CN110834724A

CN110834724A - Unmanned aerial vehicle, distributed time-sharing control system and control method for distribution unmanned aerial vehicle

Info

Publication number: CN110834724A
Application number: CN201911101092.1A
Authority: CN
Inventors: 丁贺
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-11-12
Filing date: 2019-11-12
Publication date: 2020-02-25

Abstract

An unmanned aerial vehicle, a distributed time-sharing control system and a control method for a distribution unmanned aerial vehicle comprise the following steps: receiving the distribution information and marking the task; the company server distributes the unmanned aerial vehicle to execute the task, and binds the unmanned aerial vehicle with the marking task; the company server controls the unmanned aerial vehicle to take off and advance to reach the landing place; the company server issues and executes a pickup task to the activated operation desk, or the company server issues and executes a dispatch task to the operation desk, or the company server issues and executes a landing task to the operation desk, and the merchant loads goods; the drone returns to a nearby yard from the sender/receiver, and the drone returns to the nearby yard or returns from the merchant to the yard after arriving at the receiver from the merchant. By manual operation at important period, because of the environment is complicated when having avoided artificial intelligence operation, the database is incomplete, accident and mistake that the detection ability is not enough to cause, and artificial control unmanned aerial vehicle compares its research and development of artificial intelligence unmanned aerial vehicle and manufacturing cost and all has the reduction, and obstacle avoidance ability under the complex condition promotes by a wide margin, and customer experience also promotes by a wide margin.

Description

Unmanned aerial vehicle, distributed time-sharing control system and control method for distribution unmanned aerial vehicle

Technical Field

The invention belongs to the field of artificial intelligence, and particularly relates to a control system of an unmanned aerial vehicle, an unmanned aerial vehicle structure and a control method.

Background

In the existing distribution system, the problems of overhigh labor cost ratio of the last kilometer, high danger of manual distribution posts and the like exist; meanwhile, the threshold of full-artificial intelligent distribution service is high, equipment is expensive and not beneficial to popularization, the used intelligent algorithm is not completely mature, and meanwhile, the detection precision and the reaction speed of the distribution robot/unmanned aerial vehicle are not suitable for large-scale high-frequency application. While a 1-to-1 robot/drone delivery system reduces post hazards, it also wastes manpower, in which case the system is proposed as a supplement to end delivery services.

Disclosure of Invention

Aiming at the problems, the invention provides a distributed time-sharing control system for a distribution unmanned aerial vehicle, which is manually operated in important time intervals, so that accidents and errors caused by complex environment, incomplete database and insufficient detection capability during artificial intelligent operation are avoided; the program operation in the non-important time period saves the labor cost and reduces the risk of the post; by artificial control's unmanned aerial vehicle, it all reduces to compare its research and development of artificial intelligence unmanned aerial vehicle and manufacturing cost, and keeps away under the complex condition barrier ability and promote by a wide margin, owing to be real man's service, the customer experience is artificial intelligence relatively also better.

In order to achieve the purpose, the invention adopts the following technical scheme:

a distributed time-sharing control system for distribution unmanned aerial vehicles comprises a city server, a company server, an operation console, an unmanned aerial vehicle and a software terminal,

the city server is used as a path management server in a certain area, plays a role in overall distribution and command, and comprises unmanned aerial vehicle filing and management, operator registration and management, company server registration and management, city map management, air route distribution management and clock management;

the company server comprises a company server planning module and a company server driving module, and is used as a task execution main body of the area to play roles in task management and personnel planning;

the unmanned aerial vehicle provides distribution service;

the operation desk is connected with the company server through a broadband network, is a tool for an operator to remotely control the distribution of the unmanned aerial vehicle in each task, comprises a controller, an exchange device, an information screen, a monitoring screen and a host, is used for manually controlling the unmanned aerial vehicle, and the tasks executed on the operation desk are uniformly and randomly distributed by the company server, and are managed by the company server;

and the software terminal comprises a station terminal, a ground service terminal and a security check terminal.

Furthermore, the city server is used as a path management server in a certain area, and plays a role in overall distribution and command.

The system function of the city server comprises the following parts:

1, unmanned aerial vehicle filing and management:

each company needs to record and update the unmanned aerial vehicle which runs in the network in time on a city server, and the recorded unmanned aerial vehicle can enter an airspace to run through an air route application, and meanwhile, the running condition of each unmanned aerial vehicle is monitored.

2, operator registration and management:

the company needs to record the exclusive operator of the company and the operator signing the temporary contract on the city server, and the recorded operator can obtain the related task execution authority of the company.

3, company server registration and management:

the company using the system in the area needs to register the company server of the company in the city server of the area, and the registered company server can obtain various services of the company server.

4, city map management:

the company operating the city server needs to update and perfect the city map so as to provide data service for each company server governed by the city server, wherein the data service includes air route information, forbidden information, weather information and the like.

5, idle allocation management:

the city server examines the air route application provided by the company server, confirms that no other unmanned aerial vehicle flies in the route in the time period, authorizes the task to be carried out, and marks the route traveled by the unmanned aerial vehicle as occupied in the time period so as to avoid air accidents. The company server provides a plurality of empty routes for a certain task, and the urban server selects the empty routes according to the principle of proximity → time efficiency.

6, clock management:

because the air route distribution management has strong timeliness, each company server must keep synchronization with the clock of the city server, and the city server is responsible for keeping synchronization with the network time and sending accurate time information to each company server.

Further, the company server comprises unmanned aerial vehicle management, personnel management, order platform docking data management, task chain management, path planning, air route management, task allocation and management, an unmanned aerial vehicle driving module, city map management and station yard management.

Specifically, the company server serves as a task execution agent in the area, and plays a role in task management and personnel planning.

System functions of the company server:

1, unmanned aerial vehicle management:

a company using the present system should register authorizations at the company server for all types of drones that it is prepared to operate on the network so that the company server can assign tasks to them.

2, managing personnel such as security inspectors, ground staff and operators:

a security checker, a ground clerk, an operator, an administrator, etc. should establish an account with the company server and obtain the corresponding rights so that the company server can assign tasks to it.

3, order platform docking data management:

the company using the system should have its existing order platform interfaced with the company server so that the company server obtains order information and generates various task chains from the order information to complete the order.

4, task chain management:

the generation, execution, feedback, statistics and the like of various task chains are completed by a company server, different task chains are generated according to different order requirements and different unmanned aerial vehicles, starting stations, passing paths, final stations, execution operators and the like are different.

5, path planning:

according to the task information, the company server needs to generate a plurality of paths from the starting place to the destination, wherein the paths are composed of all sections of empty paths planned on a map, so that the paths are selected and approved by the city server and are used by the automatic traveling task.

6, empty path management:

the planned path is submitted to a city server for application before the unmanned aerial vehicle drives in, and after the application is approved, the unmanned aerial vehicle of the corresponding task can use the section of the empty road according to the approved time; after the unmanned aerial vehicle of the empty route task is used, the empty route is released to be delivered to the city server so as to be used by other tasks.

7, task allocation and management:

the system comprises a task chain in execution, wherein execution main bodies (operators, security inspectors, server driving modules and the like) of all tasks are assigned by a company server when the tasks are needed, and control and audio/video data streams except flight control are transferred to the task chain.

8, unmanned aerial vehicle drives the module:

in the task chain, the automatic takeoff task and the automatic advancing task are executed by a company server driving module, and the unmanned aerial vehicle is driven according to the air path information and the information such as the height and the position fed back by the unmanned aerial vehicle to operate to the position required by the task target. Meanwhile, when other tasks are carried out, the operation signals from the operation table are relayed by the driving module.

9, city map management:

the map information updated from the city server includes various air road states, weather information and no-fly information, and is provided for path planning.

10, station yard management:

the companies using the system have exclusive stations distributed in various regions or transfer stations shared by other companies to be registered and managed in a company server, and when the number of unmanned aerial vehicles belonging to each station is unbalanced, a task allocation chain between stations is started.

The application further discloses an unmanned aerial vehicle, including rotor module, fly to control the module, battery and warehouse module, wherein:

the rotor wing modules are distributed around the flight control module and are connected to the flight control module in a rotatable and convenient-to-detach manner;

the flight control module comprises a main control chip, and the main control chip receives manually input or/and automatically input control signals so as to control the operation of the rotor wing module, thereby providing power for the unmanned aerial vehicle;

the battery and warehouse module are detachably fixed below the flight control module and comprise a warehouse, a battery pack, a butt chip, a monitoring camera, a laser range finder, a weighing sensor and an air buffer undercarriage.

