CN108985699B - Logistics distribution method based on unmanned aerial vehicle - Google Patents
Logistics distribution method based on unmanned aerial vehicle Download PDFInfo
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Abstract
The invention provides a logistics distribution method based on an unmanned aerial vehicle, and as the logistics distribution connection point is a third-party connection point, the logistics distribution method can be compatible with logistics information of a plurality of different logistics companies, thereby improving the distribution efficiency of the unmanned aerial vehicle and reducing the distribution cost; in addition, the logistics information and the user information are stored separately, so that the user information is only stored and identified at the receiving end and the distribution end, the data storage quantity of the logistics company server is reduced, and the user privacy is protected; finally, the unmanned aerial vehicle with different loads is arranged for packages with different weights, so that the utilization efficiency of the unmanned aerial vehicle battery is improved.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles and logistics distribution, in particular to a logistics distribution method based on an unmanned aerial vehicle.
Background
The unmanned aerial vehicle has wide application, low cost and good cost effectiveness; unmanned aerial vehicle does not have the casualty risk, and the maneuverability is good, convenient to use. Regard unmanned aerial vehicle as transport means, not only can shorten the transit time, can also practice thrift the cost of labor, reach the purpose that improves delivery efficiency. Present unmanned aerial vehicle's operation all is with special controller of unmanned aerial vehicle, need accomplish by the professional, at present, use unmanned aerial vehicle as the transport means of express delivery, it is the place that unmanned aerial vehicle reachs express company and sets for generally, then go appointed place by the customer and receive and deliver and give unmanned aerial vehicle soon, along with the development of society, people's standard of living constantly improves, people are more and more urgent to intelligent demand, consequently, current unmanned aerial vehicle receiving and dispatching express delivery system brings inconvenience for the customer.
In addition, current unmanned aerial vehicle gets or send when a, all need discern the identity at every turn when the door, and the window is automatic to be opened when discerning accurate back, and unmanned aerial vehicle then gets into indoorly from the window to carry out the express delivery and get or deliver. But this kind of unmanned aerial vehicle gets on door and send a system, need install the automatic device of opening and closing of unmanned aerial vehicle identification and window on the window, because the window exposes in the external world, cause the automatic device of opening and closing of identification and the window of installing on the window to break down easily to influence collecting and putting in of express delivery, and, the automatic device structure of opening and closing of window is complicated, and structural requirement to the window is higher, is not suitable for manual plug-pull type window.
In order to solve the above problem, document CN107748570A in the prior art proposes a method for delivering a piece on the door of an unmanned aerial vehicle, the method comprising the following steps: the express center sends an express delivery request to an indoor client through an express control center; the express control center generates customer order information and sends the customer order information to the unmanned control device, wherein the customer order information comprises parcel information and position information, and the position information comprises prestored customer floor coordinates, floor height and balcony position; the unmanned aerial vehicle control device receives the customer order information sent by the express control center, and controls the unmanned aerial vehicle to fly to a specified position according to a route stored in the customer order information through the automatic flight module; the camera shoots whether the balcony window is opened or not, and if the camera shoots that the balcony window is opened, the automatic flying module controls the unmanned aerial vehicle to penetrate through the window and enter the room; if the balcony window is not opened, the alarm gives out alarm information.
However, in the above method, since the express control center is used for generating a customer order, the above method can only be applied to a single express company, and thus each express company needs to configure its own unmanned aerial vehicle at the end delivery stage, which causes low utilization efficiency of the unmanned aerial vehicle, waste of unmanned aerial vehicle resources, and increase of delivery cost; in addition, the method needs to store the position information of each user in the express control center, and the centralized information storage method increases the storage burden and the data transmission amount of the server; finally, because the weight of the articles delivered by the customer orders is different, the unmanned aerial vehicles with different loads are not adopted for delivering the articles with different weights in the method, so that the energy utilization efficiency in the unmanned aerial vehicle delivery process is low.
