CN113002795B

CN113002795B - Unmanned aerial vehicle relay station, relay control method and relay networking multi-machine logistics system

Info

Publication number: CN113002795B
Application number: CN202110351245.9A
Authority: CN
Inventors: 袁宪锋; 崔潇雅; 周雨菁; 孟芸竹; 宋勇; 许庆阳; 马国庆; 金泽轩
Original assignee: Shandong University
Current assignee: Shandong University
Priority date: 2021-03-31
Filing date: 2021-03-31
Publication date: 2023-06-02
Anticipated expiration: 2041-03-31
Also published as: CN113002795A

Abstract

The invention discloses an unmanned aerial vehicle relay station, a relay control method and a relay networking multi-machine logistics system. The unmanned aerial vehicle relay station comprises a first parking apron and a second parking apron, wherein cargo positions are arranged below the first parking apron and the second parking apron, and the two cargo positions are connected through a cargo channel; wherein the cargo aisle is for transporting cargo from a first tarmac to a second tarmac; and moreover, an unmanned aerial vehicle charging device is further arranged on the second parking apron. Through unmanned aerial vehicle relay, realized unmanned aerial vehicle delivery task and handing-over of goods, broken through unmanned aerial vehicle delivery's duration restriction, enlarged the delivery scope.

Description

Unmanned aerial vehicle relay station, relay control method and relay networking multi-machine logistics system

Technical Field

The invention belongs to the technical field of intelligent logistics, and particularly relates to an unmanned aerial vehicle relay station, a relay control method and a relay networking logistics multi-machine system.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

With the popularization of online shopping, the transportation and distribution modes adopted by the traditional logistics industry gradually highlight the problems of low efficiency, poor safety, high cost and the like, and particularly for remote areas such as mountain areas with inconvenient traffic. In order to realize the delivery in remote areas, the delivery mode of applying unmanned aerial vehicle to logistics system has recently appeared, accomplishes parcel dispatch through unmanned aerial vehicle, has overcome the road restriction in remote areas to owing to use electric energy, realized green, and owing to unmanned aerial vehicle's security and stationarity, the goods of transportation are unnecessary to be like the excessive packing of past goods in order to avoid the problem of being damaged in the transportation, consequently reducible package brings the extravagant problem of energy.

At present, the domestic and foreign logistics unmanned aerial vehicle industry mainly has three modes:

(1) The warehouse + the material flow unmanned plane, namely the unmanned plane loads goods from the established fixed-point warehouse each time, the occupation of the mode to the site and the fund is very large, and the safety performance is low;

(2) The vehicle + logistics unmanned aerial vehicle, namely the unmanned aerial vehicle delivers goods to the unmanned aerial vehicle to the appointed place, the unmanned aerial vehicle finishes delivery, finally, the unmanned aerial vehicle needs to sign for manually, and the manpower and material resources are consumed, and the unmanned aerial vehicle has high maintenance cost and high energy consumption;

(3) The intelligent cabinet and the logistics unmanned aerial vehicle can be attached to the top of the intelligent package cabinet to realize full-automatic take-off, landing and package delivery, but the technical requirements are very high.

In any distribution mode, the cruising ability of the unmanned aerial vehicle brings limitation to the maximum distribution distance, the maximum flight radius is only about 10 km for a single unmanned aerial vehicle, and distribution work is difficult to complete in some remote areas.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention provides an unmanned aerial vehicle relay station, a relay control method and a relay networking multi-machine logistics system. Through unmanned aerial vehicle relay, realized unmanned aerial vehicle delivery task and handing-over of goods, broken through unmanned aerial vehicle delivery's duration restriction, enlarged the delivery scope.

To achieve the above object, one or more embodiments of the present invention provide the following technical solutions:

the unmanned aerial vehicle relay station comprises a first parking apron and a second parking apron, wherein cargo positions are arranged below the first parking apron and the second parking apron, and the two cargo positions are connected through a cargo channel; wherein the cargo aisle is for transporting cargo from a first tarmac to a second tarmac; and moreover, an unmanned aerial vehicle charging device is further arranged on the second parking apron.

