CN106570666A - Intelligent control system for express delivery transportation device - Google Patents
Intelligent control system for express delivery transportation device Download PDFInfo
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- CN106570666A CN106570666A CN201610941822.9A CN201610941822A CN106570666A CN 106570666 A CN106570666 A CN 106570666A CN 201610941822 A CN201610941822 A CN 201610941822A CN 106570666 A CN106570666 A CN 106570666A
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- vehicle
- express mail
- control subsystem
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- 238000012384 transportation and delivery Methods 0.000 title claims abstract description 86
- 238000004891 communication Methods 0.000 claims abstract description 39
- 238000003860 storage Methods 0.000 claims description 39
- 238000007726 management method Methods 0.000 claims description 9
- 238000013439 planning Methods 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 239000000446 fuel Substances 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 8
- 230000009187 flying Effects 0.000 description 4
- 238000012163 sequencing technique Methods 0.000 description 4
- 238000003032 molecular docking Methods 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 241001310793 Podium Species 0.000 description 1
- 241000283080 Proboscidea <mammal> Species 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000002068 genetic effect Effects 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F17/00—Coin-freed apparatus for hiring articles; Coin-freed facilities or services
- G07F17/10—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for means for safe-keeping of property, left temporarily, e.g. by fastening the property
- G07F17/12—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for means for safe-keeping of property, left temporarily, e.g. by fastening the property comprising lockable containers, e.g. for accepting clothes to be cleaned
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
The invention provides an intelligent control system for an express delivery transportation device, and the system comprises a monitoring center, a vehicle-mounted main control subsystem, an express delivery control subsystem, an automatic piler control subsystem, and an unmanned control subsystem. The vehicle-mounted main control subsystem carries out real-time communication with other subsystems, and carries out different strategy control of each subsystem according to the driving state of a vehicle and the distribution conditions of express delivery, and achieves the on-demand services of distribution through vehicle-mounted cabinets and unmanned planes. The system combining with a vehicle, an express delivery cabinet and an unmanned plane can reduce the consumption of labor forces, vehicles and fuel, and improves the distribution efficiency of express delivery in a remote region.
Description
Technical field
The present invention relates to express transportation field, more particularly to a kind of intelligent control technology of express delivery end dispensing.
Background technology
As the express delivery dispensing of the remote districts such as ecommerce and the fast development of shopping at network, rural area, suburban country and district is asked
Topic is increasingly highlighted.At present, the means of distribution in such area still with traditional people's back of the body pickaback based on, even if geographical environment is preferably
The dispensing person in area can be dispensed with driving maneuver/electronic distribution vehicle, but the delivery process time for being spent and the road for travelling
Journey is big more than dispensing in city, and so as to cause to dispense, efficiency is low, dispensing resource consumption is serious.
Existing express delivery end dispensing is dispensed based on two kinds of ripe means of distribution with manpower dispensing and express delivery cabinet, meanwhile, nothing
The advanced means of distribution such as man-machine dispensing also studying among Preliminary Applications.Manpower dispensing undoubtedly need substantial amounts of dispensing person and
Distribution vehicle, distribution cost is high, and situations such as often there is mispick in manpower delivery process, delivery error rate is high.Express delivery cabinet is matched somebody with somebody
Send mode needing to build express delivery cabinet hardware facility in fixed location, need special messenger to carry out express delivery cabinet management, early stage economic input compared with
Greatly, and for the express mail that cannot be asked for has no follow-up dispensing arrange, means of distribution underaction.Currently developing nothing
Man-machine means of distribution need mostly it is artificial participate in, fixed or no-manned machine distant control etc. with carrying out express mail, do not save human cost.
The technical problem to be solved is：First, traditional express delivery cabinet needs to be moved in fixed location construction, matches somebody with somebody
Send mode dumb；2nd, rural area, outer suburbs, villa quarter etc. are more remote or the sparser regional express mail dispensing of population is difficult.To understand
Certainly above-mentioned technical problem, of the invention to propose simultaneously to devise a kind of intelligence control system for being applied to express transportation device, can subtract
The resource consumptions such as few labour, vehicle, fuel, improve the express mail dispensing efficiency of remote districts.