As a preferred scheme of the unmanned aerial vehicle, the battery and the warehouse module are mounted below the flight control module through a buckle and a flat cable, so that functions of cargo loading, power supply and the like are realized. Further, the warehouse comprises a warehouse wall and a warehouse door, the warehouse wall is a light warehouse wall and forms a warehouse space together with the warehouse door, and the warehouse door can be opened and closed by persons with authority in a task chain and comprises a security inspector, a ground attendant or a merchant, a loader and the like. The group battery is unmanned aerial vehicle's flight energy storage device, should possess the quick performance of filling, and fire prevention fire extinguishing material should be filled in the battery space simultaneously. The battery pack is located below the battery and the warehouse module and has a counterweight function. Further, the laser range finder of battery and storehouse module is installed in battery and storehouse module bottom, measures the distance of unmanned aerial vehicle apart from ground, obtains unmanned aerial vehicle's relative altitude information, provides the module that has the demand and uses. The weighing sensor is located inside the warehouse, and provides cargo weight information for the required module after the cargo to be loaded is weighed. The docking chip processes various data generated by the battery and the warehouse module and transmits the data to the flight control module through the flat cable for use. The flat cable comprises a data line and a power line, and provides power for the flight control module, and transmits monitoring information, relative height information and cargo weight information processed by the butt joint chip to the flight control module for use. Furthermore, battery and storehouse module top are equipped with the connection buckle for with battery and storehouse module lock dress in flying control module below, make it connect as an organic whole, this connection buckle needs to satisfy easy dismounting and bearing demand.

Further, still include below surveillance camera head and supplementary laser instrument.

As a preferred scheme of the unmanned aerial vehicle, the rotor module comprises a guide pipe, a rotor, a stator, a variable speed transmission mechanism and a support connecting frame, wherein the rotor is arranged in a cavity of the guide pipe, the stator is fixed on the inner side wall of the guide pipe, the variable speed transmission mechanism changes the speed of the rotor module and drives the rotor to rotate, and one end of the support connecting frame is fixed on the guide pipe, and the other end of the support connecting frame is connected to the flight control module.

As a preferable scheme of the unmanned aerial vehicle, the flight control module comprises a 5G chip, a gyroscope, a Beidou chip, a main control chip, a main board, a motor, a speed change mechanism and a steering wheel,

the 5G chip provides data connection for the unmanned aerial vehicle;

the gyroscope provides unmanned aerial vehicle attitude information for the module with the demand;

the Beidou chip provides unmanned aerial vehicle position information for the modules with requirements;

the main control chip coordinates and calls data of all functional components for use and provides calculation force support, controls all rotor modules according to data provided by the gyroscope to adjust the flight attitude, and controls all rotor modules to fly according to control information transmitted by the company server driving module;

the motor provides power for the rotor wing module; the speed change mechanism transmits power to each rotor wing module through a transmission rod; the steering wheel is located around flying to control the module for the installation rotor module to self rotates the rotation that drives the rotor module, in order to reach the purpose that unmanned aerial vehicle flight turned to.

Further, the flight control module is the main part of distribution unmanned aerial vehicle, includes following functional module and subassembly:

and (5) A, 5G chips. The 5G chip provides data connection for unmanned aerial vehicle, and various data that need transmit such as the control signal, unmanned aerial vehicle attitude information, the image data of surveillance camera head, door switch signal that come from the company's server are forwardded by this chip, are controlled its transmission course by main control chip.

And B, a gyroscope. The gyroscope provides unmanned aerial vehicle attitude information for the module that has the demand.

And C, emergency parachute. The parachute is folded in the parachute tube, is arranged above the gravity center of the flight control module and is excited by the propellant powder, and when the unmanned aerial vehicle encounters power failure, strong airflow, impact, rollover and other aerial accidents, the main control chip ignites and excites according to preset conditions.

And D, a Beidou chip. The big dipper chip provides unmanned aerial vehicle positional information for the module that has the demand.

And E, a triaxial speed sensor. The triaxial speed sensor provides triaxial speed information for a module with a demand, and the information is compared with other data and then comprehensively utilized.

F, an air pressure height sensor. Atmospheric pressure altitude sensor will provide unmanned aerial vehicle's altitude information for the module that has the demand, and this information will compare back comprehensive utilization with the laser range finder of storehouse module bottom.

G, a main control chip. The main control chip coordinates and calls data of all functional components for use and provides calculation force support, controls all rotor modules according to data provided by the gyroscope to adjust the flight attitude, and controls all rotor modules to fly according to control information transmitted by the company server driving module.

H, communication equipment. Including setting up at the positive oblique top of unmanned aerial vehicle interchange display, interchange camera, microphone, megaphone for operator or security check person use when openly exchanging with the customer.

I, upper, left, right and front monitoring cameras. The four monitoring cameras provide monitoring information of the direction in which the four monitoring cameras are located, the four monitoring cameras are started when operated manually, visual information is provided for manual driving, and images of the visual information are displayed on a corresponding display screen of an operation console executing the current task.

J, monitoring the camera to assist the laser. Through sending the twice visible laser that possesses certain contained angle in camera both sides, alright observe on the screen that this camera corresponds to beat two vertical banding faculas in the left and right sides that reflect back on the scenery, distance and length through two faculas, (two light band distances are more close, the scenery is more close to the camera, the facula is shorter, the scenery is more close to the camera) can audio-visually reachd scenery and unmanned aerial vehicle's distance, so that the operator judges the distance of each scenery distance on the screen with the vision directly perceivedly, and need not shift the sight in addition and go to see height or distance digit, but can not obtain accurate distance information. See the working principle of a monitoring camera and a matched laser "

K, a main board. The motherboard carries and provides hardware connections for each chip, including docking to a flex socket to connect to the warehouse module.

L, a motor, a speed change mechanism and a steering wheel. The motor provides power for the rotor modules, and the power is transmitted to each rotor module through the speed change mechanism, and the energy of the power is from the battery pack of the cargo cabin module. The steering wheel is located around flying to control the module for the installation rotor module to self rotates the rotation that drives the rotor module, in order to reach the purpose that unmanned aerial vehicle flight turned to.

M, a temporary battery. The temporary battery provides cruising power for a weak current device in the flight control module, and power supply when the power connection of the warehouse module is disconnected is ensured; when the battery is connected with the warehouse module and the flight control module, the temporary battery is charged by the main battery.

As a preferred scheme of the unmanned aerial vehicle, the battery and warehouse module further comprises a safe forced landing device, and the safe forced landing device comprises an air bag, an inflation system and an air bag control system.

2, a warehouse module:

the warehouse module is arranged below the flight control module through a buckle and a flat cable, realizes the functions of cargo loading, power supply, bottom visual angle providing and the like, and mainly comprises the following parts.

And A, light cabin walls. The warehouse wall forms the main structure of the warehouse module and forms the warehouse space together with the warehouse door.

And B, controllably opening the bin gate. The warehouse door can be opened by a security inspector, a ground attendant or a merchant with authority in a task chain, and the closing process after the goods are loaded is completed by a loader.

And C, a battery pack. This group battery is unmanned aerial vehicle's flight energy storage device, possesses the quick charge performance, and fire prevention fire extinguishing material should be filled in the battery space simultaneously. The battery pack is positioned at the lower part of the warehouse module and below the warehouse, and the weight of the battery pack can be used as a counter weight.

And D, laser range finder. Laser range finder installs in the module bottom, measures the distance of unmanned aerial vehicle apart from ground, obtains unmanned aerial vehicle's relative altitude information, provides the module that has the demand and uses.

And E, weighing a sensor. The weighing sensor is located inside the warehouse, and provides cargo weight information for the required module after the cargo to be loaded is weighed.

And F, an undercarriage located at the bottom of the warehouse module.

G, butting the chip and the flat cable. The docking chip processes various data generated by the warehouse module and transmits the data to the flight control module through the flat cable for use. The flat cable comprises a data line and a power line, and provides power for the flight control module, and transmits monitoring information, relative height information and cargo weight information processed by the butt joint chip to the flight control module for use.

And H, connecting a buckle. Connect the buckle to be located warehouse module top for with warehouse module lock dress in flying to control the module below, make it connect as whole, this buckle needs to satisfy easy dismounting and bearing demand.

I, a lower monitoring camera and an auxiliary laser thereof. The function of the monitoring camera and the auxiliary laser device of the flight control module is the same, and the monitoring camera and the auxiliary laser device are responsible for scene observation below the unmanned aerial vehicle.

J, safety air bag. Safety airbag is located warehouse module bottom around, uses simultaneously with emergent parachute, arouses when unmanned aerial vehicle meets accident and can't continue the flight to bump ground target or destroy self when preventing unmanned aerial vehicle from falling.

3, rotor module:

the rotor module is through flying the power that the accuse module provided, for whole unmanned aerial vehicle provides lift and turns to, and detachable installs on flying the steering wheel all around of accuse module, flies the accuse module service for one by four to eight rotor modules. The rotor module is composed of the following main parts:

a, a catheter. The guide pipe is a streamline light guide pipe with a large upper part and a small lower part, and plays a role in rectifying, silencing and accelerating.