Disclosure of Invention
The invention provides a logistics distribution method based on an unmanned aerial vehicle, which comprises the following steps:
s1, a logistics distribution connection point is arranged, and the logistics distribution connection point is located in a community or among a plurality of adjacent communities; the logistics distribution connection point is a third-party connection point and is compatible with logistics information of a plurality of different logistics companies; the logistics distribution connection point is used for realizing the connection of the distribution of a distributor and the distribution of an unmanned aerial vehicle;
s2, the deliverer scans the user bar code of the package at the logistics distribution access point and delivers the package into a delivery cabinet of the logistics distribution access point, and a cabinet door of the delivery cabinet is closed;
s3, after the controller of the logistics distribution connection point scans codes, acquiring a target distribution position and distribution time set by the user, and automatically identifying the weight of the packages in the delivery cabinet; enabling, at the delivery time, a model of drone corresponding to the weight of the package to deliver the package to the target delivery location.
As a preferred embodiment, the target delivery locations include a building location, a floor location, and a window location.
As a preferred embodiment, the method for the delivery personnel to scan the user barcode of the package at the logistics delivery connection point further comprises the following steps:
the logistics company acquires user information and logistics information of the package when receiving the package, and generates a corresponding user bar code and a corresponding logistics bar code respectively, wherein the logistics bar code information is stored in a server of the logistics company, and the user information corresponding to the user bar code information is stored in the logistics distribution connection point in advance; the user information stored by the logistics distribution connection point comprises a target distribution position and distribution time of the user;
and the distributor scans the user bar code of the package at the logistics distribution connection point to acquire the user information of the package, and delivers the package to a delivery cabinet of the logistics distribution connection point.
As a preferred embodiment, after scanning a code, the controller of the logistics distribution access point obtains a target distribution position and a distribution time set by the user, specifically including:
the user information is pre-configured by the user and then stored in the logistics distribution connection point, and the user information comprises a target distribution position and distribution time of the user;
and scanning the user bar code of the package by the controller of the logistics distribution connection point, and then acquiring the target distribution position and the distribution time set by the user.
As a preferred embodiment, the enabling of the model of the drone corresponding to the weight of the package at the delivery time to deliver the package to the target delivery location further comprises:
the logistics distribution connection point is provided with a plurality of unmanned aerial vehicles of different models, and the unmanned aerial vehicles of different models can distribute the packages with different weight loads;
when the time range of the delivery time is reached, detecting whether a model of unmanned aerial vehicle in an idle state corresponding to the weight of the package exists, and if so, enabling the unmanned aerial vehicle to deliver the package to the target delivery position; if the unmanned aerial vehicle in the idle state of the model corresponding to the weight of the package does not exist, detecting whether the unmanned aerial vehicle in the idle state of the model is larger than the model by one level, and if so, starting the unmanned aerial vehicle to distribute the package to the target distribution position; and if the unmanned aerial vehicle in the idle state, which is larger than the model level one level, does not exist, the package enters a delivery waiting state.
As a preferred embodiment, the method further comprises:
sending a prompt message of postponing delivery to the user when the package enters a delivery waiting state;
and the controller of the logistics distribution access point receives a modification instruction of the user on the distribution time so as to distribute the packages at the modified distribution time.
As a preferred embodiment, the method further comprises:
the user sets a temporary distribution mode, and when the controller of the logistics distribution connection point receives the temporary distribution mode set by the user for the package, the controller acquires the positioning position of the user and distributes the package to the positioning position; the localized position is within the community or within a coverage area of the plurality of adjacent communities.
As a preferred embodiment, the method further comprises:
setting a flight path for parcel delivery of the unmanned aerial vehicle for each user;
if the comprehensive similarity between the delivery time and the target delivery position of different users is greater than a preset similarity threshold, only one unmanned aerial vehicle is started to deliver packages of a plurality of users, and the unmanned aerial vehicle can load all the packages at one time;
and planning an optimal flight path according to the target distribution positions of all the users, and sequentially distributing the packages according to the optimal flight path.
The invention provides a logistics distribution method based on an unmanned aerial vehicle, and as the logistics distribution connection point is a third-party connection point, the logistics distribution method can be compatible with logistics information of a plurality of different logistics companies, thereby improving the distribution efficiency of the unmanned aerial vehicle and reducing the distribution cost; in addition, the logistics information and the user information are stored separately, so that the user information is only stored and identified at the receiving end and the distribution end, the data storage quantity of the logistics company server is reduced, and the user privacy is protected; finally, the unmanned aerial vehicle with different loads is arranged for packages with different weights, so that the utilization efficiency of the unmanned aerial vehicle battery is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the embodiments and the drawings used in the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is an exemplary schematic diagram of a logistics distribution method based on an unmanned aerial vehicle according to the invention.
