo reception device range with bluetooth moduleOwner of cargo's location information for prestoring in label information, with unmanned plane, the implementation of indicating label information compare, and continue to deliver if consistent,No person, which is judged as, to deliver.
Be able to achieve more accurate owner of cargo's authentication, be able to achieve cargo reception device storage receive, send goods information withPass through the inquiry such as mobile phone afterwards convenient for the owner of cargo.
8, in the present invention, when the unmanned plane delivers multiple owner of cargo's cargos, multiple owner of cargo's location informations, instruction can be setLabel information is conducive to improve and delivers efficiency.
9, in the present invention, the unmanned plane configures weighing sensor.Its method is that the owner of cargo passes through mobile phone or plate electricity firstBrain to delivery system send send cargo solicited message, delivery system to unmanned plane sending receive instruction and indicate unmanned plane withIt is aerial that cargo delivering method equally reaches the hovering of cargo reception device, while passing through delivery system to owner of cargo's mobile phone or tablet computerIt transmits unmanned plane and reaches information, required transmission cargo is hung up unmanned plane by the owner of cargo, and unmanned plane weighs automatically and passes weight informationDelivery system is transported to, the Shipping Information including the amount of money is sent to the owner of cargo and confirms that delivery system refers to after confirmation by delivery systemShow next designated position that unmanned plane directly makes a return voyage to deliverer or delivery system arrangement.Delivery of goods function is realized in this wayEnergy.
It may be implemented not increase or reduce under oil (gas) filling device cost, can send with charge free but also receive express delivery and other items.
10, in the present invention, the pattern label be at least 1 group of rectangular edges wire, and each group rectangular edges wire is respectively redIt is green or blue and stagger successively；The pattern label can also be at least 1 group of circular frame line, each group circular frame line pointIt Wei not be red green or blue and staggers successively.
Above-mentioned color is strong convenient for video camera identification, environment resistant light ability；Frame line, especially regular rectangular edges wire,Circular frame line easily identifies, recognition efficiency is high；On frame linear dimension and unmanned plane under focal length of camera known case, unmanned planeUnmanned plane can be accurately obtained at a distance from target by the image of acquisition, facilitate realization is accurate to deliver.
By above scheme, realizes and deliver that accurate, convenient, high-efficient, expense is low, process and intellectual management, this cargoReception device tool versatility, is not required to repeated construction at the shared use for meeting different deliverers, and required unmanned plane is at low cost.CargoReception device solves accuracy, high efficiency and the owner of cargo's authentication for delivering end.
Detailed description of the invention
Fig. 1 is functional block diagram；
Fig. 2 is one kind of indicating label；
Fig. 3 is the another kind of indicating label.
In the figure, it is marked as 1, unmanned plane, 2, radar sensor, 3, video camera, 4, bluetooth module, 5, cargo reception device,6, indicating label, 7, bluetooth module, 8, power module, 9, indicating label, 10, microprocessor.
Specific embodiment
This intelligent delivery method and device, including unmanned plane 1, cargo reception device 5, it is characterised in that: cargo receives dressSetting 5 includes owner of cargo's location information, at least one indicating label 6, and unmanned plane 1 includes radar sensor 2, at least one video camera 3；Owner of cargo's location information is the satellite or base station or 3D digital map navigation information for including height above sea level.
Its working method is that deliverer in advance deposits owner of cargo's location information of cargo reception device 5,6 information of indicating labelStorage is in delivering customer data base, and when deliverer has the owner of cargo when delivering cargo and needing 1 intelligent delivery of unmanned plane, deliverer is thrownOwner of cargo's location information, 6 information input of indicating label are envisaged for delivering the unmanned plane 1 of owner of cargo's cargo by delivery system, and unmanned plane 1 is automaticNavigation, which reaches cargo reception device 5 nearby and starts video camera 3, searches indicating label 6, and unmanned plane 1 is according to the indicating label of detection6 information discharge cargo to target area, abandon delivering if not detecting 6 information of indicating label in certain time, andSuccessful information will be delivered or abandon delivery information, the owner of cargo is sent to by delivery system by unmanned plane 1, unmanned plane 1 after the completion of deliveryThe next designated position directly maked a return voyage to deliverer or delivery system arrangement.
