CN107203863B - Intelligent unmanned aerial vehicle express delivery system - Google Patents
Intelligent unmanned aerial vehicle express delivery system Download PDFInfo
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- CN107203863B CN107203863B CN201710376972.4A CN201710376972A CN107203863B CN 107203863 B CN107203863 B CN 107203863B CN 201710376972 A CN201710376972 A CN 201710376972A CN 107203863 B CN107203863 B CN 107203863B
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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
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/31—Charging columns specially adapted for electric vehicles
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
Abstract
The invention belongs to the technical application field of unmanned aerial vehicles, and particularly relates to an intelligent unmanned aerial vehicle express delivery system. The invention aims to solve the problem that ground stations cannot be set randomly due to the limitation of environmental factors. For the purposes, the system comprises an express base dispatching center, an unmanned aerial vehicle, an express receiving and storing module and an energy charging module, wherein the express base dispatching center is used for controlling the operation of the unmanned aerial vehicle, the express receiving and storing module and the energy charging module, the unmanned aerial vehicle is used for transporting the express, the express receiving and storing module is used for receiving and storing the express transported by the unmanned aerial vehicle, and the energy charging module is used for supplementing energy sources for the unmanned aerial vehicle.
Description
Technical Field
The invention belongs to the technical application field of unmanned aerial vehicles, and particularly provides an intelligent unmanned aerial vehicle express delivery system.
Background
With the general application of online shopping, competition among express delivery transportation industries is more and more intense, and particularly after a common transportation mode is reasonably planned, the transportation time of the express delivery is very difficult to be greatly shortened, and besides, in addition to transportation of the express delivery on a transportation means, in the process of collecting, transferring and delivering the express delivery, the processing efficiency of express delivery operators with a large quantity of express delivery is low, the processing progress is slow, so that the whole transportation time of the express delivery is prolonged.
At present, many large enterprises begin to apply unmanned aerial vehicles to carry out the delivery or transfer of express, the unmanned aerial vehicle express at the present stage mostly establishes ground stations to cooperate with the unmanned aerial vehicles to carry out the transportation and storage work of express, namely, after the unmanned aerial vehicles transport the express from a departure point to a destination, the access and delivery work of the express generally needs to be carried out through the ground stations, so the design scheme of the ground stations is also very important. Generally, the ground website is provided with the express delivery cabinet for receive and deliver the express delivery, dock unmanned aerial vehicle, fill can etc. for unmanned aerial vehicle, though the intelligent degree of express delivery cabinet is very high, there is some not enough yet, for example, because will store some express delivery, consequently the installation space that the express delivery cabinet occupy is more, its mounted position is more restricted, unmanned aerial vehicle needs to transport the express delivery in the ground website to and fro in addition, the quantity and the height of the building around the ground website also can bring inconvenience for its transportation, like living area, industry garden, people's way limit etc. these very need set up the place of ground website, can be because of the restriction of factors such as environment, unsuitable installation express delivery cabinet. In addition, the structure of express delivery cabinet is comparatively complicated, and the cost of manufacture of equipment is higher.
Accordingly, there is a need in the art for a new unmanned aerial vehicle express system to address the above-described issues.
Disclosure of Invention
In order to solve the problems in the prior art, namely to solve the problem that ground stations cannot be set randomly due to the limitation of environmental factors, the invention provides an intelligent unmanned aerial vehicle express delivery system, which comprises an express base command and dispatch center, an unmanned aerial vehicle, an express receiving and storing module and an energy charging module, wherein the express base command and dispatch center is used for controlling the operation of the unmanned aerial vehicle, the express receiving and storing module and the energy charging module, the unmanned aerial vehicle is used for transporting express, the express receiving and storing module is used for receiving and storing the express transported by the unmanned aerial vehicle, and the energy charging module is used for supplementing energy sources for the unmanned aerial vehicle.
In the preferable technical scheme of the intelligent unmanned aerial vehicle express delivery system, the express delivery receiving and storing module comprises an express delivery pile, and the express delivery pile is used for placing express delivery.
In the preferred technical scheme of the intelligent unmanned aerial vehicle express delivery system, the express delivery receiving and storing module further comprises a standard express delivery box for containing express delivery so that the standard express delivery box is transported by the unmanned aerial vehicle or stored on the express delivery pile.
In the preferred technical scheme of the intelligent unmanned aerial vehicle express delivery system, the energy charging module comprises an energy charging pile, an energy charging device is arranged on the energy charging pile, the energy charging device charges energy for the unmanned aerial vehicle stopped and falling on the energy charging pile, and the top of the energy charging pile is provided with a mechanism connected with and separated from the unmanned aerial vehicle.
