CN109878730B - Unmanned aerial vehicle cargo delivery method and system for smart building - Google Patents

Abstract

The invention relates to the technical field of unmanned aerial vehicle delivery, and particularly provides an unmanned aerial vehicle cargo delivery method and system for an intelligent building, wherein the method specifically comprises the following steps: unmanned aerial vehicle flies to corresponding goods-throwing airspace, whether goods-throwing places below the goods-throwing airspace are provided with entity goods-throwing marked lines for marked goods-throwing areas in advance is judged, under the condition that the entity goods-throwing marked lines are arranged in advance in the goods-throwing places, the positions of the goods-throwing areas marked by the entity goods-throwing marked lines are identified, otherwise, virtual goods-throwing marked lines for marking the goods-throwing areas are automatically marked in the goods-throwing places, then the space position of the unmanned aerial vehicle is adjusted based on the positions of the entity goods-throwing marked lines or the positions of the virtual goods-throwing marked lines, and finally the unmanned aerial vehicle throws goods to be thrown. The method and the system enable the unmanned aerial vehicle to throw the goods in the air after the unmanned aerial vehicle reaches the goods throwing airspace, simplify the goods delivery process, and meanwhile, the unmanned aerial vehicle can accurately and safely throw the goods to the goods throwing area by adjusting the position of the unmanned aerial vehicle.

Description

Unmanned aerial vehicle cargo delivery method and system for smart building

Technical Field

The invention relates to the technical field of intelligent buildings based on Internet of things, in particular to an unmanned aerial vehicle cargo delivery method and system for the intelligent buildings.

Background

The intelligent building is also called an intelligent building, and provides efficient, comfortable and convenient humanized building environments for users by optimally combining the structure, system, service and management of the building according to the requirements of the users by means of information means such as Internet of things, artificial intelligence and the like.

Unmanned aerial vehicles have been widely used in many different fields as emerging high-end technology products in recent years, such as military reconnaissance unmanned aerial vehicles, unmanned aerial vehicles serving as climate data acquisition equipment in meteorological measurement, and the like, wherein the unmanned aerial vehicles have been just started in the fields of logistics transportation and package delivery, and the trend of heat development in the future express delivery industry is that goods delivery is carried out by replacing people with the unmanned aerial vehicles.

And, to intelligent building, the unmanned aerial vehicle that realizes intelligent delivery does not cooperate with the automatic function of intelligent building, does not produce the intersection of any functionality between unmanned aerial vehicle and the intelligent building, and both also fail to combine the advantage in the aspect of self intellectuality.

Disclosure of Invention

() object of the invention

In order to overcome at least defects existing in the prior art, through interactive cooperation between the smart building and the unmanned aerial vehicle, the unmanned aerial vehicle can throw goods into a specific goods receiving area of the smart building in the air, intelligent receiving and storing of the goods are achieved through the smart building, delivery steps of the unmanned aerial vehicle and a consignee are reduced, a goods delivery process is simplified, meanwhile, the unmanned aerial vehicle adjusts the spatial position of the unmanned aerial vehicle to the optimal position, so that the goods can fall into the goods throwing area correctly when the unmanned aerial vehicle throws the goods, meanwhile, the safety of the goods when the goods fall to the ground is improved, and the function of intelligent delivery is achieved by combining the advantages and functions of the unmanned aerial vehicle and the smart building.

(II) technical scheme

As an th aspect of the present invention, the present invention provides a cargo putting method for unmanned aerial vehicle for smart building, comprising:

flying the unmanned aerial vehicle carrying the goods into the corresponding goods throwing airspace;

after confirming that the unmanned aerial vehicle is located in the goods-delivery airspace, judging whether an entity goods-delivery marking line for marking a goods-delivery area is preset in a goods-delivery place of the intelligent building below the goods-delivery airspace;

under the condition that the solid goods-throwing marking lines are preset in the goods-throwing place, identifying the position of a goods-throwing area marked by the solid goods-throwing marking lines, otherwise, automatically marking virtual goods-throwing marking lines for marking the goods-throwing area in the goods-throwing place;

adjusting the spatial position of the unmanned aerial vehicle based on the position of the physical delivery marking or the position of the virtual delivery marking;

and the unmanned aerial vehicle puts in the goods to be put in.

In possible embodiments, the solid cargo throwing marked line comprises a positioning marked line used for identifying a cargo throwing area, the positioning marked line directly forms a closed figure, or the positioning marked line and an extension line thereof together form a closed figure.

In possible embodiments, the determining whether or not an entity delivery marking for the identified delivery area is preset at the delivery location below the delivery airspace, and/or the identifying the position of the delivery area identified by the entity delivery marking, includes:

the unmanned aerial vehicle acquires an image of a delivery site area below the unmanned aerial vehicle;

extracting each characteristic region in the acquired image;

and identifying the solid delivery marked line from the extracted characteristic regions.

In , the identifying the physical cast reticle from the extracted feature areas comprises:

identifying entity delivery marking lines through the extracted attribute information of each characteristic region; wherein,

the attribute information of the characteristic region includes items of color, shape, size.

In , after the identifying the position of the cargo drop area identified by the physical drop line, the method further includes:

judging whether the obstacle exists in the goods delivery area in real time, and under the condition that the time for judging that the obstacle continuously exists in the goods delivery area exceeds the set time length, adopting or more of the following strategies:

1) the unmanned aerial vehicle postpones the cargo release time and waits until the unmanned aerial vehicle judges that no obstacle exists in the cargo release area within time;

2) the unmanned aerial vehicle sends out a warning signal to warn that the obstacle leaves the goods delivery area or move the obstacle out of the goods delivery area; wherein,

the obstacle is a real object which is wholly or partially intersected with the goods delivery area.

In possible embodiments, after confirming that the drone is located in the delivery airspace, the drone is moved to a position for a certain height from the delivery location, and then it is determined whether the delivery location is pre-set with the physical delivery marking.

In possible embodiments, the self-demarcating at the delivery location a virtual delivery marking line for identifying a delivery area includes:

the unmanned aerial vehicle acquires an image of a delivery site area below the unmanned aerial vehicle;

extracting each characteristic region in the acquired image, and identifying an obstacle characteristic region capable of influencing cargo delivery from the characteristic regions;

drawing the position of a virtual delivery marking line based on the position of the identified obstacle characteristic area; wherein,

the virtual delivery marked line forms a closed figure, and the closed figure does not contain any obstacle characteristic region inside.

In possible embodiments, the virtual shipping mark line forms a closed figure whose boundary does not exceed the boundary of the predetermined shipping area when the virtual shipping mark line is defined.

In possible embodiments, when the drone adjusts its spatial position based on the physical delivery marking, the drone adjusted spatial position does not exceed the delivery airspace.

In possible implementations, the adjusting the spatial position of the drone based on the position of the physical routing reticle or the position of the virtual routing reticle includes adjusting the horizontal position of the drone based on the position of the physical routing reticle or the position of the virtual routing reticle, wherein,

adjusting unmanned aerial vehicle's horizontal position includes:

acquiring the central position of the cargo delivery area;

and adjusting the horizontal position of the unmanned aerial vehicle based on the central position of the cargo delivery area so as to enable the distance between the vertical projection of the cargo on the delivery site and the central point of the cargo delivery area to be within a set range.

In possible implementations, the adjusting the spatial position of the drone based on the position of the physical delineator line or the position of the virtual delineator line includes adjusting the height position of the drone based on the position of the physical delineator line or the position of the virtual delineator line, wherein,

the height position of adjustment unmanned aerial vehicle includes:

acquiring the boundary position of the cargo delivery area;

and adjusting the height position of the unmanned aerial vehicle based on the boundary position of the cargo throwing area, wherein the height position of the unmanned aerial vehicle and the size of a region enclosed by the boundary of the cargo throwing area are in a direct proportion relation in a fixed height range of .

In possible embodiments, before the adjusting the space position of the unmanned aerial vehicle based on the position of the physical delivery marking or the position of the virtual delivery marking, acquiring weight data and/or current wind speed information and/or current wind direction information of the goods to be delivered;

when the space position of the unmanned aerial vehicle is adjusted based on the position of the entity delivery marking or the position of the virtual delivery marking, the space position of the unmanned aerial vehicle is also adjusted based on the cargo weight data and/or the current wind speed information and/or the current wind direction information.

In possible embodiments, the cargo carried by the drone is equipped with an airbag, and before the drone releases the cargo to be released, the drone further comprises:

calculating the inflation quantity of the airbag for the goods to be released currently based on the height position of the unmanned aerial vehicle and/or the weight of the goods to be released currently, and inflating the airbag for the goods to be released according to the calculated inflation quantity;

sealing the airbag after the inflation is completed; wherein,

the safety air bag at least wraps the bottom and part of the side surface of the goods to be thrown.

In possible embodiments, the method further comprises:

the method comprises the steps of establishing communication connection with an unmanned aerial vehicle through a receiving system installed in an intelligent building, and obtaining delivery information of goods, wherein the delivery information comprises at least items including recipient identity information, recipient address information and recipient contact information.

In possible embodiments, after the obtaining the delivery information of the goods, the method further includes:

notifying a receiver to take the delivery through an internal network of the intelligent building based on the delivery information; wherein,

the means of notifying the recipient includes at least of posting and individual contact with the recipient individual.

In , before notifying the recipient to take the pickup through the intelligent building internal network, the method further includes:

collecting goods, transferring the goods into a container, and recording goods position information; and,

when the intelligent building internal network informs the receiver to take the goods, the content of the notification comprises the goods location information of the corresponding goods.

In possible embodiments, the method further comprises:

collecting and identifying biological information of a goods taker to confirm whether the goods taker has corresponding goods to be taken or not, and endowing the goods taker with a goods taking authority when the goods taker has corresponding goods to be taken; wherein,

the biological information comprises at least items of face information, fingerprint information, iris information and voiceprint information.

As a second aspect of the present invention, the present invention provides an unmanned aerial vehicle cargo delivery system for smart buildings, the cargo delivery system including an unmanned aerial vehicle, the unmanned aerial vehicle including:

the flight control module is used for controlling the unmanned aerial vehicle to fly to a corresponding delivery airspace;

the airspace confirmation module is used for confirming whether the unmanned aerial vehicle flies into a corresponding delivery airspace;

the marking confirmation module is used for judging whether an entity goods-throwing marking for marking a goods-throwing area is preset in a goods-throwing place below the goods-throwing airspace after the airspace confirmation module confirms that the unmanned aerial vehicle is positioned in the goods-throwing airspace;

the marking line recognition module is used for recognizing the position of the goods throwing area marked by the solid goods throwing marking line under the condition that the marking line confirmation module confirms that the goods throwing marking line is preset at the goods throwing place,

the marking line marking module is used for marking a virtual goods throwing marking line for marking a goods throwing area on the goods throwing place by self under the condition that the marking line confirming module confirms that the goods throwing place is not provided with the solid goods throwing marking line in advance;

the position adjusting module is used for adjusting the space position of the unmanned aerial vehicle based on the position of the solid goods-throwing marking identified by the marking identification module or the position of the virtual goods-throwing marking defined by the marking defining module;

and the cargo delivery module is used for controlling the unmanned aerial vehicle to deliver the cargo to be delivered.

