CN108520375B

CN108520375B - Distributed logistics system and method based on base station

Info

Publication number: CN108520375B
Application number: CN201810297412.4A
Authority: CN
Inventors: 马炎军; 陆英玮; 朱峥; 陈赟康; 傅恒
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-03-30
Filing date: 2018-03-30
Publication date: 2022-02-01
Anticipated expiration: 2038-03-30
Also published as: CN108520375A

Abstract

The invention discloses a distributed logistics system and a method based on a base station, wherein the logistics system comprises: the control center positions based on the delivery point and commands the nearest base station of the delivery point and the platform take-off unmanned aerial vehicle to take in the goods; the unmanned aerial vehicle utilizes the satellite and the base station navigation to take and deliver goods; when the delivery voyage exceeds the voyage of the unmanned aerial vehicle, carrying out relay transportation on the unmanned aerial vehicle; carrying out cross-region cargo transportation of the unmanned aerial vehicle when the unmanned aerial vehicle delivers goods in a cross-region; and after the unmanned aerial vehicle arrives at the goods receiving point, the control center checks the user information to unload the goods. Meanwhile, the invention also provides a distributed logistics method based on the base station, which can improve the traditional logistics freight mode at present and improve the practicability and efficiency of unmanned aerial vehicle logistics.

Description

Distributed logistics system and method based on base station

Technical Field

The invention relates to the technical field of logistics distribution, in particular to a distributed logistics system and a distributed logistics method based on a base station.

Background

The development of internet technology has led to a rapid increase in logistics traffic. But traditional logistics industry, all links are controlled and are accomplished by the manpower, along with the human cost with rent increase of place expense, caused the commodity circulation enterprise to pay more and more, all select to improve the delivery cost and close the transfer station in some less sections of delivery volume to this most logistics company, this has in turn caused harmful effects to user experience. In addition, most of the distributors use electric two-wheel and three-wheel vehicles for delivery, and the volume and weight of the vehicles mostly exceed the national standard limit, which is illegal. When the deliverer delivers goods, although the satellite positioning assistance is provided, the planning efficiency of the delivery route is still low for the immature area, and some deliverers can go against the traffic rules to ride in order to save time, which affects the smooth traffic and even causes casualty.

Some scientific and technological enterprises begin to research and utilize unmanned equipment for cargo transportation, and the most favored type of the scientific and technological enterprises is unmanned aerial vehicles which can utilize sky space for cargo delivery to avoid ground traffic jam; the logistics transportation vehicle does not need manual expenditure and has no limitation of working time, and is a promising logistics transportation vehicle in the future. However, unmanned aerial vehicle logistics currently has many drawbacks, such as:

1) limited cruising ability

The unmanned aerial vehicle adopts a storage battery as power and is limited by low energy density of the battery, endurance and limited load carrying capacity; the fuel system has large volume, high noise and limited storage space.

2) Limited parking space

The centralized unmanned aerial vehicle dispatching management needs to build a large-scale regional parking dispatching center, so that the investment is large and effective management and dispatching are difficult to achieve.

3) Limited applicable scenarios

The unmanned aerial vehicle express delivery that is more popular at present is mainly applied to the scene of partial teledelivery such as suburb, rural area to be limited to security and city flight obstacle problem.

4) Difficulty of flight management

A large number of manufacturers use unmanned aerial vehicles in an unordered manner, so that the flight management and coordination difficulty is high, and the flight safety is not controlled; at present, unmanned aerial vehicle manufacturers mainly want to avoid collision by means of sensors, and unmanned aerial vehicles are small in target and difficult to coordinate and isolate mutually.

5) Communication security

The unmanned aerial vehicle controlled by the WIFI and the microwave radio station has poor safety performance and is easy to be captured by man-made interference; unmanned aerial vehicles controlled by satellites are mostly applied to the military field; the unmanned aerial vehicle controlled by the base station only exists in the conception at present, and a blind area and a signal overlapping interference area exist.

6) Difficulty of delivery accuracy

The unmanned aerial vehicle is used for carrying out directional tasks, if the unmanned aerial vehicle is used for a specific receiving and dispatching station, the positioning is accurate and relatively accurate, but the specific receiving and dispatching station is generally low in height, insufficient space parking dispatching is lacked, the centralized construction cost is overlarge, and the accuracy of tail end delivery to a user is poor.

Although the above problems and defects exist, it is obvious that with the continuous development of science and technology, many of the problems will be solved, and the unmanned plane cargo transportation will be an irreversible trend and trend.

Disclosure of Invention

The invention discloses a distributed logistics system and a distributed logistics method based on a base station, wherein the system comprises a three-layer structure, the upper layer is a control center, the middle layer is the base station, the lower layer is an unmanned aerial vehicle, and the three-layer structure forms a flight network;

the control center is connected with one or more than two base stations, regulates and controls the operation of all the base stations and the unmanned aerial vehicle of the middle layer and the lower layer, and plays a role of a coordinator;

the base station is connected with one or more than two unmanned aerial vehicles, and the base station is used as a relay point for information interaction between an upper layer and a lower layer of a flight network, provides network-access flight identification codes and positioning service for the lower layer of unmanned aerial vehicles, and plays a role of routing;

unmanned aerial vehicle carries out the communication with nearest basic station and is connected to can be connected with the interior unmanned aerial vehicle communication of parcel, accept upper control center's instruction, through collecting self operation data and the interior environmental data of parcel simultaneously, and transmit to upper control center and with layer unmanned aerial vehicle, play "terminal" effect. The intra-parcel environmental data includes weather conditions and traffic flow.