In the preferred technical scheme of the intelligent unmanned aerial vehicle express delivery system, the express delivery receiving and storing module and the energy charging module further comprise an unmanned aerial vehicle landing photoelectric indication system respectively, and the unmanned aerial vehicle landing photoelectric indication system is matched with an unmanned aerial vehicle landing sensing camera arranged on the unmanned aerial vehicle to guide the unmanned aerial vehicle to finish landing.
In the preferred technical scheme of the intelligent unmanned aerial vehicle express system, the unmanned aerial vehicle further comprises an active connection and separation device, wherein the active connection and separation device is used for connecting or releasing the standard express box and is used for connecting or separating the energy filling pile.
In the preferable technical scheme of the intelligent unmanned aerial vehicle express delivery system, the express delivery pile is further provided with a lifting device, and the lifting device can adjust the height of the standard express delivery box placed on the express delivery pile from the ground.
In the preferable technical scheme of the intelligent unmanned aerial vehicle express delivery system, the standard express delivery box is hollow spindle-shaped, namely, two ends of a shell of the standard express delivery box are cone-shaped, and the middle part of the shell of the standard express delivery box is cylinder-shaped; the top end of the cone at the upper part of the standard express box is provided with a mechanism for connecting and disconnecting with the unmanned aerial vehicle; the shape and the size of the upper part of the standard express box and the upper part of the energy filling pile are the same.
In the preferred technical scheme of the intelligent unmanned aerial vehicle express delivery system, the unmanned aerial vehicle comprises a first accommodating cavity for accommodating the upper part of the standard express delivery box or the upper part of the energy filling pile in a form fit manner.
In the preferred technical scheme of the intelligent unmanned aerial vehicle express delivery system, the express delivery stake comprises a second accommodating cavity for accommodating the lower part of the standard express delivery box in a form fit manner.
It can be appreciated by a person skilled in the art that in the technical scheme of the invention, the intelligent unmanned aerial vehicle express system comprises an express base command and dispatch center, an unmanned aerial vehicle, an express receiving and storing module and an energy charging module, wherein the express base command and dispatch center is used for controlling the operation of the unmanned aerial vehicle, the express receiving and storing module and the energy charging module, the unmanned aerial vehicle is used for transporting express, the express receiving and storing module is used for receiving and storing the express transported by the unmanned aerial vehicle, and the energy charging module is used for supplementing energy for the unmanned aerial vehicle. Specifically, after the express base command dispatching center sends an express dispatching instruction, the unmanned aerial vehicle can autonomously transport the express from the express receiving and storing module or transport the express to the express receiving and storing module, so that a user can send or receive the express at the express receiving and storing module. In addition, the energy charging module arranged in the intelligent unmanned aerial vehicle express system can charge energy for unmanned aerial vehicles with insufficient energy, so that the unmanned aerial vehicle which cannot work due to lack of energy is manually recovered and the step of charging energy for the unmanned aerial vehicle is omitted, the sending and receiving of express become intelligent, and the conveying efficiency of express is accelerated.
Drawings
Fig. 1 is a schematic layout diagram of an intelligent unmanned aerial vehicle express system of the present invention.
Fig. 2 is a schematic connection diagram of an unmanned aerial vehicle, a standard express box and an express pile of the intelligent unmanned aerial vehicle express system.
Fig. 3 is a schematic connection diagram of an unmanned aerial vehicle and a charging pile of the intelligent unmanned aerial vehicle express system.
Fig. 4 is a schematic structural diagram of a standard express box of the intelligent unmanned aerial vehicle express system of the invention.
Fig. 5 is a partial cross-sectional view of an express stake of the intelligent unmanned aerial vehicle express system of the present invention.
Fig. 6 is a partial cross-sectional view of a drone of the intelligent drone express system of the present invention.
Fig. 7 is a partial cross-sectional view of a charging stake of the intelligent unmanned aerial vehicle express system of the present invention.
Fig. 8 is a schematic structural diagram of an intelligent unmanned aerial vehicle of the intelligent unmanned aerial vehicle express system of the present invention.
Fig. 9 is a side cross-sectional view of the intelligent drone express system of the present invention.
Fig. 10 is a partial cross-sectional view of a charging stake of the intelligent unmanned aerial vehicle express system of the present invention.
Fig. 11 is a schematic flow chart of the intelligent unmanned aerial vehicle express system of the invention when landing.
Fig. 12 is a schematic communication flow diagram of the intelligent unmanned aerial vehicle express system of the present invention.
Detailed Description
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention. Those skilled in the art can adapt it as desired to suit a particular application.