In possible embodiments, the solid cargo throwing marked line comprises a positioning marked line used for identifying a cargo throwing area, the positioning marked line directly forms a closed figure, or the positioning marked line and an extension line thereof together form a closed figure.

In possible implementations, the reticle identification module or the reticle identification module includes:

an th image acquisition unit, which is used for acquiring images of a delivery site area below the unmanned aerial vehicle;

an feature extraction unit, for extracting each feature region in the image acquired by the image acquisition unit;

and an area identification unit for identifying the entity delivery marking line from each characteristic area extracted by the th characteristic extraction unit.

In possible embodiments, the area identification unit identifies the physical route marking by the extracted attribute information of each characteristic area, wherein,

the attribute information of the characteristic region includes items of color, shape, size.

In possible implementations, the cargo delivery system further includes:

the obstacle judgment module is used for judging whether an obstacle exists in the goods throwing area in real time after the marking line identification module identifies the position of the goods throwing area identified by the entity throwing marking line; wherein,

the barrier is a real object which is wholly or partially intersected with the cargo throwing area;

the cargo delivery system further comprises an obstacle handling module, wherein the obstacle handling module comprises:

the goods throwing delay unit is used for delaying the goods throwing time and waiting until the goods throwing area is judged to maintain the state of no obstacle within time under the condition that the time for judging that the obstacle continuously exists in the goods throwing area exceeds the set time length by the obstacle judging module;

the warning expelling unit is used for sending out a warning signal to warn that the obstacle leaves the goods throwing area or the obstacle is moved out of the goods throwing area under the condition that the obstacle judging module judges that the time for continuously having the obstacle in the goods throwing area exceeds the set time length;

in possible implementations, the cargo delivery system further includes:

the height adjusting module is used for firstly controlling the flight control module to enable the unmanned aerial vehicle to move to a position which is at a certain height from a goods throwing place after the airspace confirmation module confirms that the unmanned aerial vehicle is located in the goods throwing airspace, and then enabling the marking line confirmation module to judge whether the goods throwing place is preset with the entity goods throwing marking lines.

In possible implementations, the reticle definition module includes:

the second image acquisition unit is used for acquiring an image of a delivery site area below the unmanned aerial vehicle;

the second feature extraction unit is used for extracting each feature region in the acquired image and identifying an obstacle feature region capable of influencing cargo delivery from the feature regions;

the area demarcation unit is used for demarcating the position of the virtual delivery marking line based on the position of the identified obstacle characteristic area; wherein,

the virtual delivery marked line forms a closed figure, and the closed figure does not contain any obstacle characteristic region inside.

In , the area demarcating unit demarcates the virtual shipping mark line such that the boundary of the closed figure formed by the virtual shipping mark line does not exceed the boundary of the predetermined shipping area.

In possible implementations, the position adjustment module is configured to adjust the drone spatial position based on the physical delivery markings so that the drone adjusted spatial position does not exceed the delivery airspace.

In possible implementations, the position adjustment module includes:

the horizontal adjusting submodule is used for adjusting the horizontal position of the unmanned aerial vehicle based on the position of the solid goods-throwing marking or the position of the virtual goods-throwing marking; wherein,

the horizontal adjustment submodule includes:

the center acquisition unit is used for acquiring the center position of the cargo release area;

and the horizontal adjusting unit is used for controlling the flight control module to adjust the horizontal position of the unmanned aerial vehicle based on the central position of the cargo throwing area acquired by the central acquiring unit so as to enable the distance between the vertical projection of the cargo on a throwing place and the central point of the cargo throwing area to be within a set range.

In possible implementations, the position adjustment module includes:

the height adjusting submodule is used for adjusting the height position of the unmanned aerial vehicle based on the position of the solid goods-throwing marking or the position of the virtual goods-throwing marking;

the height adjustment submodule includes:

the boundary acquisition unit is used for acquiring the boundary position of the cargo release area;

and the height adjusting unit is used for controlling the flight control module to adjust the height position of the unmanned aerial vehicle based on the boundary position of the cargo throwing area acquired by the boundary acquiring unit, and the height position of the unmanned aerial vehicle and the size of a region surrounded by the boundary of the cargo throwing area are in a direct proportion relation in a fixed height range of .

In possible implementations, the cargo delivery system further includes:

the cargo weight acquisition module is used for acquiring weight data of the cargo to be released before the position adjustment module adjusts the space position of the unmanned aerial vehicle;

the wind power information acquisition module is used for acquiring current wind speed information and/or current wind direction information before the position adjustment module adjusts the space position of the unmanned aerial vehicle; and,

the position adjustment module further adjusts the spatial position of the unmanned aerial vehicle based on the cargo weight data and/or the current wind speed information and/or the current wind direction information.

In possible embodiments, the cargo carried by the drone is equipped with airbags that wrap at least the bottom and part of the sides of the cargo to be launched, and,

the cargo delivery system further comprises:

the inflation calculation module is used for calculating the inflation quantity of the airbag for the current goods to be released based on the height position of the unmanned aerial vehicle and/or the weight of the current goods to be released before the goods release module controls the unmanned aerial vehicle to release the goods to be released;

the airbag inflation module is used for inflating an airbag for the goods to be released according to the calculated inflation quantity;

and the air bag sealing module is used for sealing the air bag after the air inflation is finished.

In possible implementations, the cargo delivery system further includes:

the goods receiving system is arranged on the intelligent building and used for establishing communication connection with the communication module of the unmanned aerial vehicle and acquiring delivery information of goods; wherein,

the delivery information comprises at least items of recipient identity information, recipient address information and recipient contact information.

In possible implementations, the cargo delivery system further includes:

the communication system is used for informing a receiver of pickup through an internal network of the intelligent building based on delivery information after the delivery information of the goods is acquired by the goods receiving system; wherein,

the means of notifying the recipient includes at least of posting and individual contact with the recipient individual.

In possible implementations, the receiving system further includes:

the goods collecting module is used for collecting goods before the communication system informs the receiver to take the goods, transferring the goods into the container and recording the goods position information; and,

when the communication system informs the receiver to take the goods, the content of the notice comprises the goods position information of the corresponding goods recorded by the goods acquisition system.

In possible implementations, the cargo delivery system further includes:

the biological information identification system is used for acquiring and identifying biological information of the goods taker to confirm whether the goods taker has corresponding goods to be taken or not and endowing the goods taker with a goods taking authority when the goods taker has corresponding goods to be taken; wherein,

the biological information comprises at least items of face information, fingerprint information, iris information and voiceprint information.

(III) advantageous effects

The unmanned aerial vehicle cargo delivery method and the unmanned aerial vehicle system for the intelligent building, provided by the invention, have the following beneficial effects:

1. through the unmanned aerial vehicle cargo delivery method and the unmanned aerial vehicle cargo delivery system, after the unmanned aerial vehicle reaches the delivery airspace, the cargo can be delivered in the air, the delivery steps of the unmanned aerial vehicle and a receiver are reduced, the cargo delivery process is simplified, meanwhile, the unmanned aerial vehicle accurately identifies the solid delivery marking on the ground before delivery, and adjusts the spatial position of the unmanned aerial vehicle to the optimal position according to the delivery marking, so that the unmanned aerial vehicle can enable the cargo to correctly fall into the cargo delivery area when delivering the cargo.

2. Under the circumstances that subaerial is not provided with the entity and throws goods marking, unmanned aerial vehicle can according to the ground condition by oneself mark out virtual goods marking of throwing out, makes unmanned aerial vehicle can carry out the shipment for the goods throwing place that is not provided with the entity and throws goods marking, has enlarged the delivery range.

3. Through setting up the regional boundary of throwing goods, put in the regional restriction of reasonable territories with unmanned aerial vehicle's goods for unmanned aerial vehicle can put in the goods relatively intensively, prevents that the goods from throwing in disorder and putting.

4. Through the mode of adjusting the height firstly and then judging and identifying the entity throwing marking, the problem that the unmanned aerial vehicle cannot acquire enough entity throwing marking patterns due to the fact that the unmanned aerial vehicle is too close to the ground so as to cause judgment errors and identification failures can be avoided, the problem that the unmanned aerial vehicle is too far from the ground so as to cause the acquired image information to be unclear so as to cause the judgment errors and the identification failures can also be avoided, and the judgment accuracy and the identification success rate of the entity throwing marking are improved.

5. By adopting the mode of waiting, warning or adjusting the delivery area, the barrier in the cargo delivery area in the solid delivery marking line is expelled and avoided, the damage of the cargo due to the fact that the barrier is hit in the delivery process is avoided, and meanwhile, the safety accident caused by the fact that people or animals mistakenly entering the cargo delivery area are hit by the delivered cargo is also avoided.

6. The horizontal position and/or the ground clearance of the unmanned aerial vehicle are/is adjusted by aligning the goods throwing area, so that the goods can be accurately thrown into the goods throwing area.

7. By comprehensively considering the position of the goods delivery area, the weight of the goods, the wind speed and the wind direction, the space position of the unmanned aerial vehicle is adjusted before the unmanned aerial vehicle delivers the goods, and the step is carried out, so that the goods can accurately and safely fall into the goods delivery area.

8. Unmanned aerial vehicle determines air bag's inflation volume according to terrain clearance and goods weight after adjusting self spatial position to make the goods safely fall to the ground when maintaining the balance between air bag volume and the goods weight, can make the goods can not receive the damage when falling to the ground, can reduce air bag's inflation volume again, accelerated the goods speed of puting in.

9. Through set up the system of receiving goods that communicates with unmanned aerial vehicle in wisdom building to acquire the delivery information, in order to obtain the person of receiving goods information that corresponds with the goods, and after wisdom building receipt, can inform the addressee automatically and get, realize that unmanned aerial vehicle combines together the function in order to realize intelligent delivery with the advantage function of wisdom building.

10. The intelligent building automatically collects goods and stores the goods in a specific place, and informs the pick-up persons of the place, so that the goods can be conveniently stored and the pick-up persons can pick up the goods at the place of the system .

11. By giving the right of pickup only to the pickup showing the correct biological information, the goods are prevented from being falsely picked up.

Drawings

The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining and illustrating the present invention and should not be construed as limiting the scope of the present invention.

Fig. 1 is a schematic flow chart of an unmanned aerial vehicle cargo delivery method for smart buildings according to an embodiment of the present invention.