The unmanned aerial vehicle comprises an unmanned aerial vehicle central processing module, an unmanned aerial vehicle data storage module, a loading control module, an unmanned aerial vehicle identity recognition module, an unmanned aerial vehicle information interaction module, an environment sensing module and an audio module;

the unmanned aerial vehicle central processing module is responsible for processing data provided by the unmanned aerial vehicle data storage module;

the unmanned aerial vehicle central processing module comprises a flight control module, a route planning module and a fault processing module, and the flight control module is responsible for controlling the flight attitude of the aircraft; the route planning module controls the flight route of the unmanned aerial vehicle in real time according to the received positioning information; the fault processing module is responsible for emergency processing when the unmanned aerial vehicle has faults;

the unmanned aerial vehicle data storage module is responsible for storing data provided by the unmanned aerial vehicle information interaction module and feeding back the processed data to the unmanned aerial vehicle information interaction module;

the loading control module is responsible for mechanical control of grabbing and unloading goods and feeding back loading and unloading state information;

the unmanned aerial vehicle identity recognition module is responsible for storing, modifying and providing identity information of the unmanned aerial vehicle, and the identity information of the unmanned aerial vehicle comprises an unmanned aerial vehicle number and a base station temporary identification code;

the unmanned aerial vehicle information interaction module is responsible for interaction between unmanned aerial vehicle operation data and environmental data in a parcel;

the environment perception module is responsible for perceiving, identifying and judging visual information and weather information, the visual information comprises buildings, ground personnel, vehicles and flyers, and the weather information comprises temperature, humidity, wind power and rain and fog.

The audio module is responsible for alarming to the ground in case of emergency forced landing and prompting whether the identity verification is successful or not when the user collects goods.

The base station comprises a base station central processing module, a base station data storage module, a positioning module, a base station identity identification module and a base station information interaction module;

the base station central processing module is responsible for processing the data provided by the base station data storage module;

the base station data storage module is responsible for storing the data provided by the base station information interaction module and feeding back the processed data to the base station information interaction module;

the positioning module provides position positioning information for the unmanned aerial vehicle in delivery;

the base station identity identification module is responsible for providing a base station temporary identification code for the unmanned aerial vehicle and granting the unmanned aerial vehicle the flight qualification of the area;

and the base station information interaction module is responsible for interaction between the unmanned aerial vehicle operation data and the environmental data in the area.

The control center comprises a control center central processing module, a control center data storage module, a control center identity recognition module and a control center information interaction module;

the control center central processing module is responsible for processing the data provided by the control center data storage module;

the control center data storage module is responsible for storing the data provided by the control center information interaction module and feeding back the processed data to the control center information interaction module;

the control center central processing module comprises an optimization calculation module which is responsible for optimizing a logistics transportation planning algorithm;

the control center identity recognition module is responsible for generating and updating a base station temporary identification code, recognizing the identity of the unmanned aerial vehicle in the area, and auditing the identity of the unmanned aerial vehicle in the cross-area;

and the control center information interaction module is responsible for interaction of the unmanned aerial vehicle operation data and the environmental data in the area.

The invention also discloses a distributed logistics method based on the base station, which specifically comprises the following steps: dividing areas with different sizes according to the object flow and the distribution of base stations (areas with large object flow are generally more people, and the distribution of base stations in places with more people is denser, under the normal condition, one base station is responsible for a plurality of cells taking the base station as the center, and if the object flow is large enough, one base station is responsible for logistics distribution of one cell, and is flexibly allocated according to the demand);

according to the data of the State postal service bureau, the annual delivery volume of 2017 can reach 360 hundred million pieces, the average annual delivery volume of researchers in a research institute can reach 26 pieces, the average annual delivery volume of each district is estimated according to 1000 households and 3 persons of each household, the daily receiving volume of one district is 213.7 pieces, according to Amazon statistics, about 85% of the deliveries are lighter than 5 pounds (about 2.27Kg), the deliveries are suitable for being sent by an unmanned aerial vehicle, in addition, as a new logistics form, the occupation ratio of unmanned machine parts is assumed to be 10%, and about 18 pieces are provided in one district per day; assuming that the drone delivers, a single pass of 15 minutes (assuming that the charging time is consistent with the duration of a flight, it takes 30 minutes), and 1080 minutes is required for a drone to completely deliver. More than synthesizing, 4 unmanned aerial vehicles of such district distribution can fully ensure fast delivery. By analogy, when a large base station is provided with a plurality of unmanned aerial vehicles, a plurality of cells can be served; when the traffic of a certain cell is increased (temporarily exceeds one time of load), the unmanned aerial vehicle can be scheduled from the peripheral idle area to realize flexible scheduling.

The unmanned aerial vehicle is responsible for the transportation of goods;

the unmanned aerial vehicle is provided with a unique number, and the model, factory configuration, recent flight maintenance records and the like of the unmanned aerial vehicle can be inquired according to the unique number;

the base station provides a parking charging and goods transfer site for the unmanned aerial vehicle;

the control center makes appointment and approval for the unmanned aerial vehicle crossing the flight network;

all the equipment in each area only performs logistics service for the area, and all the areas exist in parallel and independently.

More than two unmanned aerial vehicle parking platforms are arranged in a parcel, the platforms are physically and independently distributed and belong to one part of a nearest base station on the flight network, and the platforms and information of the unmanned aerial vehicles in the platforms and the control center are responsible for the nearest base station; the control center configures the number of the unmanned aerial vehicles according to the parcel commodity flow, and the unmanned aerial vehicles are distributed on the base station platforms in the parcel.

When distributing goods in separate parcel areas, the distribution is performed as follows:

step a1, the user terminal sends a receiving request to the control center;

step a2, the control center central processing module judges the position of the delivery point, and judges the conveying distance according to the position of the delivery point, if the conveying distance is in the range of the unmanned aerial vehicle, the step a 3-the step a11 are executed, otherwise, the step b 1-the step b7 are executed;

step a3, the control center appoints a base station closest to a delivery point and an unmanned aerial vehicle of a platform to deliver goods, and sends an instruction to the base station through the information interaction module of the control center;

step a4, the base station information interaction module receives an instruction and commands the unmanned aerial vehicle to take off;

a5, a route planning module of the unmanned aerial vehicle positions according to the Beidou GPS and the base station, receives goods and then arrives at a goods receiving point, and sends arrival information to the base station closest to the unmanned aerial vehicle through an unmanned aerial vehicle information interaction module;

step a6, the base station nearest to the unmanned aerial vehicle sends the information of the arrival of the unmanned aerial vehicle to a control center through a base station information interaction module;

step a7, the control center information interaction module sends a receiving notice to the user terminal;

step a8, the user uses the terminal to send the receiving request to the information interactive module of the control center;