Detailed Description
Embodiments of the present invention are further described below with reference to the accompanying drawings.
The first embodiment is as follows:
as shown in fig. 1, the present invention provides a logistics distribution method based on an unmanned aerial vehicle, the method includes the following steps:
s1, a logistics distribution connection point is arranged, and the logistics distribution connection point is located in a community or among a plurality of adjacent communities; the logistics distribution connection point is a third-party connection point and is compatible with logistics information of a plurality of different logistics companies; the logistics distribution connection point is used for realizing the connection of the distribution of a distributor and the distribution of an unmanned aerial vehicle; it should be noted that the logistics distribution connection point is similar to express receiving and dispatching points such as the existing vegetable and bird courier station, the inconvenience that a user needs to get a pickup at the express receiving and dispatching points by himself in the prior art is solved, and the problem that the user needs to go to the receiving and dispatching points independently to take a pickup is avoided. The logistics distribution connection points are located in communities or among a plurality of adjacent communities, the positions and the number of the logistics distribution connection points can be flexibly set according to the distribution of buildings and the number of residents, and the logistics distribution connection points are not limited. The logistics distribution connection point is a third-party connection point, namely is independent of a plurality of express companies, and further is compatible with logistics information of a plurality of different logistics companies, so that the distribution efficiency of the unmanned aerial vehicle is improved, and the distribution cost is reduced.
S2, the deliverer scans the user bar code of the package at the logistics distribution access point and delivers the package into a delivery cabinet of the logistics distribution access point, and a cabinet door of the delivery cabinet is closed; it should be noted that, the invention sets a bar code of user information for a user corresponding to each package, and separately stores logistics information and user information, wherein the logistics information is used for the requirement of a middle road section of logistics distribution, and the user information is used for an accepting stage in the logistics distribution process and a final delivery stage after connection; therefore, the method for separately storing the logistics information and the user information ensures that the user information is only stored and identified at the receiving end and the distribution end, and the logistics company does not need to acquire and manage the wrapped user information in the whole process, so that the data storage capacity of the server of the logistics company is reduced, and the user privacy is protected. The code scanning and parcel placing of the delivery cabinet is similar to a honeycomb delivery cabinet at a community gate in the prior art, and the details are not repeated.
S3, scanning a code by a controller of the logistics distribution connection point, then acquiring a target distribution position and distribution time set by the user, and automatically identifying the weight of the package in the delivery cabinet; enabling, at the delivery time, a model of drone corresponding to the weight of the package to deliver the package to the target delivery location. It should be noted that the user information includes a target delivery location and delivery time preset by the user; preferably, the target delivery positions comprise a building position, a floor position and a window position; the delivery time may be a certain delivery time period. In addition, the delivery cabinet has the function of automatically receiving the weight of the package in the cabinet, and then the unmanned aerial vehicle which configures the corresponding power model for the package according to the weight of the package delivers the package; therefore, the unmanned aerial vehicle with different loads is arranged for packages with different weights, and therefore the utilization efficiency of the unmanned aerial vehicle battery is improved.
The invention provides a logistics distribution method based on an unmanned aerial vehicle, and as the logistics distribution connection point is a third-party connection point, the logistics distribution method can be compatible with logistics information of a plurality of different logistics companies, thereby improving the distribution efficiency of the unmanned aerial vehicle and reducing the distribution cost; in addition, the invention stores the logistics information and the user information separately, so that the user information is only stored and identified at the receiving end and the distribution end, thereby reducing the data storage capacity of the server of the logistics company and protecting the privacy of the user; finally, the unmanned aerial vehicle with different loads is arranged for packages with different weights, so that the utilization efficiency of the unmanned aerial vehicle battery is improved.