The content of the invention
The present invention specifically takes following technical scheme to solve above-mentioned technical problem：The express transportation device includes
Intelligent transport car and the express delivery cabinet, automatic piler, the unmanned plane that are arranged on intelligent transport car, the control system includes monitoring
Center, vehicle-mounted master control subsystem, express delivery cabinet control subsystem, automatic piler control subsystem, unmanned aerial vehicle (UAV) control subsystem,
Vehicle-mounted master control subsystem includes：Communication module, for Surveillance center, express delivery cabinet control subsystem, automatic piling
Machine control subsystem, unmanned aerial vehicle (UAV) control subsystem communication；Automatic Pilot module, for automatically controlling for intelligent transport car；Dispensing
Task management module, the short message sending and unmanned plane dispensing task distribution for express mail of asking for；Emergency processing module, for receiving
With send exception and error information, and emergency processing is performed according to emergency preplan；
Express delivery cabinet control subsystem includes：Communication module, for vehicle-mounted master control subsystem communication and receive pickup people
The pickup information of input；Cabinet door control module, for controlling unlatching and the locking of cabinet door；Conveyer belt control module, for controlling
The unlatching of the transmission crawler attachment of matter storage lattice and locking；
Automatic piler control subsystem includes：Communication module：For with vehicle-mounted master control subsystem communication；Fetch and deliver part control
Module：For taking out the express mail of matter storage lattice and delivering to the access section of unmanned plane；
Unmanned aerial vehicle (UAV) control subsystem includes：Communication module, for and with vehicle-mounted master control subsystem communication；Mechanical gripper is controlled
Module, captures and fixation express mail to be dispensed for control machinery handgrip；Automatic flight module, for controlling unmanned plane according to planning
Path fly automatically to destination.
Preferably, the dispensing task management module is to there is unmanned plane to dispense the express mail of demand and without unmanned plane dispensing demand
Express mail classified, and by distances travelled be have unmanned plane dispensing demand express mail arrangement dispensing sequence；The dispensing task
Management module judges whether unmanned plane can complete to match somebody with somebody always according to the relevant information such as status information and express mail to be dispensed of unmanned plane
Task is sent, is that express mail distribution to be dispensed can complete the unmanned plane of dispensing task, and record completing in real time for unmanned plane dispensing task
The real-time pickup situation of situation and express mail of asking for.
Preferably, whether the cabinet door control module identification automobile is in transport condition, if being in transport condition, controls
All cabinet door automatic blockings；The pickup information of pickup people input is read and examined, if information is examined correctly express delivery cabinet is opened
Towards the cabinet door on the outside of vehicle body.
Preferably, it is described to fetch and deliver the volume that part control module reads the matter storage lattice position and unmanned plane to be set out of express mail to be taken
Number；Control automatic piler article carrying platform be moved at the matter storage lattice of express mail to be taken, and by article carrying platform Height Adjustment to
Matter storage lattice bottom is consistent；It is described to fetch and deliver part control module identification unmanned plane access section, and rise article carrying platform express mail is delivered to into nothing
Man-machine access section.
The present invention has the advantages that：
(1) overall delivery process is capable of achieving Unmanned operation, significantly reduces human cost；
(2) express delivery cabinet and automobile are combined, packaged type express delivery cabinet is realized, compared to the fixed bit for commonly using at present
Put express delivery cabinet, it is possible to decrease the hardware input of express delivery cabinet and management cost, improve the service efficiency of express delivery cabinet；
(3) can simultaneously realize that the dispensing of express delivery cabinet and unmanned plane dispense two kinds of means of distribution, and two kinds of means of distribution are organic
With reference to, for pickup people cannot ask for and have to door dispense demand in the case of, can in real time arrange unmanned plane to be dispensed, than common
Express delivery cabinet and the dispensing efficiency high of single unmanned plane dispensing.
Description of the drawings
Fig. 1 is conveying arrangement structure schematic side view of the present invention.
Fig. 2 is conveying arrangement structure schematic top plan view of the present invention.
Fig. 3 is conveying arrangement structure schematic rear view of the present invention.
Fig. 4 is express delivery cabinet conveying arrangement structure general arrangement schematic.