step a9, after receiving a goods receiving request, the control center information interaction module authenticates the identity of a user through the control center identity recognition module, if the authentication is successful, the unmanned aerial vehicle audio module prompts that the identity is successfully verified, and goods are put down; if the authentication is unsuccessful, the goods are not put, the unmanned aerial vehicle audio module prompts that the identity verification fails, and the unmanned aerial vehicle continues to wait;

step a10, when the unmanned aerial vehicle finishes a delivery task or the remaining power in the standby process is 1.1 times of the power required by the return trip, returning the unmanned aerial vehicle on the original route;

step a11, the unmanned aerial vehicle sends a delivery result to the control center information interaction module through the affiliated base station, and waits for the next service;

b1, the control center central processing module finds the base station which is closest to the receiving point and has an empty position in the maximum voyage of the delivery unmanned aerial vehicle, takes the base station as a transfer base station, orders the transfer base station and the unmanned aerial vehicle of the affiliated platform to deliver the goods, and sends the order to the transfer base station information interaction module;

step b2, the transfer base station central processing module commands the unmanned aerial vehicle responsible for transfer to stand by;

step b3, the control center information interaction module sends the position information of the transfer base station, the serial number of the unmanned aerial vehicle responsible for transfer and a takeoff command to a base station connected with the delivery unmanned aerial vehicle;

b4, commanding the delivery unmanned aerial vehicle to take off by a base station connected with the delivery unmanned aerial vehicle through a base station information interaction module;

b5, the route planning module of the delivery unmanned aerial vehicle goes to a delivery place to pick up goods and then goes to a transfer base station according to Beidou GPS positioning and base station positioning;

step b6, the delivery unmanned aerial vehicle establishes a connection with the transfer base station through the unmanned aerial vehicle information interaction module to obtain a base station temporary identification code provided by the transfer base station identity identification module;

and b7, after the goods delivery unmanned aerial vehicle reaches a parking point of the unmanned aerial vehicle in charge of transfer, handing over goods with the unmanned aerial vehicle in charge of transfer to complete transfer.

When goods are distributed across the parcel, the distribution is carried out according to the following steps:

step c1, the control center of the area where the receiving point is located measures that the delivery point is in other areas through the central processing module of the control center, and step c2 is executed;

step c2, the control center of the parcel with the receiving point sends a cross-district delivery request to the control center of the parcel with the delivery point through the control center information interaction module;

step c3, the control center of the area where the delivery point is located appoints an unmanned aerial vehicle which is closest to the base station of the delivery point and a platform to which the unmanned aerial vehicle belongs to deliver goods through the information interaction module of the control center, and sends an instruction to the base station closest to the delivery point;

step c4, the nearest base station of the delivery point receives the command through the base station information interaction module and designates the delivery unmanned aerial vehicle to take off;

step c5, the control center of the parcel area where the delivery point is located sends the serial number of the delivery unmanned aerial vehicle to the control center where the receiving point is located through the information interaction module of the control center;

step c6, the goods delivery unmanned aerial vehicle carries out Beidou GPS positioning and base station positioning according to the route planning module, and flies to the junction of the two areas after going to receive goods;

step c7, the delivery unmanned aerial vehicle sends a cross-region request and the number of the unmanned aerial vehicle to the nearest base station in the region of the delivery point through the unmanned aerial vehicle information interaction module;

step c8, the base station closest to the receiving point in the area sends the cross-area request and the serial number of the goods-delivery unmanned aerial vehicle to the control center of the area where the receiving point is located through the base station information interaction module;

step c9, the control center of the parcel area where the receiving point is located checks the serial numbers of the unmanned aerial vehicles sent by the control center of the parcel area where the delivery point is located and the delivery unmanned aerial vehicle through the control center identity recognition module, and the identities of the unmanned aerial vehicles are checked;

step c10, if the control center of the film area of the receiving point successfully verifies, the control center information interaction module designates the base station closest to the delivery unmanned aerial vehicle in the film area of the receiving point to be connected with the delivery unmanned aerial vehicle, and the steps c 11-c 13 are executed; if the verification of the control center of the parcel area where the receiving point is located fails, the control center information interaction module specifies a base station which is closest to the delivery unmanned aerial vehicle in the parcel area where the receiving point is located to send a verification failure notification to the delivery unmanned aerial vehicle, and the step c 14-step c18 are executed;

step c11, establishing a base station temporary identification code for the delivery unmanned aerial vehicle through a base station identity identification module by a base station closest to the delivery unmanned aerial vehicle in a parcel area where the receiving point is located;

step c12, the delivery unmanned aerial vehicle closes the contact with the control center of the parcel area where the delivery point is located, and establishes communication connection with the control center of the parcel area where the receiving point is located;

and c13, the delivery unmanned aerial vehicle enters the film area where the receiving point is located to finish the cross-film area delivery.

When goods are distributed in an individual parcel or across parcels, if the unmanned aerial vehicle fault processing module finds that the unmanned aerial vehicle has faults, the following steps are executed:

step c14, after receiving the verification failure information, the delivery unmanned aerial vehicle sends a connection failure message to the control center through a base station which is closest to the delivery unmanned aerial vehicle in the area of the designated delivery point by using the unmanned aerial vehicle information interaction module;

step c15, the control center receives the message, searches the idle base station nearest to the unmanned aerial vehicle in the delivery area and the platform to which the idle base station belongs, and sends a command for receiving the unmanned aerial vehicle to the idle base station;

step c16, the delivery point control center appoints a base station which is closest to the delivery unmanned aerial vehicle in the area where the delivery point is located to send idle base station parking position positioning to the delivery unmanned aerial vehicle through the control center information interaction module;

step c17, the goods delivery unmanned aerial vehicle goes to the parking space where the idle base station belongs, the unmanned aerial vehicle information interaction module is used for connecting the idle base station, and the idle base station establishes a base station temporary identification code for the goods delivery unmanned aerial vehicle through the base station identity identification module;

and step c18, the delivery unmanned aerial vehicle arrives at the idle base station parking position to stop charging, and waits for the next cross-area delivery instruction of the delivery area control center.

