CN106541880B - A kind of Intelligent transportation device - Google Patents
A kind of Intelligent transportation device Download PDFInfo
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- CN106541880B CN106541880B CN201610941835.6A CN201610941835A CN106541880B CN 106541880 B CN106541880 B CN 106541880B CN 201610941835 A CN201610941835 A CN 201610941835A CN 106541880 B CN106541880 B CN 106541880B
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- unmanned plane
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/06—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles
- B60P3/11—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles for carrying aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
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- Health & Medical Sciences (AREA)
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- Transportation (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The present invention provides a kind of Intelligent transportation devices for the dispatching of express delivery end, it includes intelligent transport vehicle, car is equipped with Vehicle Controller, car body is the carrier of the devices such as express delivery cabinet, piler, unmanned plane, control by Vehicle Controller to express delivery cabinet, piler, unmanned plane, distribution, operating, crawl and the remote control for carrying out express mail to be dispensed are sent to.The dispatching transport device that the intelligent automobile that the present invention designs is combined with express delivery cabinet and/or unmanned plane, can reduce the resource consumptions such as labour, vehicle, fuel, improve the express mail dispatching efficiency of remote districts.
Description
Technical field
The present invention relates to the intelligent control technologies that express transportation field more particularly to a kind of express delivery end dispense.
Background technique
With the fast development of e-commerce and shopping at network, the express delivery dispatching of the remote districts such as rural area, suburban country and district is asked
Topic increasingly highlights.Currently, the means of distribution in such area still with traditional people's back pickaback based on, even if geographical environment is preferably
The dispatching person in area can be dispensed with driving maneuver/electronic distribution vehicle, but the road of delivery process the time it takes and traveling
Journey is big more than dispensing in city, serious so as to cause dispatching low efficiency, dispatching resource consumption.
Existing express delivery end dispatching is dispensed with manpower dispatching and express delivery cabinet based on two kinds of mature means of distribution, meanwhile, nothing
The advanced means of distribution such as man-machine dispatching also studying among Preliminary Applications.Manpower dispatching undoubtedly need a large amount of dispatching person and
Distribution vehicle, distribution cost is high, and often there is situations such as mispick in manpower delivery process, and delivery error rate is high.Express delivery cabinet is matched
Send mode need fixed location build express delivery cabinet hardware facility, need special messenger carry out the management of express delivery cabinet, early period economic input compared with
Greatly, it and has no subsequent dispatching for the express mail that can not be asked for arrange, means of distribution is inflexible.Currently developing nothing
Man-machine means of distribution needs artificially to participate in mostly, is fixed or no-manned machine distant control etc. with carrying out express mail, does not save human cost.
The technical problems to be solved by the present invention are: one, traditional express delivery cabinet needs the construction in fixed location that can not move, match
Send mode not flexible；Two, rural area, outer suburbs, villa quarter etc. be more remote or the express mail in the sparser area of population dispense it is difficult.To understand
Certainly above-mentioned technical problem, the present invention propose and devise a kind of express mail that intelligent automobile is combined with express delivery cabinet and/or unmanned plane
Dispenser can reduce the resource consumptions such as labour, vehicle, fuel, improve the express mail dispatching efficiency of remote districts.
Summary of the invention
In order to solve the above-mentioned technical problem, specifically take following technical solution: Intelligent transportation device includes intelligence to the present invention
Energy transport vehicle, car are equipped with Vehicle Controller, further include express delivery cabinet, the left and right sides in compartment and rear side are by multiple express delivery cabinets
Around composition, multiple express delivery cabinets are arranged in U-shaped structure, and each express delivery cabinet includes the interior cabinet opened towards on the inside of vehicle body
Door and the outer cabinet door opened towards vehicle body outside, each express delivery cabinet are equipped with multiple storings for storing express mail to be dispensed
Lattice, each matter storage lattice bottom are provided with crawler type transmission device, are equipped with express delivery cabinet controller inside each express delivery cabinet；
Small-sized piler, the small-sized piler are parked in multiple express delivery cabinets and are formed on the compartment bottom in middle vacancy, the small-sized heap
Stacking machine controller is equipped with inside stack machine；The express delivery cabinet controller, the stacking machine controller with the Vehicle Controller
Communicate to connect and receive the instruction and information of Vehicle Controller.