Further, the first parking apron is higher than the second parking apron, and the goods channel is an inclined slideway.

Further, a transmission device is arranged in the cargo channel and comprises a control module, a sensing module and a transmission mechanism, wherein the sensing module and the transmission mechanism are connected with the control module, and the sensing module is arranged on a cargo position below the first parking apron.

Further, a voltage detection device is further arranged on the second parking apron and connected with the charging device, and when the voltage detection device detects that the voltage of the unmanned aerial vehicle battery is insufficient, automatic charging is performed.

One or more embodiments provide a relay control method based on the unmanned aerial vehicle relay station, including:

controlling the first unmanned aerial vehicle to fall on a first parking apron;

after receiving a feedback message that the first unmanned aerial vehicle successfully lands, controlling the first unmanned aerial vehicle to release a logistics box, so that the logistics box reaches a cargo position below the second parking apron through a cargo channel;

controlling the second unmanned aerial vehicle to clamp the logistics box, simultaneously sending the unfinished delivery task and the corresponding delivery path of the first unmanned aerial vehicle to the second unmanned aerial vehicle, and controlling the second unmanned aerial vehicle to start delivery;

and controlling the first unmanned aerial vehicle to fly to the second parking apron, and docking with the charging device to charge.

One or more embodiments provide a cloud server for a relay networking multiple machine logistics system, comprising:

a flight mission allocation module configured to: receiving a delivery task, and analyzing the delivery task to obtain a delivery path; generating a flight task according to the delivery task and the corresponding delivery path, and sending the flight task to the idle unmanned aerial vehicle;

a drone management module configured to: recording identification information and current states of a plurality of unmanned aerial vehicles, wherein the states comprise idle states, standby states in a relay station and delivery states;

a relay station management module configured to: pre-storing identification information and position information of the unmanned aerial vehicle relay station; wherein the relay station adopts the unmanned aerial vehicle relay station;

a relay request processing module configured to: and when a relay request sent by the unmanned aerial vehicle is received, searching the nearest relay station according to the current position of the unmanned aerial vehicle, and executing the relay control method.

Further, the system also comprises a receiver authentication module configured to: and receiving the recipient image sent by the unmanned aerial vehicle, and performing recipient identity authentication through face recognition.

Further, the system also comprises a receiver authentication module configured to: after the flight task is sent to the unmanned aerial vehicle, a random password of the logistics box is generated, and information containing the random password is sent to a corresponding receiver.

One or more embodiments provide a unmanned aerial vehicle, connected with the cloud server, including:

a delivery module configured to: receiving a flight task sent by a cloud server, and carrying out cargo distribution after loading corresponding cargoes;

a recipient authentication module configured to: after being distributed to the designated address, the image of the addressee is acquired and sent to the cloud server;

a power monitoring module configured to: monitoring the current electric quantity of the cloud server in real time in the distribution process, and sending a relay request to the cloud server when the current electric quantity is lower than a set threshold value;

a relay module configured to: and flying, releasing the logistics box or landing according to the control instruction of the cloud server, and sending a feedback message to the cloud server.

One or more embodiments provide a relay networking multiple-machine logistics system, which includes the cloud server, a plurality of unmanned aerial vehicles and a plurality of unmanned aerial vehicle relay stations.

The one or more of the above technical solutions have the following beneficial effects:

unmanned aerial vehicle relay can be used for providing the place of aerial express delivery case exchange for unmanned aerial vehicle, can also be used for charging for idle unmanned aerial vehicle, ensures to transport the goods under the prerequisite of sufficient duration, has broken through the duration restriction of unmanned aerial vehicle delivery, has enlarged the delivery scope.

The logistics system adopts the face recognition technology to collect the express, so that the possibility of mistaking the express is greatly reduced, and the automatic signing without a dispatcher is realized.