Fig. 2 is a schematic view of an image of a ground area below the drone captured when the ground is pre-set with a delivery line.

Fig. 3 is a schematic view of an image of the ground area beneath the drone captured when the ground is not provided with a delivery line.

Fig. 4 is a block diagram illustrating an embodiment of a cargo delivery system for an intelligent building according to the present invention.

Detailed Description

In order to make the implementation objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention.

It should be noted that the embodiments described are some, but not all embodiments of the present invention, and that the embodiments and features of the embodiments in this application can be combined with each other without conflict.

In this document, "", "second", etc. are used only for distinguishing one from another, and do not indicate their degree of importance, order, etc.

The invention provides an unmanned aerial vehicle cargo delivery method embodiment for intelligent buildings, which is described in detail below with reference to fig. 1-3. the unmanned aerial vehicle cargo delivery method enables the unmanned aerial vehicle to deliver cargo in the air after arriving at a delivery airspace, reduces the delivery steps of the unmanned aerial vehicle and a receiver, simplifies the cargo delivery process, and simultaneously accurately identifies the solid delivery marking on the ground before the unmanned aerial vehicle delivers cargo, and adjusts the spatial position of the unmanned aerial vehicle to the best according to the delivery marking, so that the unmanned aerial vehicle can enable the cargo to accurately and safely fall into the cargo delivery area when delivering cargo.

As shown in fig. 1, the method for delivering goods by unmanned aerial vehicle includes the following steps:

and step 100, flying the unmanned aerial vehicle carrying the goods to the corresponding delivery airspace.

After the unmanned aerial vehicle starts with the goods to be sent, the unmanned aerial vehicle flies to a goods receiving place according to a flight route recorded in a goods delivery task dispatched by a goods delivery dispatching system of the unmanned aerial vehicle, or self-calculates the flight route according to the goods receiving place recorded in the goods delivery task and flies to the goods receiving place. Because unmanned aerial vehicle is in the air with the goods safely throw put to subaerial, consequently unmanned aerial vehicle can not land ground and unload again, so unmanned aerial vehicle need fly to corresponding in the airspace of throwing goods, and should set for the airspace of throwing goods is located the top region of receiving goods place usually.

The receiving site is usually located on a structure such as an intelligent building or an intelligent facility, and for example, a courtyard, a rooftop, or a roof of the intelligent building may be used as the receiving site, or any other structure suitable for putting in goods. The quantity of delivery places can be according to the frequent degree setting of puting in the goods, for example on people's online shopping frequent buildings such as office building, university dormitory building, it is higher to expect its frequent degree of puting in the goods, consequently can set up a plurality of delivery places on the roof of these buildings, and the goods of being convenient for are put in to different logistics system simultaneously.

Specifically, the drone may fly to spatial areas defined by a plurality of coordinate points, such as rectangular parallelepiped areas or cylindrical areas, based on the positioning of the GPS based positioning system, as instructed by the delivery mission, which is the delivery airspace.

It should be noted that the unmanned aerial vehicle may carry and release more than cargos in shipment, and the cargos may be all released to the same shipment site or may be released to different locations respectively.

And 200, after confirming that the unmanned aerial vehicle is positioned in the goods-delivery airspace, judging whether an entity goods-delivery marking line for the marked goods-delivery area is preset in a goods-delivery place below the goods-delivery airspace.

The delivery site is the delivery site, and is usually located on a structure such as an intelligent building or an intelligent facility. The delivery site is typically a surface area, i.e. the outer surface of a structure, such as the top surface of a concrete structure, simply referred to as the structure surface.

Because the place of throwing goods is corresponding with the airspace of throwing goods, unmanned aerial vehicle can only be located the space of throwing goods and just can correctly throw the goods to the place of throwing goods, consequently before throwing in the goods, need confirm unmanned aerial vehicle earlier whether be located the space of throwing goods. When the unmanned aerial vehicle is confirmed to be located in the goods delivery airspace, the unmanned aerial vehicle arrives above the goods delivery site, then the unmanned aerial vehicle stops horizontal movement flight, and the unmanned aerial vehicle starts to prepare for delivering goods to the goods delivery site.

The goods thrown by the unmanned aerial vehicle need to fall into the goods throwing area as accurately as possible so as to be convenient for goods to be collected, the goods throwing area is marked by the goods throwing mark lines, and the goods throwing area marked by the goods throwing mark lines also represents the area range of the goods falling, namely, the goods cannot fall to the place outside the goods throwing area and can certainly fall into the area range of the goods throwing area.

standardized delivery locations or locations where goods are frequently received are pre-assigned with delivery markings to facilitate multiple deliveries and deliveries of goods, for example, on structures such as smart buildings or smart facilities, numbers of delivery locations can be planned by pre-assigned delivery markings so that a drone can directly deliver goods to the area identified by the delivery markings, locations where goods are not frequently received may not be pre-assigned with delivery markings.

The goods-throwing marked line is divided into an entity goods-throwing marked line and a virtual goods-throwing marked line. The solid delivery marking line refers to a marking object with a specific shape, which can be made on the surface of concrete or other kinds of structures, that is, a mark actually existing on the surface of the structure at the delivery site, for example, a pattern such as a line drawn by using a road marking paint, which can function as a mark area range. If the mark line is used for delivering goods at night, the solid goods-throwing marked line can also be the road marking paint capable of reflecting light. The virtual delivery marking line is a mark which is not actually present on the structure surface of the delivery site, is digitally present in the unmanned aerial vehicle system, and can also play a role in marking the area range.

Judging whether a goods-throwing marking line is preset in a goods-throwing place or not, wherein the goods-throwing marking line is divided into the following conditions:

1. the goods-delivery tasks dispatched by the unmanned aerial vehicle goods dispatching system definitely include information whether each goods-delivery place is provided with an entity goods-delivery marking line or not. At the moment, the unmanned aerial vehicle can analyze the goods-delivery task and learn that the current goods-delivery place is provided with the entity goods-delivery marking or is not provided with the information of the entity goods-delivery marking after confirming that the unmanned aerial vehicle is positioned in the goods-delivery airspace, and then follow-up steps are executed. It can be understood that the unmanned aerial vehicle can also analyze the delivery task in advance before confirming to be located the delivery airspace, and know in advance that this delivery place has been provided with the entity delivery marking, and confirm that self is located the delivery airspace after, directly carry out follow-up step at unmanned aerial vehicle.

2. The goods-delivery tasks dispatched by the unmanned aerial vehicle goods dispatching system do not contain the information whether each goods-delivery place is provided with an entity goods-delivery marking line or not. At this moment, the unmanned aerial vehicle can analyze the goods-delivery task after confirming that the unmanned aerial vehicle is positioned in the goods-delivery airspace, and learn that whether the goods-delivery task does not include the information of whether the current goods-delivery place is provided with the entity goods-delivery marking line or not, and then the unmanned aerial vehicle carries out image recognition on the goods-delivery place below through equipment such as a camera, and whether the current goods-delivery place is provided with the entity goods-delivery marking line or not is judged.

The solid goods-throwing marked line is arranged on the ground of the surface of the structure below the goods-throwing airspace in advance, the color of the solid goods-throwing marked line can be distinguished from the color of the surface of the structure, and the solid goods-throwing marked line is of a special shape and used for marking a goods-throwing area and enabling an unmanned aerial vehicle to be identified after arriving at the goods-throwing airspace.

And 300, under the condition that the solid goods-throwing marked lines are preset in the goods-throwing place, identifying the positions of the goods-throwing areas marked by the solid goods-throwing marked lines, or else, automatically marking virtual goods-throwing marked lines for marking the goods-throwing areas in the goods-throwing place.

If the goods-throwing place is provided with the solid goods-throwing marking line in advance, the unmanned aerial vehicle can know that the solid goods-throwing marking line exists in the goods-throwing place or can automatically identify the solid goods-throwing marking line of the goods-throwing place according to the goods-throwing task, and then the position of the goods-throwing area identified by the solid goods-throwing marking line is identified. When the unmanned aerial vehicle judges that the goods-delivery place is preset with the solid goods-delivery marking line in step 200, the solid goods-delivery marking line is only arranged on the goods-delivery place. Therefore, the position of the cargo drop area is also identified, and since the cargo drop area is usually represented by the closed graph, the relative position between the center point of the closed graph and the unmanned aerial vehicle and the area range of the closed graph can be obtained.

The virtual goods-throwing marked lines and the physical goods-throwing marked lines are types and are used for marking goods throwing areas, but the virtual goods-throwing marked lines do not actually exist in the goods throwing places and only exist in a flight control system of the unmanned aerial vehicle and are virtual marked lines for replacing the physical goods-throwing marked lines.

The virtual delivery marking does not need to have a color, a shape and the like which are distinguished from the ground of a delivery place like the physical delivery marking , the virtual delivery marking can be only closed graphs represented by a plurality of absolute coordinate points, and each absolute coordinate point and a connecting line between the absolute coordinate points form the closed graph.

By last, when being equipped with the entity mark line of throwing goods in the place of throwing goods, unmanned aerial vehicle throws goods as the goods and puts in the region with the entity mark line of throwing goods, when the place of throwing goods is not equipped with the entity mark line of throwing goods, virtual mark line of throwing goods is drawn according to the circumstances of the place of throwing goods by oneself to unmanned aerial vehicle to throw goods with the virtual mark line of throwing goods as the goods and put in the region.

Under the circumstances that subaerial is not provided with the entity and throws goods marking, unmanned aerial vehicle can according to the ground condition by oneself mark out virtual goods marking of throwing out, makes unmanned aerial vehicle can carry out the shipment for the goods throwing place that is not provided with the entity and throws goods marking, has enlarged the delivery range.

And 400, adjusting the space position of the unmanned aerial vehicle based on the position of the solid goods-throwing marked line or the position of the virtual goods-throwing marked line.

After the drone flies into the delivery airspace, because the delivery airspace is spatial areas, the hovering height of the drone may be any height position in the delivery airspace, and delivering goods at different height positions may result in different results when the goods land, for example, if the drone is at a higher position, the goods may not fall into the goods delivery area accurately, but if the drone is at a lower position, the delivery time of the drone may be prolonged because the drone needs to descend slowly in advance to reach the current lower position.

Consequently after the position of the entity marking of throwing goods is discerned at unmanned aerial vehicle or the virtual marking of throwing goods is planned by oneself, unmanned aerial vehicle has also obtained self and the regional scope of the marking of throwing goods with the relative position of marking of throwing goods, unmanned aerial vehicle adjusts the spatial position of self according to this to make unmanned aerial vehicle when throwing the goods, the goods can accurately fall into the goods and throw in the region, and guarantee that the goods is not damaged, realize throwing the goods safely in the short time and throw the goods and put in the goods and throw in the region.