When goods are distributed in a single parcel or across parcels, if the unmanned aerial vehicle fault processing module finds that the unmanned aerial vehicle has faults, the following steps are executed

Step d1, the unmanned aerial vehicle fault processing module is provided with a sensor, and can acquire power system parameters (including battery power and motor rotation speed) and balance system parameters (namely, data of a fuselage gyroscope), so as to judge the severity of the fault, if the unmanned aerial vehicle can support the step d2 of continuing flight down, if the severity does not support the step d8 of continuing flight down;

d2, the unmanned aerial vehicle sends an emergency stop request to the nearest base station through the unmanned aerial vehicle information interaction module;

d3, the base station sends the emergency stop request to the control center through the base station information interaction module;

step d4, the control center information interaction module receives the emergency stop request, and inquires whether the base station and the platform to which the base station belongs have the space to receive the unmanned aerial vehicle through the control center central processing module, if the base station has the space to turn down step d5, if the base station does not have the space to turn down step d 6;

d5, the control center orders the base station and the platform to reserve a vacancy to receive the unmanned aerial vehicle through the control center information interaction module, the base station sends the receiving information to the unmanned aerial vehicle through the base station information interaction module, and the step d7 is carried out;

d6, the control center commands the base station and one aerial idle unmanned aerial vehicle in the affiliated platform to take off and fly to other base stations through the control center information interaction module, the base station reserves a vacancy for receiving the unmanned aerial vehicle, and the base station sends the receiving information to the unmanned aerial vehicle;

d7, the unmanned aerial vehicle information interaction module receives the base station information, flies to the base station and the vacant space in the platform to which the base station belongs to descend through the flight control module and the route planning module, and then turns down to d 13;

d8, visually identifying and judging the number of ground personnel by the unmanned aerial vehicle through the environment sensing module, and searching the ground with the sparsest surrounding personnel;

d9, flying or gliding the unmanned aerial vehicle to the ground overhead area with the sparsest personnel;

d10, the unmanned aerial vehicle is forced to land through the flight control module, and meanwhile, the audio module sends out landing warning to remind the following personnel;

d11, the unmanned aerial vehicle sends the forced landing information and the geographical positioning to the nearest base station through the unmanned aerial vehicle information interaction module;

d12, the base station sends the forced landing information and the geographical positioning to the control center through the base station information interaction module;

and d13, dispatching operation and maintenance personnel by the control center to recover the unmanned aerial vehicle.

After the distribution of goods within an individual parcel or across parcels, the following steps are performed:

e1, after the unmanned aerial vehicle delivers goods, uploading the final positioning information of the receiving point, the delivery route and the information of the surrounding environment during delivery acquired by the environment sensing module to a base station through the unmanned aerial vehicle information interaction module;

step e2, the base station uploads the data sent by the unmanned aerial vehicle to the control center of the film zone through the base station information interaction module;

step e3, the control center stores the data in the data storage module of the control center and establishes a database;

step e4, the control center shares the data collected by itself with the control centers of other areas through the control center information interaction module;

step e5, flying to the same destination for multiple times, integrating the influence of the unmanned aerial vehicle load and external factors, including wind speed, temperature and humidity, on the flying task, and optimizing the unmanned aerial vehicle transportation process by big data analysis (references: procedural flags, long and short, king and tall, etc.. big data system and analysis technology overview [ J ] software bulletin, 2014 (1889) and machine learning (references: Yang kinilin, Nippon, machine learning and intelligent decision support system [ M ] scientific publishing house, 2004.) to obtain a logistics model algorithm, which has an important role in the flying plan of the subsequent task;

e6, transmitting the optimized logistics model algorithm back to each control center;

step e7, the control center obtains an optimized logistics model algorithm to improve the performance of the whole logistics system;

and e1, when the unmanned aerial vehicle delivers goods to the same receiving point again, the control center transmits the receiving point positioning historical record to the base station through the control center information interaction module, and the accuracy of the unmanned aerial vehicle delivery point is improved through the optimized logistics model algorithm.

The control center in the present invention can be not provided within a tile.

The unmanned aerial vehicle has the following functions: cargo transportation, autonomous flight, flight route planning, fault emergency and environmental information perception;

the base station has the following functions: providing an entity place for the unmanned aerial vehicle to park, charge and transfer goods, providing data transfer and positioning services, and providing a temporary base station identification code; the temporary identification codes of different base stations are different, the temporary identification codes are given and dynamically updated by the district control center, the temporary identification codes provide the flight qualification of the unmanned aerial vehicle in the district, and the number and flow direction distribution of the unmanned aerial vehicles connected with each base station are regulated and controlled;

the control center has the following functions: distributing the number of unmanned aerial vehicles parked in the base station in the parcel, receiving a logistics distribution request, approving the take-off and landing of all unmanned aerial vehicles in the parcel, coordinating the flight trajectory of the unmanned aerial vehicles in the parcel in real time, approving a relay distribution request in the parcel, requesting or approving cross-district freight distribution activities of other parcels, checking the serial number of the unmanned aerial vehicles, sharing data among parcels, distributed computing and machine learning.

When the method is used for cross-region distribution, the cross-region range can be expanded to the intercity, provincial level and even intercontinental level.

Has the advantages that: in the invention, the unmanned aerial vehicle comprehensive logistics system skillfully integrates mobile cellular communication, the Internet of things, 5G and artificial intelligence, thereby forming a brand-new unmanned aerial vehicle logistics layout framework and a system method. The problem of prior art can not only be solved, the bottleneck can more be broken through, the efficiency of service and the quality of present commodity circulation are promoted.

Drawings

The foregoing and other advantages of the invention will become more apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.

Fig. 1 is a schematic view of a flight networking architecture in an embodiment of the invention.

Fig. 2 is a schematic diagram of a distributed logistics parcel planning structure in an embodiment of the present invention.

Fig. 3 is a diagram of an identity authentication method of an unmanned aerial vehicle according to an embodiment of the present invention.

Fig. 4 is a structural diagram of a functional module of an unmanned aerial vehicle according to an embodiment of the present invention.

Fig. 5 is a structural diagram of a base station functional module in an embodiment of the present invention.

Fig. 6 is a structural diagram of a functional module of a control center according to an embodiment of the present invention.

Fig. 7 is a flowchart of a method for logistics distribution by an unmanned aerial vehicle according to an embodiment of the present invention.