The unmanned aerial vehicle relay station is simple in structure and low in maintenance cost, only the unmanned aerial vehicle relay station is required to be additionally arranged on the basis of an original logistics system, and the technical difficulty is low.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.

Fig. 1 is a schematic diagram of a drone relay station in one or more embodiments of the present invention;

fig. 2 is a schematic diagram illustrating an operation principle of a relay station of an unmanned aerial vehicle according to one or more embodiments of the present invention;

fig. 3 is a flowchart of a method for controlling a relay of a drone according to one or more embodiments of the present invention;

FIG. 4 is a schematic diagram of a logistics box in accordance with one or more embodiments of the present invention;

fig. 5 is a diagram of a relay networking multiple-machine logistics system in accordance with one or more embodiments of the present invention.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

Embodiments of the invention and features of the embodiments may be combined with each other without conflict.

Example 1

Based on the problem that the light and small logistics unmanned aerial vehicle is insufficient in cruising ability, the embodiment discloses an unmanned aerial vehicle relay station, which comprises a first parking apron and a second parking apron as shown in fig. 1, wherein cargo positions are arranged below the first parking apron and the second parking apron, and the two cargo positions are connected through a cargo channel; wherein the cargo aisle is for transporting cargo from a first tarmac to a second tarmac; and moreover, an unmanned aerial vehicle charging device is further arranged on the second parking apron.

In particular, the arrangement of the cargo aisle need only be such that cargo can be transported from the first tarmac to the second tarmac. In this embodiment, the cargo is loaded through the logistics box. The schematic diagram of the logistics box is shown in fig. 4.

As a specific implementation manner, the first apron is higher than the second apron, and the cargo channel is an inclined slideway, so that the logistics box can slide to the cargo position below the second apron along the slideway under the action of gravity after the first apron is released.

As another specific implementation manner, a transmission device is arranged in the cargo channel, the transmission device comprises a control module, a sensing module and a transmission mechanism, wherein the sensing module and the transmission mechanism are connected with the control module, and the sensing module is arranged on a cargo position below the first parking apron. The sensing module is used for sensing that the logistics box is released, and when sensing the release, signals are transmitted to the control module, and the control module controls the transmission mechanism to be transported to the cargo position below the second parking apron. The sensing module is a gravity sensor or other sensors capable of being used for sensing whether an object is in place, and the transmission mechanism is a conveyor belt or other mechanisms capable of realizing object transportation, which are not limited herein.

For the accurate landing of unmanned aerial vehicle of being convenient for, first air park and second air park all are equipped with identification information for unmanned aerial vehicle accessible looks down modes such as optical flow sensor and discerns, and drops on the appointed position. Also, for ease of distinction, the identification information on the first tarmac and the second tarmac may be different.

In order to facilitate the release and clamping of the logistics box, as the unmanned aerial vehicle can accurately fall on the appointed position, the goods position is arranged right below the logistics box clamping mechanism.

Be equipped with the opening of goods position on the air park, after unmanned aerial vehicle falls the assigned position, the opening is opened for the thing flow box can fall into in the goods position. Specifically, be equipped with sensing device on the apron, this sensing device is connected with the control module in the passageway for whether the sensing unmanned aerial vehicle parks to the assigned position, after parking to the assigned position, control module control opening.

For unmanned aerial vehicle charges of being convenient for, the position of charging device on the second air apron needs to synthesize the determination according to unmanned aerial vehicle landing's assigned position and the mouth position that charges on the unmanned aerial vehicle for unmanned aerial vehicle falls on the second air apron, charges the mouth and can realize the dock with charging device, when charging the completion, unmanned aerial vehicle gets into standby state.

And a voltage detection device is further arranged on the second parking apron and connected with the charging device, and when the voltage detection device detects that the voltage of the unmanned aerial vehicle battery is insufficient, the unmanned aerial vehicle battery is automatically charged. The charging method may be any charging method in the prior art, such as a 6S balance charging method, and is not limited herein.