Fig. 5 is the control system architecture figure of the present invention.
Specific embodiment
1st, system hardware composition (device)
The hardware of total system is made up of 4 major parts such as intelligent transport car, express delivery cabinet, piler, unmanned planes.
(1) intelligent transport car
Intelligent transport car is the carrier of the devices such as express delivery cabinet, piler, unmanned plane.As Figure 1-3, automobile head have compared with
Little driving space, is available for 1 driver or operator's activity；Automobile postmedian is the U-shaped express delivery cabinet in three faces, i.e. automobile rear car
The left and right sides in railway carriage or compartment and rear side are constituted by 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 the mid portion of every piece of aircraft gate has a rectangle outlet, is used for
Unmanned plane captures express mail.
Type of drive：Driven by power, 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 in depositing express mail to be dispensed, and completes what is cannot asked for automatic piler and unmanned plane cooperation
The dispensing of express mail.Express delivery cabinet is located at the car position of automobile postmedian, has left side, right side and the face of rear side three, three face express delivery cabinets
U-shaped combination is constituted, as shown in Figure 4.
Every one side of U-shaped express delivery cabinet has multiple matter storage lattices, 1 express mail to be dispensed is placed in each matter storage lattice, inside and outside it
There is cabinet door both sides.Outside cabinet door is the hinge-type cabinet door of the conventional outside unlatching of existing express delivery cabinet, and in pickup, people correctly enters
Automatically open up after pickup checking information, take and closed by pickup people after express mail.Inner side cabinet door is laterally (left and right to) plug-type cabinet
Door (picking out wherein express mail for ease of automatic piler), automatically opens up when automatic piler comes pickup.Matter storage lattice bottom belt
Have it is small-sized automatically deliver crawler attachment, the conveyor-belt apparatus automatic when automatic piler comes pickup send internal express mail
Go out.
Single matter storage lattice size：Generally depth 0.45m, wide 0.32m is high variable.
(3) small-sized automatic piler
Automatic piler is mainly used in the transmission of the express mail for needing unmanned plane to dispense, and its effect is to take out to wait to match somebody with somebody from express delivery cabinet
Send the unmanned plane access section of express mail and delivery to automobile top.The working space of automatic piler is only limitted in U-shaped express delivery cabinet
Empty position.The automatic piler without pallet fork, only one article carrying platform of band, article carrying platform can level, move up and down, move horizontally according to
By the driven by pulley drive device of stacking motor spindle, move up and down by hydraulic pressure or tracked drive (the similar single-column lane at middle part
Road formula 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 is consistent with matter storage lattice bottom level, and express mail is passed out to load by the conveyer belt in matter storage lattice
On thing platform, article carrying platform 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 are automatically stopped.
(4) unmanned plane with mechanical gripper
Unmanned plane is mainly used in dispensing cannot ask for express mail (as the inconvenience dispensing of landform reason, or addressee have from express delivery cabinet
It is dispensed into the demand of door).The unmanned plane is four wing SUAVs, and bottom is equipped with small-sized machine handgrip, and mechanical gripper includes driving
Dynamic motor, linkage, gripper.The express mail that need to be dispensed is delivered to after access section by automatic piler, and the small-sized machine of bottom is grabbed
Hand is captured and fixed express mail automatically, and mechanical gripper unclamps during place of receipt to be achieved can automatically unload goods.
In specific place of receipt, need to reserve smooth airplane parking area position in advance, there is special symbol table on airplane parking area
Show, so that unmanned plane confirms accurately to land behind airplane parking area position by image recognition.
Performance：Max-endurance is not less than 60 minutes, and maximum load is not less than 5Kg, flies during performance requirement load-carrying 3Kg
Time is not less than 30 minutes, and flying radius is not less than 10km.
