CN114212434A

CN114212434A - Cargo transportation scheduling method and scheduling equipment, storage medium and cargo transportation system

Info

Publication number: CN114212434A
Application number: CN202210054114.9A
Authority: CN
Inventors: 胡华智; 陈佳龙
Original assignee: Ehang Intelligent Equipment Guangzhou Co Ltd
Current assignee: Ehang Intelligent Equipment Guangzhou Co Ltd
Priority date: 2022-01-18
Filing date: 2022-01-18
Publication date: 2022-03-22
Also published as: WO2023138182A1

Abstract

The application discloses a cargo transportation scheduling method, a scheduling device, a storage medium and a cargo transportation system, and relates to the field of cargo transportation. The method comprises the following steps: the goods transportation scheduling equipment controls goods handover and goods transportation of the air logistics robot and the ground automatic handling vehicle through uniformly scheduling the air logistics robot and the ground automatic handling vehicle. Thereby carry out the unified linking through freight dispatch equipment and ground carrier, realize automatic goods handing-over with ground carrier, solve present aerial logistics robot and can't realize the problem of automatic goods handing-over with ground carrier when carrying out the air transportation of commodity circulation.

Description

Cargo transportation scheduling method and scheduling equipment, storage medium and cargo transportation system

Technical Field

The present application relates to the field of cargo transportation, and in particular, to a cargo transportation scheduling method, a scheduling device, a storage medium, and a cargo transportation system.

Background

At present, unmanned aerial vehicle's application is increasingly extensive, can be applied to and take a picture in the air, make a video recording and general commodity circulation transportation.

When the unmanned aerial vehicle is applied to general logistics transportation, the unmanned aerial vehicle can be called as an aerial logistics robot. When the current air logistics robot carries out logistics air transportation, a great deal of work still depends on manual operation and assistance, such as: the goods need to be identified and loaded and unloaded manually, which wastes manpower; and is not realized by good technical means in the aspects of safety and reliability, such as: the reliability of the identification technology is poor, the success rate is low, and delivery errors are caused; the device has no tracking and obstacle avoidance functions and is poor in safety; moreover, due to lack of unified scheduling, the aerial logistics robot cannot be uniformly connected with the ground carrier when carrying out logistics aerial transportation, and cannot realize automatic goods handover with the ground carrier.

Disclosure of Invention

The embodiment of the application provides a cargo transportation scheduling method, a scheduling device, a storage medium and a cargo transportation system, and aims to solve the problem that automatic cargo handover cannot be realized between an air logistics robot and a ground carrier when logistics air transportation is carried out by the existing air logistics robot.

In order to solve the above technical problem, an embodiment of the present application provides the following technical solutions: a cargo transportation scheduling method, the method comprising: the goods transportation scheduling equipment controls goods handover and goods transportation of the air logistics robot and the ground automatic handling vehicle through uniformly scheduling the air logistics robot and the ground automatic handling vehicle.

Optionally, the cargo transportation scheduling apparatus controls the cargo transferring and the cargo transportation of the aerial logistics robot and the ground automatic handling vehicle by uniformly scheduling the aerial logistics robot and the ground automatic handling vehicle, including:

the goods transportation scheduling equipment is in communication interaction with the aerial logistics robot, issues a task control instruction to schedule the aerial logistics robot, and controls the aerial logistics robot to automatically fly and automatically hand over goods with a ground automatic transport vehicle according to the task control instruction;

the goods transportation scheduling equipment is communicated and interacted with the ground automatic handling vehicle, issues a handling control instruction to schedule the ground automatic handling vehicle, and controls the ground automatic handling vehicle to carry out automatic driving and automatic goods handing over with the aerial logistics robot according to the handling control instruction.

Optionally, the task control instruction at least includes: the information of the cargo number, the information of the latitude of the ground route of cargo loading, the information of the latitude and the longitude of the cargo destination, the information of the ship route of the cargo loading place and the information of the ship route of the cargo destination.

Optionally, the cargo transportation scheduling device is in communication interaction with an aerial logistics robot, issues a task control instruction to schedule the aerial logistics robot, and controls the aerial logistics robot to automatically fly and automatically hand over with a ground automatic handling vehicle according to the task control instruction; the method comprises the following steps:

the cargo transportation scheduling equipment controls the air logistics robot to automatically fly to the position indicated by the cargo loading ground warp latitude information according to the cargo loading ground warp latitude information and the cargo loading ground course information in the task control instruction;

after receiving information of arriving goods loading places automatically fed back by the ground automatic handling vehicles, the goods transportation scheduling equipment controls the air logistics robot to automatically receive goods on the ground automatic handling vehicles;

the cargo transportation scheduling equipment controls the air logistics robot to automatically fly to the destination indicated by the cargo destination longitude and latitude information according to the cargo destination longitude and latitude information and the cargo destination route information in the task control instruction and carried with the cargo according to the cargo destination route information;

and after receiving the destination information of the arrived cargos automatically fed back by the ground automatic handling vehicles, the cargo transportation scheduling equipment controls the air logistics robot to automatically release the cargos to the ground automatic handling vehicles, and automatically flies to another specified place according to the task control instruction after the cargos are successfully handed over.

Optionally, the handling control instructions at least comprise: the information comprises cargo number information, cargo loading ground latitude information, cargo destination latitude and longitude information, cargo loading ground navigation information and cargo destination navigation information.

Optionally, the ground automated guided vehicle comprises a first ground automated guided vehicle and a second ground automated guided vehicle;

the goods transportation scheduling equipment is communicated and interacted with the ground automatic handling vehicle, issues a handling control instruction to schedule the ground automatic handling vehicle, and controls the ground automatic handling vehicle to carry out automatic driving and automatic goods handing over with the aerial logistics robot according to the handling control instruction; the method comprises the following steps:

after receiving information of a goods loading place fed back automatically by the air logistics robot, the goods transportation scheduling equipment sends a carrying control instruction to the first ground automatic carrying vehicle, controls the first ground automatic carrying vehicle to carry corresponding goods according to the goods number information in the carrying control instruction, automatically carries the goods according to goods loading ground latitude information and goods loading place navigation information in the carrying control instruction, and automatically drives the goods to a position indicated by the goods loading ground latitude information;

after the first ground automatic handling vehicle arrives at a goods loading place, controlling the first ground automatic handling vehicle to automatically carry out goods handover with the aerial logistics robot, automatically releasing goods to the aerial logistics robot, and automatically driving to another appointed place according to a carrying control instruction after the goods handover is successful;

after receiving the information of the destination of the goods fed back by the air logistics robot, the goods transportation scheduling equipment sends a carrying control command to a second ground automatic carrying vehicle, and the second ground automatic carrying vehicle is controlled to automatically drive to the position indicated by the latitude and longitude information of the destination of the goods according to the latitude and longitude information of the destination of the goods and the navigation information of the destination of the goods in the carrying control command;

and after the second ground automatic handling vehicle reaches the goods destination, controlling the second ground automatic handling vehicle to automatically hand over the goods with the aerial logistics robot, receiving the goods released by the aerial logistics robot, and after the goods hand over is successful, controlling the second ground automatic handling vehicle to automatically carry the goods and automatically drive to another appointed place.

In order to solve the above technical problem, the embodiments of the present application further provide the following technical solutions: a cargo transportation scheduling apparatus comprising: the system comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the computer program when executed by the processor implements the steps of a cargo transportation scheduling method according to any embodiment of the present application.

In order to solve the above technical problem, the embodiments of the present application further provide the following technical solutions: a storage medium having a program of a cargo transportation scheduling method stored thereon, the program of the cargo transportation scheduling method implementing the steps of a cargo transportation scheduling method according to any one of the embodiments of the present application when executed by a processor.