In order to provide the charging device with electric energy, as a specific implementation manner, the charging device is connected with a solar panel, solar energy is collected by the solar panel and electric quantity is stored, and when the solar energy is insufficient, an erected cable is used for supplying power to the charging device.

And marking the unmanned aerial vehicle with insufficient electric quantity in the distribution process as a first unmanned aerial vehicle. The working principle of the unmanned aerial vehicle relay station is as follows: when the electric quantity of the first unmanned aerial vehicle which is in delivery work is about to run out, a nearby parking apron is searched, the first parking apron is positioned and landed on the parking apron, after landing is successful, an opening on the parking apron is opened, the first unmanned aerial vehicle puts down a logistics box, the logistics box is conveyed to a goods position below the second parking apron, as shown in fig. 2, and is aligned to a logistics box clamp of the second unmanned aerial vehicle, and the second unmanned aerial vehicle clamps the logistics box to continue to execute delivery tasks. Then the first unmanned aerial vehicle falls on the second apron and charges, and when charging is accomplished, unmanned aerial vehicle gets into standby state, waits for the handing-over next time.

Example two

Based on the above unmanned aerial vehicle relay station, the present embodiment provides a relay control method, as shown in fig. 3, controlled and executed by a cloud server. The method specifically comprises the following steps:

step 1: controlling the first unmanned aerial vehicle to fall on a first parking apron; the first unmanned aerial vehicle is an unmanned aerial vehicle with electric quantity smaller than a set threshold value in the distribution process;

step 2: after receiving a feedback message that the first unmanned aerial vehicle successfully lands, controlling the first unmanned aerial vehicle to release a logistics box, so that the logistics box reaches a cargo position below the second parking apron through a cargo channel;

step 3: judging whether a standby unmanned aerial vehicle exists on the second parking apron, if not, controlling an idle unmanned aerial vehicle to drop onto the second parking apron, marking the idle unmanned aerial vehicle as the second unmanned aerial vehicle, and executing the step 4-5; if the unmanned aerial vehicle exists, the unmanned aerial vehicle is marked as a second unmanned aerial vehicle, and the step 4-5 is directly executed;

step 4: controlling the second unmanned aerial vehicle to clamp the logistics box, simultaneously sending the unfinished delivery task and the corresponding delivery path of the first unmanned aerial vehicle to the second unmanned aerial vehicle, and controlling the second unmanned aerial vehicle to start delivery;

step 5: and controlling the first unmanned aerial vehicle to fly to the second parking apron, and docking with the charging device to charge.

Example III

On the basis of providing an unmanned aerial vehicle relay station in the first embodiment and providing an unmanned aerial vehicle relay control method in the second embodiment, the embodiment provides a relay networking multi-machine logistics system, as shown in fig. 5, the system comprises a cloud server and a plurality of unmanned aerial vehicles, goods are loaded through logistics boxes, the plurality of unmanned aerial vehicles relay through the relay station, and the unmanned aerial vehicles and the logistics boxes are all in communication connection with the cloud server.

And the cloud server performs path planning and task distribution according to the distribution task, the unmanned aerial vehicle performs cargo distribution according to the planned path, performs identity authentication on a receiver after the cargo distribution reaches a designated address, and opens the logistics box after the authentication is successful, so that the cargo distribution is completed. In addition, the unmanned aerial vehicle monitors the self electric quantity in real time in the distribution process, when the electric quantity is insufficient, a relay request is sent to the cloud server, the server searches for the nearest relay station and feeds back a corresponding path, the unmanned aerial vehicle reaches the relay station, after the unmanned aerial vehicle parked on the relay station completes goods handover, the cloud server re-plans the path according to the distribution task, and the handover unmanned aerial vehicle is controlled to carry out next-stage distribution.