As a preferred embodiment, the method for the delivery personnel to scan the user barcode of the package at the logistics delivery connection point further comprises the following steps:
the logistics company acquires user information and logistics information of the package when receiving the package, and generates a corresponding user bar code and a corresponding logistics bar code respectively, wherein the logistics bar code information is stored in a server of the logistics company, and the user information corresponding to the user bar code information is stored in the logistics distribution connection point in advance; the user information stored by the logistics distribution connection point comprises a target distribution position and distribution time of the user; it should be noted that, in order to protect the security of the user information, an encryption algorithm of a barcode may be set for the user information, and a distribution end may be configured with a same decryption algorithm to decrypt the user information; the barcode may be a one-dimensional barcode or a two-dimensional barcode, which is not limited herein. Therefore, the method for separately storing the logistics information and the user information ensures that the user information is only stored and identified at the receiving end and the distribution end, and the logistics company does not need to acquire and manage the wrapped user information in the whole process, so that the data storage capacity of the server of the logistics company is reduced, and the user privacy is protected.
And the distributor scans the user bar code of the package at the logistics distribution connection point to acquire the user information of the package, and delivers the package to a delivery cabinet of the logistics distribution connection point.
As a preferred embodiment, the acquiring, by scanning a code, a target delivery position and a delivery time set by the user by a controller of the logistics delivery access point specifically includes:
the user information is pre-configured by the user and then stored in the logistics distribution connection point, and the user information comprises a target distribution position and distribution time of the user; it should be noted that the user information is stored in the memory of the logistics distribution access point, and does not need to be stored in the server of the logistics company, so that the data storage amount of the server of the logistics company is reduced, and the user privacy is protected.
And scanning the user bar code of the package by the controller of the logistics distribution connection point, and then acquiring the target distribution position and the distribution time set by the user. It should be noted that, preferably, the user barcode is displayed in an encrypted manner, the barcode scanning process needs to be performed with decryption, and corresponding encryption and decryption algorithms are preset.
As a preferred embodiment, the enabling of the model of the drone corresponding to the weight of the package at the delivery time to deliver the package to the target delivery location further comprises:
the logistics distribution connection point is provided with a plurality of unmanned aerial vehicles of different models, and the unmanned aerial vehicles of different models can distribute the packages with different weight loads; it should be noted that, for example, the loadable package weight of the type a drone is not more than 1kg, the loadable package weight of the type B drone is more than 2kg, the loadable package weight of the type C drone is more than 4kg, and the loadable package weight of the type D drone is more than 6kg; from this, establish parcel weight and distribution unmanned aerial vehicle's corresponding relation and be: the unmanned aerial vehicle with the model A delivers the packages with the weight of 0-1kg, the unmanned aerial vehicle with the model B delivers the packages with the weight of 1-2kg, the unmanned aerial vehicle with the model C delivers the packages with the weight of 2-4kg, and the unmanned aerial vehicle with the model D delivers the packages with the weight of 4-6kg.
When the time range of the delivery time is reached, detecting whether a model of unmanned aerial vehicle in an idle state corresponding to the weight of the package exists, and if so, enabling the unmanned aerial vehicle to deliver the package to the target delivery position; if the model type unmanned aerial vehicle in the idle state corresponding to the weight of the package does not exist, detecting whether the model type unmanned aerial vehicle in the idle state is larger than the model type by one level, and if so, starting the unmanned aerial vehicle to distribute the package to the target distribution position; and if the unmanned aerial vehicle in the idle state, which is larger than the model level one level, does not exist, the package enters a delivery waiting state. It should be noted that, for example, the weight of the package m is 2.5kg, and the delivery time is 3-4 pm; detecting whether there is a model C drone in an idle state corresponding to the package weight, at 3 pm when the delivery time is reached, and if so, enabling the drone C to deliver the package to the target delivery location; if the unmanned aerial vehicle in the idle state of the model C corresponding to the weight of the package does not exist, detecting whether the unmanned aerial vehicle in the idle state larger than the model D exists, and if so, starting the unmanned aerial vehicle D to deliver the package to the target delivery position; if no unmanned aerial vehicle in an idle state of which the model is one level higher than the model is available, the package enters a waiting distribution state, and until 4 pm before the last time of a distribution time period, whether unmanned aerial vehicles with models C and D in the idle state exist is detected in a circulating mode, and if yes, the package m is distributed; by the last hour of the delivery period, at 4 pm, if there are no drones of models C and D still in the idle state, the delivery of the package m fails.
As a preferred embodiment, the method further comprises:
sending a prompt message for postponing delivery to the user when the package enters a delivery waiting state; it should be noted that the prompt message for deferring delivery is a message waiting for delivery, and the prompt message is stopped being pushed until the unmanned aerial vehicle starts delivery; the prompt message may be a prompt identification of the client of the user.