One of still more preferably, cargo reception device 5 includes bluetooth module 7, power module 8, blue module 7 and power supply mouldBlock 8 is connected, and unmanned plane includes bluetooth module 4.Its working method is that deliverer is in advance by the bluetooth module 7 of cargo reception device 5Information and owner of cargo's location information, 6 information of indicating label, which are stored in, delivers in customer data base, when deliverer has owner of cargo's goods to be deliveredObject and when needing 1 intelligent delivery of unmanned plane, deliverer delivery system is by owner of cargo's location information of cargo reception device 5, bluetooth mould7 information of block, 6 information input of indicating label are envisaged for delivering the unmanned plane 1 of owner of cargo's cargo, and 1 self-navigation of unmanned plane reaches cargoReception device 5 nearby starts the bluetooth module 7 that bluetooth module 4 connects cargo reception device 5, and unmanned plane 1 does not connect in certain timeBluetooth module 7 is connected then to abandon delivering, in connection bluetooth module 7 and afterwards by signal strength judge unmanned plane 1 and cargo receptionThe distance relation and distance of device 5, apart from it is close when starting video camera 3 search indicating label 6, unmanned plane 1 is according to the instruction of detection6 information of label discharges cargo to target area, abandons throwing if not detecting 6 information of indicating label in certain timeIt passs, and successful information will be delivered or put delivery information, the owner of cargo is sent to by delivery system by unmanned plane 1.
One of still more preferably, cargo reception device 5 includes indicating label 6, indicating label 9, first by an indicateing arm6 guidance unmanned plane of label finds cargo reception device 5, is then discharged cargo by another indicating label 9 instruction unmanned plane 1Specific location；The bluetooth module 3, bluetooth module 7 can be replaced by wifi module.
One of still more preferably, indicating label 6, indicating label 9 are symbol code label or pattern label.
One of still more preferably, indicating label 6, indicating label 9 are photoelectricity indicating label, the photoelectricity indicating label by3 and above light emitting diode composition, power module is connected with light emitting diode.
One of still more preferably, cargo reception device 5 includes two indicating labels 6, wherein guidance unmanned plane finds goodsThe indicating label 6 of object reception device 5 is symbol code label or pattern label, another indicating label 6 is photoelectricity indicateing armLabel.
One of still more preferably, cargo reception device 5 includes microprocessor 10, microprocessor 10 and 7 phase of bluetooth moduleIt is connected even and with power module 8 respectively；The cargo reception device 5 further includes memory；The microprocessor 9 can also be arrangedIn bluetooth module 7.
The owner of cargo uses mobile phone or tablet computer to pass owner of cargo's location information, 6 information of indicating label by bluetooth module 7 in advanceIt send to cargo reception device 5, and is stored in cargo reception device 5 with 7 information of the bluetooth module of cargo reception device 5, work as nothingMan-machine 1 read when leading into cargo 5 range of reception device with bluetooth module 7 owner of cargo's location information in cargo reception device 5,Indicating label information, 7 information of bluetooth module, with prestored in unmanned plane 1 owner of cargo's location information, 6 information of indicating label, bluetooth mould7 information of block is implemented to compare, and continues to deliver if consistent, no person, which is judged as, to deliver.
One of still more preferably, when unmanned plane 1 delivers multiple owner of cargo's cargos, can be set multiple owner of cargo's location informations,6 information of indicating label.