Specifically, after the unmanned aerial vehicle arrives at the corresponding delivery airspace, the unmanned aerial vehicle may be in a hovering state, and when performing steps 200 and 300, the unmanned aerial vehicle may be in a hovering state all the time, so after identifying the physical delivery marking or defining the virtual delivery marking by itself, the position of the unmanned aerial vehicle may not change compared with the position when the unmanned aerial vehicle just arrives at the delivery airspace, but the position of the unmanned aerial vehicle at this time is likely not to correspond to the cargo drop area of the delivery marking, and if the cargo is dropped at this time, the cargo may fall outside the desired area (cargo drop area), so in order to enable the cargo to fall into the desired area correctly and safely, the spatial position of the unmanned aerial vehicle needs to be adjusted, for example, the unmanned aerial vehicle is caused to fly horizontally or obliquely downward from the current position and to a position directly above the central point of the cargo drop area, so that the central point of the cargo to be dropped is located on the normal line passing through, when unmanned aerial vehicle released the goods like this, the goods can straightly fall to the regional center department of goods release under the ideal circumstances for the goods is released safely in the goods release region. And 500, the unmanned aerial vehicle puts in the goods to be put in.

Typically, drone will launch cargo within a distance of 1 to 10 meters from the ground, whereas the highest ground level surface in the delivery airspace will typically not exceed 10 meters, so that the drone will launch cargo within 10 meters of ground level.

When a plurality of goods need to be delivered to the goods delivery area, after goods are delivered by the unmanned aerial vehicle, if the aforesaid judgment is continuously made to determine whether the goods delivery area has the obstacle, the situation that the just delivered goods as the obstacle appear in the goods delivery area can occur, goods can be delivered after the just delivered goods are picked up to avoid goods collision.

Unmanned aerial vehicle also can only judge whether there is the barrier in the goods delivery area when th goods in this goods delivery area are delivered, later no longer judge, make this shipment need be delivered to the goods in this goods delivery area and put away in proper order and do not consider whether there is the goods of having delivered in this goods delivery area, when adopting this kind of mode, can reduce unmanned aerial vehicle time of delivering goods, but if the in-process of delivering goods has someone mistake to go into in the goods delivery area time, unmanned aerial vehicle can not discern and can continue to deliver goods, the security has been lost.

In , the solid goods-throwing marked line comprises a positioning marked line used for marking the goods-throwing area, the positioning marked line directly forms a closed figure, or the positioning marked line and the extension line thereof together form a closed figure.

Specifically, the solid delivery marking line is provided with the following conditions:

1. the solid cargo throwing marked lines simultaneously comprise auxiliary marked lines and positioning marked lines, the auxiliary marked lines are marked lines which play roles in positioning, indicating and the like, such as arrows A3 and A4 and a circle center A2 shown in fig. 2, the positioning marked lines are marked lines which actually define cargo throwing areas, such as a circle A1 shown in fig. 2, or rectangles formed by intersecting four line segment marked lines, and at the moment, part marked lines (positioning marked lines) in the solid cargo throwing marked lines form a closed figure.

2. The entity throwing marked lines simultaneously comprise auxiliary marked lines and positioning marked lines, but the positioning marked lines do not form a figure with a closed edge, but a plurality of non-intersecting circular arcs with the same circle center and the same radius, or two groups of parallel line segments which are mutually vertical and non-intersecting between every two line segments, at the moment, the extension lines of the positioning marked lines can enable the positioning marked lines to form a closed figure such as a circle or a rectangle, at the moment, partial marked lines (positioning marked lines) in the entity throwing marked lines and the extension lines thereof form a closed figure, and the unmanned aerial vehicle can recognize the complete closed figure through the positioning marked lines which are not completely intersected.

3. The solid shipping reticle includes only a localizing reticle, such as circle a1 shown in fig. 2, and the localizing reticle is capable of forming a pattern with closed edges when the solid shipping reticle integrally forms closed patterns.

4. The solid delivery marking only comprises a positioning marking, such as a circle A1 shown in figure 2, but the positioning marking does not form a pattern with a closed edge, and a closed pattern is formed by means of an extension line, and in this case, the whole solid delivery marking and the extension lines of all the marking lines in the solid delivery marking form a closed pattern. The unmanned aerial vehicle can identify a complete closed figure through the marked lines which are not all intersected.

Judging whether the goods-delivery place below the goods-delivery airspace is preset with an entity goods-delivery marking line for the marked goods-delivery area in the step 200, wherein the entity goods-delivery marking line can be known through the goods-delivery task, and the information is not contained in the goods-delivery task, and when the unmanned aerial vehicle needs to judge by itself, the judgment can be realized in an image recognition mode, so that in implementation modes, judging whether the goods-delivery place below the goods-delivery airspace is preset with the entity goods-delivery marking line for the marked goods-delivery area in the step 200 comprises the following steps:

in step S1, the drone captures an image of the delivery location area beneath itself.

The unmanned aerial vehicle collects images in an area below the unmanned aerial vehicle, for example, images of a roof of an intelligent building, and the collected images contain part or all of patterns marked by the entity delivery marking lines.

In step S2, each feature region in the captured image is extracted.

In extracting the characteristic area in the image, the characteristic area can be extracted by an edge detection algorithm, an image pixel color value or an image pixel gray value, etc. fig. 2 shows a schematic diagram of possible images of the intelligent building roof area under the unmanned aerial vehicle, which are acquired by the unmanned aerial vehicle when the ground is provided with the entity throwing marked line in advance, and by taking fig. 2 as an example, in extracting the characteristics of each area in the image, pixel blocks of a1-A4, P1-P3 and Y1, which are characteristic areas, are extracted, a1-A4 is a mark which is preset on the ground for the purpose of cargo throwing, wherein a1 is a circular entity throwing marked line, namely a cargo throwing area, which belongs to a localized area in the entity marked line, a2 is the center point of the cargo throwing area a1, which belongs to the center point of the cargo area, which is auxiliary entity throwing area in the cargo throwing, A3 and a marked line 1 is an arrow point pointing to the shadow mark which is used for accurately identifying the unmanned aerial vehicle is located on the ground, and the unmanned aerial vehicle is located on the ground, wherein the obstacle pattern of the unmanned aerial vehicle 1, the unmanned aerial vehicle is located on the ground, the obstacle pattern of 5859573p 4624.

In step S3, an entity delivery marking is identified from each extracted feature region.

Continuing with the example of fig. 2, the characteristic regions of the physical delivery marking are identified from the extracted characteristic regions, i.e., the characteristic regions a1 and a2 are identified with the help of the characteristic regions a1 and a4, and the noise blocks P1-P3 and Y1 are removed, so as to determine whether the delivery site is preset with the physical delivery marking.

In addition, when the cargo drop area identified by the physical cargo throwing marking is identified in step 300, the above-mentioned image identification mode may be adopted, that is, when the cargo drop area identified by the physical cargo throwing marking is identified, the steps executed also include the above-mentioned steps S1-S3. then, the position of the cargo drop area identified by the physical cargo throwing marking, that is, the position of the marking a1 is identified through the physical cargo throwing marking recognized in step S3 and step .

It is understood that, if the steps 200 and 300 both obtain the required information by means of the image recognition, the information obtained by performing the steps S1-S3 in the step 200 can be directly used in performing the step 300 without performing again through the steps S1-S3.

In implementations, the step of identifying the physical cast reticle from the extracted feature areas in step S3 includes the steps of:

and step S31, identifying the entity delivery line mark through the extracted attribute information of each characteristic region, wherein the attribute information of the characteristic region comprises items or more items of color, shape and size.

When an entity delivery marking line is preset, the shape, the size and the color of the entity delivery marking line can be set to , so that the unmanned aerial vehicle can use the same set of identification standards to deliver goods at any delivery site, for example, the entity delivery marking line comprises circular closed areas A1 with the inner diameter of 5 meters, and the color of the circular closed areas A1 is set to be other striking colors, such as white or yellow, different from the surface color of structures, such as the ground, the roof and the like, so that the interference items P1-P3 and Y1 can be screened out from all extracted characteristic areas by using the shape, the size, the pixel value and other parameters of the characteristic areas, the characteristic areas of A1-A4 can be quickly identified, and the closed area A1 is identified as a final goods delivery area.

The method for determining the position of the cargo drop area includes the following steps, wherein the cargo drop area is a cargo drop area, the cargo may be damaged due to the fact that obstacles may exist in the cargo drop area, and the cargo may be damaged due to the fact that the cargo hits the obstacles in the drop process, or the cargo hits the obstacles, so that the obstacles may be objects temporarily placed in the cargo drop area, or may be people or animals mistakenly dropped into the cargo drop area, and particularly, when the obstacles are people or animals mistakenly dropped into the cargo drop area, a safety accident may occur when the cargo is dropped into the cargo drop area, therefore, in implementations, after the position of the cargo drop area identified by the physical drop marking line is identified in step 300, the method further:

and T1, judging whether the obstacle exists in the cargo throwing area in real time, wherein the obstacle is a real object which is wholly or partially intersected with the cargo throwing area.

As shown in fig. 2, shadow of the drone, i.e. a characteristic area Y1, may appear in the cargo drop area, but the shadow is not a characteristic area representing a real object, and therefore, no obstacle is calculated, whereas P1-P3 are characteristic areas representing a real object, wherein part of P3 is located within the delivery marking a1, then P3 is determined as an obstacle, in delivery marking a1, generally only allows the appearance of the shadow of the drone itself and surrounding objects and buildings, but the shadow can be easily identified by using pixel gray scale or the like as a parameter, because the pixel gray scale of the shadow region is significantly different from that of other objects generated on the image, and , once other regions other than the shadow are identified within the range of delivery marking a2, it is determined that an obstacle is present therein.

In the case where the positions of the cargo drop areas are identified by using the aforementioned steps S1-S3, it is possible to determine whether or not there is an obstacle within the cargo drop area by identifying a true obstacle feature area from among the respective feature areas. The P1-P3 are obstacle feature areas, but only P3 is an obstacle feature area which can affect the release of the goods. And Y1 is a non-obstacle feature region.

In the case that the time for continuously having the obstacle in the goods delivery area exceeds the set time length, kinds or more of the following strategies are adopted:

and , the unmanned plane postpones the cargo release time and waits until the unmanned plane is judged to maintain the state of no obstacle within time in the cargo release area.

The strategy aims at the fact that obstacles capable of withdrawing the goods delivery area within a short time exist temporarily in the goods delivery area, for example, a person walks through the goods delivery marking line when the unmanned aerial vehicle identifies the goods delivery marking line or after the goods delivery marking line is defined, at the moment, the unmanned aerial vehicle can continue to execute the action being executed, if the person does not leave the goods delivery area when the unmanned aerial vehicle is ready to deliver the goods, the unmanned aerial vehicle delays the goods delivery time and continues to wait until the person leaves the goods delivery area, after the unmanned aerial vehicle judges that no obstacles exist in the goods delivery area and lasts for 5 seconds for example, the unmanned aerial vehicle starts to execute the adjustment of the spatial position of the unmanned aerial vehicle in the step 400, then the goods delivery in the step 500 is executed.