And B, stator blades. The stator vanes are positioned on the inner wall of the conduit and play a role of rectifying together with the rotating airflow formed by the vanes.

And C, rotor blades. The rotor blade is located inside the pipe, and the power that is provided by flying accuse module orders about around the pipe center is rotatory, forms downcast, provides lift for unmanned aerial vehicle.

And D, a variable speed transmission mechanism. The mechanical power provided by the flight control module powers the rotor blades via a variable speed transmission.

And E, supporting the frame. The support frame is positioned on the outer wall of the guide pipe and connects the guide pipe with a steering wheel of the flight control module, so that the rotor wing module is fixed on the flight control module.

Fourthly, the method comprises the following steps: operation table

The operation platform is connected with a company server through a broadband network, is a tool for an operator to remotely control the unmanned aerial vehicle distribution in each task, can be uniformly provided by a company using the system, can also be purchased by an individual person, and is operated at a convenient place by signing a temporary task contract with a certain company using the system. The tasks executed thereon are uniformly and randomly distributed by the company server, settled on a task-by-task basis, and managed by the company server.

The system of the operation panel is composed of: see "software Process at operator end"

Hardware composition of the console:

and A, a seat. The console seat provides an operating position for an operator.

And B, a controller. Including pedals, control rods and other devices to realize different control functions.

And C, communication equipment. Including cameras, microphones, headsets, etc., to enable communication with the customer.

And D, an information screen. The display device is used for displaying task information, client information, map information, unmanned aerial vehicle states and position information, displaying clients through an exchange camera on the unmanned aerial vehicle when communicating with the clients, fixing the clients on the seat through the adjustable support arm, and adjusting the positions of relative operators.

And E, monitoring the screen. The five monitoring screens respectively display monitoring pictures corresponding to the upper monitoring camera, the lower monitoring camera, the left monitoring camera, the right monitoring camera and the front monitoring camera, and provide visual fields when an operator drives.

F, the host. Computational support and data connectivity are provided for the above devices.

G, identity card identification device. Operation of the system may begin by identifying a particular identification card.

Fifthly: other software terminals

And A, station side. The station terminals are software terminals which are distributed in all places of a city and used for managing packages, tasks, unmanned planes and personnel, and run on personal computers of the station. After receiving the order which is suitable for being completed by the system through the platform interface, the company server generates a task chain and distributes the task chain to a suitable station terminal according to the principle of proximity, and the ground service performs management and auxiliary operation of tasks and unmanned aerial vehicles.

And B, a ground service terminal. The ground service terminal is a software terminal for managing packages, tasks and unmanned aerial vehicles by matching station field personnel with the station field terminal and runs on a personal portable terminal.

And C, a security inspection end. The security check terminal is a terminal used by security check personnel for performing visual security check tasks, and runs on a personal computer, the computer can be installed at any convenient place, but in order to perform the visual security check tasks, a microphone, a sound box/earphone and a camera are required to be installed so as to be convenient for communication with a sender client.

The invention further discloses a distributed time-sharing control method for the distribution unmanned aerial vehicle, which is characterized in that: the method comprises the following steps:

the method comprises the following steps: receiving the distribution information and marking the task;

step two: the company server distributes the unmanned aerial vehicle to execute the task, and binds the unmanned aerial vehicle with the marking task;

step three: the company server controls the unmanned aerial vehicle to take off and travel to reach a preset place;

step four: the company server issues and executes a 'pickup task' to the operation desk, or the company server issues and executes a 'dispatch task' to the operation desk, or the company server issues and executes a 'landing task' to the operation desk, and the merchant loads goods;

step five: the drone returns to a nearby yard from the sender or the receiver, or the drone returns to a nearby yard from the merchant to the receiver or returns to a nearby yard from the merchant to the nearby yard.

Further, also includes

Step six: the unmanned aerial vehicle continuously takes off from a nearby station yard and travels to a delivery site;

step seven: the company server issues and executes a dispatch task to the operation desk;

step eight: the drone returns to the nearby yard from the recipient.

Advantageous effects

1. The server integrally arranges the manual operation time and the program operation time of the unmanned aerial vehicle, and the proportion of the occupied time of manpower is greatly reduced, so that the labor cost is reduced, and the labor productivity is improved.

The unmanned aerial vehicle distribution avoids traffic hazards caused by full manual distribution, and manual operation in important time intervals avoids accidents and errors caused by insufficient detection capability due to complex environment, incomplete database or untimely update during manual intelligent operation; and the program operation in the non-important time period saves the labor cost and reduces the risk of the post.

2. Compare artificial intelligence unmanned aerial vehicle by artificial control's unmanned aerial vehicle, its research and development and manufacturing cost all have the reduction, and the obstacle avoidance ability of (like branch, the crisscross resident building area of electric wire) under the complex condition has promoted by a wide margin, and the quality that the manual work carried out customer service simultaneously compares current artificial intelligence also higher.

3. Compare 4G, 5G is obvious in the communication of networking unmanned aerial vehicle covers, and the novel extensive antenna array that 5G adopted can adjust each antenna transmitting signal's phase place in a flexible way automatically, satisfies the national requirement of low latitude airspace supervision within 500 meters, satisfies the flight demand of unmanned aerial vehicle more than 120 meters under the many high-rise environment in city in the future. In addition, in the aspect of unmanned aerial vehicle's remote fine control, flight data safety guarantee etc, 5G also has more advantage. Therefore, when the 5G network is popularized, the low-cost network bandwidth becomes an advantage that the 3G/4G era cannot surpass.

4. The unmanned aerial vehicle design load that this system used is 1.5 ~ 3 kg, under the prosperous big environment of electricity merchant and takeaway at present, the takeaway parcel weight of very most express delivery parcel, same city express delivery parcel and dining room, pharmacy, supermarket all is in this scope, though this system can not replace current manpower delivery system completely, but can become the powerful replenishment of current system.

Drawings

1. Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle.

2. Fig. 2 is a diagram of a relationship structure and a connection mode of elements in a distributed time-sharing control system of a distribution unmanned aerial vehicle.

Detailed Description

Example 1

A distributed time-sharing control system for a distribution unmanned aerial vehicle, a honeycomb system for short, comprises the following working flows when an express receiving task chain is executed:

the first step comprises the following steps: ordering by a client, providing a pickup address, a sender contact way and generating a task chain number;

the second step comprises the following steps: the company server searches for the standby unmanned aerial vehicle closest to the sender, and the unmanned aerial vehicle number and the task chain number are paired, so that the state of the unmanned aerial vehicle is changed into occupied;

the third step comprises: the company server planning module plans a route and generates a task chain according to a final target;

the company server planning module issues an automatic take-off task to the company server driving module, the company server applies for an empty road to the city server, the empty road is approved, the company server driving module drives the unmanned aerial vehicle to execute the automatic take-off task, and the task completion is reported to the company server planning module;

the company server planning module issues an automatic traveling task to the company server driving module, the company server driving module drives the unmanned aerial vehicle to execute the automatic traveling task, and the automatic traveling task is completed and reported to the company server planning module;

the fourth step comprises the following steps: the company server issues a "package task" to an idle console in the network, and determines whether a confirmation of the console is obtained within a predetermined time range? Under the condition of obtaining confirmation of the operation table, the operation table starts to execute a 'part collecting task';

under the condition that the confirmation of the operation platform is not obtained, the company server planning module issues a 'emergency drop task' to the idle emergency group personnel with high-grade license plates in the network, the emergency group operation platform executes and completes the 'emergency drop task' and then reports the 'emergency drop task' to the company server planning module, and the company server planning module seeks to complete a task chain and returns to the step that the company server issues a 'package collecting task' to the operation platform;

the 'pull task' comprises the following steps:

the company server distributes 'package receiving task' to an idle operation platform in the network, the operation platform contacts the sender according to the information provided by the task chain, the operation platform controls the task unmanned aerial vehicle to fly to the appointed place, whether the sender is found is judged,

if the sender is found, the sender is landed, the operation platform invites the security check terminal to join the session, a 'article acquisition task' is completed, a task chain is switched to a security check flow, a 'security check task' is executed, and the operation platform enters task settlement;

if the sender is not found, judging whether the sender can be found later, if the sender can be found later, waiting for or flying to a second place provided by the sender, finding the sender and landing, inviting an idle security inspection terminal in the network to join a session by the operation platform, completing a piece acquisition task, switching a task chain to a security inspection flow, starting to execute a security inspection task by the security inspection terminal, and entering task settlement by the operation platform;

if the sender cannot be found later, the operation console confirms whether the order is cancelled or not to the sender, if the sender cancels the order, the unmanned aerial vehicle optionally lands, the 'picking task' is completed, the task chain is switched to a take-off process, and the operation console enters the task settlement;