One of still more preferably, unmanned plane 1 configures weighing sensor, and cargo reception device 5 realizes that the owner of cargo sends cargo.Its method is that the owner of cargo passes through the solicited message that mobile phone or tablet computer send cargo to delivery system, delivery system firstIt receives to the sending of unmanned plane 1 and instruction and indicates that unmanned plane 1 reaches cargo reception device 5 as cargo delivering method and hovers skyIn, while or unmanned plane 1 transmitted to owner of cargo's mobile phone or tablet computer by delivery system slightly before reach information, the owner of cargo is by required hairDelivery object hangs up the hook of cargo indicated by unmanned plane 1, and unmanned plane 1 weighs automatically and weight information is transmitted to delivery system,Shipping Information including the amount of money is sent to owner of cargo's confirmation by delivery system, and delivery system instruction unmanned plane 1 is direct after confirmationThe next designated position maked a return voyage to deliverer or delivery system arrangement.
One of still more preferably, pattern label is at least 1 group of rectangular edges wire, and each group rectangular edges wire is respectively redIt is green or blue and stagger successively；The pattern label can also be at least 1 group of circular frame line, each group circular frame line pointIt Wei not be red green or blue and staggers successively.
The deliverer, refers to the operation enterprise for possessing delivery system, such as logistics company, express company or needs to transportOther enterprises of cargo are delivered with unmanned plane；
The delivery system refers to delivery operation enterprise existing business system, including hardware, software, communication and network etc.,There are server, database, existing Information of owners of goods interface and owner of cargo's electronization interactive information, and has unmanned plane information interface and nothingHuman-machine interactive information, more basic is the interconnection for delivering each link business of enterprises.
The delivery customer data base refers in delivery system for storing the data of Information of owners of goods and owner of cargo's goods informationLibrary.
The radar sensor 2 refers to the sensor that the functions such as ranging, unmanned plane anticollision are realized based on thunder degree principle.
Owner of cargo's location information is the satellite or base station navigation information for including height above sea level, generally by deliverer or otherThird party obtains the location information of the cargo reception device as the owner of cargo using high accuracy positioning equipment, can also be had by oneself by the owner of cargoHaving the mobile devices such as the mobile phone of navigation feature to obtain includes location information, but the precision low time for being unfavorable for delivering cargo imitatesRate.
The bluetooth module information refers to the address of bluetooth module, broadcast name, connection password and other expression owner of cargos'The distinctive information general name being pre-stored in bluetooth module.
The indicating label information refers to the contents such as the specific symbol, code, figure on indicating label surface and related spyLevy the parameters such as the physical size between dimensional parameters or photodiode.
The certain time refers to according to device ability and satisfaction of consignor, the right times of setting, such as 1 pointClock was to 5 minutes.
The present invention achievees the effect that accurate, efficient delivery, unmanned plane deliver cargo using two kinds or more of location technologyIn the remote stage using GPS or Beidou satellite navigation or cellular base station navigation, camera review is used when reaching near the owner of cargoIdentification, location technology, which are realized, to be accurately positioned, and can also use bluetooth or wifi before obtaining being accurately positioned to improve location efficiencyRealize the positioning of meter level so that unmanned plane is rapidly achieved cargo reception device.
Indicating label 6 or indicating label 9 are using rectangular shaped rim lines and 3 rectangular target surface of video camera and indicating label 6 or refer toThe rectangular shaped rim of indicating label 9 has angle when being 0 degree, it is assumed that indicating label 6 or 6 rectangular shaped rim length of indicating label is a, width isB, re-imaging length is l, width w on the despot face of the video camera 3 of unmanned plane 1, and the focal length of video camera is f, and video camera 3 is apart from rectangular edgesThe distance of frame is d, and the value for obtaining d has following formula:
D=a*f/l or d=b*f/w
Wherein f is camera lens known parameters, and re-imaging length l or width w can be with the known target surface sizes of video camera, targetThe total pixel in face and the rectangular shaped rim image pixel of indicating label 6 or indicating label 9 acquire.
It, can be with by angle when the rectangular shaped rim of 3 rectangular target surface of video camera and indicating label 6 or indicating label 9 has angleConversion obtains d.
Similarly, when indicating label 6 or indicating label 9 are other forms, same principle, which calculates, to be obtained.
By the above method, unmanned plane 1 is acquired at a distance from cargo reception device 5, to achieve the purpose that accurately to deliver.