In order to solve the above technical problem, the embodiments of the present application further provide the following technical solutions: a cargo transportation system, the cargo transportation system comprising: an aerial logistics robot, at least one ground automatic handling vehicle and the cargo transportation scheduling device according to any embodiment of the present application; wherein:

the goods transportation scheduling equipment is used for controlling goods handover and goods transportation of the aerial logistics robot and the ground automatic handling vehicle through unified scheduling of the aerial logistics robot and the ground automatic handling vehicle.

Optionally, the freight transportation scheduling device is used for controlling the goods handover and freight transportation of the aerial logistics robot and the ground automatic handling vehicle by uniformly scheduling the aerial logistics robot and the ground automatic handling vehicle; the method comprises the following steps:

Optionally, the aerial logistics robot is configured to automatically fly according to the task control instruction and automatically hand over the goods with a ground automatic handling vehicle; the aerial logistics robot comprises a first control module, a first communication module and an automatic cargo grabbing module; wherein:

the first control module and the first communication module are arranged inside the aerial logistics robot;

the first control module is respectively connected with the first communication module and the automatic cargo grabbing module, and the first control module is in communication interaction with the cargo transportation scheduling equipment through the first communication module, processes and receives a task control instruction issued by the cargo transportation scheduling equipment, issues the control instruction to the automatic cargo grabbing module according to the task control instruction, and controls the air logistics robot to automatically fly according to airline information according to the task control instruction;

the automatic cargo grabbing module is arranged at the bottom of the aerial logistics robot and used for automatically handing over the cargo with the ground automatic handling vehicle according to the control instruction of the first control module.

Optionally, the first control module is specifically configured to:

after the aerial logistics robot arrives at a cargo loading place, the first control module feeds information of the arriving cargo loading place back to the cargo transportation scheduling equipment through the first communication module; the first control module receives information that the ground automatic transport vehicle reaches a cargo loading place and is sent by the cargo transportation scheduling equipment, and then sends a control instruction to the automatic cargo grabbing module, so that the automatic cargo grabbing module automatically grabs cargos on the ground automatic transport vehicle;

after the aerial logistics robot reaches the goods destination, the first control module feeds back information of the goods destination to the goods transportation scheduling equipment through the first communication module; after receiving the information that the ground automatic transport vehicle sent by the freight transportation scheduling equipment reaches the goods destination, the first control module sends a control instruction to the automatic goods grabbing module, so that the automatic goods grabbing module automatically releases goods to the ground automatic transport vehicle.

Optionally, the aerial logistics robot further comprises a first position sensor, the first position sensor is arranged at the bottom of the aerial logistics robot, is connected with the first control module, and is used for sensing the cargo position of the ground automatic handling vehicle and transmitting the sensing information to the first control module.

Optionally, the first control module issues a control instruction to the automatic cargo grabbing module according to the sensing information transmitted by the first position sensor, so that the automatic cargo grabbing module automatically grabs the cargo of the ground automatic handling vehicle.

Optionally, the aerial logistics robot further comprises a supporting device, the supporting device is arranged around the bottom of the aerial logistics robot and used for supporting the aerial logistics robot to stay on the ground, and an access channel for a ground automatic handling vehicle is formed at the bottom of the aerial logistics robot.

Optionally, the aerial logistics robot further comprises an obstacle avoidance device, wherein the obstacle avoidance device is arranged at the front end of the aerial logistics robot, is connected with the first control module, and is used for detecting and avoiding obstacles of the aerial logistics robot in the flight process, and ensuring the safety of the aerial logistics robot in the flight process.

Optionally, the ground automatic handling vehicle is configured to perform automatic driving according to the handling control instruction and automatically perform cargo handover with an aerial logistics robot; the ground automatic handling vehicle comprises a second control module, a second communication module, a goods placing platform and a clamping mechanism; wherein:

the goods placing platform is arranged on the ground automatic handling vehicle and used for placing goods;

the second control module and the second communication module are arranged inside the ground automatic handling vehicle;

the second control module is respectively connected with the second communication module and the clamping mechanism, and is in communication interaction with the cargo transportation scheduling equipment through the second communication module, processes and receives a transportation control instruction sent by the cargo transportation scheduling equipment, sends the control instruction to the clamping mechanism according to the transportation control instruction, and controls the automatic ground carrier to drive automatically according to the transportation control instruction;

the clamping mechanism is arranged on the ground automatic conveying vehicle and used for automatically clamping goods or releasing the goods according to the control instruction of the second control module.

Optionally, the ground automatic handling vehicle further includes a lifting mechanism, the lifting mechanism is fixedly disposed below the cargo placement platform, is connected to the second control module, and is configured to lift the cargo placed on the cargo placement platform according to a control instruction of the second control module.

Optionally, the ground automatic handling vehicle further includes a second position sensor, the second position sensor is disposed on the lifting mechanism, connected to the second control module, and configured to sense a position of the goods on the aerial logistics robot when the lifting mechanism is in idle lifting, and transmit sensing information to the second control module after sensing the position of the goods, so that the second control module issues a control instruction to stop lifting for the lifting mechanism according to the sensing information transmitted by the second position sensor.

Compared with the prior art, the goods transportation scheduling method, the scheduling device, the storage medium and the goods transportation system provided by the embodiment of the application control the goods handover and the goods transportation of the air logistics robot and the ground automatic handling vehicle through uniformly scheduling the air logistics robot and the ground automatic handling vehicle through the goods transportation scheduling device. Thereby through the aerial logistics robot of freight transportation dispatching equipment unified dispatch and ground automatic handling car for aerial logistics robot can carry out unified linking through freight transportation dispatching equipment and ground handling car when carrying out the aerial transportation of commodity circulation, realizes automatic goods handing-over with ground handling car, solves the problem that present aerial logistics robot can't realize automatic goods handing-over with ground handling car when carrying out the aerial transportation of commodity circulation.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

Fig. 1 is a schematic flow chart of a cargo transportation scheduling method provided in the present application;

fig. 2 is a schematic flow chart illustrating a cargo transportation scheduling apparatus in a cargo transportation scheduling method according to the present application controlling a cargo handover and a cargo transportation between an aerial logistics robot and a ground automatic handling vehicle by uniformly scheduling the aerial logistics robot and the ground automatic handling vehicle;

FIG. 3 is a schematic structural diagram of a cargo transportation scheduling apparatus provided in the present application;

FIG. 4 is a schematic illustration of a cargo transportation system provided herein;

FIG. 5 is a schematic structural diagram of a hollow logistics robot in a cargo transportation system provided by the present application;

FIG. 6 is a schematic illustration of an aerial logistics robot in a cargo transport system as provided herein;

FIG. 7 is a schematic illustration of a ground automated guided vehicle of a cargo transportation system according to the present application;

figure 8 is a schematic view of a ground automated guided vehicle of a cargo transportation system provided herein.

Reference numerals:

first control module 11 of aerial logistics robot 10

First communication module 12 automatic cargo grabbing module 13

First position sensor 14 support 15

Visual identification module 16 obstacle avoidance device 17

Second control module 31 of automatic ground handling vehicle 30

Second communication module 32 cargo platform 33

Clamping mechanism 34 lifting mechanism 35

Second position sensor 36 freight dispatch device 20

Processor 21 memory 22

Bus system 23

Detailed Description

In order to facilitate an understanding of the present application, the present application is described in more detail below with reference to the accompanying drawings and specific embodiments. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. As used in this specification, the terms "upper," "lower," "inner," "outer," "bottom," and the like are used in an orientation or positional relationship indicated based on the orientation or positional relationship shown in the drawings for convenience in describing the present application and for simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated in a particular orientation, and therefore should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

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 application belongs. The terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In addition, the technical features mentioned in the different embodiments of the present application described below may be combined with each other as long as they do not conflict with each other.