2nd, control system (communication and software)
Overall system control be divided into vehicle-mounted master control subsystem, express delivery cabinet control subsystem, automatic piler control subsystem,
Unmanned aerial vehicle (UAV) control subsystem etc. four is most of, and each of which part can be considered that one independent carries storage, communication, analysis meter
The industrial control system of function is calculated, the functional module and its concrete function of each several part are introduced 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 dispensing site, using the nothing of 4G mobile networks
Line communicates；
The dispensing task that dispatcher is assigned by comprehensively monitoring center is received, and express delivery is put into into express delivery cabinet in dispensing person
During, import information (express delivery odd numbers, consignee, consignee's cell-phone number, ship-to, the express delivery cabinet storing of express mail to be dispensed
Lattice are numbered)；
The overall execution situation and each equipment state information of the current dispensing task of transmission is in the comprehensively monitoring of dispensing site
The heart, mainly includes：Express mail dispensing situation (express mail that dispensed, the express mail for not dispensing and dispensing), intelligent transport car from
(unmanned plane numbers, is for body status information (Vehicular battery, course continuation mileage, vehicle-mounted camera realtime graphic), unmanned plane status information
It is no to be carrying out task, battery electric quantity, course continuation mileage, dispensed the express mail odd numbers for completing), automatic piler status information (work
Whether normal make state), express delivery cabinet status information (matter storage lattice empty full situation), all kinds of exceptions in delivery process and error message
Deng.
(2) automatic Pilot module：Responsible intelligent transport car is automatically controlled
Automatic identification destination；
It is automatically performed path planning：When intelligent automobile only has 1 destination, direct basis GPS navigation carries out point-to-point
Traveling, when destination number is more than 1, the purpose for needing to carry out path planning to determine intelligent automobile to need and reach
The sequencing on ground.The present invention using based on genetic algorithm path planning algorithm, i.e. by each destination be numbered and by this
Numbering carries out individual UVR exposure with real coding mode, and multiple destination sequencing schemes are then generated at random, calculates each destination
The path distance passed by needed for sequencing schemes, it is most short as object function with distance, through selecting, intersecting, making a variation scheduling algorithm flow process,
The most short sequencing schemes of path distance are determined, as final route programming result；
Automatic GPS navigation system；
Automatically turn on engine to travel to destination；
Automatic identification dispenses the fixed parking stall in place；
Automatic stopping enters position；
Automatically send real time status information and give integrated communication module.
(3) task management module is dispensed：It is responsible for asking for the short message sending and unmanned plane dispensing task distribution of express mail；
It is automatic to inquire about and classify needing unmanned plane to dispense and be not required to the express mail that unmanned plane is dispensed, and be to need nothing by distances travelled
The express mail arrangement dispensing sequence of man-machine dispensing；
Automatically pickup note (being not required to the information such as pickup address, pickup code, the effective time of unmanned plane dispensing express mail) is sent；
Automatically read the relevant informations such as the status information and express mail to be dispensed of unmanned plane of awaiting orders in UAV Communication module (to receive
The distance of goods address, weather condition), whether automatic decision unmanned plane of awaiting orders can complete dispensing task, and for express mail to be dispensed
Distribution can complete the unmanned plane of dispensing task；
Automatically record unmanned plane dispenses the real-time performance of task and the real-time pickup situation of express mail of asking for；
(4) express delivery cabinet communication module：It is responsible for the communication with express delivery cabinet control system, using USB wire communications；
Automatically the express delivery cabinet sent in integrated communication module (is easy to certainly with the match information of express mail to express delivery cabinet control system
The dispensing of pickup)；
Automatically express mail dispensing situation and express delivery cabinet status information (matter storage lattice sky that express delivery cabinet control system is sent in real time are received
It is full)；
Automatically the odd numbers for sending the express mail for needing unmanned plane to dispense (is easy to express delivery cabinet control system to express delivery cabinet control system
Open corresponding matter storage lattice inner side cabinet door).
(5) automatic piler communication module：It is responsible for the communication with automatic piler control system, using ZigBee channel radios
Letter
Automatically unmanned plane dispensing mission bit stream (the matter storage lattice position of express mail storage, unmanned plane numbering) is sent to automatic piling
Machine control system is (so as to automatic piler can be automatically moved at corresponding matter storage lattice and be taken out express mail and is delivered to corresponding at roof
Unmanned plane access section)；
Automatically the automatic piler status information that automatic piler control system is sent is received.