It should be noted that, in the description of the present invention, terms such as "upper", "lower", "vertical", and the like, refer to directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
Referring to fig. 1, fig. 2 and fig. 3, fig. 1 is a layout schematic diagram of an intelligent unmanned aerial vehicle express system of the present invention, fig. 2 is a connection schematic diagram of an unmanned aerial vehicle, a standard express box and an express pile of the intelligent unmanned aerial vehicle express system of the present invention, and fig. 3 is a connection schematic diagram of an unmanned aerial vehicle and a charge pile of the intelligent unmanned aerial vehicle express system of the present invention. As shown in fig. 1, preferably, 8 express base stations 2 are arranged around an express base command dispatching center 1 of an intelligent unmanned aerial vehicle express system, wherein the express base stations 2 are composed of an express receiving and storing module, an energy charging pile 4 (energy charging module) and an unmanned aerial vehicle 6, and the express receiving and storing module comprises an express pile 3 and a standard express box 5. Specifically, preferably, 4 express delivery piles 3, 2 energy filling piles 4 and 2 unmanned aerial vehicles 6 are arranged in each express delivery base station 2. In order to meet the docking and charging requirements of the unmanned aerial vehicle 6, the number of unmanned aerial vehicles 6 in each express delivery base station 2 is set to be not less than the number of charging piles 4 (the number of unmanned aerial vehicles 6 can also be smaller than the number of charging piles 4 in special cases). In addition, since the express base station 2 temporarily stores the express to be mailed in addition to receiving the express, in order to meet the functional requirement of the express base station 2 for receiving and sending the express, generally, the number of the express piles 3 in the express base station 2 needs to be greater than the number of the standard express boxes 5 (the two numbers may be equal). Specifically, this intelligent unmanned aerial vehicle express delivery system includes 1 express delivery base command dispatch center 1 in this embodiment, and express delivery base command dispatch center 1 still is provided with 8 express delivery base stations 2 all around, includes 4 express delivery stake 3, 2 fills can stake 4 and 2 unmanned aerial vehicle 6 in every express delivery base station 2, and wherein 3 express delivery stake configuration have standard express delivery boxes. According to the orientation of fig. 2, when the unmanned aerial vehicle 6 conveys the standard express box 5 onto the express stake 3 (or conveys the standard express box 5 away from the express stake 3), the lower part of the unmanned aerial vehicle 6 is connected with the upper end of the standard express box 5, and the box body at the lower end of the unmanned aerial vehicle is placed on the structure of accommodating the standard express box 5 above the express stake 3 (or separates the box body at the lower end of the standard express box 5 from the structure of accommodating the standard express box 5 above the express stake 3); according to the orientation of fig. 3, when the unmanned aerial vehicle 6 is under-energized, the unmanned aerial vehicle 6 will land on the charging structure above the charging pile 4 to supplement energy. Regarding this example, it should be noted that, although the position of the express base station 2 is described around the express base command and dispatch center 1 in the embodiment, this is merely exemplary, and the specific layout is not limited to square surrounding, for example, the express base station 2 may be distributed around the express base command and dispatch center 1 according to the uneven express flow, and the specific layout needs to be reasonably set according to factors such as the topography characteristics, the express flow in each region, and the like, so long as the express transport requirement of each region can be satisfied and the express can be received and fetched by a user conveniently. In addition, the number of the express base station 2, the express stake 3, the energy filling stake 4, the standard express box 5 and the unmanned aerial vehicle 6 is not limited, and the specific number thereof can be set according to actual needs (express flow rate and the like).