The second strategy is: the drone issues a warning signal to warn of the obstacle leaving the cargo drop area or to cause the obstacle to be moved out of the cargo drop area.

The strategy aims at the condition that people or animals are parked in the goods throwing area, at the moment, the unmanned aerial vehicle executes the action (the action before the goods are thrown) which is currently executed and simultaneously sends out sound alarm to the goods throwing area through sound production equipment such as a loudspeaker, so that the parked people leave the goods throwing area by themselves or scare away birds and the like. If the goods are temporarily stored in the goods delivery area, the warning signal can be sent out to inform the staff of moving the goods away from the goods delivery area.

In the case of identifying the position of the cargo drop area through the aforementioned steps S1-S3, the two strategies may be implemented by continuously acquiring images, extracting characteristic areas, and identifying obstacle characteristic areas therein, so as to determine whether an obstacle still exists in the cargo drop area.

It should be noted that the reason why the above strategy is adopted only when the obstacle is continuously present in the cargo drop area and exceeds the set time is that it may be found that the obstacle is present at moment in the cargo drop area due to a failure of the drone or other reasons, or that the flying birds on the day quickly pass under the drone, and the like, and these situations should not be counted as the obstacle being present in the cargo drop area, for example, all or part of the characteristic area may be counted as the obstacle only when the obstacle is continuously present in the cargo drop area for more than 1 second.

By adopting the mode of waiting, warning or adjusting the release area, the barrier in the goods release area is expelled and avoided, the damage of the goods caused by hitting the barrier in the release process is avoided, and meanwhile, the safety accident caused by hitting the goods released by people or animals mistakenly entering the goods release area is also avoided.

Therefore, when judging whether the delivery location is provided with the entity delivery marking line in the step 200, the implementation of the judging process and the accuracy of the judging result may be influenced due to the different heights of the unmanned aerial vehicles, for example, the entity delivery marking line in the image collected by the camera only has few partial patterns due to the fact that the unmanned aerial vehicles are too close to the ground, so that the identification fails, or the entity delivery marking line in the image collected by the camera is not clear due to the fact that the unmanned aerial vehicles are too far away from the ground, so that the identification fails.

Therefore, in order to enable the unmanned aerial vehicle to more conveniently judge and identify the entity delivery marking, in embodiments, after confirming that the unmanned aerial vehicle is located in the delivery airspace, the unmanned aerial vehicle is firstly moved to a position with a certain height from the delivery site , and then whether the delivery site is preset with the entity delivery marking is judged.

Since the physical delivery marking lines are usually set to be the size and shape of the system (colors may be different according to field conditions), in step 200, after the unmanned aerial vehicle arrives in the delivery airspace, the ground clearance of the unmanned aerial vehicle is adjusted to a preset height interval, so that the unmanned aerial vehicle can be ensured to correctly judge whether the delivery location is provided with the physical delivery marking lines or not by means of image recognition, for example, and the judgment success rate and the accuracy are increased.

Specifically, unmanned aerial vehicle can obtain self height of locating through networking GPS positioning system after arriving in the airspace of throwing goods to height information adjustment self terrain clearance according to GPS positioning system feedback, accord with the height interval of predetermineeing until self terrain clearance. The numerical value of the preset height interval at the moment is an absolute height numerical value, namely the altitude, and the preset height interval is also set according to the altitude of the delivery site, and the height of the position where the delivery site is located (such as the roof of an intelligent building) is usually not changed, so that the relative distance between the unmanned aerial vehicle and the entity delivery marking can be obtained and controlled by utilizing the altitude of the position where the unmanned aerial vehicle is located and the known altitude of the delivery site.

Or, unmanned aerial vehicle also can come the relative distance between direct measurement self and the place surface of throwing goods through range sensor such as ultrasonic ranging sensor, laser ranging sensor, infrared ranging sensor, radar sensor after arriving in the space of throwing goods to adjust terrain clearance based on this, make self height in place accord with and predetermine the high interval. The value of the preset height interval at this time is a relative height value.

It can be understood that in the process of moving to a position with a predetermined height from the ground, the unmanned aerial vehicle keeps the horizontal position of the unmanned aerial vehicle to be always positioned in the delivery airspace.

And if the virtual marking of throwing goods is planned by oneself to unmanned aerial vehicle, also need to be planned in the ground clearance scope of , this ground clearance scope can not differ too much with the real entity marking of throwing goods that has set up in advance between, consequently even be provided with the entity marking of throwing goods on the place of throwing goods, unmanned aerial vehicle also can adjust self height earlier and preset highly interval within range, so that when judging out the place of throwing goods afterwards and not being provided with the entity marking of throwing goods, the size of the virtual marking of throwing goods of planning out by oneself can not be too big or undersize, make the virtual marking of throwing goods of planning by oneself basically the same with the size of the possible entity marking of throwing goods that sets up in advance.

Through the mode of adjusting the height firstly and then judging and identifying the entity throwing marking, the problem that the unmanned aerial vehicle cannot acquire enough entity throwing marking patterns due to the fact that the unmanned aerial vehicle is too close to the ground so as to cause judgment errors and identification failures can be avoided, the problem that the unmanned aerial vehicle is too far from the ground so as to cause the acquired image information to be unclear so as to cause the judgment errors and the identification failures can also be avoided, and the judgment accuracy and the identification success rate of the entity throwing marking are improved.

In the case that no cargo throwing marked line is arranged on the ground below the cargo throwing space, in implementation modes, the unmanned aerial vehicle self-demarcates a virtual cargo throwing marked line for marking a cargo throwing area at a cargo throwing place in step 300 comprises the following steps:

in step 310, the drone captures an image of the delivery location area beneath itself.

This step is substantially the same as the aforementioned step S1, and is to capture an image of the delivery location. If it is determined in step 200 whether the aforementioned step S1 has been performed when the physical shipping lane is set in advance at the shipping location, that is, the image of the shipping location area has already been captured, the image captured in step S1 may be directly used at this time.

And 320, extracting each characteristic region in the acquired image, and identifying an obstacle characteristic region capable of influencing cargo delivery from the characteristic regions.

If step S2 is already performed when it is determined in step S200 whether the delivery location is previously provided with the physical delivery marker line, the pixel blocks extracted in step S2 can be directly used, fig. 3 shows a schematic diagram of possible images of the ground area under itself collected by the drone when the delivery marker line is not provided on the ground, taking fig. 3 as an example, when extracting the characteristics of each area in the image, pixel blocks P1-P3 and Y1 with closed edges are extracted, which are characteristic areas, P1-P3 are obstacles on the ground, Y1 is the shadow of the drone on the ground.

After the characteristic regions are extracted, the characteristic regions are further identified, and the characteristic regions which do not have any substantial influence on the goods in the goods delivery process and the characteristic regions which may cause goods damage or self damage in the goods delivery process are judged.

Taking fig. 3 as an example, for the characteristic region Y1, since it is a shadow of an unmanned aerial vehicle, does not have a physical shape, does not occupy a real space, and does not affect the safety of cargo if cargo falls on the shadow, the characteristic region Y1 is not determined to be an obstacle characteristic region after the characteristic region Y1 is identified as a shadow. In contrast, for the characteristic regions P1-P3, since they are obstacles, have physical shapes and occupy physical space, such as trash, green plants and even pedestrians, when cargo falls onto the obstacles during cargo delivery, the cargo may be damaged by the shapes of the obstacles or the obstacles may be knocked by the cargo, so that when the characteristic regions P1-P3 are recognized as obstacles, the characteristic regions P1-P3 are determined as obstacle characteristic regions.

And step 330, defining the position of the virtual delivery marking line based on the position of the identified obstacle characteristic area. The virtual delivery marked lines form a closed graph, and the inside of the closed graph does not contain any obstacle characteristic area.

Continuing with the example of fig. 3, after identifying the obstacle feature areas P1-P3, the specific locations of the obstacle feature areas P1-P3 are obtained, which corresponds to the shapes and sizes of the obstacle feature areas P1-P3. The specific position of the obstacle feature area may be an absolute position or a relative position to the goods to be thrown.

The unmanned aerial vehicle can automatically mark out a virtual delivery marking line based on the specific positions of the obstacle feature areas P1-P3 to serve as a standard landing line for delivering goods later, closed graphs with closed edges are directly included or formed in a phase change mode in the marked virtual delivery marking line to serve as goods delivery areas, and the closed graphs do not contain any obstacle feature areas inside, namely, the obstacle feature areas P1-P3 are all located outside the closed graphs.

Continuing with the example of fig. 3, the obstacle feature areas P1-P3 are located at the three vertices of a triangle, so that the defined virtual delivery reticle includes or forms a closed figure only inside or outside the line connecting P1, P2 and P3, and the drone can select how to define the virtual delivery reticle according to the circumstances, the virtual delivery reticle illustrated in fig. 3 includes a localization reticle a1 shown in dashed lines, and a supplemental reticle a2, where the area represented by a1 is the virtual delivery area and a2 is the center of the delivery area, the defined virtual delivery reticle a1 does not interfere or coincide with any obstacles in P1-P3, i.e., all of the P1-P3 obstacles are located outside the virtual delivery area a1, and the cargo does not fall outside the range defined by the virtual delivery a1 during the actual delivery, so that the delivery of the cargo according to the virtual delivery reticle a1 can hit any obstacle 1, i.e., the cargo can be delivered to the extent of the other cargo delivery reticle P1.

For example, the unmanned aerial vehicle judges whether the obstacles P1-P3 move or not while waiting, and if so, the unmanned aerial vehicle waits for the moving obstacle to leave and then drops the goods.

When the unmanned aerial vehicle judges that the goods-delivery place is not provided with the entity goods-delivery marking line, and the virtual goods-delivery marking line needs to be automatically defined, if the range of the goods-delivery airspace is large, and the unmanned aerial vehicle does not perform the step of firstly moving to the position with the height being fixed to from the goods-delivery place after confirming that the unmanned aerial vehicle is located in the goods-delivery airspace, and the goods-delivery place is relatively spacious and has no barrier, the unmanned aerial vehicle can possibly set the virtual goods-delivery marking line to be large when defining the virtual goods-delivery marking line, so that the goods-delivery area becomes overlarge, the unmanned aerial vehicle can deliver the goods at will, and the goods cannot be collected by the consignees, therefore, in implementation modes, when the position of the virtual goods-delivery marking line is defined, the boundary of a closed graph formed by the virtual goods-delivery marking line does not exceed the preset.