Preferably, airplane parking area, the airplane parking area are arranged in car body top, and airplane parking area middle section is provided with a rectangle and opens
Mouthful；Unmanned plane, bottom are equipped with mechanical gripper, and the unmanned plane is parked on airplane parking area, are equipped with nobody inside the unmanned plane
Machine controller；The unmanned aerial vehicle (UAV) control device and the Vehicle Controller communicate to connect and receive instruction and the letter of Vehicle Controller
Breath.
Preferably, the express delivery cabinet controller is used to control the opening and closing of the interior cabinet door and the outer cabinet door and described
The opening and closing of crawler type transmission device；The stacking machine controller takes out from the matter storage lattice for controlling the small-sized piler
Express mail to be dispensed is simultaneously sent to the underface at the rectangular aperture；The unmanned aerial vehicle (UAV) control device is worn for controlling the mechanical gripper
It crosses the rectangular aperture and grabs express mail to be dispensed.
Preferably, the interior cabinet door is push-pull cabinet door, and the outer cabinet door is hinge-type cabinet door.
Preferably, small-sized piler includes article carrying platform, bottom plate, strut, and article carrying platform and floor level are arranged, and strut hangs down
Straight to be arranged on bottom plate, bottom plate has wheel to, to driving device, small-sized piler realizes horizontal move to rotation by wheel with wheel
Dynamic, strut is equipped with guide rail and fluid pressure drive device, and fluid pressure drive device can drive article carrying platform vertical movement on guide rail.
Preferably, the airplane parking area quantity is two, and unmanned plane quantity is two.
Preferably, the mechanical gripper includes driving motor, link mechanism, gripper.
The invention has the following beneficial effects:
(1) whole delivery process can realize Unmanned operation, significantly reduce human cost；
(2) express delivery cabinet and automobile are combined, packaged type express delivery cabinet is realized, compared to the fixed bit being commonly used
Express delivery cabinet is set, the hardware investment and management cost of express delivery cabinet can be reduced, improve the service efficiency of express delivery cabinet；
(3) dispatching of express delivery cabinet can be achieved at the same time and unmanned plane dispenses two kinds of means of distribution, and two kinds of means of distribution are organic
In conjunction with, pickup people can not be asked for and have to door dispense demand the case where, unmanned plane can be arranged to be dispensed in real time, than common
The dispatching of express delivery cabinet and the dispatching of single unmanned plane is high-efficient.
Detailed description of the invention
Fig. 1 is transport device structure schematic side view of the present invention.
Fig. 2 is transport device structure schematic top plan view of the present invention.
Fig. 3 is transport device structure schematic rear view of the present invention.
Fig. 4 is express delivery cabinet general arrangement schematic.
Fig. 5 is matter storage lattice structural schematic diagram.
Fig. 6 is small-sized stacker structure schematic diagram.
Fig. 7 is unmanned plane structural schematic diagram.
Fig. 8 is airplane parking area identification icon of the invention.
Specific embodiment
1, system hardware composition (device)
The hardware of total system is formed by intelligent transport vehicle, express delivery cabinet, piler, unmanned plane etc. 4 are most of.
(1) intelligent transport vehicle
Intelligent transport vehicle is the carrier of the devices such as express delivery cabinet, piler, unmanned plane.As shown in Figure 1-3, automobile head have compared with
Small driving space, for 1 driver or operator's activity；Automobile middle and back is the U-shaped express delivery cabinet in three faces, i.e. automobile rear vehicle
The left and right sides in compartment and rear side are made of the closing of express delivery cabinet, and small-sized automatic piler is placed in the middle vacancy of the U-shaped express delivery cabinet in three faces；
Automobile top has 2 pieces of aircraft gates for parking 2 frame unmanned planes, and there is a rectangle output port in the middle section of every piece of aircraft gate, is used for
Unmanned plane grabs express mail.
Driving method: being driven by electricity, and course continuation mileage is not less than 150km.
Size: long 3.70m, wide 1.60m, high 1.90m (referring to minivan size)
(2) the two-door express delivery cabinet in U-shaped interior outside
Express delivery cabinet is mainly used for storing express mail to be dispensed, and can not be asked for automatic piler and unmanned plane cooperation completion
The dispatching of express mail.Express delivery cabinet is located at the car position of automobile middle and back, shares left side, three face of right side and rear side, three face express delivery cabinets
U-shaped combination is formed, as shown in Figure 4.