Referring to fig. 4, fig. 4 is a schematic structural diagram of a standard express box according to the present invention, before an unmanned aerial vehicle 6 transports an express, the standard express box 5 is required to be loaded with the express, and the unmanned aerial vehicle 6 is connected to the standard express box 5 to carry out the transportation of the express. As shown in fig. 2, the standard express box 5 is preferably in a spindle shape as a whole, a lower cone 8 is connected to the lower side of a cylindrical middle shell 7, and an upper cone 9 is connected to the upper side of the middle shell 7. Preferably, the upper end face of the middle shell 7 of the standard express box is provided with a cover plate 10, and an express access hole 11 is formed in the upper cone 9 of the cover plate, so that when an express is sent, the express can be placed into the standard express box 5 through the express access hole 11 (or taken out from the standard express box 5). The top of the upper cone 9 of the standard express box 5 is also provided with a connecting device 12, and the connecting device 12 is integrally formed on the upper cone 9 or fixedly connected with the upper cone 9. Preferably, the connecting device 12 is provided with a locking ring structure (above the indication line of the connecting device 12 in fig. 4), and the locking ring is used for matching with a locking device (which will be described below in connection with fig. 9) on the unmanned aerial vehicle 6, so that the standard express box 5 can be fixed on the body through the connecting device 12 when the unmanned aerial vehicle 6 transports an express. Regarding this example, it should be noted that the installation mode and the installation position of the cover plate 10 inside the standard express box 5 are not limited, as long as the cover plate 10 is movably openable inside the standard express box 5, and the cover plate 10 can cover one end face of the lower cone 8 (or the middle shell 7) in the closed state, and not only this, those skilled in the art can understand that the upper cone 9, the lower cone 8 and the middle shell 7 may be integrally formed, but also may be separate parts connected together, and the materials selected for the standard express box 5 only meet the strength requirement and the weight requirement of the transportation express. In addition, the lower cone 8 of the standard express box 5 in the embodiment adopts an inverted cone shape, so that the center of gravity of the express is close to the central axis of the standard express box 5 as much as possible, the stability of the unmanned aerial vehicle 6 in transporting the standard express box 5 is increased, and furthermore, when the standard express box 5 is hung by the intelligent unmanned aerial vehicle 6 and is ready to fall onto the express pile 3, the accurate butt joint process of the bottom end of the standard express box 5 and the part of the express pile 3 for bearing the standard express box 5 can be omitted due to the shape of the inverted cone 8, so that the standard express box 5 can rapidly fall onto the express pile 3.
Referring next to fig. 5, 6 and 7, fig. 5 is a partial sectional view of an express stake of the intelligent unmanned aerial vehicle express system of the present invention, fig. 6 is a partial enlarged view of a portion a of fig. 5, and fig. 7 is a partial enlarged view of a portion B of fig. 5. As shown in fig. 5, 6 and 7, the express stake of the intelligent unmanned aerial vehicle express system of the invention comprises a base 13, an outer sleeve 16, a screw rod 17, a screw 20 and a lifting rod 21. The upper end surface of the base 13 is fixedly connected with the lower end surface of the cylindrical outer sleeve 16 (the upper end surface and the lower end surface are coaxially connected), and an assembly body of a screw rod 17 and a screw 20 is coaxially arranged in the outer sleeve 16. Preferably, the overall shape of the base 13 is cylindrical, and the top end of the cylinder is provided with a circular end face, and the bottom of the cylinder is provided with a flange structure 14. Correspondingly, the lower end of the outer sleeve 16 is provided with a circular end face with the same outer diameter as the base 13, namely, the upper end face of the base 13 is fixedly connected with the lower end face of the outer sleeve 16. A lifting rod 21 is arranged at the top of the jacket 16, and the lifting rod 21 is fixedly connected with a nut 20 arranged on the screw rod 17. Preferably, the bottom ends of the screw 20 and the lifting rod 21 are both provided with flange structures, that is, when the two are connected, the lower end surface of the flange structure of the lifting rod 21 is fixedly connected with the upper end surface of the flange structure of the screw 20; in addition, the express stake of the intelligent unmanned aerial vehicle express system of the invention also comprises a motor 15, a screw rod fixing component 18, a lower anti-collision block 19, a lifting rod fixing piece 22, an upper anti-collision block 23, an express box bin 24 and an unmanned aerial vehicle landing photoelectric indication system 25 arranged at the top end of the express box bin 24. Specifically, the motor 15 is installed inside the base 13, and the output structure of the motor 15 is connected to the bottom end of the screw 17. Preferably, the motor 15 is a torque motor. The screw 17 is coaxially and axially immovably installed inside the base 13 and the jacket 16 by a screw fixing assembly 18, and an upper end surface of the screw fixing assembly 18 is fixedly connected with a lower crash block 19. On the other hand, the lifting rod 21 is restricted by a lifting rod fixing member 22 installed at the top of the outer jacket 16 to be capable of lifting movement only in the vertical direction. The top of lifter 21 still with express delivery box storehouse 24 terminal surface fixed connection. Preferably, the express box bin 24 is conical in shape, and its conical receiving structure is the same as (or slightly larger than) the lower cone of the standard express box 5, so that the express box bin can receive the standard express box.