if the order is confirmed to be not cancelled with the sender, appointing a piece catching time with the sender again, selectively landing the unmanned aerial vehicle, completing a piece catching task, switching a task chain to a take-off process, and entering task settlement by the operation panel;

the security inspection task comprises the following steps: the operation desk activates the security check terminal, the task of the operation desk is completed, the operation desk enters the task settlement, and the security check terminal joins the task;

the security inspection terminal communicates with the sender through a conversation screen, a camera, a microphone and a loudspeaker on the unmanned aerial vehicle to finish visual security inspection, if the security inspection is passed, the door is opened by a security inspection operating platform, and the sender loads goods;

judging whether the goods are overweight, if not, closing the door, completing a security inspection task, settling the security inspection terminal task, and transferring the task chain to a take-off process;

if it is overweight, then determine if the overweight is within the allowable range? If the service life is within the allowable range, inquiring whether the customer agrees to make up the fee, if the customer agrees to make up the fee, closing the door, completing a security inspection task, settling the security inspection terminal task, and performing task chain transfer to a take-off process;

if the security check is not passed, or if the overweight is not in the allowable range, or if the customer does not agree with the compensation fee, the sender cancels the order, the security check task is completed, the security check terminal task settlement is carried out, and the task chain is transferred to the take-off process;

at the moment, the unmanned aerial vehicle needs to return to a nearby station, and the company server planning module plans a route; the company server planning module allocates a 'take-off task' to an idle operation platform in the network;

the company server applies for an empty road from the city server, the empty road is approved, the operation console executes a take-off task, the unmanned aerial vehicle flies into the designated empty road on time, the completion of the task is reported to the company server planning module, and the operation console task is settled;

the company server planning module issues an automatic advancing task to the company server driving module, the company server driving module executes the automatic advancing task, automatically advances to the vicinity of a target place, hovers, completes the task and reports to the company server planning module;

the company server planning module issues a "landing task" to an idle console in the network, and determines whether the console is confirmed within an appointed time? Under the condition of obtaining the confirmation of the operation platform, the operation platform executes a 'landing task', the unmanned aerial vehicle lands at the appointed position of the station and reports the completion of the task to a company server planning module, and the operation platform settles the task;

under the condition that the confirmation of the operation console is not obtained, the company server planning module issues a 'emergency drop task' to the idle emergency group personnel with high-grade license plates in the network, the emergency group operation console executes and completes the 'emergency drop task' and reports the 'emergency drop task' to the company server, and the company server planning module seeks to complete a task chain and returns to the step that the company server planning module issues the 'drop task' to the operation console;

the ground service personnel lift off the warehouse, disassembles the unmanned aerial vehicle from the task chain, changes the full electric warehouse, checks the condition of the unmanned aerial vehicle, places the unmanned aerial vehicle in a takeoff position, and changes the state of the unmanned aerial vehicle into standby state;

determine if the drone returns with cargo? If the goods are returned, the goods are taken out, packaged, subjected to perspective security inspection and enter an express system, and the goods are successfully picked up;

if the goods are not returned, and the pull-in piece is delayed and the goods are empty, the ground service personnel change the task chain state into pause, the pull-in piece is confirmed with the sender again after the appointed time is reached, the ground service personnel return to the step of ' company server searches for the ' standby ' unmanned aerial vehicle closest to the sender, the number of the unmanned aerial vehicle is matched with the task chain number, and the state of the unmanned aerial vehicle is changed into the step of ' occupation ';

if the warehouse is empty because the sender cancels the order, the ground staff charges the warehouse, the article acquisition fails, and the task chain is finished.

Example 2

The utility model provides a distribution unmanned aerial vehicle distributed time sharing control system which when carrying out express delivery task chain workflow as follows:

the first step comprises the following steps: the ground service personnel receives the packages to be sent from the logistics system, the contact way of the addressee and the address of the sent package provided by the client are input into a company server planning module, a task chain number is generated, the ground service personnel is in contact with the addressee, and the fact that the addressee can receive the packages is confirmed;

the second step comprises the following steps: the ground service personnel loads the packages to be delivered into a full-electric warehouse, the warehouse provided with the goods corresponding to the task chain is installed on an idle unmanned aerial vehicle and placed at a takeoff position, then the task chain is paired with the unmanned aerial vehicle, the state of the unmanned aerial vehicle is changed into 'occupied', and the ground service personnel confirms that the tasks continue;

the third step comprises: the company server planning module plans a route, the company server planning module issues an automatic take-off task to the company server driving module, the company server applies for an empty route to the city server, and the empty route is approved;

the company server driving module drives the unmanned aerial vehicle to execute an 'automatic take-off task' task to be completed, and reports the completion to the company server planning module;

the fourth step comprises the following steps: the company server planning module issues a "dispatch task" to the idle consoles in the network, determines if a confirmation of the console is obtained within an agreed time frame? Under the condition of obtaining confirmation of the operating platform, the operating platform starts to execute a 'dispatch task';

under the condition that the confirmation of the operation console is not obtained, the company server planning module issues a 'emergency drop task' to the idle emergency group personnel with high-grade license plates in the network, the emergency group operation console executes and completes the 'emergency drop task' and then reports the 'emergency drop task' to the company server planning module, and the company server planning module seeks to complete a task chain and returns to the step that the company server planning module issues a 'dispatch task' to the operation console;

the 'dispatch task' comprises the following steps: the company server planning module distributes a delivery task to an idle operation platform in the network, the operation platform contacts a receiver according to information provided by a task chain, the operation platform controls the unmanned aerial vehicle to fly to an appointed place, judges whether the receiver is found or not, if the receiver is found, the unmanned aerial vehicle lands, executes the delivery task, the operation platform transfers a take-off process after the delivery task is completed, and the operation platform enters task settlement;

if the addressee is not found, judging whether the addressee can be found later, if the addressee can be found later, waiting or flying to a second place provided by the addressee, finding the addressee, landing to complete the dispatching task, completing the dispatching task of the operation platform, transferring the task chain to a take-off process, and entering task settlement by the operation platform;

if the receiver cannot be found later, appointing the dispatching time again with the receiver, the unmanned aerial vehicle lands selectively, the dispatching task is completed, the task chain is shifted to a take-off process, and the operation platform enters task settlement;

whether dispatch was successful or not, the drone needs to go back to a nearby yard: the company server planning module plans a route, the company server planning module issues a 'take-off task' to an idle operation platform in the network, the company server applies for an empty path to the city server, and the empty path is approved;

the operation console executes a 'take-off task', flies the unmanned aerial vehicle into a specified air path on time, and reports the completion of the task to the company server planning module;

the company server planning module issues a "landing task" to an idle console in the network, and determines whether the console is confirmed within an appointed time? Under the condition of obtaining the confirmation of the operating platform, the operating platform executes a 'landing task', lands the unmanned aerial vehicle to a station designated position and reports the completion of the task to a company server planning module;

under the condition that the confirmation of the operation console is not obtained, the company server planning module issues a 'emergency drop task' to the idle emergency group personnel with high-grade license plates in the network, the emergency group operation console executes and completes the 'emergency drop task' and then reports the 'emergency drop task' to the company server planning module, and the company server planning module seeks to complete a task chain and returns to the step that the company server planning module issues the 'drop task' to the operation console;

the ground service personnel lift off the warehouse, disassembles the unmanned aerial vehicle from the task chain, simultaneously changes the fully charged empty warehouse, checks the condition of the unmanned aerial vehicle, places the unmanned aerial vehicle in a takeoff position, and changes the state of the unmanned aerial vehicle into standby;

is there a cargo in the unloaded cargo compartment judged? If the goods exist, the ground service personnel takes out the goods for temporary storage, charges the goods warehouse, suspends the task chain, confirms the delivery with the receiver again after reaching the time appointed by the receiver, loads the packages to be delivered into the full-electricity goods warehouse by the ground service personnel, and returns to the step of mounting the goods warehouse provided with the goods corresponding to the task chain on an idle unmanned aerial vehicle and placing the goods warehouse in a take-off position, then assembling the task chain with the unmanned aerial vehicle, changing the state of the unmanned aerial vehicle into 'occupied' and confirming the continuation of the task chain by the ground service personnel;

if no goods exist, the dispatching task is completed, the ground staff confirms that the task chain is completed, and the order is completed.