Similarly, water between unmanned plane 1 and indicating label 6 can also be confirmed in 3 imaging region of video camera according to indicating label 6Square to the left and right, upper and lower position and positional relationship, to achieve the purpose that accurately to deliver.
Indicating label 6 or or indicating label 9 when being character code, such as AB1234 can use existing Car license recognitionMethod implementation accurately identifies.
Other data for embodying owner of cargo's uniqueness that cargo reception device 5 can also store other than Bluetooth address code are believedBreath, the information can be pre-stored in delivery system in advance, when unmanned plane 1 delivers cargo starting by delivery system and other to the owner of cargoOwner of cargo's goods information is input to unmanned plane together, with the authentication for being the owner of cargo when delivering.
Embodiment 1
This intelligent delivery method and device, including unmanned plane 1, cargo reception device 5, cargo reception device 5 include the owner of cargoLocation information, (wherein 1 is used to guide unmanned plane 1 close to cargo device 5, abbreviation guide tag two indicating labels 6；Other 1The position that a guidance unmanned plane 1 accurately delivers cargo, referred to as delivers label), unmanned plane 1 includes radar sensor 2,1 and takes the photographCamera 3；Owner of cargo's location information is the satellite or base station navigation information for including height above sea level.
Its working method is that deliverer in advance deposits owner of cargo's location information of cargo reception device 5,6 information of indicating labelStorage is in delivering customer data base, and when deliverer has the owner of cargo when delivering cargo and needing 1 intelligent delivery of unmanned plane, deliverer is thrownOwner of cargo's location information, 6 information input of indicating label are envisaged for delivering the unmanned plane 1 of owner of cargo's cargo by delivery system, and unmanned plane 1 is automaticNavigation, which reaches cargo reception device 5 nearby and starts video camera 3, searches indicating label 6, and unmanned plane 1 is according to the indicating label of detection6 information discharge cargo to target area, abandon delivering if not detecting 6 information of indicating label in certain time, andSuccessful information will be delivered or abandon delivery information, the owner of cargo is sent to by delivery system by unmanned plane 1, unmanned plane 1 after the completion of deliveryThe next designated position directly maked a return voyage to deliverer or delivery system arrangement.
Guide tag in above-mentioned indicating label 6 use three closely coupled rectangular shaped rim lines, from outside to inside color forRed, green, blue, red rectangle frame line take that 0.5 meter of length, 0.5 meter wide, lines are wide takes 0.1 meter (to be conducive to letter using the wide line itemIt is single, easily identify frame), green rectangular edges wire takes that 0.4 meter of length, 0.4 meter wide, lines are wide takes 0.1 meter, blue rectangle frameLine takes that 0.3 meter of length, 0.3 meter wide, lines are wide takes 0.1 meter.The focal length of the video camera 3 of unmanned plane 1 use fixed focal length or forUnmanned plane 1 can get the zoom focal length of focal length number in real time, and 3 target surface size of simultaneous camera is also known, then unmanned planeAccording to area accounting of the collected rectangular shaped rim of video camera 3 in the acquired image of video camera 3, (or length accounting, width are accounted forThan), distance of the unmanned plane 1 apart from guide tag can be calculated in real time, can also according to indicating label 6 video camera 3 atAs horizontal direction or so, overlying relation between region confirmation unmanned plane 1 and indicating label 6, guidance unmanned plane 1 is not being collidedIn the case of close to guide tag.Guide tag and the positional relationship for delivering label are known, and defeated by delivery system in advanceEnter to unmanned plane 1, unmanned plane 1 can search delivery label according to this positional relationship quickly.Label is delivered to be arranged toThe suitable size of the surface area of arrangement of goods delivers label and uses three closely coupled rectangular shaped rim lines, from outside to inside colorsFor red, green, blue, red rectangle frame line take 1 meter of length, 1 meter, lines are wide takes 0.1 meter, green rectangular edges wire takes length 0.9Rice, 0.9 meter wide, lines are wide to take 0.1 meter, and blue rectangle frame line takes that 0.8 meter of length, 0.8 meter wide, lines are wide takes 0.1 meter.NobodyMachine 1 by with identify above-mentioned guide tag same procedure, accurate reach delivers label area, and cargo is accurately delivered to delivery markRange is signed, completes to deliver work.