The scope on delivery area boundary will be greater than the regional scope of the closed figure of predictability, through setting up delivery area boundary, puts in the regional restriction of unmanned aerial vehicle's goods at reasonable geographical ranges, virtual delivery marking just can not be set up too big like this, and unmanned aerial vehicle just can put in the goods relatively intensively, prevents that the goods from throwing in disorder.

In kinds of implementation manners, when unmanned aerial vehicle adjusts self spatial position based on entity throwing marking, make unmanned aerial vehicle adjusted spatial position not exceed the throwing goods airspace, that is to say, unmanned aerial vehicle can not adjust self spatial position outside throwing goods airspace, avoid unmanned aerial vehicle to deviate from real entity throwing marking because of marking discernment mistake or other trouble etc. and when unmanned aerial vehicle adjusted self spatial position based on virtual throwing goods marking, unmanned aerial vehicle need not receive the restraint in aforementioned throwing goods airspace, that is to say, allow unmanned aerial vehicle to adjust self spatial position outside throwing goods airspace, prevent unmanned aerial vehicle can't carry out the goods and put in because of the reason such as the lower structure surface barrier in throwing goods airspace is more.

After identifying the position of the cargo drop area identified by the physical delivery marking in step 300 or self-defining the virtual delivery marking for identifying the cargo drop area, it is necessary to perform the step 400 of adjusting the spatial position of the drone so that cargo can be accurately and safely dropped into the cargo drop area, wherein the drone, although having identified or defined the delivery marking, may have segments of distance in the horizontal position from the drone sufficient to affect the accuracy of delivery such that cargo may fall outside the cargo drop area, such that in embodiments, adjusting the spatial position of the drone based on the position of the physical delivery marking or the position of the virtual delivery marking in step 400 includes adjusting the horizontal position of the drone based on the position of the physical delivery marking or the position of the virtual delivery marking.

And step 410, acquiring the central position of the cargo release area.

When the entity throwing marking lines are arranged in advance, the central position of the goods throwing area can be obtained in a mode that the signal transmitter and the unmanned aerial vehicle are buried in the center of the goods throwing area formed by the entity throwing marking lines to carry out position transmission and positioning. In addition, in the case of setting the physical shipment marking or in the case of defining the virtual shipment marking, the center position of the shipment area can be obtained by the image recognition method, for example, the position of the characteristic area a1 located at the center point of the shipment area a2 is recognized from the image in fig. 2. And under the condition of demarcating the virtual delivery marking line, the unmanned aerial vehicle can calculate the central position of the demarcated marking line at the time of demarcating.

And step 420, adjusting the horizontal position of the unmanned aerial vehicle based on the central position of the cargo delivery area, so that the distance between the vertical projection of the cargo on the delivery site and the central point of the cargo delivery area is within a set range.

After the central position of the cargo throwing area is obtained, the unmanned aerial vehicle moves in the horizontal position and approaches to the central position of the cargo throwing area in the horizontal direction, so that the center or the gravity center of the known cargo to be thrown is aligned to the central position of the cargo throwing area until the distance between the coordinate of the center or the gravity center of the cargo to be thrown and the coordinate of the central point of the cargo throwing area is within a set range.

It should be noted that the vertical projection of the drone on the ground is different from the shadow Y1 of the drone, and the shadow Y1 of the drone changes according to the different illumination angles, while the vertical projection of the drone on the ground is not changed.

Through the horizontal position of adjustment unmanned aerial vehicle for the goods can be put in to the goods accurately and put in the region, makes the process standardization that unmanned aerial vehicle goods were put in.

, the drone may have steps in height from the drone to affect cargo safety and accuracy, although the drone has identified or marked out a shipping lane, so that cargo may be damaged during landing or fall outside the cargo drop area, therefore in embodiments, adjusting the spatial position of the drone based on the position of the physical shipping lane or the position of the virtual shipping lane in step 400 further comprises adjusting the height of the drone based on the position of the physical shipping lane or the position of the virtual shipping lane.

In step 411, the boundary position of the cargo drop area is obtained.

When the solid goods-throwing marked lines are arranged in advance, the position of the boundary of the goods throwing area can be obtained by embedding a plurality of signal transmitters and positioning the position transmission of the unmanned aerial vehicle at the boundary of the goods throwing area formed by the solid goods-throwing marked lines. In addition, no matter in the case of setting the solid shipping mark line or in the case of defining the virtual shipping mark line, the boundary position of the shipping area, for example, the position of the circular boundary of a1 identified from the image in fig. 2, can be obtained by the aforementioned image identification method. And under the condition of demarcating the virtual delivery marking line, the unmanned aerial vehicle can calculate the boundary position of the demarcated marking line at the time of demarcating.

Step 421, adjusting the height position of the unmanned aerial vehicle based on the boundary position of the cargo throwing area, wherein the size of the area enclosed by the height position of the unmanned aerial vehicle and the boundary of the cargo throwing area is in a direct proportion relation in the fixed height range of .

The unmanned aerial vehicle moves in the height position after the boundary position of the cargo throwing area is obtained, and moves close to or away from the cargo throwing area in the vertical direction to adapt to the size of the cargo throwing area, if the cargo throwing area is small, the unmanned aerial vehicle needs to descend properly to ensure that cargos cannot fall out of the cargo throwing area, if the cargo throwing area is large, the unmanned aerial vehicle can descend as little as possible or does not need to descend on the premise of ensuring that cargos cannot be damaged when falling to the ground, so that the cargos are thrown out in as short time as possible, and the delivery time is reduced.

However, it should be noted that these are all established when the drone is located in the fixed height range of , the drone will not raise the flying height when the cargo is dropped as the cargo drop area becomes larger without limit, because the impact that the cargo can bear when the cargo lands is limited, if the drone exceeds this height range, the cargo may be damaged because the ground is too high, and therefore the height of the drone cannot exceed this height range.

It should be further noted that, under the condition that the unmanned aerial vehicle is required to adjust both the horizontal position and the ground clearance, the horizontal position adjustment and the ground clearance adjustment are not distinguished in sequence, and the horizontal position adjustment and the ground clearance adjustment can be preferentially performed.

In the cargo release process, whether the cargo can accurately and safely fall into the cargo release area or not is determined by due to environmental factors in addition to the position and the size of the cargo release area, so in embodiments, before the spatial position of the drone is adjusted based on the position of the physical cargo release marking or the position of the virtual cargo release marking in step 400, the weight data of the cargo to be released is acquired and/or the current wind speed information and/or the current wind direction information is acquired.

The weight of the cargo to be delivered has an effect on the delivery of the cargo, and the weight data is known to the drone. Wind speed information and wind direction information belong to environmental factors capable of influencing cargo delivery, and information data of the wind speed information and the wind direction information need to be obtained through measurement by a sensor equipped on an unmanned aerial vehicle.

After the weight data and/or the wind speed information and/or the wind direction information are obtained, when the space position of the unmanned aerial vehicle is adjusted based on the position of the entity delivery marking or the position of the virtual delivery marking, the space position of the unmanned aerial vehicle is adjusted based on the cargo weight data and/or the current wind speed information and/or the current wind direction information.

The method comprises the steps that the relation between the weight of goods to be thrown and the ground clearance of the unmanned aerial vehicle is complex and is not a simple direct proportion relation or an inverse proportion relation, if the goods to be thrown are light, the ground clearance of the unmanned aerial vehicle needs to be a little, the goods are prevented from being blown out of a goods throwing area due to the influence of air flow, if the goods to be thrown are heavy, the ground clearance of the unmanned aerial vehicle needs to be a little, the damage caused by the fact that the goods are impacted to fall to the ground too much is avoided, when the ground clearance of the unmanned aerial vehicle is considered, the boundary position of the goods throwing area and the weight of the goods to be thrown can be comprehensively considered.

When the goods thrown by the unmanned aerial vehicle are light, the influence of the ambient wind speed and the wind direction on the goods landing point is more and more non-negligible, so that the accuracy of the goods throwing can be influenced by the wind speed information and the wind direction information. When unmanned aerial vehicle puts in the goods, if the wind direction of unmanned aerial vehicle department is the oblique top, then wind-force hinders goods and falls to the ground, speed when goods fall to the ground diminishes, the residence time of goods in the air is longer than the residence time when there is no wind, consequently, the horizontal displacement of goods in the free fall in-process can increase, the wind speed is big this moment, horizontal displacement is big this moment, consequently unmanned aerial vehicle need adjust horizontal position and reduce terrain clearance according to wind direction and the appropriate face of wind speed to the incoming wind direction this moment, make the anticipated free fall motion curve of goods intersect with goods input region center as far as possible, and reduce the residence time of goods in the air, thereby eliminate the horizontal displacement who increases.

If the wind direction of the unmanned aerial vehicle is obliquely below, the wind force promotes the goods to land, the speed of the goods when landing is increased, the retention time of the goods in the air is shorter than that of the goods when no wind exists, but the goods are influenced by the wind force to generate horizontal displacement in the free falling body process, the wind speed is higher, the horizontal displacement is higher, the unmanned aerial vehicle can adjust the horizontal position and reduce the height from the ground according to the wind direction and the wind speed in the proper direction of the incoming wind, the expected free falling body motion curve of the goods is intersected with the center of the goods throwing area as much as possible, the retention time of the goods in the air is reduced, and the increased horizontal displacement and the landing speed of the goods are eliminated.

Consequently when adjustment terrain clearance and horizontal position, unmanned aerial vehicle can based on the regional boundary position of goods delivery, the weight of the goods of waiting to deliver, current wind speed and these four factors of current wind direction derive unmanned aerial vehicle's spatial position jointly, make the goods can accurately fall into the goods delivery area through adjustment spatial position to reduce the goods and fall to the ground speed and guarantee that the goods can not damage.

It can be understood that if the unmanned aerial vehicle needs to put in a plurality of goods at the same place, and the weight of a plurality of goods is all different, then the unmanned aerial vehicle spatial position who adjusts out also can be different, and unmanned aerial vehicle adjusts self spatial position according to the weight adjustment self spatial position of the goods of waiting to put in at present to put in current goods, then wait to put in weight readjust self spatial position of goods according to down again, so circulate until the goods at the current place of putting in are all put in.

In order to further ensure that the goods can not be damaged by collision after falling to the ground, the goods carried by the unmanned aerial vehicle are all provided with airbags, and as a protective layer when the goods are thrown, the airbags wrap at least the bottom and part of the side surfaces of the goods to be thrown, and as a buffer when the goods fall to the ground, the goods are prevented from being damaged by impact, under the best condition, the airbags wholly wrap the goods to be thrown, and the step is carried out to ensure that the goods are not damaged, before the unmanned aerial vehicle throws the goods to be thrown in the step 500, the unmanned aerial vehicle further comprises the following steps:

491, calculating the inflation quantity of the airbag for the cargo to be thrown in based on the height position of the unmanned aerial vehicle and/or the weight of the cargo to be thrown in, and inflating the airbag for the cargo to be thrown in according to the calculated inflation quantity.