And the controller of the logistics distribution junction receives the modification instruction of the user on the distribution time so as to distribute the package at the modified distribution time. It should be noted that the delivery time of the package of the user can be flexibly set according to the needs of the user, so as to meet the needs of the user for receiving the goods at different times.
As a preferred embodiment, the method further comprises:
the user sets a temporary distribution mode, and when the controller of the logistics distribution connection point receives the temporary distribution mode set by the user for the package, the controller acquires the positioning position of the user and distributes the package to the positioning position; the localized position is within the community or within a coverage area of the plurality of adjacent communities. It should be noted that, in order to improve the flexibility of receiving goods by the user, a temporary delivery mode may be set, which is different from the conventional delivery, that is, the target address and time of delivery may be temporarily agreed, thereby satisfying the requirement of receiving goods by the user in emergency around the residence. At this time, the positioning position is different from the target distribution position, and may be any place where the unmanned aerial vehicle can cover the range, for example, a road around the community.
As a preferred embodiment, the method further comprises:
setting a flight path for parcel delivery of the unmanned aerial vehicle for each user; it should be noted that the flight path is the shortest distance from the logistics distribution junction to the target distribution position, which bypasses the obstacle.
If the comprehensive similarity between the delivery time and the target delivery position of different users is greater than a preset similarity threshold, only one unmanned aerial vehicle is started to deliver packages of a plurality of users, and the unmanned aerial vehicle can load all the packages at one time; it should be noted that, for example, the similarity between the delivery time of the package m of the user p and the delivery time of the package n of the user q is 90%, and the similarity between the target delivery positions of the two is 80%, then the comprehensive similarity is 72%, and is greater than a preset similarity threshold value of 70%, at this time, only one of the drones is activated to deliver the packages m and n, where the drones may load all the packages at one time, that is, the load of the drones is greater than or equal to the sum of the weights of the packages m and n.
And planning an optimal flight path according to the target distribution positions of all the users, and sequentially distributing the packages according to the optimal flight path. It should be noted that the optimal flight path is a flight path formed from the logistics distribution junction to the closer target distribution position and then from the closer target distribution position to the farther target distribution position while bypassing the obstacle.
The invention provides a logistics distribution method based on an unmanned aerial vehicle, and as the logistics distribution connection point is a third-party connection point, the logistics distribution method can be compatible with logistics information of a plurality of different logistics companies, thereby improving the distribution efficiency of the unmanned aerial vehicle and reducing the distribution cost; in addition, the invention stores the logistics information and the user information separately, so that the user information is only stored and identified at the receiving end and the distribution end, thereby reducing the data storage capacity of the server of the logistics company and protecting the privacy of the user; finally, the unmanned aerial vehicle with different loads is arranged for packages with different weights, so that the utilization efficiency of the unmanned aerial vehicle battery is improved.
It will be understood by those within the art that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the methods specified in the block(s) of the block diagrams and/or flowchart block or blocks.
Those skilled in the art will appreciate that the various operations, methods, steps, measures, arrangements of steps in the flow, which have been discussed in the present application, may be alternated, modified, combined, or eliminated. Further, various operations, methods, steps in the flows, which have been discussed in the present disclosure, may also be alternated, modified, rearranged, split, combined, or deleted. Further, steps, measures, schemes in the various operations, methods, procedures disclosed in the prior art and the present invention can also be alternated, changed, rearranged, decomposed, combined, or deleted.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (7)
1. A logistics distribution method based on an unmanned aerial vehicle is characterized by comprising the following steps:
s1, a logistics distribution connection point is arranged, and the logistics distribution connection point is located in a community or among a plurality of adjacent communities; the logistics distribution connection point is a third-party connection point and is compatible with logistics information of a plurality of different logistics companies; the logistics distribution connection point is used for realizing the connection of the distribution of a distributor and the distribution of an unmanned aerial vehicle;
s2, the distributor scans the user bar codes of the packages at the logistics distribution access point and delivers the packages into a delivery cabinet of the logistics distribution access point, and a cabinet door of the delivery cabinet is closed;
s3, after the controller of the logistics distribution connection point scans codes, acquiring a target distribution position and distribution time set by the user, and automatically identifying the weight of the packages in the delivery cabinet; enabling a model of drone corresponding to a weight of the package to deliver the package to the target delivery location at the delivery time;
the distributor scans the user bar code of the package at the logistics distribution connection point, and the method further comprises the following steps:
the logistics company acquires user information and logistics information of the package when receiving the package, and generates a corresponding user bar code and a corresponding logistics bar code respectively, wherein the logistics bar code information is stored in a server of the logistics company, and the user information corresponding to the user bar code information is stored in the logistics distribution connection point in advance; the user information stored by the logistics distribution connection point comprises a target distribution position and distribution time of the user;
and the distributor scans the user bar code of the package at the logistics distribution connection point to acquire the user information of the package, and delivers the package to a delivery cabinet of the logistics distribution connection point.