Example 3:

a distributed time-sharing control system for a distribution unmanned aerial vehicle comprises the following working flows when a takeout service task chain is executed:

the first step comprises the following steps: ordering by a merchant, providing a merchant address, a merchant name, a receiving address and a receiver contact way, and generating a task chain number by a server planning module;

the second step comprises the following steps: the company server searches for the unmanned aerial vehicle which is closest to the commercial tenant and is ready, and the unmanned aerial vehicle number is paired with the task chain number, so that the unmanned aerial vehicle state is changed into occupied; the server planning module plans a route and generates a task chain according to the merchant address and the receiving address;

the third step comprises: the company server planning module issues an automatic take-off task to the company server driving module, the company server applies for an empty path to the city server, and the empty path is approved;

the company server planning module issues an 'automatic travel task' to the company server driving module; the company server drives the unmanned aerial vehicle to execute an 'automatic traveling task' task to complete, and reports to the company server planning module;

the fourth step comprises the following steps: the company server planning module issues a "landing task" to the idle consoles in the network, and determines whether a confirmation of the console is obtained within an agreed time frame? Under the condition of obtaining the confirmation of the operation desk, the operation desk executes a 'landing task', the task is completed, a company server is informed, and the operation desk settles the task;

the company server informs the merchant that the unmanned aerial vehicle arrives, the merchant opens the cargo warehouse for loading after stocking the cargo, the unmanned aerial vehicle judges whether the cargo warehouse is overweight, if the cargo warehouse is not overweight, the merchant closes the cargo warehouse door, the loading is finished, and the unmanned aerial vehicle prepares to go from the merchant to the receiver;

if it is overweight, then determine if the overweight is within the allowable range? If the payment is within the allowable range and the merchant agrees to make a payment, the merchant makes a payment, the merchant closes the warehouse door, the goods loading is completed, and the unmanned aerial vehicle prepares to go from the merchant to the consignee;

if the overweight is in an unallowed range or the merchant does not agree with the compensation fee, the merchant transfers goods to manual distribution, and the unmanned aerial vehicle is ready to return from the merchant;

step five includes the step of arriving at the consignee from the merchant or returning to the market from the merchant, which includes:

the company server planning module plans a route according to the destination and judges whether the destination is in the radiation range of the site, if the destination is not in the radiation range of the site, the planned route node in the task chain must include a transfer site for replacing the battery (such as merchant- > transfer site one- > transfer site two- > … … - > addressee);

if the destination is within the radiation range of the station field, the planned route directly reaches the position;

is the take-off and landing site judged to be capable of taking off automatically according to the pre-collected information?

If the take-off and landing site can take off automatically, the company server planning module issues an automatic take-off task to the company server driving module, the company server applies for an empty road to the city server, and the empty road is approved;

the company server driving module drives the unmanned aerial vehicle to execute an 'automatic takeoff task', the unmanned aerial vehicle reaches the position near a destination, the unmanned aerial vehicle hovers, the task is completed, and a company server planning module is reported;

if the take-off and landing site cannot take off automatically, the company server planning module issues a take-off task to an idle operation platform in the network, the company server applies for an empty path to the city server, and the empty path is approved;

after the unmanned aerial vehicle takes off, the company server planning module issues an automatic advancing task to the company server driving module, the company server driving module executes the automatic advancing task, automatically advances and reaches the position near a target place, hovers, the task is completed, and the company server planning module is reported;

after the unmanned aerial vehicle arrives at the destination, the type of the destination is judged, if the destination is a certain transfer station on the way to a consignee, or if the destination is any station nearby after the unmanned aerial vehicle executes a 'pick-up task', a company server planning module issues a 'landing task' to an idle operation platform in the network, and judges whether the confirmation of the operation platform is obtained within a stipulated time range? Under the condition of obtaining the confirmation of the operation desk, the operation desk executes a 'landing task', the task is completed, a company server is informed, and the operation desk settles the task;

after the completion of the descent, determine whether the station yard is a transfer station yard? If the unmanned aerial vehicle is a transfer station, the ground service personnel replace a full electric goods warehouse for the transfer unmanned aerial vehicle and place goods in the warehouse, place the transfer unmanned aerial vehicle in a takeoff position, and return to' judge whether the take-off and landing site can take off automatically according to pre-acquisition information? "step (c);

if the station yard is not a transfer station yard, the ground service personnel lift off the cargo hold, disambiguate the unmanned aerial vehicle and the task chain, simultaneously replace the full electric cargo hold, check the condition of the unmanned aerial vehicle, place the unmanned aerial vehicle at a position where the unmanned aerial vehicle can take off, and change the state of the unmanned aerial vehicle into standby;

determine if there are any cargo in the warehouse just unloaded from the drone? If goods exist, the ground service personnel take out the goods in the warehouse, the goods are returned to the commercial tenant according to the dispatching flow, the empty warehouse is charged, and the task chain is completed;

if no goods exist, the ground staff charges the empty bin, and the task chain is completed.

After the unmanned aerial vehicle arrives at the destination, the type of the destination is judged, if the destination is to the receiver, the company server planning module issues a "dispatch task" to an idle operation console in the network, and if the operation console is confirmed within a predetermined time range? Under the condition of obtaining confirmation of the operating platform, the operating platform starts to execute a 'dispatch task';

under the condition that the confirmation of the operation console is not obtained, the company server planning module issues a 'emergency drop task' to the idle emergency group personnel with high-grade license plates in the network, the emergency group operation console executes and completes the 'emergency drop task' and then reports the 'emergency drop task' to the company server planning module, the emergency group personnel task is settled, the company server planning module seeks to complete a task chain and returns to the step that the company server planning module issues a 'dispatch task' to the operation console;

the 'dispatch task' comprises the following steps: the company server planning module distributes a 'dispatch task' to an idle operation platform in a network, the operation platform contacts a receiver according to information providing a task chain, the operation platform controls the unmanned aerial vehicle to fly to an appointed place and judges whether the receiver is found, if the receiver is found, the unmanned aerial vehicle lands to complete the delivery task, the 'dispatch task' of the operation platform is completed, the task chain is transferred to a take-off process, and the operation platform enters task settlement;

if the receiver is not found, judging whether the receiver can be found later, if the receiver can be found later, waiting or flying to a second place provided by the receiver, finding the receiver, landing to complete a 'dispatching task', completing a dispatching task of an operation platform, turning a task chain to a take-off process, and entering task settlement by the operation platform;

if the receiver cannot be found later, appointing the piece sending time with the receiver again, landing the unmanned aerial vehicle optionally, completing the task, turning the task chain to a take-off process, and entering task settlement by the operating platform;

example 4

The utility model provides a distribution unmanned aerial vehicle distributed time sharing control system which when carrying out the express delivery task chain in the same city workflow as follows:

step two: the corporate server assigns the drone closest to the sender to perform this task. Binding the unmanned aerial vehicle with the marking task;

step three: controlling the unmanned aerial vehicle to take off and travel to reach a landing place of the sender;

step four: the company server issues and executes a pickup task to the operation desk; after the company server issues and executes a piece collecting task to the operation desk, a security check task is executed;

step five: and the unmanned aerial vehicle returns to a nearby station from the sender and completes the machine-passing security check.

Step six: the unmanned aerial vehicle continuously takes off and travels from a nearby station to a landing place at a receiver; when the unmanned aerial vehicle takes off from a nearby station and travels to a receiver, if the destination is far away from the current station, switching to an unmanned aerial vehicle transition flight process;

step seven: the company server issues and executes dispatch tasks to the operator console;

step eight: the drone returns to the nearby yard from the recipient.

Specifically, the first step includes: ordering by a client, providing a pickup/delivery address, a contact way of a receiver/sender, and generating a task chain number;

the second step comprises the following steps: the company server searches for the standby unmanned aerial vehicle closest to the sender, the number of the unmanned aerial vehicle is paired with the task chain number, the state of the unmanned aerial vehicle is changed into occupied, the server planning module plans a route, and a task chain is generated according to a final target;

the third step comprises: the company server planning module issues an automatic take-off task to the company server driving module, the company server applies for an empty road to the city server, the empty road is approved, the company server driving module drives the unmanned aerial vehicle to execute the automatic take-off task, and the task completion is reported to the company server planning module;

the fourth step comprises: the company server issues a "package task" to an idle console in the network, and determines whether a confirmation of the console is obtained within a predetermined time range? Under the condition of obtaining confirmation of the operation table, the operation table starts to execute a 'part collecting task';

under the condition that the confirmation of the operation platform is not obtained, the company server planning module issues a 'emergency drop task' to idle emergency group personnel with high-grade license plates in the network, the emergency group operation platform executes and completes the 'emergency drop task' and then reports the 'emergency drop task' to the company server, and the company server planning module seeks to complete a task chain and returns to the steps of 'the company server issues a' component collecting task 'to the operation platform';

the 'pull task' comprises the following steps: the method comprises the steps that a company server allocates a piece catching task to an idle operation platform in a network, the operation platform contacts a sender according to information provided by a task chain, the operation platform controls a task unmanned aerial vehicle to fly to an appointed place, whether the sender is found or not is judged, if the sender is found, the operation platform is landed, the operation platform invites a security inspection terminal to join a session, the piece catching task is completed, a task chain is converted into a security inspection task, and the operation platform enters task settlement;