Every one side of U-shaped express delivery cabinet has multiple matter storage lattices, places 1 express mail to be dispensed in each matter storage lattice, inside and outside
There are cabinet door in two sides.Outside cabinet door is the hinge-type cabinet door that existing express delivery cabinet is commonly opened outward, and in pickup, people is correctly entered
It automatically opens after pickup verification information, is closed after taking express mail by pickup people.Inside cabinet door is lateral (left and right to) plug-type cabinet
Door (to pick out wherein express mail convenient for automatic piler), automatically opens when automatic piler comes pickup.Matter storage lattice bottom belt
Have it is small-sized automatically deliver crawler attachment, will as shown in figure 5, conveyor-belt apparatus starts automatically when automatic piler comes pickup
Internal express mail is sent out.
Single matter storage lattice size: generally depth 0.45m, wide 0.32m, height are variable.
(3) small-sized automatic piler
Automatic piler is mainly used for the transmitting for the express mail for needing unmanned plane to dispense, and effect is to take out from express delivery cabinet wait match
Send express mail and delivery to the unmanned plane access section of automobile top.The working space of automatic piler is only limitted in U-shaped express delivery cabinet
Empty position, as shown in Figure 6.The automatic piler is without pallet fork, only one article carrying platform of band, article carrying platform can it is horizontal, move up and down,
The driven by pulley drive device by stacking motor spindle is moved horizontally, the hydraulic or tracked drive for relying on middle part is moved up and down
(similar single-column laneway type automatic piler).
Automatic piler to express delivery cabinet matter storage lattice pickup when, article carrying platform is automatically moved into the inner door of corresponding matter storage lattice
Doorway position, article carrying platform height are consistent with matter storage lattice bottom level, and express mail is passed out to load by the conveyer belt in matter storage lattice
On object platform, article carrying platform is again by the unmanned plane access section of express mail pop-up to roof, after express mail is sent to access section, in express delivery cabinet
Cabinet door is closed, and the conveyor-belt apparatus of matter storage lattice is automatically stopped.
(4) with the unmanned plane of mechanical gripper
Unmanned plane be mainly used for dispatching can not be asked for from express delivery cabinet express mail (such as the inconvenience of landform reason dispatching or addressee have
It is dispensed into the demand of door).The unmanned plane is four wing small drone, and bottom is equipped with small-sized machine handgrip, as shown in fig. 7, mechanical
Handgrip includes driving motor, link mechanism, gripper.The express mail that need to be dispensed is sent by automatic piler to access section, bottom
Small-sized machine handgrip automatically grabs and fixes express mail, and mechanical gripper release can unload cargo automatically when place of receipt to be achieved.
In specific place of receipt, needs to reserve smooth airplane parking area position in advance, have special symbol table on airplane parking area
Show, accurately lands after confirming airplane parking area position by image recognition so as to unmanned plane.
Performance: max-endurance is not less than 60 minutes, and maximum load is not less than 5Kg, and when performance requirement load-carrying 3Kg flies
Time is not less than 30 minutes, and flying radius is not less than 10km.
2, control system (communication and software)
Overall system control is divided into vehicle-mounted turn-key system, express delivery cabinet control system, automatic piling machine control system, unmanned plane
Control system etc. four is most of, and wherein each section can be considered independent included storage, communication, analytical calculation function
Industrial control system introduces the functional module and its concrete function of each section individually below.
2.1 vehicle-mounted master control subsystems
(1) integrated communication module: it is responsible for the communication with the comprehensively monitoring center of dispatching site, using the nothing of 4G mobile network
Line communication
The dispatching task that dispatcher is assigned by comprehensively monitoring center is received, and express delivery is put into express delivery cabinet in dispatching person
In the process, information (express delivery odd numbers, consignee, consignee's cell-phone number, shipping address, the express delivery cabinet storing of express mail to be dispensed are imported
Lattice number)；
The overall execution situation and each equipment state information for sending current dispatching task are into the comprehensively monitoring of dispatching site
The heart specifically includes that express mail dispatching situation (express mail dispensed, the express mail for not dispensing and dispensing), intelligent transport vehicle certainly
(unmanned plane numbers, is for body status information (Vehicular battery, course continuation mileage, vehicle-mounted camera realtime graphic), drone status information
It is no to be carrying out task, battery capacity, course continuation mileage, the express mail odd numbers for having dispensed completion), automatic piler status information (work
Whether normal make state), express delivery cabinet status information (matter storage lattice sky expires situation), all kinds of exceptions and error message in delivery process
Deng.