In one embodiment, as shown in fig. 1, the present application provides a cargo transportation scheduling method, including:

and S1, the goods transportation scheduling equipment controls goods handover and goods transportation of the aerial logistics robot and the ground automatic handling vehicle through unified scheduling of the aerial logistics robot and the ground automatic handling vehicle.

In this embodiment, the goods transportation scheduling device controls the goods handover and the goods transportation between the aerial logistics robot and the ground automatic handling vehicle by uniformly scheduling the aerial logistics robot and the ground automatic handling vehicle. Thereby through the aerial logistics robot of freight transportation dispatching equipment unified dispatch and ground automatic handling car for aerial logistics robot can carry out unified linking through freight transportation dispatching equipment and ground handling car when carrying out the aerial transportation of commodity circulation, realizes automatic goods handing-over with ground handling car, solves the problem that present aerial logistics robot can't realize automatic goods handing-over with ground handling car when carrying out the aerial transportation of commodity circulation.

In one embodiment, as shown in fig. 2, in the step S1, the freight transportation scheduling apparatus controls the freight transfer and freight transportation between the aerial logistics robot and the ground automated guided vehicle by uniformly scheduling the aerial logistics robot and the ground automated guided vehicle; the method comprises the following steps:

s11, the cargo transportation scheduling equipment is in communication interaction with the aerial logistics robot, issues a task control instruction to schedule the aerial logistics robot, and controls the aerial logistics robot to automatically fly and automatically hand over the cargo with the ground automatic transport vehicle according to the task control instruction;

and S12, the goods transportation scheduling equipment and the ground automatic transport vehicle are communicated and interacted, a transportation control command is issued to schedule the ground automatic transport vehicle, and the ground automatic transport vehicle is controlled to carry out automatic driving and automatic goods handover with the aerial logistics robot according to the transportation control command.

In the embodiment, the cargo transportation scheduling equipment is communicated and interacted with the aerial logistics robot, a task control instruction is issued to schedule the aerial logistics robot, and the aerial logistics robot is controlled to automatically fly and automatically hand over the cargo with the ground automatic transport vehicle according to the task control instruction; the goods transportation scheduling equipment is communicated and interacted with the ground automatic handling vehicle, issues a handling control command to schedule the ground automatic handling vehicle, and controls the ground automatic handling vehicle to carry out automatic driving and automatic goods handing over with the aerial logistics robot according to the handling control command. Thereby through the aerial logistics robot of freight transportation dispatching equipment unified dispatch and ground automatic handling car for aerial logistics robot can carry out unified linking through freight transportation dispatching equipment and ground handling car when carrying out the aerial transportation of commodity circulation, realizes automatic goods handing-over with ground handling car, solves the problem that present aerial logistics robot can't realize automatic goods handing-over with ground handling car when carrying out the aerial transportation of commodity circulation. And through the task control instruction of the freight transportation scheduling equipment, the aerial logistics robot can automatically carry out goods handover with the ground automatic handling vehicle, so that the aerial logistics robot has higher automation degree, automatically flies, does not need manual intervention, saves manpower and has high reliability and safety. Therefore, the problem that the degree of automation is low due to the fact that a large amount of work depends on manual operation and assistance when the existing aerial logistics robot carries out logistics aerial transportation is solved.

In one embodiment, in step S11, the cargo transportation scheduling device interacts with the aerial logistics robot in a communication manner, and issues a task control instruction to schedule the aerial logistics robot.

Wherein, the task control instruction at least comprises: the information of the cargo number, the information of the latitude of the ground route of cargo loading, the information of the latitude and the longitude of the cargo destination, the information of the ship route of the cargo loading place and the information of the ship route of the cargo destination.

In one embodiment, in the step S11, the cargo transportation scheduling apparatus controls the air logistics robot to automatically fly according to the task control command and automatically interface with the ground automatic guided vehicle for cargo.

Specifically, the freight transportation scheduling device controls the air logistics robot to automatically fly to the position indicated by the freight loading ground warp latitude information according to the freight loading ground warp latitude information and the freight loading ground course information in the task control instruction, and prepare for loading freight.

After the air logistics robot arrives at a goods loading place, the goods transportation scheduling equipment controls the air logistics robot to automatically feed back information of the goods arriving at the goods loading place to the goods transportation system; and after receiving the information of the arrival goods loading place automatically fed back by the air logistics robot, the goods transportation scheduling equipment sends the goods number information and the latitude information of the goods loading place to the ground automatic transport vehicle, controls the ground automatic transport vehicle to transport the corresponding goods according to the goods number information, and transports the goods to the goods loading place according to the latitude information of the goods loading place.

After the ground automatic transport vehicle arrives at a goods loading place, the goods transportation scheduling equipment controls the ground automatic transport vehicle to automatically feed back information of arriving at the goods loading place to a goods transportation system; after receiving information of a goods loading place automatically fed back by the ground automatic transport vehicle, the goods transportation scheduling equipment controls the air logistics robot to automatically carry out goods handover with the ground automatic transport vehicle, and automatically receives goods from the ground automatic transport vehicle; after the goods are successfully handed over by the air logistics robot, the goods transportation scheduling equipment controls the air logistics robot to automatically feed back goods handing-over success information to the goods transportation system; and the cargo transportation scheduling equipment receives the information that the air logistics robot automatically sends the cargo handover success, and then controls the air logistics robot to automatically fly to the destination indicated by the cargo destination longitude and latitude information according to the cargo destination longitude and latitude information and the cargo destination route information in the task control instruction and the cargo destination route information carried with the cargo.

After the air logistics robot reaches the goods destination, the goods transportation scheduling equipment controls the air logistics robot to automatically feed back the information of the goods destination to the goods transportation system; after receiving the information of the destination of the goods, which is fed back by the air logistics robot, the goods transportation scheduling equipment sends the information of the serial number of the goods and the longitude and latitude information of the destination of the goods to the ground automatic transport vehicle, and controls the ground automatic transport vehicle to reach the destination of the goods according to the information of the longitude and latitude of the destination of the goods.

After the ground automatic transport vehicle reaches the goods destination, the goods transportation scheduling equipment controls the ground automatic transport vehicle to automatically feed back the information of the destination of the goods to the goods transportation system; after receiving the destination information of the goods which are fed back and transmitted by the ground automatic handling vehicle, the goods transportation scheduling equipment controls the air logistics robot to automatically release the goods to the ground automatic handling vehicle, and after the goods are successfully handed over by the air logistics robot, the goods transportation scheduling equipment controls the air logistics robot to automatically feed back the successful information of the goods handing over to the goods transportation system; and after receiving the cargo handover success information automatically sent by the air logistics robot, the cargo transportation system controls the air logistics robot to automatically fly to another specified place according to the task control instruction.

In one embodiment, in step S12, the cargo transportation dispatching device communicatively interacts with the ground automated guided vehicle to issue a transportation control command to dispatch the ground automated guided vehicle.

Wherein, this transport control command includes at least: the information comprises cargo number information, cargo loading ground latitude information, cargo destination latitude and longitude information, cargo loading ground navigation information and cargo destination navigation information.

In one embodiment, in the step S12, the cargo transportation scheduling apparatus controls the ground automated guided vehicle to perform automatic driving according to the transportation control command and automatically perform cargo handover with the air logistics robot.

In particular, the ground automated guided vehicle comprises a first ground automated guided vehicle and a second ground automated guided vehicle; the first ground automatic handling vehicle and the second ground automatic handling vehicle have the same structure and are both ground automatic handling vehicles.