The higher the unmanned aerial vehicle leaves the ground, the higher the speed when falling to the ground, the more the air is needed to be filled in the air bag to serve as buffering, and therefore the air inflation quantity of the air bag to be thrown in goods is calculated based on the height of the unmanned aerial vehicle leaving the ground. Meanwhile, the weight of the goods to be put in also influences the inflation quantity of the safety air bag, and the heavier the goods, the larger the inflation quantity of the safety air bag.

Unmanned aerial vehicle determines air bag's inflation volume according to terrain clearance and goods weight after adjusting self spatial position to make the goods safely fall to the ground when maintaining air bag volume and goods weight balance, can make the goods can not receive the damage when falling to the ground, can reduce air bag's inflation volume again, accelerated the goods speed of puting in.

The airbag has holes connected to an inflator that inflates the airbag and detects the amount of inflation in real time.

The airbag is sealed after inflation is complete, step 492, to prevent gas leakage. After sealed air bag, unmanned aerial vehicle puts in and waits to put in goods to the roof of intelligent building, balcony, courtyard isotopoposition.

In , the method for drone cargo delivery further comprises:

and step T10, the goods receiving system establishes communication connection with the unmanned aerial vehicle and obtains the delivery information of the goods.

After the unmanned aerial vehicle arrives in the delivery airspace in the step 200 and until the unmanned aerial vehicle delivers the goods to be delivered in the step 500, the unmanned aerial vehicle can establish communication connection with a receiving system equipped in the intelligent building and send delivery information contained in a delivery task dispatched by a goods delivery dispatching system before shipping to the receiving system of the intelligent building, wherein the delivery information comprises recipient identity information, recipient address information and items in recipient contact ways.

At this time, the unmanned aerial vehicle can send corresponding delivery information to the goods receiving system when goods are thrown in, deliver goods after the goods are processed by the goods receiving system, and then send delivery information of goods to the goods receiving system.

When goods delivery places of intelligent buildings have a plurality of goods delivery areas respectively corresponding to different logistics systems, each goods delivery area has its own number, and each goods delivery area is respectively provided with a dedicated information transceiver for information interaction with the unmanned aerial vehicle in the corresponding goods delivery area, the unmanned aerial vehicle can also find the corresponding goods delivery area through the information contained in the delivery task, or automatically identify the goods delivery area available for delivery and deliver goods, and identify the number of the current goods delivery area through an entity delivery marking line, so as to establish communication connection with the corresponding information transceiver, the goods receiving system can carry out information interaction with the unmanned aerial vehicle delivering goods in the corresponding goods delivery area according to the information transceiver at the goods delivery area with different numbers, and the system collects delivery information received by each information transceiver,

for example, there are two goods delivery area that preset entity was thrown goods marking sign in current delivery place department, wherein there is unmanned aerial vehicle in the goods delivery area of serial number 1 and is throwing the goods, unmanned aerial vehicle that new coming at this moment avoids the unmanned aerial vehicle of throwing the goods through the obstacle avoidance system who is equipped with, and discover the goods delivery area of serial number 2 through aforementioned image identification's mode, and carry out the goods delivery in No. 2 goods delivery area, and with delivery information transmission to the information transceiver in No. 2 goods delivery area.

Through set up the system of receiving goods that communicates with unmanned aerial vehicle in wisdom building to acquire the delivery information, in order to obtain the person of receiving goods information that corresponds with the goods.

In , after the step of obtaining delivery information of goods T10, the method further comprises:

and T20, notifying the addressee to take the mail through the internal network of the intelligent building based on the delivery information.

The receiving system and the internal network of the intelligent building keep a real-time communication connection relationship, and after the receiving system acquires the delivery information, the receiving system informs the communication system, and the communication system informs a receiver of taking the goods. The mode of informing the addressee can be to issue the announcement, or to individually contact the addressee, or to adopt the two modes simultaneously.

The announcement may be issued by scrolling the information of the addressee under the announcement display screen of the elevator in the smart building, or by issuing announcement information in the OA system of the smart building system, for example, by displaying the name in the identity information of the addressee, the office plate number and station number in the address information of the addressee, the telephone number or part of the telephone number in the contact way of the addressee, and the like, so as to inform the addressee of taking the item.

The individual contact mode of the addressee can be that the addressee contact mode is utilized, a communication system in the intelligent building is used for dialing an addressee base phone or a mobile phone, manual notification or intelligent telephone voice is conducted to notify the addressee of picking up goods, or individual visible information is sent to an OA system of the addressee independently to notify the addressee of picking up goods.

It is understood that after the delivery information is obtained by the receiving system, can be further determined whether there is a corresponding goods during the collecting process, and the communication system will inform the receiver to pick up the goods after determining that there is a corresponding goods.

After the intelligent building receives the goods, the receiver can be automatically informed to take the goods, so that the intellectualization of goods taking is realized.

In , before notifying the recipient to take the piece through the intelligent building internal network in step T20, the method further comprises:

and step T15, collecting goods, transferring the goods into the container, and recording the goods location information.

After unmanned aerial vehicle put in the goods of wisdom building in the region of putting in, the system of receiving goods can inform the addressee through wisdom building internal network and come to the goods and put in regional direct goods of getting and take the goods information of record, and the system of receiving goods also can be carried the goods through setting up on the goods position for this goods distribution in the goods are put in regional device by oneself to note the goods position information.

Specifically, when the addressee is notified to pick up the goods through the announcement way or the individual contact with the addressee, corresponding goods location information, such as the XX container number goods location, is notified in the information displayed by the display screen in a rolling manner, in the information issued by the OA system and in the telephone, so that the taker knows where the goods are located, and the goods are conveniently picked up.

It can be understood that the goods receiving system can realize the collection and the transfer of goods through conveying equipment such as a mechanical arm, a conveying belt, a lifting platform and the like.

In , the method for drone cargo delivery further comprises:

and step T30, acquiring and identifying the biological information of the goods taker to confirm whether the goods taker has corresponding goods to be taken, and giving the goods taker the right to take the goods when the goods taker has corresponding goods to be taken.

The biological information recognition system collects the biological information of all persons in advance, the receiving system can call the biological information of the corresponding pickup person after receiving the delivery information sent by the unmanned aerial vehicle, and the pickup person can be endowed with pickup permission only when the biological information shown by the pickup person is identified to be consistent with the biological information of the pickup person corresponding to any goods to be picked, so that the pickup person is allowed to pick up the goods, and the goods are prevented from being picked up by people except the corresponding pickup person.

Specifically, after the goods are released to the goods releasing area of the roof and the balcony of the intelligent building, the goods receiving system does not receive the goods, but extracts delivery information sent by the unmanned aerial vehicle, identifies recipients indicated in the delivery information, extracts corresponding biological information and sends the biological information to the biological information identification system, and simultaneously the goods receiving system informs a pick-up person to pick up the goods by using an internal network of the intelligent building.

The receiving system also extracts delivery information sent by the unmanned aerial vehicle, identifies a receiver indicated in the delivery information, extracts corresponding biological information and sends the biological information to the biological information identification system, in addition, the receiving system also informs a pickup person to pick up the goods by utilizing an internal network of the intelligent building, the biological information identification system is arranged on the goods cabinet, after the pickup person shows the corresponding biological information, the pickup person is endowed with a pickup authority, the corresponding goods location is opened, the pickup person takes the goods away, or the goods are picked up by a mechanical arm and delivered to the pickup person, and the condition is suitable for the condition that or more goods are to be picked up in the goods delivery area.

By giving the right of pickup only to the pickup showing the correct biological information, the goods are prevented from being falsely picked up.

The biological information includes at least items of face information, fingerprint information, iris information and voiceprint information.

The face information can be acquired by image recognition through a camera, face recognition forbidden equipment and the like, the fingerprint information, iris information and voiceprint information are acquired by corresponding equipment,

meanwhile, after the arbitrary consignee is endowed with the consignee right, the biological information identification system uploads the biological information shown by the consignee to the server of the intelligent building for recording, so that the biological information identification system is used for carrying out scrutiny when goods are falsely picked up and the like.

The invention provides an unmanned aerial vehicle cargo delivery system embodiment for an intelligent building, which is a system for implementing the aforementioned unmanned aerial vehicle cargo delivery method embodiment, and is described in detail with reference to fig. 4, wherein the cargo delivery system enables an unmanned aerial vehicle to deliver cargos in the air after arriving at a delivery airspace, thereby reducing delivery steps of the unmanned aerial vehicle and a receiver, simplifying cargo delivery process, and simultaneously, the unmanned aerial vehicle accurately identifies an entity delivery marking on the ground before delivering cargos and adjusts the spatial position of the unmanned aerial vehicle to the optimum according to the delivery marking, so that the cargos can accurately and safely fall into the cargo delivery area when the unmanned aerial vehicle delivers cargos.

As shown in fig. 4, the cargo delivery system includes a drone, and the drone includes:

the flight control module is used for controlling the unmanned aerial vehicle to fly to a corresponding delivery airspace;

the airspace confirmation module is used for confirming whether the unmanned aerial vehicle flies into the corresponding delivery airspace;

the marking confirmation module is used for judging whether an entity goods-throwing marking for marking the goods throwing area is preset in a goods throwing place below the goods throwing airspace after the airspace confirmation module confirms that the unmanned aerial vehicle is positioned in the goods throwing airspace;

the marking line recognition module is used for recognizing the position of the goods throwing area marked by the solid throwing marking line under the condition that the marking line confirmation module confirms that the solid throwing marking line is arranged in advance at the goods throwing place,

the marking module is used for marking a virtual goods throwing marking for marking a goods throwing area on the goods throwing place under the condition that the marking confirming module confirms that the goods throwing place is not provided with an entity goods throwing marking in advance;

the position adjusting module is used for adjusting the space position of the unmanned aerial vehicle based on the position of the solid goods-throwing marking identified by the marking identification module or the position of the virtual goods-throwing marking defined by the marking defining module;

and the cargo delivery module is used for controlling the unmanned aerial vehicle to deliver the cargo to be delivered.

In , the solid goods-throwing marked line comprises a positioning marked line used for marking the goods-throwing area, the positioning marked line directly forms a closed figure, or the positioning marked line and the extension line thereof together form a closed figure.

In , the reticle identification module comprises:

an th image acquisition unit, which is used for acquiring images of a delivery site area below the unmanned aerial vehicle;

an feature extraction unit, which is used for extracting each feature region in the image acquired by the image acquisition unit;

and the region identification unit is used for identifying the entity delivery marking line from each characteristic region extracted by the th characteristic extraction unit.

In , the region identification unit identifies the physical shipment marking by extracting attribute information of each feature region, wherein the attribute information of the feature region comprises items of color, shape and size.

