CN110143141A - A kind of logistics unmanned plane promoting transfer cruising ability - Google Patents
A kind of logistics unmanned plane promoting transfer cruising ability Download PDFInfo
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- CN110143141A CN110143141A CN201910486473.XA CN201910486473A CN110143141A CN 110143141 A CN110143141 A CN 110143141A CN 201910486473 A CN201910486473 A CN 201910486473A CN 110143141 A CN110143141 A CN 110143141A
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60L53/10—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 characterised by the energy transfer between the charging station and the vehicle
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention belongs to air vehicle technique fields, disclose a kind of logistics unmanned plane that can promote transfer cruising ability, cargo is transported using the aerial new model that mode selects on carriage of Cargo of " one empty two lands ", and uses fourth " font lever contact charging structure carries out unmanned plane and supplements power in the air；When logistics transportation, pay the utmost attention to complete the through transfer of a cargo by owner of cargo's unmanned plane, next, which is considered further that, completes secondary transfer by express delivery post house unmanned plane；To provide the longer mileage that makes a return voyage of continuing a journey, wherein " fourth " font docking lever is fixed interconnection and charges for completing the docking of major-minor unmanned plane level.The present invention is used cooperatively by major-minor unmanned plane, effectively improves the efficiency that existing logistics unmanned plane single machine transports；Effectively improve the flexibility that the owner of cargo selects the place of receipt；Effectively make up single machine it is long when continuation of the journey make a return voyage the short slab of ability, extend the shipping kilometre of logistics unmanned plane, and the present invention solves the problems, such as the charging of single machine midway, charges in two-shipper transfer.
Description
Technical field
The invention belongs to logistics unmanned plane goods to be transshipped and charging technique field more particularly to one kind can promote transfer continuation of the journey
The logistics unmanned plane of ability.
Background technique
Currently, the immediate prior art:
Along with the continuous intelligent development of automatic technology, just with flight stability, portable and light unmanned plane
In the every aspect for being widely used popular life.As being obtained extensively in amusement, convenience-for-people life and service industry etc.
Using.With the gradual improvement of people's living standard, logistics service industry obtains the very big concern of people, and unmanned plane is in logistics
The application of service industry has also welcome the climax of development.But the transport efficiency and carried charge of single machine logistics unmanned plane are limited,
Therefore logistics unmanned plane goods to be transshipped and continuation of the journey are improved to make a return voyage ability, becomes the current main problem for solving unmanned plane during flying.
The goods delivery of existing logistics unmanned plane be mainly based upon two-shipper transfer go directly formula mode, can not solve the owner of cargo because
Objective factor cannot connect the problem of goods in time, this, which not can guarantee not only, dispenses and connect the flexible of goods between logistics unmanned plane and the owner of cargo
Property, and the shipping kilometre of logistics unmanned plane can not be extended.Therefore, continuation of the journey is maked a return voyage problem solution still to be studied when logistics unmanned captain
Certainly.
The charging modes of existing logistics unmanned plane mainly consider to fly back takeoff point charging, by midway stake point charging and double
The charging of machine perpendicular contact formula.Wherein, the takeoff point that flies back charging can be in the transport efficiency for reducing logistics unmanned plane in various degree；By
The limitation that stake point in midway charges vulnerable to Adjacent Buildings and weather, causes flight risk；Two-shipper perpendicular contact formula is easy to charge
It is influenced by the unstable hovering of upper and lower fuselage, easily causes unmanned plane hovering risk.
In conclusion problem of the existing technology is:
(1) prior art not can effectively solve single machine unmanned plane transport cargo it is long when continuation of the journey make a return voyage problem.