Preferably, the lead screw fixation assembly 18 includes a bearing housing 26, a bearing 27 mounted inside the bearing housing 26, and a bearing gland 29. Specifically, the screw 17 is provided with a shoulder structure (not shown in the drawings) at which a spacer 28 is fitted (the spacer 28 is only for the mounting position of the bearing 27). According to the orientation of fig. 6, the upper end surface of the inner ring of the bearing 27 abuts against the lower end of the spacer 28, and the bearing 27 is mounted inside the bearing housing 26, i.e., the inner ring of the bearing 27 is fitted with the screw 17, and the outer ring thereof is fitted with the inner surface of the lower end of the bearing housing 26. The bearing housing 26 is mounted coaxially with the outer sleeve 16 (which may also be a clearance fit). To fix the mounting position of the bearing 27 on the screw 17, a spacer 28 (the number of spacers 28 is 2 and is not shown in the spacer drawing here) is further mounted at the lower end of the bearing 27, the outer side surface of the spacer 28 is coaxially fitted with a bearing cover 29, and the entire screw fixing assembly 18 is fixed on the screw 17 by a lock nut 30.
According to the fig. 6 orientation, the lifter fixture 22 is preferably an annular anti-rotation sleeve 31. Specifically, the outside of lifter 21 is provided with the anti-rotation keyway 32 of circumference, prevents changeing the cover 31 and assembles in anti-rotation keyway 32, and its lower terminal surface and the up end fixed connection of overcoat 16 for lifter 21 can more stably move in the lift process, prevents that it from appearing rocking, circumstances such as rotate. Preferably, the top end of the screw rod 17 is also provided with an upper anti-collision block 23 and is fixed by an anti-falling locking nut 33, so that the situation that the nut 20 collides with the inner wall of the lifting rod 21 in the lifting process, the nut 20 falls off from the top end of the screw rod 17 and the like is prevented.
When the lifting rod 21 works, namely, when the express box bin 24 is driven to ascend or descend, the motor 15 positively rotates or reversely rotates to output power to drive the screw rod 17 to rotate, the nut 20 matched with the screw rod 17 moves upwards or descends on the screw rod 17 along the axial direction of the screw rod, and then the lifting rod 21 fixedly connected with the nut 20 and the express box bin 24 fixed at the top end of the lifting rod 21 are driven to ascend or descend. In this regard, it will be appreciated by those skilled in the art that although the lifting device of the express pile is described in connection with the screw lifting structure in the embodiment, the structure of the lifting device is not limited, and for example, a hydraulic lifting device may be used, so long as the lifting device is provided to enable the portion of the express pile containing the express (i.e. the express box bin 24) to be lifted. In addition, the lifting height of the express box bin is not limited, and the specific height (the highest height and the lowest height) of the express box bin is set according to factors such as the surrounding environment of the express pile, the average height of people, the stability of the express pile and the like.
Referring to fig. 8 and 9 again, fig. 8 is a schematic structural diagram of an intelligent unmanned aerial vehicle of the intelligent unmanned aerial vehicle express system of the present invention, and fig. 9 is a side sectional view of the connection between the intelligent unmanned aerial vehicle of the intelligent unmanned aerial vehicle express system of the present invention and a standard express box. As shown in fig. 8 and 9, the body 34 of the intelligent unmanned aerial vehicle includes a fuselage, wings, and other structures, and an intelligent system (not shown in fig. 8) is further provided on the body 34, so that the intelligent unmanned aerial vehicle can cooperate with the command and dispatch center of the express base to complete the express transportation process. According to the orientation of fig. 8, the intelligent unmanned aerial vehicle's organism 34 below is provided with express delivery box accommodation chamber 35, locking device 37 and energy storage device 38. Specifically, the express box holding cavity 35 is arranged at the center of the lower side of the machine body 34, the top end of the express box holding cavity is provided with the locking device 37, the outer side surface of the express box holding cavity 35 is also connected with the energy storage device 38, and the energy storage device 38 is used for providing energy, such as electric energy, for the intelligent unmanned aerial vehicle. For adapting to the shape of a standard express box, the express box accommodating cavity 35 is preferably in a shape of a right circular cone. In addition, the underside of the body 34 (below the wing in fig. 8) is provided with an unmanned aerial vehicle landing sensor camera 36 for assisting the unmanned aerial vehicle landing photoelectric indication system 25 to work together with it to complete the accurate landing of the intelligent unmanned aerial vehicle.