In , the cargo delivery system further includes an obstacle determining module configured to determine whether an obstacle exists in the cargo delivery area in real time after the marking identifying module identifies the position of the cargo delivery area identified by the physical delivery marking, where the obstacle is a real object that wholly or partially intersects with the cargo delivery area, and an obstacle handling module that includes:

the goods throwing delay unit is used for delaying the goods throwing time and waiting until the goods throwing area is judged to maintain the state of no obstacle within time under the condition that the time for judging that the obstacle continuously exists in the goods throwing area exceeds the set time length by the obstacle judging module;

the warning expelling unit is used for sending out a warning signal to warn that the obstacle leaves the goods throwing area or the obstacle is moved out of the goods throwing area under the condition that the obstacle judging module judges that the time for continuously having the obstacle in the goods throwing area exceeds the set time length;

in , the cargo delivery system further includes a height adjustment module for controlling the flight control module to move the drone to a position with a height equal to of the delivery location after the airspace confirmation module confirms that the drone is located in the delivery airspace, and then the marking confirmation module determines whether the delivery location is preset with an entity delivery marking.

In , the reticle definition module comprises:

the second image acquisition unit is used for acquiring an image of a delivery site area below the unmanned aerial vehicle;

the second feature extraction unit is used for extracting each feature region in the acquired image and identifying an obstacle feature region capable of influencing cargo delivery from the feature regions;

the area demarcation unit is used for demarcating the position of the virtual delivery marking line based on the position of the identified obstacle characteristic area; the virtual goods-throwing marked lines form a closed graph, and the inside of the closed graph does not contain any obstacle characteristic area.

In the embodiments, the area defining unit is configured to define the position of the virtual shipping mark such that the boundary of the closed figure formed by the virtual shipping mark does not exceed the boundary of the predetermined shipping area.

In , the position adjustment module is configured to adjust the spatial position of the drone based on the physical delivery markings such that the adjusted spatial position of the drone does not exceed the delivery airspace.

In , the position adjustment module comprises a horizontal adjustment submodule for adjusting a horizontal position of the drone based on a position of the physical routing marker or a position of the virtual routing marker, wherein the horizontal adjustment submodule comprises:

the center acquisition unit is used for acquiring the center position of the cargo release area;

and the horizontal adjusting unit is used for controlling the flight control module to adjust the horizontal position of the unmanned aerial vehicle based on the central position of the cargo delivery area acquired by the central acquiring unit so as to enable the distance between the vertical projection of the cargo on the delivery site and the central point of the cargo delivery area to be within a set range.

In , the position adjustment module includes a height adjustment submodule for adjusting a height position of the drone based on a position of the physical routing marker or a position of the virtual routing marker, the height adjustment submodule including:

the boundary acquisition unit is used for acquiring the boundary position of the cargo release area;

the height adjusting unit is used for controlling the flight control module to adjust the height position of the unmanned aerial vehicle based on the boundary position of the cargo throwing area acquired by the boundary acquiring unit, and the size of the area enclosed by the height position of the unmanned aerial vehicle and the boundary of the cargo throwing area is in a direct proportion relation in fixed height range.

In , the cargo delivery system further comprises:

the cargo weight acquisition module is used for acquiring weight data of the cargo to be released before the position adjustment module adjusts the space position of the unmanned aerial vehicle;

the wind power information acquisition module is used for acquiring current wind speed information and/or current wind direction information before the position adjustment module adjusts the spatial position of the unmanned aerial vehicle; and,

the position adjustment module also adjusts the spatial position of the drone based on the cargo weight data and/or the current wind speed information and/or the current wind direction information.

In , the cargo carried by the drone is equipped with airbags that wrap at least the bottom and part of the sides of the cargo to be dropped, and the cargo delivery system further comprises:

the inflation calculation module is used for calculating the inflation quantity of the airbag for the current goods to be released based on the height position of the unmanned aerial vehicle and/or the weight of the current goods to be released before the goods release module controls the unmanned aerial vehicle to release the goods to be released;

the airbag inflation module is used for inflating an airbag for the goods to be released according to the calculated inflation quantity;

and the air bag sealing module is used for sealing the air bag after the air inflation is finished.

In , the cargo delivery system further includes a receiving system for establishing communication connection with the communication module of the drone and obtaining delivery information of the cargo, wherein the delivery information includes at least items of recipient identity information, recipient address information, and recipient contact information, it is understood that the correct recipient in fig. 4 is the recipient, and each cargo delivery area may be respectively installed with a dedicated information transceiver for information interaction with the communication module of the drone in the corresponding cargo delivery area.

In , the cargo delivery system further comprises a communication system for notifying the consignee to pick up the cargo through the intelligent building internal network based on the delivery information after the delivery information of the cargo is acquired by the cargo receiving system, wherein the mode for notifying the consignee comprises at least modes of issuing a notice and individually contacting the consignee.

In , the receiving system further includes a goods collecting module for collecting the goods, transferring the goods to the container and recording the goods location information before the communication system notifies the recipient to take the delivery, and when the communication system notifies the recipient to take the delivery, the content of the notification includes the goods location information of the corresponding goods recorded by the goods collecting system.

In , the cargo delivery system further comprises a biological information identification system for collecting and identifying biological information of the taker to confirm whether the taker has corresponding cargo to take, and giving the taker a right to take the cargo when the taker has corresponding cargo to take, wherein the biological information comprises at least of face information, fingerprint information, iris information and voiceprint information, and after any taker is given the right to take the cargo, the biological information identification system uploads the biological information shown by the taker to a smart building for filing for checking when the cargo is taken.

The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims (8)

1, unmanned aerial vehicle cargo delivery method for intelligent building, which comprises:

flying the unmanned aerial vehicle carrying the goods into the corresponding goods throwing airspace;

after confirming that the unmanned aerial vehicle is located in the goods-delivery airspace, judging whether an entity goods-delivery marking line for marking a goods-delivery area is preset in a goods-delivery place of the intelligent building below the goods-delivery airspace;

under the condition that the solid goods-throwing marking lines are preset in the goods-throwing place, identifying the position of a goods-throwing area marked by the solid goods-throwing marking lines, otherwise, automatically marking virtual goods-throwing marking lines for marking the goods-throwing area in the goods-throwing place;

adjusting the spatial position of the unmanned aerial vehicle based on the position of the physical delivery marking or the position of the virtual delivery marking;

the unmanned aerial vehicle puts in the goods to be put; wherein,

the self-demarcating of the virtual goods-throwing marked line for marking the goods throwing area at the goods throwing place comprises the following steps:

the unmanned aerial vehicle acquires an image of a delivery site area below the unmanned aerial vehicle;

extracting each characteristic region in the acquired image, and identifying an obstacle characteristic region capable of influencing cargo delivery from the characteristic regions;

drawing the position of a virtual delivery marking line based on the position of the identified obstacle characteristic area; wherein,

the virtual delivery marked line forms a closed figure, and the closed figure does not contain any obstacle characteristic region inside.

2. The unmanned aerial vehicle cargo delivery method of claim 1, wherein the determining whether a delivery location below the delivery airspace is pre-provided with an entity delivery marking line for identifying a cargo delivery area, and/or the identifying the position of the cargo delivery area identified by the entity delivery marking line comprises:

the unmanned aerial vehicle acquires an image of a delivery site area below the unmanned aerial vehicle;

extracting each characteristic region in the acquired image;

and identifying the solid delivery marked line from the extracted characteristic regions.

3. The unmanned aerial vehicle cargo delivery method of claim 1, further comprising:

the goods receiving system establishes communication connection with the unmanned aerial vehicle and obtains delivery information of goods; wherein,

the delivery information comprises at least items of recipient identity information, recipient address information and recipient contact information.

4. The method for unmanned aerial vehicle cargo delivery according to claim 3, further comprising, after the obtaining delivery information of the cargo:

notifying a receiver to take the delivery through an internal network of the intelligent building based on the delivery information; wherein,

the means of notifying the recipient includes at least of posting and individual contact with the recipient individual.

5, a unmanned aerial vehicle cargo delivery system for wisdom building, a serial communication port, cargo delivery system includes unmanned aerial vehicle, unmanned aerial vehicle includes:

the flight control module is used for controlling the unmanned aerial vehicle to fly to a corresponding delivery airspace;

the airspace confirmation module is used for confirming whether the unmanned aerial vehicle flies into a corresponding delivery airspace;

the marking confirmation module is used for judging whether an entity goods-throwing marking for marking a goods-throwing area is preset in a goods-throwing place below the goods-throwing airspace after the airspace confirmation module confirms that the unmanned aerial vehicle is positioned in the goods-throwing airspace;

the marking line recognition module is used for recognizing the position of the goods throwing area marked by the solid goods throwing marking line under the condition that the marking line confirmation module confirms that the goods throwing marking line is preset at the goods throwing place,

the marking line marking module is used for marking a virtual goods throwing marking line for marking a goods throwing area on the goods throwing place by self under the condition that the marking line confirming module confirms that the goods throwing place is not provided with the solid goods throwing marking line in advance;

the position adjusting module is used for adjusting the space position of the unmanned aerial vehicle based on the position of the solid goods-throwing marking identified by the marking identification module or the position of the virtual goods-throwing marking defined by the marking defining module;

the cargo releasing module is used for controlling the unmanned aerial vehicle to release the cargo to be released;

wherein the reticle-delimiting module comprises:

the second image acquisition unit is used for acquiring an image of a delivery site area below the unmanned aerial vehicle;

the second feature extraction unit is used for extracting each feature region in the acquired image and identifying an obstacle feature region capable of influencing cargo delivery from the feature regions;

the area demarcation unit is used for demarcating the position of the virtual delivery marking line based on the position of the identified obstacle characteristic area; wherein,

the virtual delivery marked line forms a closed figure, and the closed figure does not contain any obstacle characteristic region inside.

6. The cargo delivery system of claim 5, wherein the reticle identification module or reticle identification module comprises:

an th image acquisition unit, which is used for acquiring images of a delivery site area below the unmanned aerial vehicle;

an feature extraction unit, for extracting each feature region in the image acquired by the image acquisition unit;

and an area identification unit for identifying the entity delivery marking line from each characteristic area extracted by the th characteristic extraction unit.

7. The cargo delivery system of claim 5, further comprising:

the goods receiving system is arranged on the intelligent building and used for establishing communication connection with the communication module of the unmanned aerial vehicle and acquiring delivery information of goods; wherein,

the delivery information comprises at least items of recipient identity information, recipient address information and recipient contact information.

8. The cargo delivery system of claim 7, further comprising:

the communication system is used for informing a receiver of pickup through an internal network of the intelligent building based on delivery information after the delivery information of the goods is acquired by the goods receiving system; wherein,

the means of notifying the recipient includes at least of posting and individual contact with the recipient individual.

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