if the sender is not found, judging whether the sender can be found later, if the sender can be found later, waiting in place or flying to a second place provided by the sender, finding the sender, descending, inviting a security check terminal to join a session by an operation platform, completing a task, chaining the task to a 'security check task', and entering task settlement by the operation platform;

if the sender cannot be found later, whether the order is cancelled or not is confirmed with the sender, if the order is cancelled by the sender, the unmanned aerial vehicle lands optionally, the task is completed, the task is linked to a take-off process, and the operation console enters task settlement;

if the sender confirms that the order is not cancelled, appointing a piece collecting time with the sender again, landing the unmanned aerial vehicle optionally, completing the task, switching the task chain to a take-off process, and entering task settlement by the operating console;

the security inspection task comprises the following steps: the operation platform task is completed, the operation platform enters task settlement, the security inspection terminal communicates with the sender through a conversation screen, a camera, a microphone and a loudspeaker on the unmanned aerial vehicle to complete visual security inspection, if the security inspection is passed, the security inspection terminal controls to open a door, the sender loads goods and judges whether the goods are overweight, if the goods are not overweight, the door is closed, the task is completed, a task chain is transferred to a take-off process, and the security inspection terminal performs task settlement;

if it is overweight, then determine if the overweight is within the allowable range? If the service life is within the allowable range, judging whether the customer agrees to make up the fee, if the customer agrees to make up the fee, closing the door, completing the task, carrying out a task chain to a take-off process, and settling the task at the security inspection terminal;

if the security check is not passed, or if the overweight is not in the allowed range, or if the customer does not agree with the compensation fee, the sender takes back the goods, cancels the order, completes the task, transfers the task chain to the take-off process, and settles the task at the security check terminal;

the fifth step comprises the following steps: the unmanned aerial vehicle needs to return to a nearby station, and the company server planning module plans a route;

the method comprises the following steps that a company server applies for an empty road from a city server, the empty road is approved, a company server planning module issues a take-off task to an idle operation platform in a network, the operation platform executes the take-off task, an unmanned aerial vehicle flies into the designated empty road on time, and task completion is reported to the company server planning module;

the company server planning module issues a "landing task" to an idle console in the network, and determines whether the console is confirmed within an agreed time range? Under the condition of obtaining the confirmation of the operating platform, the operating platform executes a 'landing task', lands the unmanned aerial vehicle to a station designated position and reports the completion of the task to a company server planning module;

under the condition that the operation desk is not confirmed, the company server planning module issues a 'emergency drop task' to idle emergency group personnel with high-grade license plates in the network, the emergency group operation desk executes and completes the 'emergency drop task' and then reports the 'emergency drop task' to the company server, the company server planning module seeks to complete a task chain and returns to the step that the company server planning module issues the 'drop task' to the idle operation desk in the network;

is there a cargo in the unloaded cargo compartment judged? If the goods exist, the goods are taken out and loaded into a full electric goods warehouse and subjected to machine security inspection, the goods warehouse provided with the goods corresponding to the task chain is installed on an idle unmanned aerial vehicle and placed at a position where the goods can take off, then the task chain is paired with the unmanned aerial vehicle, the task chain is confirmed to continue, and the empty electric goods warehouse is charged;

if no goods exist, judging the reason of unsuccessful picking up the goods, charging the empty electric goods warehouse and ending a task chain because the sender cancels the order and does not pick up the goods;

the method comprises the steps that a sender is not found, an empty electric freight house is charged, a ground service worker changes a task chain state into a pause state, confirms with the sender after reaching an appointed time, collects the parts again, returns to a company server to search a standby unmanned aerial vehicle closest to the sender, and combines the unmanned aerial vehicle number with the task chain number, so that the unmanned aerial vehicle state is changed into an occupied step;

the sixth step comprises: the company server planning module plans a route, and when a destination is not in the radiation range of the current station yard, the planned route node needs to comprise a transfer station yard;

the company server planning module issues an automatic traveling task to the company server driving module, the company server drives the unmanned aerial vehicle to execute the automatic traveling task, the automatic traveling task is completed, the unmanned aerial vehicle reaches the position near the destination and hovers, and the company server planning module is reported;

the seventh step comprises: judging whether the destination is a transfer station, if not, the company server planning module issues a 'dispatch task' to an idle operation desk in the network, and judges whether the confirmation of the operation desk is obtained within an appointed time range? Under the condition of obtaining confirmation of the operating platform, the operating platform starts to execute a 'dispatch task';

under the condition that the confirmation of the operation console is not obtained, the company server planning module issues a 'emergency drop task' to emergency group personnel with high-grade license plates, the emergency group operation console executes and completes the 'emergency drop task' and then reports the 'emergency drop task' to the company server, and the company server planning module seeks to complete a task chain and returns to the step that the company server issues a 'dispatch task' to the operation console;

the 'dispatch task' comprises the following steps: the method comprises the following steps that a company server distributes a delivery task to an idle operation platform in a network, the operation platform contacts a receiver according to information provided by a task chain, the operation platform controls a task unmanned aerial vehicle to fly to an appointed place, whether the receiver is found or not is judged, if the receiver is found, the operation platform lands to complete the delivery task, the task chain is transferred to a take-off process, and the operation platform enters task settlement;

if the addressee is not found, judging whether the addressee can be found later, if the addressee can be found later, waiting in situ or flying to a second place provided by the addressee, finding the addressee, landing to complete the dispatching task, turning a task chain to a take-off process, and entering task settlement by an operation desk;

if the receiver cannot be found later, appointing the delivery time with the receiver again, landing the unmanned aerial vehicle optionally, completing the task, turning the task chain to a take-off process, and entering task settlement by the operating console;

if the destination is a transfer station, the company server planning module issues a "landing task" to the idle console in the network, and determines if the console is confirmed within the appointed time range? Under the condition of obtaining the confirmation of the operation platform, the operation platform executes a 'landing task', the unmanned aerial vehicle lands at the appointed position of the station and reports the completion of the task to a company server planning module, and the operation platform settles the task;

the ground service personnel take the goods out and place the goods into the full electric goods warehouse, replace the full electric goods warehouse for the unmanned aerial vehicle, charge the empty warehouse and place the unmanned aerial vehicle at a takeoff position;

the eighth step comprises: the unmanned aerial vehicle finishes sending the piece, and needs to return to a nearby station, the company server planning module plans the route, the company server planning module issues a take-off task to an idle operation platform in the network, the company server applies for an empty path to the city server, and the empty path is approved;

the company server planning module issues an 'automatic travel task' to the company server driving module; the company server driving module executes an 'automatic advancing task', automatically advances and reaches the position near a target place, hovers, completes the task and reports to the company server planning module;

the company server planning module issues a "landing task" to an idle console in the network, and determines whether the console is confirmed within an agreed time range? Under the condition of obtaining the confirmation of the operating platform, the operating platform executes a 'landing task', lands the unmanned aerial vehicle to a station designated position, and reports the completion of the task to a company server planning module;

under the condition that the confirmation of the operation console is not obtained, the company server planning module issues a 'emergency drop task' to idle emergency group personnel with high-grade license plates in the network, the emergency group operation console executes and completes the 'emergency drop task' and then reports the 'emergency drop task' to the company server, the emergency group personnel task is settled, the company server planning module seeks to complete a task chain and returns to the step of 'the company server planning module issues a' drop task 'to the operation console';

is there a cargo in the unloaded cargo compartment judged? If goods exist, the ground service personnel take out the goods in the warehouse, the empty warehouse is charged, the task chain is suspended, the goods are confirmed to be delivered again with the receiver after the time appointed by the receiver is reached, the ground service personnel loads the packages to be delivered into the full-electricity goods warehouse, the task chain continues, and the steps of 'mounting the goods warehouse provided with the goods corresponding to the task chain on an idle unmanned aerial vehicle and placing the idle unmanned aerial vehicle at a take-off position, then assembling the task chain and the unmanned aerial vehicle, and changing the state of the unmanned aerial vehicle into' occupying 'the ground service personnel to confirm the task chain to continue' are returned;

if no goods exist, the ground staff confirms that the task chain is completed, and the order is completed.

Example 5

A distributed time-sharing control system for a distribution unmanned aerial vehicle comprises the following working flows when the distributed time-sharing control system executes an inter-field allocation task chain of the unmanned aerial vehicle:

in the system page of the company server, the number of the resident unmanned aerial vehicles of each station can be set according to the daily traffic of each station, and when the difference value between the number of the unmanned aerial vehicles of a certain station and the resident number is larger than a set threshold value, the inter-station allocation flow is automatically started by the company server.