(2) automatic Pilot module: it is responsible for the automatic control of intelligent transport vehicle
Automatic identification destination；
Be automatically performed path planning: when intelligent automobile only has 1 destination, direct basis GPS navigation carries out point-to-point
Traveling need to carry out path planning when destination number is greater than 1 to determine that intelligent automobile needs purpose to be achieved
The sequencing on ground.The present invention use the path planning algorithm based on genetic algorithm, that is, by each destination be numbered and by this
Number carries out individual UVR exposure with real coding mode, then generates multiple destination sequencing schemes at random, calculates each destination
The path distance passed by needed for sequencing schemes, most short for objective function with distance, by selection, intersection, make a variation scheduling algorithm process,
The shortest sequencing schemes of path distance are determined, as final route programming result；
Automatic GPS navigation system；
Engine is automatically turned on to travel to destination；
The fixation parking stall in automatic identification dispatching place；
Automatic stopping enters position；
The automatic real time status information that sends gives integrated communication module.
(3) dispense task management module: the short message for being responsible for asking for express mail is sent and unmanned plane dispatching task distribution；
The sum that automatic inquiry and classification need unmanned plane to dispense is not required to the express mail of unmanned plane dispatching, and is to need nothing by distances travelled
The express mail arrangement of man-machine dispatching dispenses sequence；
It is automatic to send pickup short message (being not required to the information such as the pickup address of unmanned plane dispatching express mail, pickup code, effective time)；
The relevant informations such as the automatic status information for reading unmanned plane of awaiting orders in UAV Communication module and express mail to be dispensed (are received
Distance, the weather condition of goods address), judge automatically whether unmanned plane of awaiting orders can complete dispatching task, and be express mail to be dispensed
Distribute the unmanned plane of achievable dispatching task；
It automatically records the real-time performance of unmanned plane dispatching task and asks for the real-time pickup situation of express mail；
(4) express delivery cabinet communication module: it is responsible for the communication with express delivery cabinet control system, using USB wire communication；
The match information of the automatic express delivery cabinet sent in integrated communication module and express mail is to express delivery cabinet control system (convenient for certainly
The dispatching of pickup)；
It is automatic to receive the express mail dispatching situation and express delivery cabinet status information (matter storage lattice sky that express delivery cabinet control system is sent in real time
It is full)；
The automatic odd numbers for sending the express mail for needing unmanned plane to dispense is to express delivery cabinet control system (convenient for express delivery cabinet control system
Open cabinet door on the inside of corresponding matter storage lattice).
(5) automatic piler communication module: it is responsible for the communication with automatic piling machine control system, using ZigBee channel radio
Letter
The automatic unmanned plane dispatching mission bit stream (the matter storage lattice position of express mail storage, unmanned plane number) that sends is to automatic piling
Machine control system (is taken out express mail and is sent to corresponding at roof so that automatic piler can be automatically moved at corresponding matter storage lattice
Unmanned plane access section)；
The automatic automatic piler status information for receiving automatic piler control system and sending.
(6) UAV Communication module: it is responsible for the communication with unmanned aerial vehicle control system, using 2.4GHz microwave radio commu
The automatic express mail information for needing unmanned plane to dispense that sends is to unmanned aerial vehicle control system；
The automatic real time status information for receiving unmanned plane, status information (position, flying height including in-flight unmanned plane
And image) and unmanned plane of awaiting orders status information (battery capacity, course continuation mileage).
(7) emergency processing module
It is automatic receive exception that express delivery cabinet control system, automatic piling machine control system, unmanned aerial vehicle control system are sent and
Error information；
The automatic exception sent in delivery process and error message are to total communication module；
Automatically emergency processing movement is executed by existing emergency preplan；
* part emergency preplan is as follows:
* 1 intelligent transport vehicle traveling meets fortuitous event (such as traffic accident, fixed parking stall is occupied can not stop) on the way:
Real time status information is sent to the comprehensively monitoring center of dispatching site, waits the further instruction at comprehensively monitoring center；
Whether * 2 unmanned plane during flyings meet fortuitous event (such as the wrong place that in-flight falls, lands) on the way: judging automatically and lose
Connection, such as lost contact, then the comprehensively monitoring center for dispatching mission bit stream report dispatching site unmanned plane numbered and its executed；As not
Lost contact sends to unmanned aerial vehicle control system and instructs, it is made to return current drone status information (position, height, electricity, image)
Deng；
* 3 express delivery cabinet control systems report an error (such as cabinet door can not open, can not locking, matter storage lattice bottom conveyor can not work
Make): instruction is sent to express delivery cabinet control system, restarts and execute related command, if problem is still unresolved, by error information
It is sent to total communication module, and reports the comprehensively monitoring center of dispatching site, meanwhile, it is executed required by next dispatching task automatically
(citing then while reporting error message, skips over this task, opens next cabinet door, hold when front cabinet door can not be opened for movement
The next dispatching task of row).