(6) UAV Communication module：It is responsible for the communication with unmanned aerial vehicle control system, using 2.4GHz microwave radio commus
Automatically the express mail information for needing unmanned plane to dispense is sent to unmanned aerial vehicle control system；
Automatically the real time status information of unmanned plane is received, including status information (position, the flying height of in-flight unmanned plane
And image) and unmanned plane of awaiting orders status information (battery electric quantity, course continuation mileage).
(7) emergency processing module
Automatically receive exception that express delivery cabinet control system, automatic piler control system, unmanned aerial vehicle control system send and
Error information；
The automatic exception sent in delivery process and error message are to total communication module；
Automatically emergency processing action is performed by existing emergency preplan；
* part emergency preplan is as follows：
Fortuitous event (such as traffic accident, fixed parking stall is occupied cannot stop) is met in * 1 intelligent transport car traveling way：
Real time status information is sent into the comprehensively monitoring center of dispensing site, the further instruction at comprehensively monitoring center is waited；
Fortuitous event is met in * 2 unmanned plane during flyings way (such as wrong place of in-flight dropping, land)：Whether automatic decision loses
Connection, such as lost contact, then dispensing mission bit stream report unmanned plane numbered and its performed dispenses the comprehensively monitoring center of site；As not
Lost contact, sends to unmanned aerial vehicle control system and instructs so as to which passback is currently without man-machine state's information (position, height, electricity, image)
Deng；
* 3 express delivery cabinet control systems report an error (cannot open such as cabinet door, cannot locking, matter storage lattice bottom conveyor cannot work
Make)：Send to express delivery cabinet control system and instruct, related command is restarted and perform, if problem is not still solved, by error information
Total communication module is sent to, and reports the comprehensively monitoring center for dispensing site, meanwhile, perform automatically required by next dispensing task
(citing, when front cabinet door cannot be opened, then while error message is reported, skips over this task, opens next cabinet door, holds for action
Row next one dispensing task).
2.2 express delivery cabinet control subsystems
(1) communication module：For docking with the express delivery cabinet communication module of vehicle-mounted turn-key system
Receive instruction and information that vehicle-mounted turn-key system is sent；
Express delivery dispensing 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：Responsible storing especially inner side cabinet door is automatically turned on and locking
Whether in transport condition, (during traveling, all cabinet door automatic blockings reached and released after stop automatic identification automobile
Locking)；
Automatically the pickup information for reading and examining pickup people input (examines cabinet door on the outside of correctly then automatically opening up to be easy to take
Part)；
Automatically turn on cabinet door on the outside of matter storage lattice；
Automatically the express mail information for needing unmanned plane to dispense express mail is read；
Open and close automatically matter storage lattice inner side cabinet door.
(3) conveyer belt control module：It is responsible for sending the express mail inside matter storage lattice (to give automatic piler)
Control instruction is received, whether automatic detection matter storage lattice inner side cabinet door is opened；
Automatic running conveyor-belt apparatus, send article in matter storage lattice.
2.3 automatic piler control subsystems
(1) communication module：For docking with the automatic piler communication module of vehicle-mounted turn-key system
Receive 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 delivering to the access section of unmanned plane
Automatically the matter storage lattice position of express mail to be taken and the numbering of unmanned plane to be set out are read；
Automatically move at the matter storage lattice of article carrying platform to 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 automatically express mail is delivered to unmanned plane access section by rising article carrying platform.