The system specifically comprises:

a cloud server configured to include:

the flight task distribution module receives the distribution task and analyzes the distribution task to obtain a distribution path; and generating a flight task according to the delivery task and the corresponding delivery path, and sending the flight task to one or more idle unmanned aerial vehicles. The delivery tasks include addressee names, contact information, address information, cargo size, weight and the like.

Specifically, the recipient address is extracted from the delivery task, and route analysis is performed based on the map data and the recipient address to obtain the delivery route. Through path analysis, the unmanned aerial vehicle is used for distributing a plurality of recipients on the path, and distribution efficiency is improved.

And the unmanned aerial vehicle management module records the identification information and the current working state of a plurality of unmanned aerial vehicles, wherein the current working state comprises idle, in a relay station and distribution. If the unmanned aerial vehicle is at the relay station, the identification information of the relay station is recorded.

And the relay station management module is used for pre-storing identification information and position information of the unmanned aerial vehicle relay station.

The relay request processing module searches the nearest relay station according to the current position of the unmanned aerial vehicle when receiving a relay request sent by the unmanned aerial vehicle, performs path planning according to the current position of the unmanned aerial vehicle and the position of the relay station, generates a relay instruction and sends the relay instruction to the unmanned aerial vehicle;

after receiving a feedback message that the unmanned aerial vehicle has fallen to the first parking apron, sending a logistics box releasing instruction to the unmanned aerial vehicle, and sending a logistics box clamping instruction and a flight task to a standby unmanned aerial vehicle on the second parking apron; and

and after receiving the feedback message that the standby unmanned aerial vehicle starts to deliver, sending a charging control instruction to the unmanned aerial vehicle on the first parking apron.

And the addressee authentication module can perform addressee identity authentication through two modes of face recognition and random password. The method comprises the following steps:

(1) And carrying out recipient identity authentication through face recognition.

And receiving the recipient image shot and sent by the unmanned aerial vehicle, carrying out face recognition, and controlling the logistics box to be opened if the authentication is passed. And the cloud server stores the pre-collected face image data of the addressee.

Specifically, face recognition mainly comprises two major links of model deployment and face detection and comparison. Firstly, constructing a model, obtaining an effective data set after collecting user data, constructing a face recognition neural network based on MXNet, and creating training operation, model deployment and model test by using ModelArts SDK; the next is the conversion and import of the offline model, which is converted directly to MindSpore Studio by the OMG tool and then run on NPU. And finally, acquiring face images of the user through a camera connected with an Atlas 200DK developer board, preprocessing the face images by using a DVPP module, inputting the face images into the deployed offline model for comparison, and outputting final parameters after judging.

The receiver authentication module pre-stores the trained offline model, and performs face recognition after receiving the receiver image.

(2) By performing recipient identity authentication.

Specifically, after a flight task is sent to the unmanned aerial vehicle, a random password of the logistics box is generated, and information containing the random password is sent to a corresponding receiver. The physical distribution box is opened by the addressee inputting the password.

A drone configured to include:

the delivery module receives the flight task sent by the cloud server, and delivers the cargoes after loading the corresponding cargoes; the goods are loaded through a logistics box.

And the addressee authentication module acquires an addressee image and sends the addressee image to the cloud server when goods are signed after the addressee authentication module distributes the addressee to the designated address.

The power monitoring module monitors the current power of the power monitoring module in real time in the distribution process, and sends a relay request to the cloud server when the current power is lower than a set threshold value;

and the relay module is used for executing different operations when the current unmanned aerial vehicle is an unmanned aerial vehicle with insufficient electric quantity in the distribution process and a standby unmanned aerial vehicle positioned at a relay station. Specifically configured to:

if the current unmanned aerial vehicle is an unmanned aerial vehicle with insufficient electric quantity in the distribution process (namely the first unmanned aerial vehicle), acquiring a relay instruction sent by a cloud server, flying to a corresponding relay station according to a path in the relay instruction, landing on a first parking apron, and sending a feedback message to the cloud server; receiving a logistics box release instruction, and releasing the logistics box to a cargo position; and receiving a charging control instruction, flying and falling onto a second parking apron to charge.