2.2 express delivery cabinet control subsystems
(1) communication module: for the express delivery cabinet communication module docking with vehicle-mounted turn-key system
Receive the instruction and information that vehicle-mounted turn-key system is sent；
Express delivery dispatching situation and express delivery cabinet status information are sent to vehicle-mounted turn-key system；
Receive the pickup information of pickup people input；
(2) express delivery cabinet door action control module: it is responsible for automatic opening and the locking of the outer inside cabinet door of matter storage lattice
Whether automatic identification automobile is in driving status, and (when driving, all cabinet door automatic blockings release after reaching stop
Locking)；
The automatic pickup information for reading and verifying pickup people input (is verified and automatically opens outside cabinet door then correctly convenient for taking
Part)；
Automatically turn on cabinet door on the outside of matter storage lattice；
It is automatic to read the express mail information for needing unmanned plane dispatching express mail；
Open and close automatically cabinet door on the inside of matter storage lattice.
(3) conveyer belt control module: it is responsible for the express mail inside matter storage lattice sending out (to give automatic piler)
Control instruction is received, it is automatic to detect whether cabinet door on the inside of matter storage lattice is opened；
Automatic running conveyor-belt apparatus sends out article in matter storage lattice.
2.3 automatic piler control subsystems
(1) communication module: for the automatic piler communication module docking with vehicle-mounted turn-key system
Receive the instruction and information that vehicle-mounted turn-key system is sent；
Automatic piler real time status information is sent to vehicle-mounted turn-key system；
(2) part control module is fetched and delivered: for taking out the express mail of matter storage lattice and sending to the access section of unmanned plane
Automatically the matter storage lattice position of express mail to be taken and the number of unmanned plane to be set out are read；
It automatically moves at article carrying platform to the matter storage lattice of express mail to be taken, and according to matter storage lattice bottom position adjust automatically loading
Podium level；
Automatic identification unmanned plane access section, and rise article carrying platform automatically and give express mail to unmanned plane access section.
2.4 unmanned aerial vehicle (UAV) control subsystems
(1) communication module: for the UAV Communication module docking with vehicle-mounted turn-key system
Receive the instruction and information that vehicle-mounted turn-key system is sent；
Unmanned plane real time status information is sent to vehicle-mounted turn-key system；
(2) mechanical gripper control module: for controlling mechanical gripper crawl and fixed express mail to be dispensed
Whether automatic identification access section has express mail；
Automatically confirm that whether grabbed or launched express mail；
It is automatic to execute mechanical action, crawl or dispensing express mail；
(3) automatic flight module: the automatic control being responsible for during unmanned plane during flying
Automatically the distribution information (express delivery odd numbers, shipping address etc.) of express mail to be dispensed is read；
It is automatically performed flight path planning；
Automatically turn on GPS navigation system；
Engine is automatically turned on to fly to destination；
The pattern of the specific airplane parking area of automatic identification or roof stop position: airplane parking area uses characteristic circle as shown in Figure 8
With the special pattern of characteristic character " mouth " composition.In two steps, identification feature is round first, so for characteristics of image recognizer when shutdown
Identification feature character " mouth " afterwards.The identification of characteristic circle is identified that the algorithm utilizes transformation back boundary using Hough transform algorithm
The parameter attribute of point describes boundary curve, and robustness is superior in characteristic circle identification.All apex angles based on characteristic character and interior
The characteristics of angle is 90 degree of right angles, characteristic character recognizer use characteristic angle algorithm, which needs first in implementation process
The possible feature angle point of image (the rectangular point of institute in sphere of movements for the elephants symbol) is calculated, then these characteristic points are normalized,
It is handled according to the distance of point-to-point transmission, the normalizing point set of the several points nearest apart from the center of circle can be obtained, while calculating each point
Between length, determine apart from center location, i.e. stopping point.
Automatically it drop to stop position.