When intelligent unmanned aerial vehicle needs transportation express delivery, intelligent unmanned aerial vehicle descends on standard express delivery box 5 under unmanned aerial vehicle descending sensing camera 36 and unmanned aerial vehicle descending photoelectric indication system 25's instruction, and at this moment, intelligent unmanned aerial vehicle's express delivery box holds chamber 35 and the laminating of the last centrum 9 of standard express delivery box 5, and intelligent unmanned aerial vehicle's locking device 37 aligns with the connecting device 12 of standard express delivery box 5 (i.e. connecting device 12 inserts locking device 37). After falling, the locking device 37 works to lock the connecting device 12 of the standard express box 5 and fix the standard express box 5 on the intelligent unmanned aerial vehicle. The right circular cone-shaped express box accommodating cavity 35 can prevent the standard express box 5 from shaking in the transportation process. Preferably, the locking device 37 includes an electromagnetic lock 39 and a locking pin 40 disposed on the electromagnetic lock. Specifically, when the locking device 37 is operated, the electromagnetic lock 39 drives the lock pin 40 to move toward the limiting ring on the connecting device 12, so that the end of the lock pin 40 is clamped in and locked with the limiting ring on the connecting device 12. When the intelligent unmanned aerial vehicle is separated from the standard express box 5, the electromagnetic lock 39 drives the lock pin 40 to move outwards to the limiting ring on the connecting device 12, so that the end part of the lock pin 40 exits from the limiting ring of the connecting device 12, and the standard express box 5 is separated from the intelligent unmanned aerial vehicle. It should be noted that, the locking mode of the locking device 37 is not limited to an electromagnetic lock structure with a lock pin, and correspondingly, the structure of the connecting device 12 matched with the locking device is not limited to a limiting ring, so long as the locking device can fix the standard express box 5 on the intelligent unmanned aerial vehicle.
Referring next to fig. 10 again, fig. 10 is a partial cross-sectional view of the charging stake of the intelligent unmanned aerial vehicle express system of the present invention. As shown in fig. 10, the energy charging pile of the intelligent unmanned aerial vehicle express system of the present invention includes an energy charging pile base 41, a housing 42 and a landing platform 45. Specifically, according to the orientation of fig. 12, the upper end surface of the charging pile base 41 is connected to the lower end of the housing 42, and the upper portion of the housing 42 is also connected to the landing stage 45. Preferably, the charging pile base 41 is provided with mounting holes 47, wherein fasteners are assembled to secure the charging pile to the ground. Preferably, the landing platform 45 is a hollow shell of a right circular cone shape, and is shaped to mate with the receiving cavity 35 of the express box of the intelligent unmanned aerial vehicle (the mating surfaces of the two just mate when mated). In addition, an energy source device 43 is provided inside the housing 42, an energy source transport device 44 is provided inside the landing 45, and the top of the energy source device 43 is connected to the energy source transport device 44. Furthermore, the landing platform 45 is provided with an unmanned aerial vehicle landing photoelectric indication system 25 at the bottom outer edge, and is further provided with a fixing device 46 thereon (the fixing device 46 has the same structure and shape as the connecting device 12). The unmanned aerial vehicle landing photoelectric indication system 25 is used for assisting an unmanned aerial vehicle landing sensing camera 36 on the unmanned aerial vehicle, so that the intelligent unmanned aerial vehicle 6 can accurately fall on the energy filling pile. The fixing device 46 is used for fixing the intelligent unmanned aerial vehicle falling on the energy charging pile. When the intelligent unmanned aerial vehicle 6 is detected to be insufficient in energy source by the express base command and dispatch center 1, the intelligent system on the intelligent unmanned aerial vehicle 6 receives the command and commands the intelligent unmanned aerial vehicle to fall on a charging pile with the minimum distance to charge energy to the intelligent unmanned aerial vehicle 6 by the express base command and dispatch center 1. The intelligent unmanned aerial vehicle 6 falls on the landing platform 45 under the command of unmanned aerial vehicle landing photoelectric indication system 25 and unmanned aerial vehicle landing sensing camera 36, and locking device 37 on the intelligent unmanned aerial vehicle 6 cooperates and locks with fixing device 46, prevents that intelligent unmanned aerial vehicle from filling can the stake and dropping at filling the in-process. The energy source device 43 of the energy charging pile emits energy and transmits the energy to the energy storage device 38 of the intelligent unmanned aerial vehicle through the energy source conveying device 44 until the energy storage device of the intelligent unmanned aerial vehicle is full of energy. After the charging is finished, the energy source device 43 stops sending out energy, and the intelligent unmanned aerial vehicle stays on the charging pile to wait for receiving the express delivery conveying command.