The charging modes for being mainly reflected in existing logistics unmanned plane mainly consider to fly back takeoff point charging, by midway stake point
The mode of charging, but there is no will be between unmanned plane and starting point, unmanned plane and midway stake point base stations for this selection charging modes
Position and path optimize so that logistics unmanned plane transport cargo require supplementation with electric energy when be unable to get timely and effectively
Electric energy supplement causes logistics unmanned plane air crash occur because of electric power deficiency.Likewise, when unmanned plane is selected by midway stake point base
When auxiliary point energy is removed at station, it may appear that cause unmanned plane because electric energy deficiency can not reach charging pile point during unmanned plane is gone to
The problems such as flight hazard.The charging modes for being equipped with the two-shipper perpendicular contact formula of mechanical arm are used for existing logistics unmanned plane, by
In the unmanned plane for being equipped with mechanical arm, other than considering itself steadily of centre of gravity, it is also contemplated that due to the super redundancy of mechanical arm
Property, the mechanical arm being provided on unmanned plane will be limited the space of motion profile and angular transformation, therefore, so that by machine
The mode that tool arm carries out the rectilinear contact charging of two-shipper has certain limitation in practical applications.
(2) the single limitation problem of unmanned plane dispatching cargo is not can solve.
The goods to be transshipped dispatching of existing logistics unmanned plane is mainly based upon the through mode of two-shipper transfer, is unable to satisfy the owner of cargo
Selection receives the flexibility of cargo.After the main unmanned plane of logistics connects goods information to the transmission of owner of cargo's pair unmanned plane, the owner of cargo may be because
Objective factor (than being currently not suitable for outgoing operation if any other very important things or owner of cargo's unmanned plane) can not provide
It is made in information feedback time and connects goods answer, such delay and feedback information interrupt, not only result in and be unable to satisfy the owner of cargo and connect
It receives the flexibility of object, and considers the main limited carried charge of unmanned plane, such delay and interruption can also aggravate main unmanned plane
Endurance it is short, bring risk to the flight of unmanned plane.
(3) not can solve unmanned plane it is long when continuation of the journey make a return voyage problem.
A, current unmanned plane charging modes not can guarantee unmanned plane and preferentially charge and constant charge, so that charging process
It is unrealistic or even dangerous, thus the ability maked a return voyage of continuing a journey when influencing unmanned captain.
B, only with the goods delivery mode based on the through formula of two-shipper transfer, when main unmanned plane gives secondary unmanned plane to have sent
After preparation connects goods information, whether receive secondary unmanned plane in regulation response time and can go to connect the anti-of goods for main unmanned plane
When feedforward information, it just will appear certain delay and message interrupts, so that the main UAV system of logistics please find out current dispatching
It now misestimates, aggravates power consumption process, shorten shipping kilometre, cause the problems such as continuing a journey and make a return voyage when can not be long.
Solve the difficulty of above-mentioned technical problem:
Since the electricity that unmanned plane itself carries is limited, if considering that unmanned plane is allowed to mend electricity using midway it is necessary to consider nobody
Optimal path selection problem between machine and midway base station, while Changes in weather is brought when operation it is also contemplated that unmanned plane is gone out
Influence, have certain random variability.It, will be right according to the charging modes for the two-shipper perpendicular contact formula for being equipped with mechanical arm
The flexibility for being equipped with mechanical arm proposes very high requirement, so that meeting flexible redundancy and being steadily contacted has certain limitation.
Solve the meaning of above-mentioned technical problem:
By designing new charging structure and propose new goods delivery mode, can solve the charging of above-mentioned single machine midway,
Technical problem brought by the charging modes of the through formula dispatching of two-shipper transfer and the two-shipper perpendicular contact formula for being equipped with mechanical arm, energy
Effectively improve the efficiency that existing logistics unmanned plane transports；The flexibility that the owner of cargo selects the place of receipt can be effectively improved；It can effectively more
The short slab for ability of making a return voyage of continuing a journey when benefit single machine is long.
Summary of the invention
In view of the problems of the existing technology, the present invention provides one kind can be promoted transfer cruising ability logistics nobody
Machine.
The invention is realized in this way a kind of logistics unmanned plane charge control method for promoting transfer cruising ability, institute
The logistics unmanned plane charge control method of transfer cruising ability can be promoted by, which stating, includes:
Step 1 obtains the main unmanned plane current flight shape of aerial logistics according to visual sensor and unmanned plane positioning system
State, current carried charge be how many and the aerial horizontal distance between secondary unmanned plane.