3, system overall workflow
(1) distribution network point puts the express mail for needing to send certain panel region with charge free in order, and specifies certain intelligent transport by dispatcher
Vehicle executes dispatching task, assigns a task instruction to the vehicle-mounted turn-key system of corresponding automobile.
(2) express mail to be dispensed is sequentially placed into express delivery cabinet, while typing express mail odd numbers and pickup people's cell-phone number by dispatching person, is built
The corresponding relationship of each matter storage lattice on vertical express mail and express delivery cabinet, and the information is imported into vehicle-mounted turn-key system.
(3) the vehicle-mounted turn-key system on intelligent transport vehicle receives the assignment instructions of dispatcher, and identification needs the dispatching gone to
Place is automatically performed path planning, and opens vehicle GPS, automatic running to dispatching place.While the car is driving,
The door lock that express delivery cabinet control system controls each matter storage lattice is in locking states always to ensure and will not occur in driving process fastly
The similar situations such as part drops out, mispick.
(4) it after intelligent transport vehicle reaches dispatching place, has been parked on ready-portioned parking stall in advance.It is vehicle-mounted after coming to a complete stop
Turn-key system sends the status information that vehicle has come to a complete stop to express delivery cabinet control system, and express delivery cabinet control system releases the control of cabinet door door lock
System.
It (5) include pickup to the addressee's transmission that may be from taking express mail after vehicle-mounted turn-key system determines that door lock control releases
The pickup short massage notice of address, pickup code, effective time etc..After short message is sent completely, before automobile is parked in original place waiting addressee
Carry out pickup.
(6) vehicle-mounted turn-key system checks whether the express mail that unmanned plane in need is dispensed in real time: if any vehicle-mounted master control system
System sorts express mail to be dispensed, since first, by sequence the step of (7)~(11), dispatching task is executed one by one, until needing
The express mail for wanting unmanned plane to dispense has dispensed；Such as nothing, then unmanned plane is stayed where one is, pending further orders, and does not execute any movement.
(7) relevant information of express mail to be dispensed is inputted express delivery cabinet control system, express delivery cabinet control system by vehicle-mounted turn-key system
System opens cabinet door on the inside of the matter storage lattice for housing corresponding express mail.
(8) matter storage lattice position is sent to automatic piler control subsystem by vehicle-mounted turn-key system, and automatic piler is voluntarily
Take out wherein express mail.
(9) vehicle-mounted turn-key system is that express mail to be dispensed distributes specific unmanned plane execution dispatching task, and unmanned plane is compiled
Number feed back to automatic piler control subsystem, automatic piler is by express mail pop-up to the corresponding unmanned plane picking of vehicle roof
Mouthful, unmanned plane grabs express mail to be dispensed.
(10) shipping address is inputted unmanned aerial vehicle (UAV) control subsystem by vehicle-mounted turn-key system, will after unmanned plane confirmation crawl cargo
The relevant informations such as confirmation message, express mail odd numbers, unmanned plane number feed back to vehicle-mounted turn-key system.Unmanned aerial vehicle control system is known automatically
Flight path is planned in the address of express mail not to be dispensed, and starts GPS navigation system and fly to shipping address, is determining that arrival receives
Image identification system is opened when within 30 meters of address, specific airplane parking area pattern is identified, shutdown is accurately drop to after the completion of identification
Level ground, unmanned plane make a return voyage automatically after unloading express mail automatically.
(11) unmanned plane auto-returned is parked in the fixation stop position on vehicle top, and certainly by unmanned aerial vehicle (UAV) control subsystem
It is dynamic to give the status information feedbacks such as current electric quantity, course continuation mileage to vehicle-mounted turn-key system.
(12) vehicle-mounted turn-key system judges whether still to have the express mail for needing unmanned plane to dispense: if any, vehicle-mounted turn-key system according to
After unmanned plane returns the information such as flyer miles, goods weight of the status information fed back and dispatching required by task check automatically whether
There is unmanned plane to be able to carry out next dispatching task, such as executable dispatching task then presses step (7)~(11), such as all unmanned planes
It is unable to complete dispatching task, then the information that vehicle-mounted turn-key system will be unable to execution task is sent to the comprehensively monitoring of dispatching site
Center waits lower step instruction；Such as nothing, then unmanned plane is parked on fixed stop position, does not execute any movement.