If the current unmanned aerial vehicle is a standby unmanned aerial vehicle (namely the second unmanned aerial vehicle) located at the relay station, receiving a logistics box clamping instruction and a flight task sent by the cloud server, starting distribution and sending a feedback message to the cloud server.

The unmanned aerial vehicle can be any existing unmanned aerial vehicle model, and the functions can be realized, and the unmanned aerial vehicle is not limited. The embodiment selects a multi-rotor aircraft, and main hardware comprises a frame, a propeller, a motor, an electric regulator, a flight control device, a GPS, a power module, a landing gear, a remote controller receiver, a damping plate, a picture transmitter, a camera and the like, wherein all the elements are integrated on the frame. Considering the weight of the fuselage itself, the lift force of the propeller needs to be 12kg, so each motor blade combination of the six-rotor unmanned aerial vehicle needs to provide about 2kg of lift force, and the motor model of the six-rotor unmanned aerial vehicle is 3508. The best choice for the tone is the tone model 40A. Each motor blade combination needs to provide about 2kg of lift force, and the blades are selected as 1555 carbon fiber paddles (the diameter of each motor blade is 15 inches and the pitch of each motor blade is 5.5 inches).

If the goods are dispatched from xie Jia Zhai, the altitude of Xie Gu Zhai is 1573.2m, the altitude of Nei Luo Meng is 1720.5m, and the altitude difference is 147.3m. If the distance along the shortest road is about 4.6 km, the distance between two places is 1175.1m according to longitude and latitude and mountain area simplified model calculation (the radius of the earth is 6371 km).

For different freight modes, the embodiment calculates the energy consumption and benefit respectively. The parameters of the different freight modes are as follows, the energy consumption benefits are shown in Table 1, and the energy benefits are shown in Table 2.

Medium displacement car (displacement 1600CC, minibus): one liter of oil runs about 12 km on a flat road surface;

large displacement car (displacement 3000CC, large truck): one liter of oil runs about 5 km on a flat road surface;

no. 92 gasoline 5.65 yuan/liter, no. 0 diesel 5.19 yuan/liter (5.25 th month of festival in the year 2020. Yunnan local oil price lookup table), the electric charge is divided into ladder power supply, time-sharing power supply, etc., the electric charge in different areas is different, average 0.5 yuan one degree electricity (kw/h);

the speed limit of the common automobile in the mountain area is 40km/h, and the speed limit of the large truck is 30km/h;

the four-wheel electric vehicle consumes 10 degrees in hundreds of kilometers basically, and the electric tricycle consumes 0.028 to 0.03 degrees in kilometers;

the power consumption per unit distance of the unmanned aerial vehicle is measured to be 44.6w ≡h/km through experiments.

TABLE 1 energy consumption benefit analysis

TABLE 2 energy benefit analysis

Type(s)	Energy consumption per unit distance	Unmanned aerial vehicle saves energy consumption
			Open D10 2020 pattern	3174.6	98.5％
Kerui EV postal version	3809.5	98.8％
			Electric tricycle	142.9	70.5％

One or more of the above embodiments have the following technical effects:

through introducing unmanned aerial vehicle relay, can provide the place of aerial express delivery case exchange for unmanned aerial vehicle to for idle unmanned aerial vehicle charges, ensures to transport the goods under the prerequisite of sufficient duration, has broken through the duration restriction of unmanned aerial vehicle delivery, has enlarged the delivery scope, is particularly useful for remote areas such as mountain area.

It will be appreciated by those skilled in the art that the modules or steps of the invention described above may be implemented by general-purpose computer means, alternatively they may be implemented by program code executable by computing means, whereby they may be stored in storage means for execution by computing means, or they may be made into individual integrated circuit modules separately, or a plurality of modules or steps in them may be made into a single integrated circuit module. The present invention is not limited to any specific combination of hardware and software.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims of the present invention.