2. The method of claim 1, wherein:
the target delivery locations include building locations, floor locations, and window locations.
3. The method according to claim 1, wherein the obtaining of the target delivery position and the delivery time set by the user after scanning the code by the controller of the logistics distribution docking point specifically comprises:
the user information is pre-configured by the user and then stored in the logistics distribution connection point, and the user information comprises a target distribution position and distribution time of the user;
and scanning the user bar code of the package by the controller of the logistics distribution connection point, and then acquiring the target distribution position and the distribution time set by the user.
4. The method of claim 1, wherein the enabling of the model of the drone at the delivery time corresponding to the weight of the package to deliver the package to the target delivery location further comprises:
the logistics distribution connection point is provided with a plurality of unmanned aerial vehicles of different models, and the unmanned aerial vehicles of different models can distribute the packages with different weight loads;
when the time range of the delivery time is reached, detecting whether a model of unmanned aerial vehicle corresponding to the weight of the package exists in an idle state, and if so, enabling the unmanned aerial vehicle to deliver the package to the target delivery position; if the unmanned aerial vehicle in the idle state of the model corresponding to the weight of the package does not exist, detecting whether the unmanned aerial vehicle in the idle state of the model is larger than the model by one level, and if so, starting the unmanned aerial vehicle to distribute the package to the target distribution position; and if the unmanned aerial vehicle in the idle state is not larger than the model level one, the package enters a waiting distribution state.
5. The method of claim 4, further comprising:
sending a prompt message for postponing delivery to the user when the package enters a delivery waiting state;
and the controller of the logistics distribution junction receives the modification instruction of the user on the distribution time so as to distribute the package at the modified distribution time.
6. The method of claim 1, further comprising:
the user sets a temporary distribution mode, and when the controller of the logistics distribution connection point receives the temporary distribution mode set by the user for the package, the controller acquires the positioning position of the user and distributes the package to the positioning position; the localized position is within the community or within a coverage area of the plurality of adjacent communities.
7. The method of claim 1, further comprising:
setting a flight path for parcel delivery of the unmanned aerial vehicle for each user;
if the comprehensive similarity between the delivery time and the target delivery position of different users is greater than a preset similarity threshold, only one unmanned aerial vehicle is started to deliver packages of a plurality of users, and the unmanned aerial vehicle can load all the packages at one time;
and planning an optimal flight path according to the target distribution positions of all the users, and sequentially distributing the packages according to the optimal flight path.
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| CN111612397B (en) * | 2020-05-20 | 2022-11-08 | 深圳市沃客非凡科技有限公司 | Commodity autonomous distribution method and system based on Internet of things technology |
| CN111832992B (en) * | 2020-07-10 | 2024-07-23 | 上海东普信息科技有限公司 | Unmanned aerial vehicle monitoring method, system, equipment and storage medium based on blockchain |
| CN112012614A (en) * | 2020-09-03 | 2020-12-01 | 清华大学合肥公共安全研究院 | Sliding window capable of being used for taking off and landing of logistics unmanned aerial vehicle, control method, system and terminal |
| CN113120491B (en) * | 2021-03-26 | 2022-12-16 | 北京二郎神科技有限公司 | Method and device for loading unmanned aerial vehicle, storage medium and distribution system |
| CN114326803B (en) * | 2021-12-28 | 2024-02-02 | 宁波派丽肯智能渔具有限公司 | Unmanned aerial vehicle load control system |
| CN115115132A (en) * | 2022-07-20 | 2022-09-27 | 西华大学 | Chargeable urban logistics unmanned aerial vehicle path planning method based on simulated annealing |
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