When the number of the idle unmanned aerial vehicles in the station A exceeds a set threshold value and the number of the idle unmanned aerial vehicles in a station B of a same company server is less than a resident number, generating a task chain number;

the company server planning module plans a route, judges whether other stations exist between the starting point A station yard and the terminal point B station yard, and generates N +1 temporary inter-station allocation task flows if N intermediate stations exist between the starting point A station yard and the terminal point B station yard when the other stations are confirmed, wherein the starting point and the terminal point are as follows: the A station yard → the middle station yard 1, the middle station yard 1 → the middle station yard 2 …, the middle station yard N → the B station yard, the server planning module plans the route, and the task flows start to be executed at the same time until no other station yard exists between the two station yards.

The server groups the number of the standby unmanned aerial vehicles in the starting station and the task chain, the state of the unmanned aerial vehicles is changed into occupied state, the company server applies for an empty road to the city server, the empty road is approved, the company server driving module drives the unmanned aerial vehicles to execute the task completion of the automatic take-off task, and the company server planning module is reported;

the company server planning module issues a 'landing task' to an operator, judges whether the operator confirms within two minutes, if so, the operator executes the 'landing task', lands the unmanned aerial vehicle to a site appointed position, reports the completion of the task to the company server planning module, and settles the operator task; the ground service personnel lift off the warehouse, disassembles unmanned aerial vehicle and task chain, changes full electric warehouse simultaneously, inspects the aircraft situation, sets up unmanned aerial vehicle in the position of can taking off to change unmanned aerial vehicle state into "awaiting orders", the allotment between the scene is accomplished, task chain restraints.

If the operator confirms within two minutes, the company server planning module issues a 'emergency drop task' to emergency group personnel with high-grade license plates, the emergency group operators execute and complete the 'emergency drop task' and then report to the company server, and the company server planning module seeks to complete a task chain and settle the tasks of the emergency group personnel.

Example 6

Automatic takeoff task: after station ground service personnel confirm that a certain unmanned aerial vehicle can execute a task, the server occupies the unmanned aerial vehicle to carry out a certain pickup task, and the ground service personnel confirm when the unmanned aerial vehicle sends a takeoff request signal. And partial outdoor sites have good conditions, the merchants which are confirmed to be authorized can take off after the goods loading is finished, the server occupies the unmanned aerial vehicle to carry out subsequent delivery tasks, and the merchants confirm the goods when the unmanned aerial vehicle sends a takeoff request signal. The station field ground service personnel assemble the cargo compartment with the goods and the unmanned aerial vehicle and log in the delivery task to the company server, the company server occupies the unmanned aerial vehicle to carry out subsequent delivery task, and the ground service personnel confirm when the unmanned aerial vehicle sends a takeoff request signal. The company server planning module plans a route and provides a take-off request to the city server, the empty road is distributed, the company server controls the unmanned aerial vehicle to take off and enter the empty road, and the automatic take-off is completed.

Example 7

The software process of the operating platform comprises the following steps: the method comprises the steps that an identity identification card is inserted into a card slot on a terminal to carry out identity verification, if the identity identification card passes the verification, a function selection interface is entered, the function selection interface executes personal account setting, a task starting, other functions or network community tasks, when the task starting is executed, function checking is carried out, each function of the terminal can be normally used, the task starting is confirmed, if each function of the terminal cannot be normally used, the function selection interface is returned again, and when the task starting is confirmed to be a take-off task, the take-off task comprises the following conditions: after the merchant without the automatic take-off condition confirms that the goods loading is finished; the receiving/sending task can not find the receiving/sending person and confirms that the receiving/sending person can not be completed at that time; the task of picking up the article is not passed through the security inspection; and applying for taking off after the picking up/sending task is completed. When the starting task is confirmed to be a landing task, the landing task comprises the following conditions: the unmanned aerial vehicle arrives at the position of the commercial tenant and hovers; the unmanned aerial vehicle arrives at the station site and hovers; the drone is diverted from the take-off task and seeks to continue the task chain (landing at the merchant landing site or yard). When the starting task is determined to be the emergency task, the emergency task comprises the following conditions: the unmanned aerial vehicle has faults during automatic cruising; the automatic hovering time of the unmanned aerial vehicle is too long; the unmanned aerial vehicle console stops operating accidentally or has no operation for too long time; other tasks are aborted unexpectedly. When the starting task is confirmed to be a pull/dispatch task, the pull/dispatch task comprises the following conditions: the take-out service unmanned aerial vehicle takes the goods to reach the vicinity of the consignee and hovers; the unmanned aerial vehicle for the express/express service in the same city reaches the position near the sender and hovers; the co-city express/express service unmanned aerial vehicle takes goods and arrives near a receiver, and hovers; unmanned aerial vehicles with excessively long hovering time have fallen rapidly, seeking to continue the task chain. And executing the task, completing the task, settling the task, and waiting for the next task to be distributed.

Example 8

The security check flow of the express pickup/the express pickup in the same city is as follows: finding a sender by the unmanned aerial vehicle, inviting a security check operating platform to join a session by the operating platform, communicating the security check operating platform with the sender by using a session screen, a camera and a microphone on the unmanned aerial vehicle, visually finishing security check, opening a door by the security check operating platform if the security check is passed, loading goods into the sender, judging whether the goods are overweight, closing the door to finish a task of the security check operating platform if the goods are not overweight, settling the security check operating platform, and planning a route by returning the unmanned aerial vehicle to a server of a nearby station company; if it is overweight, then determine if the overweight is within the allowable range? If the service life of the client is within the allowable range, judging whether the client agrees to make up the fee, if the client agrees to make up the fee, switching to closing a security check operation platform of the door to complete the task, settling the task of the security check operation platform, and issuing a return take-off task by a company server; if the security check is not passed, or if the overweight is not in the allowable range, or if the customer does not agree with the compensation fee, the sender cancels the order, the 'security check task' is completed, the unmanned aerial vehicle returns to the field, the 'security check task' is completed, and the security check operation console task is settled.

Example 9

The emergency descending task flow comprises the following steps: the unmanned aerial vehicle is trouble when automatic cruising, and unmanned aerial vehicle automatic hover time overlength, the unexpected stop operation of unmanned aerial vehicle operation panel or no operating time overlength, other tasks are unexpected to suspend. The server distributes the emergency landing task to an emergency group operating platform with the emergency landing license plate, the emergency group operating platform searches for a suitable landing place nearby, the landing is finished, the emergency group operating platform enters the task settlement, and whether the unmanned aerial vehicle is suitable for continuously completing the task? And if the unmanned aerial vehicle is suitable for continuously completing the task, the server continuously performs the task (landing or picking up/sending the piece) according to the unmanned aerial vehicle task chain. The unmanned aerial vehicle is not suitable for continuously completing tasks, the server informs nearby station stations of unmanned aerial vehicle faults and provides sites, and the failed unmanned aerial vehicle is pulled back by dispatching vehicles.

Example 10

The landing task flow is as follows: the unmanned aerial vehicle arrives at the position of the commercial tenant and hovers; the unmanned aerial vehicle arrives at the station site and hovers; the unmanned aerial vehicle is transferred from the emergency landing task and seeks to continue a task chain (land on a merchant landing site or a station site); the server allocates the landing task to the console receiving the landing task, and determines whether the drone is in flight? If the unmanned aerial vehicle is in a flying state, judging whether the unmanned aerial vehicle is in an air way? If the unmanned aerial vehicle is in the air way, the unmanned aerial vehicle leaves the air way, stops the occupation of the air way, lands to a specified place, confirms the completion of the task, takes off if the unmanned aerial vehicle is not in the flight state, returns to judge whether the unmanned aerial vehicle is in the air way, lands to the specified place if the unmanned aerial vehicle is not in the air way, confirms the completion of the task, sends an arrival notice of the unmanned aerial vehicle to a merchant or a station yard personnel by a company server, enters an operation platform for settlement of the task, the merchant loads and applies for the take-off, and the station yard performs ground work on duty. If the operation platform fails to leave the empty path or the operation platform fails to land at a specified place, confirming the failure, quitting the task, turning to a rapid descending task, and entering the task settlement by the operation platform.