2.4 unmanned aerial vehicle (UAV) control subsystems
(1) communication module：For docking with the UAV Communication module of vehicle-mounted turn-key system
Receive 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：Capture for control machinery handgrip and fixation express mail to be dispensed
Whether automatic identification access section has express mail；
Automatically confirm that and capture or throw in express mail whether；
Automatically mechanical action, crawl or input express mail are performed；
(3) automatic flight module：Automatically controlling during responsible unmanned plane during flying
Automatically the distribution information (express delivery odd numbers, ship-to etc.) of express mail to be dispensed is read；
It is automatically performed flight path planning；
Automatically turn on GPS navigation system；
Automatically turn on engine to fly to destination；
The pattern of the specific airplane parking area of automatic identification or roof stop position：Airplane parking area is using characteristic circle and characteristic character
The special pattern of " mouth " composition.Characteristics of image recognizer during shutdown in two steps, first justify, then identification feature by identification feature
Character " mouth ".The identification of characteristic circle is identified using Hough transform algorithm, and the algorithm is special using the parameter of conversion back boundary point
Description boundary curve is levied, robustness is superior in characteristic circle identification.All drift angles of feature based character and interior angle are 90 degree
The characteristics of right angle, characteristic character recognizer adopts characteristic angle algorithm, and the algorithm is in implementation process, it is necessary first to calculate image
Then these characteristic points are normalized, according to point-to-point transmission by possible feature angle point (the rectangular point of institute in sphere of movements for the elephants symbol)
Distance processed, the normalizing point set apart from the nearest several points in the center of circle is obtained, while calculate the length between each point,
It is determined that apart from home position, i.e. stopping point.
Automatically it drop to stop position.
3rd, system overall workflow
(1) distribution network point puts needs in order and sends the express mail of certain panel region with charge free, and specifies certain intelligent transport by dispatcher
Car performs dispensing 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 by dispensing person, while typing express mail odd numbers and pickup people's cell-phone number, build
The corresponding relation 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 car receives the assignment instructions of dispatcher, and identification needs the dispensing gone to
Place, is automatically performed path planning, and opens vehicle GPS, and automatic running is to dispensing place.In vehicle traveling process,
Express delivery cabinet control system is controlled will not be occurred soon during the door lock of each matter storage lattice is in all the time locking states to ensure traveling
The analogues such as part is dropped out, mispick.
(4) intelligent transport car is reached behind dispensing place, has been parked on ready-portioned parking stall in advance.It is vehicle-mounted after coming to a complete stop
Turn-key system to express delivery cabinet control system sends the status information that car has come to a complete stop, and express delivery cabinet control system releases cabinet door door lock control
System.
(5) after vehicle-mounted turn-key system determines that door lock control is released, send comprising pickup to the addressee that may be from taking express mail
The pickup SMS notification of address, pickup code, effective time etc..After the completion of short message sending, automobile is parked in original place and waits before addressee
Carry out pickup.
(6) request of the express mail that vehicle-mounted turn-key system real-time inspection unmanned plane whether in need is dispensed：If any vehicle-mounted
Turn-key system sorts express mail to be dispensed, from the beginning of first, by order the step of (7)～(11), dispensing task is performed one by one,
Until needing the express mail that unmanned plane is dispensed to dispense；Such as nothing, then unmanned plane is stayed where one is, pending further orders, and does not perform any action.
(7) relevant information of express mail to be dispensed is input into express delivery cabinet control system, express delivery cabinet control system by vehicle-mounted turn-key system
System opens the matter storage lattice inner side cabinet door 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 dispensing task, and unmanned plane is compiled
Number automatic piler control subsystem is fed back to, automatic piler is by express mail pop-up to the corresponding unmanned plane picking of vehicle roof
Mouthful, unmanned plane captures express mail to be dispensed.
(10) ship-to is input into unmanned aerial vehicle (UAV) control subsystem by vehicle-mounted turn-key system, and unmanned plane confirms will after crawl goods
The relevant informations such as confirmation, express mail odd numbers, unmanned plane numbering feed back to vehicle-mounted turn-key system.Unmanned aerial vehicle control system is known automatically
The address of express mail not to be dispensed, plans flight path, and starts GPS navigation system and fly to ship-to, is receiving it is determined that reaching
Image identification system is opened when within 30 meters of address, specific airplane parking area pattern is recognized, shutdown is accurately drop to after the completion of identification
Level ground, unmanned plane is unloaded after express mail and maked a return voyage automatically automatically.
(11) unmanned plane auto-returned is parked in the fixed stop position on vehicle top, and by unmanned aerial vehicle (UAV) control subsystem from
It is dynamic to give vehicle-mounted turn-key system by status information feedbacks such as current electric quantity, course continuation mileages.