And after receiving the information of the arrival goods loading place automatically fed back by the air logistics robot, the goods transportation scheduling equipment sends a carrying control instruction to the first ground automatic carrying vehicle, controls the first ground automatic carrying vehicle to carry the corresponding goods according to the goods number information in the carrying control instruction, and automatically drives the goods to the position indicated by the latitude information of the goods loading place according to the latitude information of the goods loading place and the navigation information of the goods loading place in the carrying control instruction.

After the first ground automatic handling vehicle arrives at a goods loading place, the goods transportation scheduling equipment controls the first ground automatic handling vehicle to automatically feed back information of the arrived goods loading place to a goods transportation system, controls the first ground automatic handling vehicle to automatically hand over goods with the aerial logistics robot, releases goods to the aerial logistics robot, controls the first ground automatic handling vehicle to automatically send goods hand-over success information to feed back to the goods transportation system after goods hand-over is successful, and controls the first ground automatic handling vehicle to automatically drive to another appointed place according to a transportation control instruction after the goods transportation system receives the goods hand-over success information automatically sent by the first ground automatic handling vehicle.

And after receiving the information of the destination of the goods fed back by the air logistics robot, the goods transportation scheduling equipment sends a carrying control command to the second ground automatic carrying vehicle, and controls the second ground automatic carrying vehicle to automatically drive the second ground automatic carrying vehicle to the position indicated by the latitude and longitude information of the destination of the goods according to the latitude and longitude information of the destination of the goods and the navigation information of the destination of the goods in the carrying control command.

After the second ground automatic transport vehicle reaches the goods destination, the goods transportation scheduling equipment controls the second ground automatic transport vehicle to automatically feed back the information of the destination of the goods to the goods transportation system; the second ground automatic handling vehicle is controlled to automatically carry out goods handover with the aerial logistics robot, goods released by the aerial logistics robot are received, after the goods are successfully handed over, the second ground automatic handling vehicle is controlled to automatically send goods handover success information to be fed back to the goods transportation system, and after the goods transportation system receives the goods handover success information automatically sent by the second ground automatic handling vehicle, the second ground automatic handling vehicle is controlled to automatically drive the carried goods to another appointed place according to a carrying control instruction.

Based on the same concept, in one embodiment, as shown in fig. 3, the present application provides a cargo transportation scheduling apparatus 20, including: a memory 22, a processor 21 and one or more computer programs stored in the memory 22 and executable on the processor 21, wherein the memory 22 and the processor 21 are coupled together by a bus system 23, and the one or more computer programs are executed by the processor 21 to implement the following steps of a cargo transportation scheduling method provided by the embodiment of the present application:

The method disclosed in the embodiment of the present application may be applied to the processor 21, or implemented by the processor 21. The processor 21 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by instructions in the form of hardware integrated logic circuits or software in the processor 21. The processor 21 may be a general purpose processor, a DSP, or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. The processor 21 may implement or perform the methods, steps and logic blocks disclosed in the embodiments of the present application. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed in the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software modules may be located in a storage medium located in the memory 22, and the processor 21 reads the information in the memory 22 and performs the steps of the aforementioned method in conjunction with its hardware.

It will be appreciated that the memory 22 of the embodiments of the subject application can be either volatile memory or nonvolatile memory, and can include both volatile and nonvolatile memory. Among them, the nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a magnetic Random Access Memory (FRAM), a magnetic Random Access Memory (Flash Memory) or other Memory technologies, a Compact disc Read-Only Memory (CD-ROM), a Digital Versatile Disc (DVD), or other optical disc storage, magnetic cartridge, magnetic tape, magnetic Disk storage, or other magnetic storage devices; volatile Memory can be Random Access Memory (RAM), and by way of exemplary and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Double Data Rate Synchronous Random Access Memory (ESDRAM), Synchronous Link Dynamic Random Access Memory (SLDRAM), Direct Memory bus Random Access Memory (DRRAM). The memories described in the embodiments of the present application are intended to comprise, without being limited to, these and any other suitable types of memory.

It should be noted that the embodiments of the cargo transportation scheduling device and the embodiments of the method belong to the same concept, and specific implementation processes thereof are described in the embodiments of the method, and technical features in the embodiments of the method are correspondingly applicable in the embodiments of the cargo transportation scheduling device, and are not described herein again.

In addition, in an exemplary embodiment, a computer storage medium, specifically a computer-readable storage medium, for example, a memory 22 storing a computer program, is provided in the embodiments of the present application, where the computer storage medium stores one or more programs of a cargo transportation scheduling method, and when the one or more programs of the cargo transportation scheduling method are executed by the processor 21, the following steps of the cargo transportation scheduling method provided in the embodiments of the present application are implemented:

It should be noted that, the embodiment of the cargo transportation scheduling method program on the computer-readable storage medium and the embodiment of the method belong to the same concept, and the specific implementation process is described in detail in the embodiment of the method, and the technical features in the embodiment of the method are applicable to the embodiment of the computer-readable storage medium, and are not described herein again.

Based on the same concept, in one embodiment, as shown in fig. 4, the present application provides a cargo transportation system comprising: an aerial logistics robot 10, a cargo transportation scheduling apparatus 20 as described in any of the above embodiments, and at least one ground automated guided vehicle 30; wherein:

the freight transportation scheduling apparatus 20 is configured to control the freight transfer and freight transportation between the aerial logistics robot 10 and the ground automated guided vehicle 30 by scheduling the aerial logistics robot 10 and the ground automated guided vehicle 30 in a unified manner.

In this embodiment, the cargo transportation system includes an aerial logistics robot, a cargo transportation scheduling device, and at least one ground automatic handling vehicle, and the cargo transportation scheduling device controls the cargo transfer and the cargo transportation between the aerial logistics robot and the ground automatic handling vehicle by uniformly scheduling the aerial logistics robot and the ground automatic handling vehicle. Thereby through the aerial logistics robot of freight transportation dispatching equipment unified dispatch and ground automatic handling car for aerial logistics robot can carry out unified linking through freight transportation dispatching equipment and ground handling car when carrying out the aerial transportation of commodity circulation, realizes automatic goods handing-over with ground handling car, solves the problem that present aerial logistics robot can't realize automatic goods handing-over with ground handling car when carrying out the aerial transportation of commodity circulation.

In one embodiment, the freight transportation scheduling apparatus 20 is configured to control the freight transfer and freight transportation between the aerial logistics robot 10 and the ground automated guided vehicle 30 by uniformly scheduling the aerial logistics robot 10 and the ground automated guided vehicle 30; the method comprises the following steps:

the goods transportation scheduling device 20 is in communication interaction with the aerial logistics robot 10, issues a task control instruction to schedule the aerial logistics robot 10, and controls the aerial logistics robot 10 to automatically fly and automatically hand over goods with the ground automatic handling vehicle 30 according to the task control instruction;

the goods transportation scheduling apparatus 10 communicates with the ground automated guided vehicle 30, issues a transportation control command to schedule the ground automated guided vehicle 30, and controls the ground automated guided vehicle 30 to perform automatic driving and automatic goods transfer with the aerial logistics robot 10 according to the transportation control command.

In the embodiment, the cargo transportation scheduling equipment is communicated and interacted with the aerial logistics robot, and a task control instruction is issued to schedule the aerial logistics robot; the air logistics robot automatically flies and automatically transfers goods with the ground automatic transfer car according to the task control instruction of the goods transportation scheduling equipment; the goods transportation scheduling equipment is communicated and interacted with the ground automatic transport vehicle, and issues a transport control instruction to schedule the ground automatic transport vehicle; the ground automatic transport vehicle carries out automatic driving according to the transport control instruction of the goods transport scheduling equipment and automatically carries out goods handover with the aerial logistics robot. Thereby make aerial logistics robot can carry out the goods handing-over with ground automatic handling car automatically for aerial logistics robot degree of automation is higher, and automatic flight need not artificial intervention, uses manpower sparingly, and reliability and security are high. Therefore, the problem that the degree of automation is low due to the fact that a large amount of work depends on manual operation and assistance when the existing aerial logistics robot carries out logistics aerial transportation is solved.