(13) vehicle-mounted turn-key system judges whether the express mail in all express delivery cabinets complete by dispatching, or whether has met one
The fixed residence time: if so, vehicle-mounted turn-key system plans return path automatically and opens GPS navigation, automobile, which automatically returns to, matches
Send site；If not, returning to (6), continue to be parked in original place execution dispatching task.
Claims (7)
1. a kind of Intelligent transportation device for the dispatching of express delivery end comprising intelligent transport vehicle, car are equipped with Vehicle Controller,
It is characterized in that, further including
Express delivery cabinet, the compartment left and right sides of intelligent transport vehicle and rear side are surrounded by multiple express delivery cabinets and are formed, multiple described fast
It passs cabinet and is arranged in U-shaped structure, each express delivery cabinet includes the interior cabinet door opened towards on the inside of vehicle body and opens towards vehicle body outside
The outer cabinet door opened, each express delivery cabinet are equipped with multiple matter storage lattices for storing express mail to be dispensed, each matter storage lattice
Bottom is provided with crawler type transmission device, is equipped with express delivery cabinet controller inside each express delivery cabinet；
Small-sized piler, the small-sized piler is parked in multiple express delivery cabinets and is formed on the compartment bottom in middle vacancy, described small
Stacking machine controller is equipped with inside type piler；
The express delivery cabinet controller, the stacking machine controller communicate to connect with the Vehicle Controller and receive vehicle-mounted control
The instruction and information of device.
2. the Intelligent transportation device for the dispatching of express delivery end as described in claim 1, which is characterized in that further include
Airplane parking area, the airplane parking area are arranged in car body top, and airplane parking area middle section is provided with a rectangular aperture；
Unmanned plane, bottom are equipped with mechanical gripper, and the unmanned plane is parked on airplane parking area, are equipped with nobody inside the unmanned plane
Machine controller；
The unmanned aerial vehicle (UAV) control device and the Vehicle Controller communicate to connect and receive the instruction and information of Vehicle Controller.
3. the Intelligent transportation device for the dispatching of express delivery end as claimed in claim 2, which is characterized in that
The express delivery cabinet controller is used to control opening and closing and the crawler type transmission dress of the interior cabinet door and the outer cabinet door
The opening and closing set；The stacking machine controller takes out express mail to be dispensed simultaneously for controlling the small-sized piler from the matter storage lattice
It send to the underface at the rectangular aperture；The unmanned aerial vehicle (UAV) control device is opened for controlling the mechanical gripper across the rectangle
Mouth grabs express mail to be dispensed.
4. the Intelligent transportation device for the dispatching of express delivery end as described in claim 1, which is characterized in that
The interior cabinet door is push-pull cabinet door, and the outer cabinet door is hinge-type cabinet door, and the express delivery cabinet is towards the cabinet on the outside of vehicle body
Information input area is provided on body.
5. the Intelligent transportation device for the dispatching of express delivery end as described in claim 1, which is characterized in that
Small-sized piler includes article carrying platform, bottom plate, strut, and article carrying platform and floor level are arranged, and strut is vertically set on bottom
On plate, bottom plate has wheel to, to driving device, small-sized piler is realized rotation by wheel and moved horizontally, and sets on strut with wheel
There are guide rail and fluid pressure drive device, fluid pressure drive device can drive article carrying platform vertical movement on guide rail.
6. the Intelligent transportation device for the dispatching of express delivery end as claimed in claim 2, which is characterized in that the airplane parking area number
Amount is two, and unmanned plane quantity is two.
7. the Intelligent transportation device for the dispatching of express delivery end as claimed in claim 2, which is characterized in that the mechanical gripper
Including driving motor, link mechanism, gripper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN110782086B (en) * | 2019-10-24 | 2022-09-09 | 山东师范大学 | Rescue vehicle distribution path optimization method and system with unmanned aerial vehicle |
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| CN111401811A (en) * | 2020-03-17 | 2020-07-10 | 深圳市智莱科技股份有限公司 | Automatic transport and delivery method and device for articles |
| CN112116271B (en) * | 2020-09-27 | 2021-07-06 | 拉扎斯网络科技（上海）有限公司 | Order data processing method and device |
| CN114368437B (en) * | 2021-12-13 | 2023-05-16 | 深圳优地科技有限公司 | Article distribution method and intelligent device |
| CN114212434A (en) * | 2022-01-18 | 2022-03-22 | 亿航智能设备（广州）有限公司 | Cargo transportation scheduling method and scheduling equipment, storage medium and cargo transportation system |
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