Fig. 8 is a flowchart of a cross-regional transportation method for an unmanned aerial vehicle in an embodiment of the present invention.

Fig. 9 is a flowchart of a processing method in the case of a cross-regional transportation failure of an unmanned aerial vehicle in the embodiment of the present invention.

Fig. 10 is a flowchart of a transportation method of relay of an unmanned aerial vehicle according to an embodiment of the present invention.

Fig. 11 is a flowchart of a method for processing a failure of an unmanned aerial vehicle according to an embodiment of the present invention.

FIG. 12 is a flow chart of a structure of a logistics learning optimization system combined with big data and machine learning according to an embodiment of the present invention.

Detailed Description

The invention is further explained below with reference to the drawings and the embodiments.

To make the objects, features and advantages of the present application more apparent, the present application will be described in more detail with reference to the accompanying drawings and specific embodiments. The invention mainly aims to improve the traditional logistics freight mode to a certain extent and improve the practicability and efficiency of unmanned aerial vehicle logistics.

In order to simultaneously regulate and control the flight state of a plurality of unmanned aerial vehicles when delivering goods, the invention provides a distributed logistics system and a method based on a base station, the structure of the distributed logistics system based on the base station is shown in figure 1, a flight network is divided into an upper layer, a middle layer and a lower layer, wherein the unmanned aerial vehicle is used as a terminal (End Device), the base station is used as a route (Router), a control center is used as a coordinator (Co-coordinator), each logistics area forms a flight network, and in the network:

the unmanned aerial vehicle belongs to a lower layer node in a network and serves as a terminal in the network, and each unmanned aerial vehicle is connected with the nearest base station node. The unmanned aerial vehicle has the capability of autonomous flight and air route planning, can still receive instructions of an upper layer of a network to carry out flight adjustment, and meanwhile collects data of the unmanned aerial vehicle and state information of surrounding environment to transmit the data back to a network upper level. In addition, each unmanned aerial vehicle can carry out the communication networking with other unmanned aerial vehicles in the certain limit around, and peripheral situation information of sharing and flight early warning.

The base station belongs to a middle-layer node in the network and can be used as a route in the network, and one base station can be in data connection with a plurality of unmanned aerial vehicles. The routing relay point is used as a relay point for upper-layer and lower-layer data interaction and is responsible for information exchange between the unmanned aerial vehicle and the control center within a certain range around the routing relay point, and meanwhile, a plurality of routing cooperative works can provide positioning service for the unmanned aerial vehicle.

The control center belongs to an upper node in the network, is used as a coordinator in the network, has unique number, and can be in data connection with a plurality of base stations. The system is responsible for receiving the operation states of the middle layer and the lower layer of the network and the environmental data of the parcel, managing, controlling and coordinating the orderly operation of all nodes in the network, distributing the number of unmanned aerial vehicles connected with each base station, and reserving and approving the unmanned aerial vehicles crossing the flight network.

As shown in fig. 2, the present invention provides a distributed unmanned aerial vehicle logistics planning distribution method based on a base station, which is specifically set forth as follows:

the idea of the distributed logistics planning method is to divide a wide area into sub-areas with different areas according to the object flow and the distribution of a base station as each logistics service cell, and the sub-areas are named as a sub-area 1, a sub-area 2, a sub-area 3 and the like. Each district sets up a control center, a plurality of base stations (basic station A, basic station B), and a certain amount of unmanned aerial vehicle. On the data communication level, the flight networking system of fig. 1 is utilized to combine the data communication layer and the flight networking system. On the physical level, the unmanned aerial vehicle is responsible for the transportation of goods; the base station can provide parking charging and goods transferring places for the unmanned aerial vehicle; the control center only needs to control data and can not be arranged in the film area. In addition, platforms special for unmanned aerial vehicle parking charging and transferring are arranged in a parcel with large logistics demand, the platforms are physically and independently distributed and belong to one part of the nearest base station node on a flight network, and the information of the unmanned aerial vehicle and a control center in the platforms and the platforms is handed over to the nearest base station, such as the platform 1-A-1 belonging base station A, the platform 1-B-1 and the platform 1-B-2 belonging base station B. In each district, except for trans-district transportation, all equipment in the district only performs logistics service for the district, and each district exists in parallel and independently; the control center configures the number of unmanned aerial vehicles connected with different base stations according to the object flow at different positions of the parcel. The early base station in the embodiment mainly refers to a mobile communication base station, and the shape and area planning of each segment is also set by depending on the distribution of the mobile communication base station. According to the existing 4G base station distribution, the distances between base stations are shown in the following table:

region type	Dense urban area	General urban area	Suburb/town	Rural area
					Spacing distance (m)	300～400	400～500	500～800	800～2000

The radius of the logistics cell in the urban area is generally 1km, while the radius of the logistics cell in the rural area reaches 2-5 km. And in the later stage of the embodiment, an independent base station can be arranged according to actual requirements, and the shapes and areas of the logistics cells can be freely divided.

In the distributed logistics parcel planning of fig. 2, the control center and the base stations, the platform belongs to a stationary facility, and for the requirement that the control center dynamically allocates the number of the unmanned aerial vehicles to which each base station belongs, the identification and authentication of the identity of the unmanned aerial vehicle are required, and fig. 3 provides an unmanned aerial vehicle identity authentication method:

each unmanned aerial vehicle is inside to have an identification mark, include:

unmanned aerial vehicle numbering: this identification number is like unmanned aerial vehicle's "ID card", and each unmanned aerial vehicle's unmanned aerial vehicle number is all different, has uniqueness, permanent. The unmanned aerial vehicle is given when leaving the factory, and the model, factory parameters, historical flight maintenance data and the like of the unmanned aerial vehicle can be found according to the serial number of the unmanned aerial vehicle.