Example 11

The task flow of collecting/dispatching is as follows: the take-out service unmanned aerial vehicle takes the goods and arrives near the consignee, and hovers; the unmanned aerial vehicle for the express/express service in the same city reaches the position near the sender and hovers; the co-city express/express service unmanned aerial vehicle takes goods and arrives near a receiver, and hovers; unmanned aerial vehicles with excessively long hovering time have fallen rapidly, seeking to continue the task chain. The server distributes a request/delivery task to the operation platform, the operation platform contacts a receiver/sender or a receiver (the receiver refers to the receiver of the takeaway business) according to information provided by the task chain, the operation platform controls the task unmanned aerial vehicle to fly to an appointed place (fly directly from a hovering state or fly from a landing state), and can the receiver/sender or the receiver be found? If finding the receiver/sender or the receiver, landing, judging the task type, if the receiver/sender or the receiver is the pickup task of express delivery/city express delivery, inviting a security check operation console to join a session task to be completed, entering task settlement by the operation console, and converting a task chain into a security check task; if the task is a delivery/delivery task, the task is completed, the console enters task settlement, the task chain transfers to a take-off task, if no receiver/sender or receiver is found, it is determined whether the receiver/sender or receiver can be found later, if the receiver/sender or receiver can be found, it waits or flies to a second location provided by the console, it goes back to the step of "find receiver/sender or receiver and land", if the receiver/sender or receiver cannot be found later, it is determined that the task type? If the request is a request task for express delivery/city express delivery, determine whether to cancel the order with the sender? If the order cancellation is confirmed with the sender, the sender cancels the order, the unmanned aerial vehicle lands selectively, the task is completed, the task is linked to take-off task, and the operation console enters task settlement; if the order is confirmed to be not cancelled with the sender, the piece catching time is agreed with the sender again, the unmanned aerial vehicle lands selectively, the task is completed, the operation platform enters task settlement, and the task chain is changed to a take-off task; if the task is a delivery task, the delivery time is agreed with the receiver/receiver again, the unmanned aerial vehicle lands selectively, the task is completed, the operation platform enters the task settlement, and the task is linked to the take-off task.

Example 12

The takeoff task flow is as follows: after the merchant without the automatic take-off condition confirms that the goods loading is finished; the receiving/sending task can not find the receiving/sending person and confirms that the receiving/sending person can not be completed at that time; the task of picking up the article is not passed through the security inspection; and applying for taking off after the picking up/sending task is completed. The server distributes a take-off task to the terminal, the company server plans a route, applies for take-off and air route approval to the city server, flies the unmanned aerial vehicle into a specified air route within a specified time period, whether the take-off and air route approval is successful or not is determined, if the take-off and air route approval is successful, the operation platform enters task settlement, and the unmanned aerial vehicle automatically advances; if the terminal is not successful, the terminal lands on the ground, confirms that the task fails, and the company server applies for the same takeoff task again and returns to the step of distributing the takeoff task to the terminal by the server.

Example 13

The unmanned aerial vehicle flight transition flow is as follows: when the server planning module plans the path, if the flight distance of the unmanned aerial vehicle exceeds a station yard distance, the planned path needs to meet the requirement of replacing batteries in the approach station yard. A company server planning module issues an 'automatic take-off task' to a company server driving module, a company server applies for an empty road to a city server, the empty road is approved, the driving module operates an unmanned aerial vehicle to execute the 'automatic take-off task', the task is completed, a report server planning module, the company server planning module issues the 'automatic travel task' to the company server driving module, the company server driving module operates the unmanned aerial vehicle to execute the 'automatic travel task', the task is completed, the report server planning module, the company server planning module issues a 'landing task' to an operation console, and determines whether confirmation of the operation console is obtained within an appointed time range? Under the condition of obtaining confirmation of the operation platform, the operation platform executes a 'landing task' to land at a designated position of a transfer station, ground service personnel replace a full electric freight warehouse, taken goods are loaded into the electric freight warehouse, an unmanned aerial vehicle is placed at a position where the unmanned aerial vehicle can take off, under the condition of not obtaining confirmation of the operation platform, the company server planning module issues a 'emergency landing task' to emergency group personnel with high-grade license plates, the emergency group operation platform executes and completes the 'emergency landing task' and reports the 'emergency landing task' to the server, the emergency group personnel task is settled, the company server planning module seeks to complete a task chain and returns to the step of 'the company server planning module issues the' landing task 'to the operation platform', and whether a destination is within the radiation range of the station site is? If the unmanned aerial vehicle flies to the destination within the radiation range of the station, if the unmanned aerial vehicle does not fly to the next transfer station, returning to the step of issuing an automatic takeoff task to the company server driving module by the company server planning module.

Example 14

The automatic advancing task flow comprises the following steps: after the takeoff or automatic takeoff task is completed, the company server controls the unmanned aerial vehicle to travel to the destination according to the application line and time, the unmanned aerial vehicle hovers near the destination, and the task completion company server issues a subsequent task to the operating console.

Example 15

As shown in fig. 1, an unmanned aerial vehicle comprises a rotor module 1, a flight control module 2, a battery and a cargo cabin module 3, wherein:

the rotor modules 1 are distributed around the flight control module 2 and are rotatably connected to the flight control module 2; rotor module 1 includes pipe, rotor, stator, variable speed drive mechanism and supports the link, and in the cavity of pipe was arranged in to the rotor, the stator was fixed in the pipe inside wall, and variable speed drive mechanism just driven the rotor and rotate for the rotor variable speed of rotor module, supports link one end and fixes the other end on the pipe and connects on flying to control the module.

The flight control module 2 comprises a main control chip, and the main control chip receives manually input or/and automatically input control signals so as to control the operation of the rotor wing module, thereby providing power for the unmanned aerial vehicle;

battery and storehouse module 3, battery and storehouse module detachable are fixed in and fly accuse module below, including storehouse, group battery, butt joint chip, surveillance camera head, laser range finder, weighing sensor, air cushion undercarriage.

The flight control module comprises a 5G chip, a gyroscope, a Beidou chip, a main control chip, a main board, a motor, a speed change mechanism and a steering wheel,

the 5G chip provides data connection for the unmanned aerial vehicle;

the motor provides power for the rotor wing module; the speed change mechanism transmits power to each rotor wing module; the steering wheel is located around flying to control the module for the installation rotor module to self rotates the rotation that drives the rotor module, in order to reach the purpose that unmanned aerial vehicle flight turned to. The battery and warehouse module also comprises a safe forced landing device which comprises an air bag, an inflation system and an air bag control system.

Example 16

As shown in fig. 2, the diagram is a relationship structure and a connection mode of elements in a distributed time-sharing control system of a distribution unmanned aerial vehicle, wherein a city server is connected with a plurality of company servers through broadband, each company server is connected with an operation console, a security inspection terminal, a station terminal and a distribution unmanned aerial vehicle, wherein the company servers are connected with the operation console, the security inspection terminal and the station terminal through broadband, and the company servers are wirelessly connected with the distribution unmanned aerial vehicle through 5G. And the station terminal can be communicated with the ground service terminal through a wireless local area network or Bluetooth.

It should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention, and it will be obvious to those skilled in the art that other variations or modifications may be made on the basis of the above description, and all embodiments may not be exhaustive, and all obvious variations or modifications may be included within the scope of the present invention.

Claims

1. The utility model provides a distribution unmanned aerial vehicle distributed time sharing control system which characterized in that: comprises a city server, a company server, an operation desk, an unmanned aerial vehicle and a software terminal,

the unmanned aerial vehicle provides distribution service;

2. The distributed time-sharing control system for the distribution unmanned aerial vehicle of claim 1, wherein: the company server comprises unmanned aerial vehicle management, personnel management, order platform docking data management, task chain management, path planning, air route management, task allocation and management, an unmanned aerial vehicle driving module, city map management and station yard management.

3. The utility model provides an unmanned aerial vehicle, its characterized in that includes rotor module, flies accuse module, battery and warehouse module, wherein:

the rotor wing modules are distributed around the flight control module and are rotatably connected to the flight control module;

4. A drone according to claim 3, characterised in that: the rotor module include pipe, rotor, stator, variable speed drive mechanism and support link, in the cavity of pipe was arranged in to the rotor, the stator was fixed in the pipe inside wall, variable speed drive mechanism just driven the rotor for the rotor variable speed of rotor module and rotates, support link one end and fix the other end on the pipe and connect on flying to control the module.

5. A drone according to claim 3, characterised in that: the flight control module comprises a 5G chip, a gyroscope, a Beidou chip, a main control chip, a main board, a motor, a speed change mechanism and a steering wheel,

the 5G chip provides data connection for the unmanned aerial vehicle;

the motor provides power for the rotor wing module; the speed change mechanism transmits power to each rotor wing module; the steering wheel is located around flying to control the module for the installation rotor module to self rotates the rotation that drives the rotor module, in order to reach the purpose that unmanned aerial vehicle flight turned to.

6. A drone according to claim 3, characterised in that: the battery and warehouse module further comprises a safe forced landing device, and the safe forced landing device comprises an air bag, an inflation system and an air bag control system.

7. A distributed time-sharing control method for a distribution unmanned aerial vehicle is characterized by comprising the following steps: the method comprises the following steps:

8. The distributed time-sharing control method for the distribution unmanned aerial vehicle according to claim 7, wherein: further comprises the following steps: the drone continues to take off from a nearby yard and travel to the dispatch location.

9. The distributed time-sharing control method for the distribution unmanned aerial vehicle according to claim 8, wherein: also comprises the following steps of (1) preparing,

step eight: the drone returns to the nearby yard from the recipient.