Embodiment 2
This intelligent delivery method and device, including unmanned plane 1, cargo reception device 5, cargo reception device 5 include the owner of cargoLocation information, (wherein 1 is used to guide unmanned plane 1 close to cargo device 5, abbreviation guide tag two indicating labels 6；Other 1The position that a guidance unmanned plane 1 accurately delivers cargo, referred to as delivers label), unmanned plane 1 includes radar sensor 2,1 and takes the photographCamera 3, cargo reception device 5 include bluetooth module 7, power module 8, and blue module 7 is connected with power module 8, and unmanned plane includesBluetooth module 4；Owner of cargo's location information is the satellite or base station navigation information for including height above sea level.
Deliverer is in advance by 7 information of bluetooth module of cargo reception device 5 and owner of cargo's location information, 6 information of indicating labelIt is stored in and delivers in customer data base, when deliverer has the owner of cargo wait delivering cargo and when needing 1 intelligent delivery of unmanned plane, delivererOwner of cargo's location information of cargo reception device 5,7 information of bluetooth module, 6 information input of indicating label are envisaged for throwing by delivery systemThe unmanned plane 1 of owner of cargo's cargo is passed, 1 self-navigation of unmanned plane reaches cargo reception device 5 and nearby starts the connection cargo of bluetooth module 4The bluetooth module 7 of reception device 5, the not connected upper bluetooth module 7 of unmanned plane 1 is then abandoned delivering in certain time, bluetooth in connectionThe distance relation and distance for judging unmanned plane 1 Yu cargo reception device 5 after module 7 by signal strength, apart from it is close when starting take the photographCamera 3 searches indicating label 6, and unmanned plane 1 discharges cargo to target area according to 6 information of indicating label of detection, a timingIt is interior to abandon delivering if not detecting 6 information of indicating label, and successful information will be delivered or abandon delivery information by nothingMan-machine 1 is sent to the owner of cargo by delivery system.
Guide tag in above-mentioned indicating label 6 use three closely coupled rectangular shaped rim lines, from outside to inside color forRed, green, blue, red rectangle frame line take that 0.5 meter of length, 0.5 meter wide, lines are wide takes 0.1 meter (to be conducive to letter using the wide line itemIt is single, easily identify frame), green rectangular edges wire takes that 0.4 meter of length, 0.4 meter wide, lines are wide takes 0.1 meter, blue rectangle frameLine takes that 0.3 meter of length, 0.3 meter wide, lines are wide takes 0.1 meter.The focal length of the video camera 3 of unmanned plane 1 use fixed focal length or forUnmanned plane 1 can get the zoom focal length of focal length number in real time, and 3 target surface size of simultaneous camera is also known, then unmanned planeAccording to area accounting of the collected rectangular shaped rim of video camera 3 in the acquired image of video camera 3, (or length accounting, width are accounted forThan), distance of the unmanned plane 1 apart from guide tag can be calculated in real time, can also according to indicating label 6 video camera 3 atAs horizontal direction or so, overlying relation between region confirmation unmanned plane 1 and indicating label 6, guidance unmanned plane 1 is not being collidedIn the case of close to guide tag.Guide tag and the positional relationship for delivering label are known, and defeated by delivery system in advanceEnter to unmanned plane 1, unmanned plane 1 can search delivery label according to this positional relationship quickly.Label is delivered to be arranged toThe suitable size of the surface area of arrangement of goods delivers label and uses three closely coupled rectangular shaped rim lines, from outside to inside colorsFor red, green, blue, red rectangle frame line take 1 meter of length, 1 meter, lines are wide takes 0.1 meter, green rectangular edges wire takes length 0.9Rice, 0.9 meter wide, lines are wide to take 0.1 meter, and blue rectangle frame line takes that 0.8 meter of length, 0.8 meter wide, lines are wide takes 0.1 meter.NobodyMachine 1 by with identify above-mentioned guide tag same procedure, accurate reach delivers label area, and cargo is accurately delivered to delivery markRange is signed, completes to deliver work.