(12) vehicle-mounted turn-key system judges whether the request for still having the express mail for needing unmanned plane to dispense：If any vehicle-mounted master control system
The information such as flyer miles, goods weight of the status information of feedback and dispensing required by task after being returned according to unmanned plane of uniting is arranged automatically
Whether have unmanned plane be able to carry out next dispensing task, such as executable dispensing task if looking into, then such as all by step (7)～(11)
Unmanned plane cannot complete dispensing task, then vehicle-mounted turn-key system will be unable to execution task information send to dispensing site it is comprehensive
Surveillance center is closed, lower step instruction is waited；Such as nothing, then unmanned plane is parked on fixed stop position, does not perform any action.
(13) vehicle-mounted turn-key system judges whether dispensing is completed for express mail in all express delivery cabinets, or whether has met one
The fixed time of staying：In this way, vehicle-mounted turn-key system plans return path and opens GPS navigation automatically, and automobile is automatically returned to matches somebody with somebody
Send site；If not, returning (6), continue to be parked in original place execution dispensing task.
Claims (4)
1. a kind of intelligence control system for being applied to express transportation device, the express transportation device includes intelligent transport car and sets
Express delivery cabinet, automatic piler, unmanned plane on intelligent transport car are put, the control system includes Surveillance center, vehicle-mounted master control
System, express delivery cabinet control subsystem, automatic piler control subsystem, unmanned aerial vehicle (UAV) control subsystem, it is characterised in that
Vehicle-mounted master control subsystem includes：Communication module, for Surveillance center, express delivery cabinet control subsystem, automatic piler control
Subsystem, unmanned aerial vehicle (UAV) control subsystem communication；Automatic Pilot module, for automatically controlling for intelligent transport car；Dispensing task
Management module, the short message sending and unmanned plane dispensing task distribution for express mail of asking for；Emergency processing module, for receiving and sending out
Exception and error information are sent, and emergency processing is performed according to emergency preplan；
Express delivery cabinet control subsystem includes：Communication module, for being input into vehicle-mounted master control subsystem communication and reception pickup people
Pickup information；Cabinet door control module, for controlling unlatching and the locking of cabinet door；Conveyer belt control module, for controlling storing
The unlatching of the transmission crawler attachment of lattice and locking；
Automatic piler control subsystem includes：Communication module：For with vehicle-mounted master control subsystem communication；Fetch and deliver part control mould
Block：For taking out the express mail of matter storage lattice and delivering to the access section of unmanned plane；
Unmanned aerial vehicle (UAV) control subsystem includes：Communication module, for and with vehicle-mounted master control subsystem communication；Mechanical gripper controls mould
Block, captures and fixation express mail to be dispensed for control machinery handgrip；Automatic flight module, for controlling unmanned plane according to planning
Automatically fly to destination in path.
2. the intelligence control system of express transportation device is applied to as claimed in claim 1, it is characterised in that
The dispensing task management module is carried out to there is unmanned plane to dispense the express mail of demand and the express mail without unmanned plane dispensing demand
Classification, and be that the express mail arrangement dispensing for having unmanned plane dispensing demand is sorted by distances travelled；The dispensing task management module is also
The relevant informations such as the status information and express mail to be dispensed according to unmanned plane, judge whether unmanned plane can complete dispensing task, are
Express mail distribution to be dispensed can complete the unmanned plane of dispensing task, and record the real-time performance of unmanned plane dispensing task and ask for
The real-time pickup situation of express mail.
3. the intelligence control system of express transportation device is applied to as claimed in claim 1, it is characterised in that
Whether the cabinet door control module identification automobile is in transport condition, if being in transport condition, controls all cabinet doors certainly
Dynamic locking；Read and examine pickup people input pickup information, if examine information correctly if open express delivery cabinet towards outside vehicle body
The cabinet door of side.
4. the intelligence control system of express transportation device is applied to as claimed in claim 1, it is characterised in that
It is described to fetch and deliver the numbering that part control module reads the matter storage lattice position and unmanned plane to be set out of express mail to be taken；Control automatic heap
The article carrying platform of stack machine is moved at the matter storage lattice of express mail to be taken, and by article carrying platform Height Adjustment to matter storage lattice bottom one
Cause；It is described to fetch and deliver part control module identification unmanned plane access section, and rise article carrying platform express mail is delivered to into unmanned plane access section.
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