In one embodiment, the cargo transportation scheduling device 20 is communicatively interactive with the aerial logistics robot 10 for issuing task control instructions to schedule the aerial logistics robot 10.

In one embodiment, the air logistics robot 10 is configured to automatically fly and automatically hand over the goods with the ground automated guided vehicle 30 according to the task control command of the freight transportation scheduling apparatus 20, and transmit the goods hand over success information to the freight transportation scheduling apparatus 20.

Specifically, the aerial logistics robot 10 automatically flies to the position indicated by the cargo loading ground warp latitude information according to the cargo loading ground course information and the cargo loading ground course information in the received task control instruction, and prepares to load the cargo.

After arriving at the goods loading place, the air logistics robot 10 feeds back the information of the arriving goods loading place to the goods transportation scheduling device 20; after receiving the information that the air logistics robot 10 arrives at the cargo loading location, the cargo transportation scheduling device 20 sends a transportation control command to the ground automated guided vehicle, controls the ground automated guided vehicle 30 to transport the corresponding cargo according to the cargo number information of the transportation control command, and transports the cargo to the cargo loading location according to the cargo loading location latitude information of the transportation control command.

After receiving the information that the ground automated guided vehicle 30 arrives at the cargo loading location sent by the cargo transportation scheduling device 20, the aerial logistics robot 10 automatically performs cargo transfer with the ground automated guided vehicle 30, and automatically receives the cargo from the ground automated guided vehicle 30; after the goods are successfully handed over, the goods handover success information is automatically sent and fed back to the goods transportation scheduling equipment 20, and then the goods are automatically flown to the destination indicated by the goods destination longitude and latitude information according to the goods destination longitude and latitude information and the goods destination route information in the received task control instruction and carried by the goods according to the goods destination route information.

After the goods arrive at the destination, the air logistics robot 10 feeds back the information of the destination of the arrived goods to the goods transportation scheduling device 20; after receiving the information that the air logistics robot 10 arrives at the goods destination, the goods transportation scheduling device 20 sends the goods number information and the goods destination longitude and latitude information to the ground automatic handling vehicle 30, and controls the ground automatic handling vehicle 30 to arrive at the goods destination according to the goods destination longitude and latitude information.

The air logistics robot 10 automatically releases goods to the ground automatic handling vehicle 30 after receiving the information that the ground automatic handling vehicle 30 sent by the goods transportation scheduling device 20 arrives at the goods destination, automatically sends the information of goods handover success to the goods transportation scheduling device 20 after the goods handover is successful, and then automatically flies to another designated place according to the task control instruction of the goods transportation scheduling device 20.

In one embodiment, the freight transportation scheduling apparatus 20 communicatively interacts with the ground automated guided vehicles 30 for issuing transport control commands to schedule the ground automated guided vehicles 30.

In one embodiment, the ground automated guided vehicle 30 is configured to automatically drive and automatically handover the goods with the aerial logistics robot 10 according to the transportation control command of the goods transportation scheduling apparatus 20, and feed back the goods handover success information to the goods transportation scheduling apparatus 20.

In particular, the freight transportation system comprises a first ground automated guided vehicle and a second ground automated guided vehicle; the first and second floor automated guided vehicles have the same structure, and are all the floor automated guided vehicles 30.

The cargo transportation scheduling apparatus 20 transmits a transfer control command to the first ground automated transfer vehicle after receiving the arrival cargo loading location information transmitted from the aerial logistics robot 10.

The first ground automatic transport vehicle transports the goods corresponding to the goods number information according to the goods number information received from the transport control command.

The first ground automatic transport vehicle automatically drives to the position indicated by the goods loading ground latitude information according to the goods loading ground latitude information and the goods loading ground navigation information in the received transport control command.

After arriving at the freight loading place, the first ground automatic porter feeds back the information of the arriving freight loading place to the freight transportation scheduling device 20; the freight transportation scheduling apparatus 20 transmits the arrival of the first ground automated guided vehicle at the freight loading site to the aerial logistics robot 10 upon receiving the arrival of the first ground automated guided vehicle at the freight loading site.

The first ground automatic handling vehicle automatically transfers goods with the aerial logistics robot 10, releases the goods to the aerial logistics robot 10, automatically sends goods transfer success information to the freight transportation scheduling equipment 20 after goods transfer is successful, and then automatically drives to another designated place according to a carrying control instruction of the freight transportation scheduling equipment 20.

The cargo transportation scheduling device 20 transmits a transport control command to the second ground automated guided vehicle after receiving the information on the destination of the arrival cargo transmitted from the aerial logistics robot 10.

And the second ground automatic transport vehicle automatically drives to the position indicated by the goods destination longitude and latitude information according to the goods destination longitude and latitude information and the goods destination navigation information in the received transport control instruction.

After the destination of the goods is reached, the second ground automatic transport vehicle feeds back the destination information of the goods to the goods transportation scheduling device 20; the cargo transportation scheduling device 20 transmits the information of the arrival of the second automated guided vehicle at the cargo destination to the air logistics robot 10, after receiving the information of the arrival of the second automated guided vehicle at the cargo destination.

The second ground automatic handling vehicle automatically hands over the goods with the aerial logistics robot 10, automatically receives the goods released by the aerial logistics robot 10, automatically sends goods handing-over success information to the goods transportation scheduling device 20 after the goods handing-over is successful, and then automatically drives the transported goods to another appointed place according to a transportation control instruction of the goods transportation scheduling device 20.

In one embodiment, as shown in fig. 5 and 6, the aerial logistics robot 10 includes a first control module 11, a first communication module 12, an automatic cargo grabbing module 13; wherein:

the first control module 11 and the first communication module 12 are disposed inside the aerial logistics robot 10.

The first communication module 12 is configured to enable the first control module 11 to perform communication interaction with the freight transportation scheduling device 20.

The first control module 11 is respectively connected with the first communication module 12 and the automatic cargo grabbing module 13, and the first control module 11 performs communication interaction with the cargo transportation scheduling device 20 through the first communication module 12, processes and receives a task control instruction issued by the cargo transportation scheduling device 20, issues a control instruction to the automatic cargo grabbing module 13 according to the task control instruction, and controls the air logistics robot 10 to automatically fly according to airline information according to the task control instruction.

Specifically, after the aerial logistics robot 10 arrives at the cargo loading site, the first control module 11 feeds back information of the arrival at the cargo loading site to the cargo transportation scheduling device 20 through the first communication module 12; after receiving the information that the ground automated guided vehicle 30 arrives at the cargo loading location sent by the cargo transportation scheduling device 20, the first control module 11 issues a control instruction to the automatic cargo gripping module 13, so that the automatic cargo gripping module 13 automatically grips the cargo on the ground automated guided vehicle 30.

After the aerial logistics robot 10 arrives at the cargo destination, the first control module 11 feeds back information of the arrival at the cargo destination to the cargo transportation scheduling device 20 through the first communication module 12; after receiving the information that the ground automated guided vehicle 30 arrives at the destination of the goods, which is sent by the goods transportation scheduling device 20, the first control module 11 issues a control instruction to the automatic goods grabbing module 13, so that the automatic goods grabbing module 13 automatically releases the goods onto the ground automated guided vehicle 30.

The automatic cargo grabbing module 13 is disposed at the bottom of the aerial logistics robot 10, and is configured to automatically hand over the cargo with the ground automatic guided vehicle 30 according to the control command of the first control module 11, and transmit the successful cargo hand-over information to the first control module 11. In this embodiment, the automatic cargo gripping module 13 is disposed at a middle position of the bottom of the aerial logistics robot 10.