Embodiment 3
This intelligent delivery method and device, including unmanned plane 1, cargo reception device 5, cargo reception device 5 include the owner of cargoLocation information, (wherein 1 is used to guide unmanned plane 1 close to cargo device 5, abbreviation guide tag two indicating labels 6；Other 1The position that a guidance unmanned plane 1 accurately delivers cargo, referred to as delivers label), unmanned plane 1 includes radar sensor 2,1 and takes the photographCamera 3, cargo reception device 5 include bluetooth module 7, power module 8, and blue module 7 is connected with power module 8, and unmanned plane includesBluetooth module 4；Owner of cargo's location information is the satellite or base station navigation information for including height above sea level.
Deliverer is in advance by 7 information of bluetooth module of cargo reception device 5 and owner of cargo's location information, 6 information of indicating labelIt is stored in and delivers in customer data base, when deliverer has the owner of cargo wait delivering cargo and when needing 1 intelligent delivery of unmanned plane, delivererOwner of cargo's location information of cargo reception device 5,7 information of bluetooth module, 6 information input of indicating label are envisaged for throwing by delivery systemThe unmanned plane 1 of owner of cargo's cargo is passed, 1 self-navigation of unmanned plane reaches cargo reception device 5 and nearby starts the connection cargo of bluetooth module 4The bluetooth module 7 of reception device 5, the not connected upper bluetooth module 7 of unmanned plane 1 is then abandoned delivering in certain time, bluetooth in connectionThe distance relation and distance for judging unmanned plane 1 Yu cargo reception device 5 after module 7 by signal strength, apart from it is close when starting take the photographCamera 3 searches indicating label 6, and unmanned plane 1 discharges cargo to target area according to 6 information of indicating label of detection, a timingIt is interior to abandon delivering if not detecting 6 information of indicating label, and successful information will be delivered or abandon delivery information by nothingMan-machine 1 is sent to the owner of cargo by delivery system.
Guide tag in above-mentioned indicating label 6 use three closely coupled circular frame lines, from outside to inside color forRed, green, blue, red rectangle frame line take 0.5 meter of diameter, lines are wide to take 0.1 meter (to be conducive to simple, easy knowledge using the wide line itemOther frame), green circular frame line takes 0.4 meter of diameter, lines are wide to take 0.1 meter, and blue circular frame line takes 0.3 meter of length, width0.3 meter, lines are wide takes 0.1 meter.The focal length of the video camera 3 of unmanned plane 1 uses fixed focal length or can obtain in real time for unmanned plane 1To the zoom focal length of focal length number, 3 target surface size of simultaneous camera is also known, then unmanned plane is collected according to video camera 3Area accounting (or length accounting, width accounting) of the rectangular shaped rim in the acquired image of video camera 3, can calculate in real timeDistance to unmanned plane 1 apart from guide tag, and guide unmanned plane 1 under not collision situation close to guide tag.Guide tagWith deliver label positional relationship be it is known, can also according to indicating label 63 imaging region of video camera confirm unmanned plane 1Horizontal direction or so, upper and lower position and positional relationship between indicating label 6, and unmanned plane is input to by delivery system in advance1, unmanned plane 1 can search delivery label according to this positional relationship quickly.It delivers label and is arranged to arrangement of goodsThe suitable size of surface area, delivers that label uses three closely coupled rectangular shaped rim lines, color is red, green, blue from outside to inside,Red rectangle frame line take 1 meter of length, 1 meter, lines are wide takes 0.1 meter, green rectangular edges wire take 0.9 meter of length, it is 0.9 meter wide,Lines are wide to take 0.1 meter, and blue rectangle frame line takes that 0.8 meter of length, 0.8 meter wide, lines are wide takes 0.1 meter.Unmanned plane 1 by with knowledgeNot above-mentioned guide tag same procedure, accurate reach deliver label area, cargo are accurately delivered to delivery label range, completeDeliver work.