Referring next to fig. 11, fig. 11 is a schematic flow chart of the intelligent unmanned aerial vehicle express system of the present invention when the intelligent unmanned aerial vehicle lands. As shown, the optical registration flow of the intelligent unmanned aerial vehicle landing is as follows:
1, positioning an intelligent unmanned aerial vehicle in the middle of flight through GPS or inertial navigation equipment, and determining the position of the unmanned aerial vehicle under a geocentric coordinate system or a positioning pile (an unmanned aerial vehicle express pile or an unmanned aerial vehicle energy charging pile) coordinate system (expressed as longitude and latitude and altitude under the geocentric coordinate system; expressed as x, y and z values under a three-dimensional orthogonal coordinate system under the positioning pile coordinate system);
2, carrying out attitude determination through inertial navigation equipment (here: a gyroscope), and determining angles of 3 channels of pitching, yawing and rolling of the unmanned aerial vehicle;
3, determining the speed of the unmanned aerial vehicle through a GPS and an inertial navigation device (here, an accelerometer);
determining whether the positioning pile is in the sight distance of the camera according to the unmanned aerial vehicle position information, if so, starting the camera, otherwise, continuing to navigate and fly;
5, according to the starting conditions, before the camera is opened, the posture of the camera body system relative to the unmanned aerial vehicle body system needs to be adjusted, so that the optical axis direction of the camera is aligned to the position of the positioning pile, at the moment, the position, posture errors and the like are difficult to ensure that the positioning pile is in the field of view of the camera or in the center of the camera, and the posture adjustment is needed according to the image registration result in the follow-up process;
6, shooting an image in real time when the camera is started, preprocessing the image, wherein preprocessing contents comprise: compensating the blurring caused by the motion, removing noise, improving contrast and the like;
7, extracting information such as characteristic points, edges, contours, colors and the like in the real-time image, converting a coordinate system, and correcting elliptical deformation caused by projection of the conical section to a camera imaging plane at a certain angle;
8, comparing the processed image with reference data of optical characteristics (an unmanned aerial vehicle landing photoelectric indication system) of a pre-bound positioning pile, wherein the comparison content is information such as characteristic points, edges, outlines, color gray scales and the like;
9, if the processed image is matched with the reference image, calculating the course deviation (or attitude deviation) of the unmanned aerial vehicle according to the real-time attitude information, the binding installation error and other information, adjusting the course and circularly carrying out the steps; if the images are not matched, the gesture (or the optical axis direction) of the camera is adjusted, scanning is carried out in a certain angle, and a positioning pile is found, and the steps are repeated until the images are matched;
And 10, implementing landing after the unmanned aerial vehicle meets the landing condition.
Referring to fig. 12 again, fig. 12 is a schematic diagram of a communication flow of the intelligent unmanned aerial vehicle express system of the present invention. As shown in fig. 12, the communication principle between the intelligent unmanned aerial vehicle express system and the communication terminal is as follows:
1, an unmanned plane, a communication terminal and a communication base station (an express base command dispatching center) are positioned in the same communication network;
2, the unmanned aerial vehicle performs duplex communication with the communication base station; the communication terminal performs duplex communication with the communication base station; the unmanned aerial vehicle and the communication terminal can not directly communicate; the method has the meaning that the unmanned aerial vehicle is controlled by the communication base station, but the communication terminal can indirectly upload legal information or check unmanned aerial vehicle state information through an interface opened by the communication base station;
The functions of the communication terminal include: checking the standby state of the unmanned aerial vehicle (no loaded express mail-idle available, loaded express mail-standby, express mail delivery, return journey, etc.); selecting an idle available unmanned aerial vehicle to establish communication connection, wherein the unmanned aerial vehicle receives legal information transferred by a communication base station; uploading the express mail information (address, weight, number of express mail, etc.); setting a flight path of the unmanned aerial vehicle (the unmanned aerial vehicle can be selected to automatically set or upload the flight path manually, if the unmanned aerial vehicle is automatically set, the flight path is planned by the communication base station and the unmanned aerial vehicle, and if the unmanned aerial vehicle is uploaded, the flight path is checked by the communication base station to be legal and legal, and then the flight path is transmitted to the unmanned aerial vehicle); after loading, informing the unmanned aerial vehicle that the unmanned aerial vehicle can take off; the flight condition (flight position, attitude and the like) of the current delivery unmanned aerial vehicle can be checked; finding a courier information error may inform the drone to modify heading or to return directly, etc. The communication terminal is intelligent communication equipment such as a mobile phone or a computer.
In the embodiment, the express receiving and storing module and the energy charging module of the intelligent unmanned aerial vehicle express system are respectively arranged into the forms of the express piles and the energy charging piles, so that the installation space is saved, the layout scheme of the intelligent unmanned aerial vehicle express system can be optimized according to the express flow of different areas, and the reasonable and decentralized arrangement mode of the express piles and the energy charging piles not only greatly ensures the express conveying efficiency in each area, but also brings convenience for users to fetch and deliver the express.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will fall within the scope of the present invention.