Specifically, after the aerial logistics robot 10 arrives at the cargo loading site, the cargo automatic gripping module 13 automatically grips the cargo on the ground automatic transportation vehicle 30 according to the control command of the first control module 11.

After the aerial logistics robot 10 reaches the goods destination, the goods automatic grabbing module 13 automatically releases the goods onto the ground automatic handling vehicle 30 according to the control command of the first control module 11.

In this embodiment, the automatic cargo gripping module 13 includes a vacuum adsorption module or an electromagnet adsorption module.

The vacuum adsorption module is used for grabbing goods or releasing goods in a vacuum adsorption mode to realize load loading of the aerial logistics robot 10 and transmitting goods handover success information of successful adsorption or successful release to the first control module 11.

The electromagnet adsorption module is used for grabbing goods or releasing goods in an electromagnet adsorption mode to achieve loading of the aerial logistics robot 10, and transmitting goods handover success information of successful adsorption or successful release to the first control module 11.

Further, the first control module 11 is further configured to send the received goods handover information to the freight scheduling device 20 through the first communication module 12, so that the freight scheduling device 20 transmits the goods handover information to the freight scheduling device 20, and the goods handover information is transmitted to the ground automated guided vehicle 30 through the freight scheduling device 20.

In this embodiment, this automatic module of snatching of goods snatchs the goods from ground automatic handling car according to first control module's control command is automatic to after aerial logistics robot reachs the goods destination, on the automatic handling car of ground of automatic release goods according to first control module's control command again, thereby make aerial logistics robot degree of automation higher, can realize snatching the goods and releasing the goods automatically, need not artificial intervention, use manpower sparingly, reliability and security are high. Therefore, the problem that the degree of automation is low due to the fact that a large amount of work depends on manual operation and assistance when the existing aerial logistics robot carries out logistics aerial transportation is solved.

In one embodiment, as shown in fig. 5, the aerial logistics robot 10 further includes a first position sensor 14, the first position sensor 14 is disposed at the bottom of the aerial logistics robot 10, connected to the first control module 11, and is used for sensing the cargo position of the ground automatic handling vehicle 30 and transmitting the sensed information to the first control module 11.

The first control module 11 issues a control command to the automatic cargo grabbing module 13 according to the sensing information transmitted by the first position sensor 14, and controls the automatic cargo grabbing module 13 to grab the cargo of the ground automatic guided vehicle 30 automatically.

After the automatic cargo grabbing module 13 successfully grabs the cargo, the first control module 11 sends the successful cargo handover information to the cargo transportation scheduling device 20 through the first communication module 12, and the cargo transportation scheduling device 20 sends the successful cargo handover information to the cargo transportation scheduling device 20, and then the cargo transportation scheduling device 20 forwards the successful cargo handover information to the ground automatic guided vehicle 30.

In this embodiment, through the goods position of first position sensor response ground automatic handling car, can realize automatic identification goods position, need not artificial intervention, improve aerial logistics robot degree of automation.

In one embodiment, as shown in fig. 6, the aerial logistics robot 10 further comprises a supporting device 15, wherein the supporting device 15 is arranged around the bottom of the aerial logistics robot 10 and is used for supporting the aerial logistics robot 10 to stay on the ground, and when the aerial logistics robot 10 stays on the ground, an access channel for the ground automatic transport cart 30 is formed at the bottom of the aerial logistics robot 10.

In this embodiment, by providing the supporting device at the bottom of the aerial logistics robot, in addition to supporting the aerial logistics robot, an access channel for the ground automatic handling vehicle can be formed at the bottom of the aerial logistics robot, so that the ground automatic handling vehicle can automatically move into the access channel and stop at the bottom of the aerial logistics robot.

In one embodiment, as shown in fig. 5, the aerial logistics robot 10 further comprises a vision recognition module 16, wherein the vision recognition module 16 is connected to the first control module 11 and is used for recognizing a number mark on the top of the goods on the ground automatic transport vehicle 30 according to the control instruction of the first control module 11 so as to assist the automatic goods grabbing module 13 in accurately grabbing the goods.

In this embodiment, through the serial number sign on the goods top on the ground automatic handling car of vision identification module discernment, can realize automatic identification goods position, need not artificial intervention, improve aerial logistics robot degree of automation to can assist the automatic module of snatching of goods and accurately snatch the goods.

In one embodiment, as shown in fig. 5, the aerial logistics robot 10 further includes an obstacle avoidance device 17, where the obstacle avoidance device 17 is disposed at a front end of the aerial logistics robot 10, and connected to the first control module 11, and is used to detect and avoid an obstacle of the aerial logistics robot 10 during flight, so as to ensure safety of the aerial logistics robot 10 during flight.

In this embodiment, the obstacle avoidance device 17 can ensure safety during flight through ultrasonic and visual methods.

In the embodiment, the obstacle avoidance device is used for detecting and avoiding the obstacle of the air logistics robot in the flight process so as to ensure the safety of the air logistics robot in the flight process, so that the air logistics robot can automatically fly, and the reliability and the safety of the air logistics robot are improved.

In one embodiment, as shown in fig. 7 and 8, the ground automated guided vehicle 30 is configured to automatically drive and automatically interface with the aerial logistics robot 10 according to the transport control command; the ground automatic guided vehicle 30 includes a second control module 31, a second communication module 32, a cargo platform 33 and a clamping mechanism 34; wherein:

the goods-placing platform 33 is provided on the ground automated guided vehicle 30 for placing goods.

The second control module 31 and the second communication module 32 are provided inside the floor automated guided vehicle 30.

The second communication module 32 is configured to enable the second control module 31 to perform communication interaction with the freight transportation scheduling device 20.

The second control module 31 is connected to the second communication module 32 and the clamping mechanism 34, respectively, and the second control module 31 performs communication interaction with the freight transportation scheduling device 20 through the second communication module 32, processes and receives a transportation control instruction issued by the freight transportation scheduling device 20, issues a control instruction to the clamping mechanism 34 according to the transportation control instruction, and controls the ground automated guided vehicle 30 to automatically drive according to the transportation control instruction.

The clamping mechanism 34 is disposed on the top or side of the ground automated guided vehicle 30, and is used for automatically clamping or releasing the goods according to the control command of the second control module 31, so as to perform the goods handover with the aerial logistics robot 10, and transmitting the goods handover success information to the second control module 31.

In one embodiment, as shown in fig. 7, the ground automated guided vehicle 30 further includes a lifting mechanism 35, wherein the lifting mechanism 35 is fixedly disposed under the goods placing platform 33, and is connected to the second control module 31 for lifting the goods placed on the goods placing platform 33 according to the control command of the second control module 31, so that the goods are lifted under the air logistics robot 10 when the ground automated guided vehicle 30 arrives under the air logistics robot 10, and the position of the goods can be sensed by the first position sensor 14 of the air logistics robot 10.

In one embodiment, as shown in fig. 7, the ground automated guided vehicle 30 further includes a second position sensor 36, wherein the second position sensor 36 is disposed on the lifting mechanism 35 and connected to the second control module 31 for sensing a position of the cargo on the air logistics robot 10 when the lifting mechanism 35 is lifted in an empty state, and transmitting the sensed information to the second control module 31 after sensing the cargo position.

The second control module 31 issues a control command to the lifting mechanism 35 according to the sensing information transmitted by the second position sensor 36, so that the lifting mechanism 35 stops lifting.

In order to facilitate understanding of the above application concepts of the present application, the above application concepts of the present application will be described in more detail below with reference to specific embodiments.

A cargo transportation system comprising: an aerial logistics robot 10, a cargo transportation scheduling apparatus 20, a first ground automated guided vehicle and a second ground automated guided vehicle.