Embodiment 4
This intelligent delivery method and device, including unmanned plane 1, cargo reception device 5, cargo reception device 5 include the owner of cargoLocation information, (wherein 1 is used to guide unmanned plane 1 close to cargo device 5, abbreviation guide tag two indicating labels 6；Other 1The position that a guidance unmanned plane 1 accurately delivers cargo, referred to as delivers label), unmanned plane 1 includes radar sensor 2,1 and takes the photographCamera 3, cargo reception device 5 include bluetooth module 7, power module 8, and blue module 7 is connected with power module 8, and unmanned plane includesBluetooth module 4；Owner of cargo's location information is the satellite or base station navigation information for including height above sea level.
Deliverer is in advance by 7 information of bluetooth module of cargo reception device 5 and owner of cargo's location information, 6 information of indicating labelIt is stored in and delivers in customer data base, when deliverer has the owner of cargo wait delivering cargo and when needing 1 intelligent delivery of unmanned plane, delivererOwner of cargo's location information of cargo reception device 5,7 information of bluetooth module, 6 information input of indicating label are envisaged for throwing by delivery systemThe unmanned plane 1 of owner of cargo's cargo is passed, 1 self-navigation of unmanned plane reaches cargo reception device 5 and nearby starts the connection cargo of bluetooth module 4The bluetooth module 7 of reception device 5, the not connected upper bluetooth module 7 of unmanned plane 1 is then abandoned delivering in certain time, bluetooth in connectionThe distance relation and distance for judging unmanned plane 1 Yu cargo reception device 5 after module 7 by signal strength, apart from it is close when starting take the photographCamera 3 searches indicating label 6, and unmanned plane 1 discharges cargo to target area according to 6 information of indicating label of detection, a timingIt is interior to abandon delivering if not detecting 6 information of indicating label, and successful information will be delivered or abandon delivery information by nothingMan-machine 1 is sent to the owner of cargo by delivery system.
Guide tag in above-mentioned indicating label 6 use two constant spacing rectangular shaped rim lines, from outside to inside color for it is red,Indigo plant, red rectangle frame line take 0.5 meter of length, 0.5 meter wide, lines are wide to take 0.1 meter (it is simple, easy to be conducive to using the wide line itemIdentify frame), blue rectangle frame line takes that 0.3 meter of length, 0.3 meter wide, lines are wide takes 0.1 meter.The video camera 3 of unmanned plane 1Focal length uses fixed focal length or can get the zoom focal length of focal length number in real time for unmanned plane 1,3 target surface ruler of simultaneous cameraVery little to be also known, then unmanned plane is accounted for according to area of the collected rectangular shaped rim of video camera 3 in the acquired image of video camera 3Than (or length accounting, width accounting), distance of the unmanned plane 1 apart from guide tag can be calculated in real time, it can also basisIndicating label 6 confirms horizontal direction or so, upper and lower position and position between unmanned plane 1 and indicating label 6 in 3 imaging region of video cameraRelationship is set, and guides unmanned plane 1 under not collision situation close to guide tag.Guide tag and the positional relationship for delivering label areIt is known, and unmanned plane 1 is input to by delivery system in advance, unmanned plane 1, can be quickly to search according to this positional relationshipIt seeks and delivers label.The suitable size of surface area that label is arranged to arrangement of goods is delivered, label is delivered and uses three close phasesEven rectangular shaped rim lines, from outside to inside color be it is red, blue, red rectangle frame line take 1 meter of length, 1 meter, lines are wide takes 0.1 meter,Blue rectangle frame line takes that 0.8 meter of length, 0.8 meter wide, lines are wide takes 0.1 meter.Unmanned plane 1 by with identify above-mentioned guide tagSame procedure, accurate reach deliver label area, cargo are accurately delivered to delivery label range, complete to deliver work.
Case study on implementation of the present invention is formed by limiting above-mentioned case study on implementation above but not only, can be simple by technical solution of the present inventionDiffraction goes out more kinds of case study on implementation.