Temporary identification code of base station: the identification code is generated by the control center of the chip area and is stored in each base station connected with the identification code, and the control center can dynamically update the temporary identification code of the base station at any time according to the situation. The base station temporary identification code consists of a chip area and a base station, wherein the chip area is responsible for identifying a chip area where the unmanned aerial vehicle is located and giving the unmanned aerial vehicle flight qualification in the chip area; the base station position is responsible for identifying the unmanned aerial vehicle connected with the base station and giving the unmanned aerial vehicle the qualification of parking at the base station and the platform to which the base station belongs. If 1-A represents that the unmanned aerial vehicle belongs to 1 district A base station, and 2-B represents that the unmanned aerial vehicle belongs to 2 districts B base stations. The unmanned aerial vehicle of the temporary identification code of the 1-A base station can fly in the 1-piece area and stop at the A base station and the platform to which the base station belongs. The control center can count the number and the flow direction of the unmanned aerial vehicles belonging to each base station in the chip area according to the temporary identification codes of the base stations, so that the number and the flow direction distribution of the unmanned aerial vehicles in the chip area can be conveniently regulated and controlled; and (4) giving the unmanned aerial vehicle the flight qualification of the cross-district by utilizing the updating of the temporary identification code of the row base station. The functions of the drone are required according to figures 1 to 3 as follows: transporting the goods; autonomous flight; planning a flight route; a fault emergency occurs; sensing environmental information; and (5) information interaction. Above function combines fig. 4, unmanned aerial vehicle functional module as follows: the central processing module 401 of the drone is responsible for processing the data provided by the data storage module, such as flight route planning. The unmanned aerial vehicle data storage module 402 is responsible for storing data provided by the information interaction module and feeding back the data processed by the information interaction module. An unmanned aerial vehicle route planning module 403, which belongs to a part of the central processing module, and controls the flight route of the unmanned aerial vehicle in real time according to the received positioning information; the flight control module 404, which is part of the central processing module, is responsible for controlling the flight attitude of the aircraft. The fault processing module 405 belongs to a part of the central processing module and is responsible for emergency processing when the unmanned aerial vehicle has a fault; the loading control module 406 is responsible for mechanical control of the grabbing and unloading of the goods and also feeds back the loading and unloading state information. The identity recognition module 407 of the drone is responsible for storing, modifying and providing identity information of the drone, including the drone number 301 and the base station temporary identity code 302. And the unmanned aerial vehicle information interaction module 408 is responsible for data interaction with the outside. The environment sensing module 409 is responsible for sensing and identifying external environment information, including visual information sensing identification, meteorological information sensing identification and the like; the audio module 410 is responsible for sounding prompts to the outside, such as sending an alarm to the ground when emergency landing is performed, and prompting the user to verify whether the verification is successful when the user receives goods.

According to fig. 1 to 3, the base station functions as follows: providing a physical place for the unmanned aerial vehicle to park, charge and transfer goods; data transfer; a location service; a base station temporary identification code is provided. The base station initially uses the base station of the mobile cellular network, or an independent base station can be set under the condition of meeting the functions, and the function modules of the base station according to the figure 5 are as follows: the base station central processing module 501 is responsible for processing the data provided by the data storage module. The base station data storage module 502 is responsible for storing data provided by the information interaction module and feeding back data processed by the information interaction module. The base station positioning module 503 provides position location information for other devices within the parcel. And the base station identity identification module 504 is responsible for providing a base station temporary identification code for the unmanned aerial vehicle and granting the unmanned aerial vehicle the flight qualification of the area. And a base station information interaction module 505, which is responsible for data interaction between the base station and the outside.

According to fig. 1 to 3, the control center functions as follows: distributing the number of unmanned aerial vehicles parked in the base station in the block; receiving a logistics distribution request; approving all of the drones within the parcel to take off and land; coordinating the flight trajectory of the unmanned aerial vehicle in the area in real time; approving the intra-chip relay delivery request; requesting or approving cross-region shipping delivery activity for other of the tiles; checking the serial number of the unmanned aerial vehicle; the inter-slice data sharing; distributed computing and machine learning. The above functions are combined with the example of fig. 6, and the logistics control center function modules are as follows: and the control center central processing module 601 is responsible for processing the data provided by the data storage module. And the control center data storage module 602 is responsible for storing the data provided by the information interaction module and feeding back the data processed by the information interaction module. The optimization calculation module 603, which is a part of the central processing module, is responsible for optimizing the logistics transportation planning algorithm. The control center identity recognition module 604 is responsible for generating a temporary base station identification code for updating, recognizing the unmanned aerial vehicle identity in the district, and auditing the unmanned aerial vehicle identity across the district. And the control center information interaction module 605 is responsible for data interaction between the control center and the outside.

In light of the above statements, the present invention proposes a distributed logistics method based on base stations, when distributing goods in individual sectors, according to fig. 7, the distribution is performed as follows:

701, the control center 1 of the parcel 1 receives a delivery request sent by a user terminal.

The control center 1 judges the location of the delivery point 702, and finds that the delivery point is located in the area.

703, the control center 1 judges the transport distance and finds that the transport distance is in the range of the unmanned aerial vehicle

704, the control center 1 designates the base station 2 nearest to the delivery point or the unmanned aerial vehicle A of the platform to which the base station belongs to deliver goods, and sends instructions to the base station 2

705, base station 2 receives the command and commands drone a to take off.

706, unmanned aerial vehicle A is mainly based on GPS/Beidou positioning, and the base station positioning is assisted, and the unmanned aerial vehicle A goes to reach the designated receiving point of the user after receiving the goods, and will reach base station 1 with information sending nearest to unmanned aerial vehicle A

707, the base station 1 transmits the arrival information of the unmanned aerial vehicle a to the control center 1.

At 708, the control center 1 transmits a receipt notification to the user terminal.

709, when the user arrives at the designated receiving point, the user sends a receiving request to the control center 1 using the terminal.

710, the control center 1 authenticates the user.

711, if the authentication is successful, the module 410 prompts that the identity verification is successful, and the goods are put down; if the authentication is unsuccessful, the goods are not put, the module 410 prompts that the identity verification fails, and the waiting is continued; .

And 712, when the delivery task is completed or the remaining electric quantity in the waiting process is 1.1 times of the electric quantity required by the return trip, the unmanned aerial vehicle returns to the base station 2.

713, the unmanned aerial vehicle A sends the delivery result to the control center 1 through the base station 2, and waits for the next service

When goods are distributed across the parcel, the distribution is performed according to fig. 8 as follows:

at 801, the control center of section 1 measures that the delivery point is within section 2.