Claims (5)
1. The intelligent unmanned aerial vehicle express delivery system is characterized by comprising an express base dispatching center, an unmanned aerial vehicle, an express receiving and storing module and an energy charging module, wherein the express base dispatching center is used for controlling the operation of the unmanned aerial vehicle, the express receiving and storing module and the energy charging module, the unmanned aerial vehicle is used for transporting express, the express receiving and storing module is used for receiving and storing the express transported by the unmanned aerial vehicle, and the energy charging module is used for supplementing energy for the unmanned aerial vehicle;
The express receiving and storing module comprises an express pile, wherein the express pile is used for placing express;
The express receiving and storing module further comprises a standard express box for containing express so that the express can be transported by the unmanned aerial vehicle or stored on the express stake;
The standard express box is hollow spindle-shaped, the lower side of a cylindrical middle shell is connected with a lower cone, the upper cone is connected with the side of the middle shell, the top of the upper cone is also provided with a connecting device, and the connecting device is provided with a locking ring structure;
The express pile comprises a lifting device and an express box bin, wherein the express box bin is conical in shape, and the conical accommodating structure of the express box bin is identical to or slightly larger than the lower cone of the standard express box;
an express box accommodating cavity, a locking device and an energy storage device are arranged below the body of the intelligent unmanned aerial vehicle; the shape of the express box accommodating cavity is a regular circular cone, so that the standard express box can be prevented from shaking in the transportation process; the locking device comprises an electromagnetic lock and a lock pin arranged on the electromagnetic lock; when the locking device works, the electromagnetic lock drives the lock pin to move into the locking ring on the connecting device, so that the end part of the lock pin is clamped in the locking ring on the connecting device and locked; the energy storage device is arranged on the outer side surface of the accommodating cavity of the express box;
The energy charging module comprises an energy charging pile, an energy charging device is arranged on the energy charging pile, the energy charging device charges energy to the unmanned aerial vehicle stopped and lowered on the energy charging pile, and a mechanism connected with and separated from the unmanned aerial vehicle is arranged at the top of the energy charging pile; the energy charging pile comprises an energy charging pile base, a shell and a landing platform; the landing platform is the hollow casing of right circular cone shape, and its shape can hold the chamber cooperation with intelligent unmanned aerial vehicle's express delivery box, and the two mating surface just laminate during the cooperation.
2. The intelligent unmanned aerial vehicle express delivery system of claim 1, wherein the express delivery receiving and storing module and the energy charging module further comprise an unmanned aerial vehicle landing photoelectric indication system respectively, and the unmanned aerial vehicle landing photoelectric indication system is matched with an unmanned aerial vehicle landing sensing camera arranged on the unmanned aerial vehicle to guide the unmanned aerial vehicle to finish landing.
3. The intelligent unmanned aerial vehicle express delivery system of claim 1, wherein the unmanned aerial vehicle further comprises an active connection and separation device for connecting or releasing the standard express box for connecting or disconnecting the energy charging pile.
4. The intelligent unmanned aerial vehicle express delivery system of claim 1, wherein the unmanned aerial vehicle comprises a first receiving cavity for positively receiving an upper portion of the standard express box or an upper portion of a filling pile.
5. The intelligent unmanned aerial vehicle express delivery system of claim 1, wherein the express stake includes a second accommodation cavity for positively accommodating a lower portion of the standard express box.
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| CN109583802B (en) * | 2017-09-29 | 2022-09-30 | 北京京东乾石科技有限公司 | Unmanned distribution network system and scheduling method |
| CN107745807A (en) * | 2017-10-17 | 2018-03-02 | 佛山市神风航空科技有限公司 | A kind of device that logistics transportation is carried out using multi-rotor unmanned aerial vehicle |
| CN107977817B (en) * | 2017-12-03 | 2022-03-08 | 中国直升机设计研究所 | Cargo distribution system and method based on unmanned aerial vehicle |
| CN108309008B (en) * | 2018-02-07 | 2022-08-05 | 上海壹佰米网络科技有限公司 | Storage box and matching mechanism thereof |
| CN108455147A (en) * | 2018-03-12 | 2018-08-28 | 王丽萍 | A kind of automation transmitting-receiving counter |
| CN108898327B (en) * | 2018-08-15 | 2023-06-20 | 华南理工大学 | Full-automatic express logistics system for science and technology/industrial park and operation method thereof |
| CN111445176A (en) * | 2019-01-17 | 2020-07-24 | 顺丰科技有限公司 | Operation method, device, equipment, storage medium and system of logistics unmanned aerial vehicle |
| CN110550199B (en) * | 2019-09-03 | 2023-06-02 | 南京唐壹信息科技有限公司 | Cantilever type agricultural transportation unmanned aerial vehicle |
| CN112668793B (en) * | 2020-12-31 | 2022-09-13 | 广州极飞科技股份有限公司 | Supply point location determining method, operation planning method and related device |
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