In the present embodiment, the automatic cargo gripping module 13 in the aerial logistics robot 10 is described by taking the vacuum adsorption module 13 as an example.

The cargo transportation scheduling device 20 is in communication interaction with the aerial logistics robot 10, and issues a task control instruction to schedule the aerial logistics robot 10; wherein, the task control instruction comprises: the information of the cargo number, the information of the latitude of the ground route of cargo loading, the information of the latitude and the longitude of the cargo destination, the information of the ship route of the cargo loading place and the information of the ship route of the cargo destination.

The aerial logistics robot 10 automatically flies to the position indicated by the cargo loading ground warp latitude information according to the cargo loading ground warp latitude information and the cargo loading ground course information in the received task control instruction. During the flight, the air logistics robot 10 utilizes the obstacle avoidance device 17 to detect and avoid obstacles encountered during the flight, so as to ensure the safety of the air logistics robot 10 during the flight.

After arriving at the cargo loading site, the aerial logistics robot 10 is lowered to the cargo loading site, stays on the ground by using the supporting device 15, and forms an access passage for the ground automatic truck at the bottom of the aerial logistics robot 10 to prepare for loading cargo. Meanwhile, the first control module 11 of the aerial logistics robot 10 feeds back the information of the arriving cargo loading place to the cargo transportation scheduling device 20 through the first communication module 12. After receiving the information that the air logistics robot 10 arrives at the cargo loading area, the cargo transportation scheduling device 20 sends a transport control command to the first ground automated guided vehicle, and schedules the first ground automated guided vehicle to automatically carry the cargo and automatically drive to the position below the air logistics robot 10.

The first ground automated guided vehicle carries the goods corresponding to the goods number information according to the goods number information received in the carrying control command, and automatically drives the loaded goods to the position indicated by the goods loading ground latitude information according to the goods loading ground latitude information and the goods loading ground navigation information in the received carrying control command, and then automatically drives the loaded goods to an access passage formed at the bottom of the aerial logistics robot 10 and stops below the bottom of the aerial logistics robot 10.

The second control module 31 of the first floor automated guided vehicle issues a control command for releasing the load to the clamping mechanism 34. The clamping mechanism 34 automatically releases the cargo according to the control command of the second control module 31. After releasing the goods, the second control module 31 issues a control command to the lifting mechanism 35. The lifting mechanism 35 slowly lifts the goods placed on the goods placing platform 33 according to the control instruction of the second control module 31, and lifts the goods to the lower side of the aerial logistics robot 10, so that the first position sensor 14 of the aerial logistics robot 10 can sense the position of the goods. Meanwhile, the second control module 31 of the first ground automated guided vehicle feeds back the arrival cargo loading place information to the cargo transportation scheduling apparatus 20.

The freight transportation scheduling apparatus 20 transmits the arrival of the first ground automated guided vehicle at the freight loading site to the aerial logistics robot 10 upon receiving the arrival of the first ground automated guided vehicle at the freight loading site.

The first position sensor 14 of the aerial logistics robot 10 senses the cargo position of the first ground automated guided vehicle at any time during the stay of the aerial logistics robot 10, and transmits the sensed information to the first control module 11 after sensing the cargo position.

After the first control module 11 of the aerial logistics robot 10 receives the information that the first ground automatic guided vehicle sent by the cargo transportation scheduling device 20 arrives at the cargo loading place through the first communication module 12, it sends a control instruction to the vacuum adsorption module 13 according to the sensing information transmitted by the first position sensor 14, and controls the vacuum adsorption module 13 to automatically grab the cargo of the first ground automatic guided vehicle. Meanwhile, the first control module 11 transmits the sensed information of the sensed goods to the freight transportation scheduling apparatus 20, and the freight transportation scheduling apparatus 20 transmits the sensed information of the sensed goods to the first ground automated guided vehicle. After receiving the sensing information of the sensed goods, the second control module 31 of the first ground automatic guided vehicle issues a control command to the lifting mechanism 35, so that the lifting mechanism 35 stops lifting.

This vacuum adsorption module 13 adsorbs the goods according to first control module's control command, and simultaneously, first control module 11 control vision identification module 16 discerns the serial number sign on the goods top on the automatic handling car on first ground to supplementary vacuum adsorption module 13 accurately grabs the goods.

After the vacuum adsorption module 13 successfully adsorbs the cargo, the first control module 11 sends the cargo transfer success information to the cargo transportation scheduling device 20 through the first communication module 12, and the cargo transportation scheduling device 20 sends the cargo transfer success information to the first ground automated guided vehicle.

After receiving the information of successful goods handover, the second control module 31 of the first ground automated guided vehicle issues a control command to the clamping mechanism 34 and the lifting mechanism 35, so that the clamping mechanism 34 and the lifting mechanism 35 return to the initial positions. After the goods are successfully handed over, the first ground automated guided vehicle automatically drives to another designated place according to the transportation control command of the goods transportation scheduling device 20.

After the aerial logistics robot 10 successfully receives the goods, the goods automatically fly to the destination indicated by the goods destination longitude and latitude information according to the goods destination longitude and latitude information and the goods destination route information in the received task control instruction and carried by the goods according to the goods destination route information. During the flight, the air logistics robot 10 utilizes the obstacle avoidance device 17 to detect and avoid obstacles encountered during the flight, so as to ensure the safety of the air logistics robot 10 during the flight.

After reaching the cargo destination, the aerial logistics robot 10 is lowered to the cargo destination, stays on the ground by using the supporting device 15, and forms an access passage for the ground automated guided vehicle at the bottom of the aerial logistics robot 10 to wait for releasing the cargo. Meanwhile, the first control module 11 feeds back the destination information of the arriving goods to the freight transportation scheduling device 20 through the first communication module 12.

The cargo transportation scheduling device 20, upon receiving the destination information of the arrival cargo transmitted from the air logistics robot 10, transmits a transport control command to the second ground automated guided vehicle, and schedules the second ground automated guided vehicle to automatically drive below the air logistics robot 10.

The second ground automatic transport vehicle automatically drives to the position indicated by the longitude and latitude information of the goods destination according to the longitude and latitude information of the goods destination and the navigation information of the goods destination in the received transport control instruction, then automatically enters an access channel formed at the bottom of the aerial logistics robot 10, and stops below the bottom of the aerial logistics robot 10.

The second control module 31 of the second ground automated guided vehicle feeds back the arrival destination information to the freight transportation scheduling device 20. Meanwhile, the second control module 31 issues a control command to the lifting mechanism 35. The lifting mechanism 35 slowly lifts the cargo platform 33 according to the control command of the second control module 31. Meanwhile, the second position sensor 36 senses the position of the cargo on the air logistics robot 10 at any time when the lifting mechanism 35 is lifted, and transmits sensing information to the second control module 31 when sensing the position of the cargo.

The second control module 31 issues a control command to the lifting mechanism 35 according to the sensing information transmitted by the second position sensor 36, so that the lifting mechanism 35 stops lifting. Meanwhile, the second control module 31 sends the sensed information of the sensed goods to the freight transportation scheduling device 20, and the freight transportation scheduling device 20 sends the sensed information of the sensed goods to the aerial logistics robot 10. After receiving the sensing information of the sensed goods, the first control module 11 of the aerial logistics robot 10 issues a control instruction to the vacuum adsorption module 13, so that the vacuum adsorption module 13 releases the goods.

The vacuum adsorption module 13 releases the goods according to the control command of the first control module 11, after the vacuum adsorption module 13 successfully releases the goods, the first control module 11 sends the goods handover success information to the goods transportation scheduling device 20 through the first communication module 12, and the goods transportation scheduling device 20 sends the goods handover success information to the second ground automatic guided vehicle.