802, the control center of the parcel 1 sends a request for transregional delivery of goods to the control center of the parcel 2

803, the control center of the parcel 2 designates the base station 2-A nearest to the delivery point or the unmanned aerial vehicle A of the platform to which the base station belongs to deliver the goods, and sends an instruction to the base station 2-A.

804, the base station 2-A receives the command and appoints the unmanned aerial vehicle A to take off and deliver goods

805, the parcel 2 control center sends the drone a number to the parcel 1 control center.

806, unmanned aerial vehicle A uses GPS/Beidou positioning as the main, and the base station positioning as the auxiliary, after collecting goods, flies to the boundary of area 1 and area 2

807, the drone sends a cross-zone request and its own drone number to the nearest base station 1-a in zone 1.

808, the base station 1-A sends the request of sending the cross district and the number of the unmanned aerial vehicle A to the control center of the district 1

809, the zone 1 control center checks the unmanned aerial vehicle numbers sent by the zone 2 control center and the unmanned aerial vehicle A, verifies the unmanned aerial vehicle identity, and then performs the steps 810 to 813 of successful verification and the steps 901 to 907 of failed verification.

Zone 1 control center verifies successfully 810, designating base station 1-a and drone a to connect.

811, base station 1-A establishes a base station temporary identity for base station 1-A for the drone

And 812, closing the connection with the parcel 2 and establishing the connection with the parcel 1 by the unmanned aerial vehicle A.

813, drone a enters zone 1.

When the parcel 1 control center fails to verify the identity of the drone a in the step 809 of delivering goods across parcels, the process proceeds according to fig. 9 as follows:

901, zone 1 control center fails verification, designating base station 1-a to send verification failure message to drone a.

Base station 1-a sends a verification failure message to drone a 902.

Drone a sends a verification failure message to base station 2-B closest to drone a 903.

Base station 2-B sends a verification failure message to the zone 2 control center 904.

905, the control center of the parcel 2 receives the message, searches for the idle base station 2-B nearest to the unmanned aerial vehicle a in the parcel 2 and the platform to which the idle base station belongs, and sends a command for receiving the unmanned aerial vehicle a and reserving the vacancy to the base station 2-B.

906, base station 2-B is connected with unmanned aerial vehicle A, and base station 2-B establishes the base station temporary identification code for unmanned aerial vehicle A, sends base station 2-B vacancy location to unmanned aerial vehicle A.

907, the unmanned aerial vehicle A arrives at the vacancy to which the base station 2-B belongs to stop charging, and waits for the next transregional conveying instruction;

if the flight distance is insufficient when the unmanned aerial vehicle is transported across the district, the relay-relay logistics transportation method described in the following figure 10 is executed,

for the step 703 in fig. 7, when the distance between the goods receiving and dispatching point exceeds the range of the unmanned aerial vehicle, according to fig. 10, the relay logistics transportation method specifically includes the following steps:

1001, the control center finds the base station B which is closest to the receiving point and has an empty position in the maximum range of the unmanned aerial vehicle a, designates the base station B or the unmanned aerial vehicle B of the platform to which the base station B belongs to execute a transfer task, and sends an instruction to the base station B.

1001, base station B accepts the command, instructing drone B to stand by.

1002, the control center of the parcel 1 sends the position information of the base station B to the base station A, designates the base station A or the unmanned aerial vehicle A of the platform to which the base station A belongs to execute a delivery task, and sends an instruction to the base station A.

1003, the base station A receives the command and designates the unmanned aerial vehicle A of the platform 1-A-1 to take off.

1004, unmanned aerial vehicle A uses GPS/big dipper location as the main, and basic station location is supplementary, goes to the place of delivery and gets to go to basic station B after goods.

1005, establishing contact between the unmanned aerial vehicle A and the base station B to obtain the temporary identification code of the base station B

1006, after the unmanned aerial vehicle a reaches the parking point of the unmanned aerial vehicle B, the goods are handed over with the unmanned aerial vehicle B, and the transfer is completed.

After the cruising ability is further improved, special routes for intercity and provincial can be directly set up, the relay process in the city is reduced, and the specific planning can be developed and upgraded according to the unmanned aerial vehicle technology. The city or province is used as a parcel by the city or province, and the wide-area inter-parcel relay is realized.

In the future, under the condition that the technology allows, the goods can be directly handed over in an air relay mode at any place.

In the flight distribution flight of the unmanned aerial vehicle, if the unmanned aerial vehicle breaks down, according to fig. 11, the processing steps are as follows:

1101, unmanned aerial vehicle a in zone 1 finds a fault in flight.

1102, the drone module 405 determines the severity of the fault, and if the severity supports continued flight turn down step (1003), if the severity does not support continued flight turn down step 1009

1103, the drone sends an emergency docking request to the nearest base station a.

Base station a sends an emergency docking request 1104 to the control center of sector 1.

1105, the control center of the district 1 receives the emergency stop request, inquires whether the base station a and the platform to which it belongs have empty space to receive the unmanned aerial vehicle a, if the base station a has empty space to go down step 1006, if there is no empty space to go down step 1007.

1106, the district 1 control center commands the base station a and the platform to which the base station a belongs to reserve a vacancy for receiving the unmanned aerial vehicle a, the base station a sends the received information to the unmanned aerial vehicle a, and the step 1108 is turned down.

1107, the control center in the area 1 commands the base station a and an overhead idle unmanned aerial vehicle B in the platform to take off and fly to other base stations, the transfer information can refer to 1006 to 1007, the base station a reserves a vacancy to receive the unmanned aerial vehicle a, the base station a sends the received information to the unmanned aerial vehicle a, and the step 1108 is executed.

1108, the unmanned aerial vehicle A receives the message of the base station A, flies to the base station A and the vacant sites in the platform to which the unmanned aerial vehicle A belongs to land, and turns down (1114).

1109 drone a uses module 409 to find the most sparse ground around people.

1110, drone a flies or glides to the ground-above-ground area where the personnel are the sparsest.

1111, unmanned aerial vehicle A carries out forced landing, utilizes module 410 to send out the landing warning simultaneously and reminds following personnel.

1112, drone a sends forced landing information and geolocation to the nearest base station a.

1113, the base station A sends the forced landing information and the geographical positioning to the control center of the parcel 1.