Claims

1. The relay control method of the unmanned aerial vehicle relay station is characterized in that the unmanned aerial vehicle relay station comprises a first parking apron and a second parking apron, cargo positions are arranged below the first parking apron and the second parking apron, and the two cargo positions are connected through a cargo channel; wherein the cargo aisle is for transporting cargo from a first tarmac to a second tarmac; and an unmanned aerial vehicle charging device is also arranged on the second parking apron;

the first parking apron is higher than the second parking apron, and the cargo passage is an inclined slideway;

the second parking apron is also provided with a voltage detection device which is connected with the charging device, and when the voltage detection device detects that the voltage of the unmanned aerial vehicle battery is insufficient, the unmanned aerial vehicle battery is automatically charged; the charging device is connected with the solar panel, the solar panel collects solar energy and stores electric quantity, and when the solar energy is insufficient, an erected cable is used for supplying power to the charging device;

the relay control method comprises the following steps:

(1) Controlling the first unmanned aerial vehicle to fall on a first parking apron;

(2) After receiving a feedback message that the first unmanned aerial vehicle successfully lands, controlling the first unmanned aerial vehicle to release a logistics box, so that the logistics box reaches a cargo position below the second parking apron through a cargo channel;

(3) Judging whether a standby unmanned aerial vehicle exists on the second parking apron, if not, controlling an idle unmanned aerial vehicle to drop onto the second parking apron, marking the idle unmanned aerial vehicle as the second unmanned aerial vehicle, and executing the steps (4) - (5); if the unmanned aerial vehicle exists, the unmanned aerial vehicle is marked as a second unmanned aerial vehicle, and the steps (4) - (5) are executed;

(4) Controlling the second unmanned aerial vehicle to clamp the logistics box, simultaneously sending the unfinished delivery task and the corresponding delivery path of the first unmanned aerial vehicle to the second unmanned aerial vehicle, and controlling the second unmanned aerial vehicle to start delivery; through path analysis, the unmanned aerial vehicle is realized to distribute a plurality of recipients on the path;

(5) Controlling the first unmanned aerial vehicle to fly to the second parking apron, and docking with a charging device to charge; when charging is completed, the unmanned aerial vehicle enters a standby state and waits for the next handover.

2. The relay control method of an unmanned aerial vehicle relay station according to claim 1, wherein a transmission device is arranged in the cargo channel, the transmission device comprises a control module, a sensing module and a transmission mechanism, wherein the sensing module and the transmission mechanism are connected with the control module, and the sensing module is arranged on a cargo position below a first parking apron.

3. A unmanned aerial vehicle relay station performing the relay control method of the unmanned aerial vehicle relay station according to any one of claims 1-2.

4. A cloud server for executing the relay control method of the unmanned aerial vehicle relay station according to any one of claims 1 to 2, for a relay networking multi-machine logistics system, comprising:

a relay station management module configured to: pre-storing identification information and position information of the unmanned aerial vehicle relay station; wherein the relay station employs the unmanned aerial vehicle relay station according to claim 3;

a relay request processing module configured to: when a relay request sent by an unmanned aerial vehicle is received, searching for the nearest relay station according to the current position of the unmanned aerial vehicle, and executing the relay control method of the unmanned aerial vehicle relay station according to any one of claims 1-2.

5. The cloud server of claim 4, further comprising a recipient authentication module configured to: and receiving the recipient image sent by the unmanned aerial vehicle, and performing recipient identity authentication through face recognition.

6. The cloud server of claim 4, further comprising a recipient authentication module configured to: after the flight task is sent to the unmanned aerial vehicle, a random password of the logistics box is generated, and information containing the random password is sent to a corresponding receiver.

7. A drone connected to the cloud server of any of claims 4-6, comprising:

8. A relay networking multiple-machine logistics system comprising a cloud server according to any one of claims 4-6, a plurality of unmanned aerial vehicles according to claim 7 and a plurality of unmanned aerial vehicle relay stations according to claim 3.