After receiving the information of successful delivery of the goods, the second control module 31 of the second automated ground handling vehicle issues a control command to the lifting mechanism 35, so that the lifting mechanism 35 starts a descending operation. The lifting mechanism 35 slowly lowers the cargo platform 33 according to the control command of the second control module 31, and after the lifting mechanism 35 is lowered back to the initial position, the second control module 31 issues a control command to the clamping mechanism 34 to allow the clamping mechanism 34 to perform a clamping action. The clamping mechanism 34 clamps the goods placed on the goods placing platform 33 according to the control instruction of the second control module 31. After the clamping mechanism 34 clamps the cargo, the second ground automated guided vehicle sends information of successful delivery of the cargo back to the cargo transportation scheduling device 20, and then automatically drives the transported cargo to another designated location according to the transportation control command of the cargo transportation scheduling device 20.

The cargo transportation scheduling device 20 transmits the cargo handover success information to the aerial logistics robot 10.

After receiving the information of successful delivery of the cargo sent by the cargo transportation scheduling device 20, the air logistics robot 10 automatically flies to another designated location according to the task control instruction of the cargo transportation scheduling device 20.

The application provides a pair of freight transportation system, through the aerial logistics robot of freight transportation scheduling equipment unified dispatch and ground automatic handling car for aerial logistics robot is when carrying out the aerial transportation of commodity circulation, can unify the linking through freight transportation scheduling equipment and ground handling car, realizes automatic goods handing-over with ground handling car, thereby solves present aerial logistics robot and can't realize the problem of automatic goods handing-over with ground handling car when carrying out the aerial transportation of commodity circulation. The ground automatic transport vehicle automatically loads goods to be transported according to a transport control instruction of the goods transport scheduling equipment and automatically drives the goods to the lower part of the aerial logistics robot; the aerial logistics robot automatically identifies goods on the ground automatic handling vehicle according to a task control instruction of the goods transportation scheduling equipment, automatically picks the goods on the ground automatic handling vehicle, so that the aerial logistics robot automatically hands over the goods with the ground automatic handling vehicle, automatically picks the goods to a specified destination according to route information of the task control instruction, automatically releases the goods to the ground automatic handling vehicle, automatically hands over the goods with the ground automatic handling vehicle, so that the aerial logistics robot has high automation degree, can realize automatic identification of the goods, automatically picks and releases the goods, automatically flies without manual intervention, saves manpower, and has high reliability and safety. Therefore, the problem that the degree of automation is low due to the fact that a large amount of work depends on manual operation and assistance when the existing aerial logistics robot carries out logistics aerial transportation is solved.

It should be noted that the embodiments of the cargo transportation system and the embodiments of the method belong to the same concept, and specific implementation processes thereof are described in the embodiments of the method, and technical features in the embodiments of the method are correspondingly applicable to the embodiments of the cargo transportation system, which are not described herein again.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; within the context of the present application, where technical features in the above embodiments or in different embodiments can also be combined, the steps can be implemented in any order and there are many other variations of the different aspects of the present application as described above, which are not provided in detail for the sake of brevity; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cargo transportation scheduling method, characterized in that the method comprises:

the goods transportation scheduling equipment controls goods handover and goods transportation of the air logistics robot and the ground automatic handling vehicle through uniformly scheduling the air logistics robot and the ground automatic handling vehicle.

2. The method of claim 1, wherein the freight transportation scheduling system freight transportation scheduling apparatus controls the goods interfacing and freight transportation of the aerial logistics robot and the ground automated guided vehicle by uniformly scheduling the aerial logistics robot and the ground automated guided vehicle comprises:

3. The method of claim 2, wherein the task control instructions comprise at least: the information of the cargo number, the information of the latitude of the ground route of cargo loading, the information of the latitude and the longitude of the cargo destination, the information of the ship route of the cargo loading place and the information of the ship route of the cargo destination.

4. The method of claim 3, wherein the cargo transportation scheduling device is communicatively interactive with an aerial logistics robot, issues task control instructions to schedule the aerial logistics robot, controls the aerial logistics robot to automatically fly according to the task control instructions, and automatically hands over the cargo with a ground automated guided vehicle; the method comprises the following steps:

5. The method according to any one of claims 2 to 4, wherein the handling control commands comprise at least: the information comprises cargo number information, cargo loading ground latitude information, cargo destination latitude and longitude information, cargo loading ground navigation information and cargo destination navigation information.

6. The method of claim 5, wherein the ground automated guided vehicle comprises a first ground automated guided vehicle and a second ground automated guided vehicle;

7. A cargo transportation scheduling apparatus, comprising: memory, processor and computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing the steps of a method of cargo transportation scheduling according to any of claims 1 to 6.

8. A storage medium having stored thereon a program of a cargo transportation scheduling method, the program of the cargo transportation scheduling method implementing the steps of a cargo transportation scheduling method according to any one of claims 1 to 6 when executed by a processor.

9. A cargo transportation system, characterized in that the cargo transportation system comprises: an aerial logistics robot, at least one ground automated guided vehicle, and the cargo transportation scheduling apparatus of claim 7; wherein:

10. The freight transportation system of claim 9, wherein the freight transportation scheduling apparatus is configured to control the goods handing over and the freight transportation between the aerial logistics robot and the ground automated guided vehicle by uniformly scheduling the aerial logistics robot and the ground automated guided vehicle; the method comprises the following steps:

11. The cargo transportation system of claim 10, wherein the aerial logistics robot is configured to automatically fly and automatically interface with a ground automated cart according to the mission control instructions; the aerial logistics robot comprises a first control module, a first communication module and an automatic cargo grabbing module; wherein:

12. The cargo transportation system of claim 11, wherein the first control module is specifically configured to:

13. The cargo transportation system of any one of claims 11 to 12, wherein the aerial logistics robot further comprises a first position sensor disposed at a bottom of the aerial logistics robot and connected to the first control module for sensing a cargo position of the ground automated guided vehicle and transmitting the sensed information to the first control module.

14. The cargo transportation system of claim 13, wherein the first control module issues a control command to the automatic cargo gripping module according to the sensing information transmitted from the first position sensor, so that the automatic cargo gripping module automatically grips the cargo of the ground automatic guided vehicle.

15. The cargo transportation system according to any one of claims 11 to 14, wherein the aerial logistics robot further comprises a support means provided around a bottom of the aerial logistics robot for supporting the aerial logistics robot to rest on the ground and forming an access passage for the ground automated cart at the bottom of the aerial logistics robot.

16. The cargo transportation system of any one of claims 11 to 15, wherein the aerial logistics robot further comprises an obstacle avoidance device, the obstacle avoidance device is arranged at the front end of the aerial logistics robot and connected with the first control module, and is used for detecting and avoiding obstacles of the aerial logistics robot in the flight process, and ensuring the safety of the aerial logistics robot in the flight process.

17. The cargo transportation system of any of claims 9 to 16, wherein the ground automated guided vehicle is configured to automatically steer and automatically interface with an aerial logistics robot in accordance with the transport control instructions; the ground automatic handling vehicle comprises a second control module, a second communication module, a goods placing platform and a clamping mechanism; wherein:

18. The cargo transportation system of claim 17, wherein the ground automated guided vehicle further comprises a lifting mechanism fixedly disposed under the cargo platform and connected to the second control module for lifting the cargo placed on the cargo platform according to the control commands of the second control module.

19. The cargo transportation system of claim 18, wherein the ground automated guided vehicle further comprises a second position sensor disposed on the lifting mechanism and connected to the second control module for sensing a position of the lifting mechanism on the cargo in the air logistics robot when the lifting mechanism is lifted in an empty state, and transmitting the sensed information to the second control module after sensing the position of the cargo, so that the second control module issues a control command to stop lifting the lifting mechanism according to the sensed information transmitted by the second position sensor.