1114, district 1 control center is responsible for arranging the operation and maintenance personnel to rescue the unmanned aerial vehicle A.

In step 1111, the drone may carry a parachute or an airbag, which is deployed during forced landing.

After the distribution of goods within an individual parcel or across parcels, the following steps are performed according to fig. 12:

1201, after the unmanned aerial vehicle A and the unmanned aerial vehicle B in the parcel 1 deliver goods each time, the receiving point is finally positioned, the goods delivery route, the weather environment during the goods delivery, the traffic flow and other information are uploaded to the parcel base station 1-A, the information uploaded by the unmanned aerial vehicle is also received by the parcel base station 1-B and the like in the parcel, and the parcel 2 also carries out the same steps.

1202, base station 1-A and base station 1-B and control center for positioning the receiving point of the unmanned aerial vehicle finally, and for uploading the information to the film zone 1 in the peripheral environment during delivery.

1203, the control center of the parcel 1 builds a database of the receiving point positioning information in the information for storage.

1204, the control center of the parcel 1 finally locates the collected delivery point, the delivery route, and the ambient environment information is shared with the control center of the parcel 2 at the time of delivery.

1205, the district 1 and district 2 control center extracts part of the calculation performance, and carries out big data analysis and distributed machine learning with the purpose of improving logistics efficiency and safety to obtain an optimized logistics model algorithm.

1206, the control centers of parcel 1 and parcel 2 get the optimized logistics model algorithm.

1207, the district 2 control center updates the program algorithm of the district 2 control center according to the optimized logistics model algorithm by combining the self district environment and conditions.

1208, the district 2 control center obtains the program algorithm of the base station and the unmanned aerial vehicle according to the optimized logistics model algorithm and by combining the self district environment and conditions, and transmits the program algorithm to the base station 2-A

1209, the base station 2-A receives the data optimization self algorithm program and inputs the unmanned plane optimization program into the unmanned plane C and the unmanned plane D.

1210, drone C and drone D accept data optimization self algorithm programs.

1211, when drone a delivers the same location cargo again, the control center database of parcel 1 transmits to base station 1-a the pick-up point location history.

1212, base station 1-a transmits to drone a waypoint location history to improve aircraft waypoint accuracy.

In practice, the above steps can be extended to any one sector, and all devices except the control center can be added to each sector at will.

The present invention provides a distributed logistics system based on base station, and a plurality of methods and approaches for implementing the technical solution, the above description is only a preferred embodiment of the present invention, it should be noted that, for those skilled in the art, a plurality of improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention. All the components not specified in the present embodiment can be realized by the prior art.

Claims

1. A distributed logistics system based on a base station is characterized by comprising a three-layer structure, wherein the upper layer is a control center, the middle layer is the base station, the lower layer is an unmanned aerial vehicle, and the three-layer structure forms a flight network;

the control center is connected with one or more than two base stations and regulates and controls the operation of all the base stations and the unmanned aerial vehicle on the middle layer and the lower layer;

the base station is connected with one or more than two unmanned aerial vehicles, and the base station is used as a relay point for information interaction between an upper layer and a lower layer of a flight network and provides network-access flight identification codes and positioning services for the lower layer of unmanned aerial vehicles;

the unmanned aerial vehicle is in communication connection with the nearest base station and can be in communication connection with the unmanned aerial vehicle in the parcel, receives an instruction of an upper control center, collects self operation data and environmental data in the parcel, transmits the collected data and the environmental data to the upper control center and the unmanned aerial vehicle on the same layer, and the environmental data in the parcel comprise weather conditions and traffic flow;

the environment sensing module is responsible for sensing, identifying and judging visual information and weather information, wherein the visual information comprises buildings, ground personnel, vehicles and flyers, and the weather information comprises temperature, humidity, wind power and rain and fog;

the audio module is responsible for giving an alarm to the ground when emergency landing is forced and prompting whether the identity verification is successful or not when the user collects goods;

the base station information interaction module is responsible for interaction between the unmanned aerial vehicle operation data and the environmental data in the area;

the control center information interaction module is responsible for interaction between the unmanned aerial vehicle operation data and the environmental data in the area;

the system performs the following steps: dividing the areas with different sizes according to the object flow and the distribution of the base stations, wherein each divided area comprises a control center, one or more than two base stations and one or more than two unmanned aerial vehicles, and all the control centers, the base stations and the unmanned aerial vehicles in each area form a flight network;

the unmanned aerial vehicle is responsible for the transportation of goods;

the unmanned aerial vehicle is provided with a unique number, and the model, factory configuration and recent flight maintenance records of the unmanned aerial vehicle can be inquired according to the unique number;

all equipment of each region only performs logistics service for the region, and each region exists in parallel and independently;

more than two unmanned aerial vehicle parking platforms are arranged in a parcel, the platforms are physically and independently distributed, and the platforms and the information of the unmanned aerial vehicles in the platforms and the control center are responsible for a base station with the closest distance; the control center configures the number of the unmanned aerial vehicles according to the district commodity flow, and the unmanned aerial vehicles are distributed on the base station platforms in the district;

when distributing goods in separate parcel areas, the system distributes according to the following steps:

step a1, the user terminal sends a receiving request to the control center;

2. The system of claim 1, wherein when delivering goods across tiles, the delivering is performed as follows:

step c13, the goods delivery unmanned aerial vehicle enters the parcel area where the goods receiving point is located to complete the delivery in the parcel crossing area;

3. The system of claim 2, wherein when goods are distributed within an individual parcel or across parcels, if the drone failure handling module finds that the drone is malfunctioning, the following steps are performed:

d1, the unmanned aerial vehicle fault processing module is provided with a sensor, and can acquire power system parameters and balance system parameters, so as to judge the severity of the fault, if the unmanned aerial vehicle can support the step d2 of continuous flight down rotation, and if the severity does not support the step d8 of continuous flight down rotation;

4. A system according to claim 3, characterized in that after distribution of goods in individual tiles or across tiles the following steps are performed:

e5, optimizing the transportation process of the unmanned aerial vehicle through big data analysis and machine learning to obtain an optimized logistics model algorithm;

step e7, the control center obtains an optimized logistics model algorithm;