Step 2 after owner of cargo's pair unmanned plane receives logistics order information and the main unmanned plane location information of logistics, is gone to aerial
It completes on carriage of Cargo.
Step 3, according to unmanned aerial vehicle control system center and the automatic focusing module confirmation main unmanned plane of logistics and owner of cargo's pair nothing
Man-machine double horizontal alignments.
Step 4, the aerial main unmanned aerial vehicle (UAV) control transverse direction lever horizontal extension contact of logistics, contacts errorless and charging ring and marks
Display alignment is connected by the UAV system control centre control main unmanned plane of logistics and the locking of owner of cargo's pair unmanned plane.
Step 5, after the main unmanned plane of logistics docks locking with owner of cargo's pair unmanned plane, the aerial main unmanned aerial vehicle (UAV) control two of logistics is right
The charging ring of lateral lever end completes positive and negative anodes conducting, carries out the main unmanned plane of logistics and fills with owner of cargo's pair unmanned plane flat contact
Electricity.
Further, step 2 completes method on carriage of Cargo in the air and includes:
1) the main unmanned plane of logistics is based on wireless communication and pays the utmost attention to send logistics order information to the owner of cargo.
2) owner of cargo is confirmed whether to send owner of cargo's pair unmanned plane to receiving cargo in the air based on the logistics order information received, complete
Join at cargo one stage transfer.If the owner of cargo because objective factor can not send owner of cargo's pair unmanned plane to connect goods in time, logistics master nobody
After machine receives feedback information, logistics order information is sent to express delivery post house pair unmanned plane, carries out the two-stage on carriage of Cargo.
3) two-stage on carriage of Cargo when, the main unmanned plane of logistics finds distance most by System Control Center and positioning system
Close express delivery post house after express delivery post house UAV system control centre receives information, can be sent during express delivery post house pair unmanned plane goes
Turn cargo, completes the two-stage on carriage of Cargo.
Further, the main unmanned aerial vehicle (UAV) control transverse direction lever horizontal extension contact of the aerial logistics of step 4, it is aerial to supplement power knot
Structure is using the scalable horizontally-parallel lever of a pair " fourth " font for being mounted on middle position right above the main unmanned plane of logistics, using connecing
It touches charging modes and supplements power to owner of cargo's pair unmanned plane.
Further, step 5 carries out the main unmanned plane of logistics and owner of cargo's pair unmanned plane flat contact charging method includes: to pass through
Unmanned plane master control system information and automatic focusing module process are controlled.
The main unmanned plane of logistics, the identical height of owner of cargo's pair unmanned plane arrival are controlled, two pairs of the main unmanned plane of logistics can contracting transverse direction
Parallel lever complete with, owner of cargo's pair unmanned plane is positive and negative docks, then progress charging ring connection and locking, last charge circuit are led
It is logical, realize that the main unmanned plane of logistics and owner of cargo's pair unmanned plane flat contact charge.
Another object of the present invention is to provide a kind of realizations of logistics unmanned plane delivery system can promote transfer cruising ability
Logistics unmanned plane charge control system include:
Visual sensor and unmanned plane positioning system, for obtaining the main unmanned plane current flight state of logistics, current electrification
Measure the how many and aerial horizontal distance between owner of cargo's pair unmanned plane.
Owner of cargo's pair unmanned aerial vehicle control system, for by owner of cargo's pair unmanned plane receive logistics order information and logistics master nobody
After machine location information, aerial complete on carriage of Cargo is gone to.
Unmanned aerial vehicle control system center, the main unmanned plane contact of display owner of cargo's pair unmanned plane, logistics is errorless and charging ring marks
After alignment, the main unmanned plane locking connection of control owner of cargo's pair unmanned plane, logistics.
Automatic focusing module, for confirming the main unmanned plane horizontal alignment of owner of cargo's pair unmanned plane, logistics.
Aerial supplement dynamic structure control module, for controlling a pair " fourth " for being mounted on middle position right above unmanned plane
The scalable parallel lever of font, after the main unmanned plane docking locking of owner of cargo's pair unmanned plane, logistics, two pairs of the control main unmanned plane of logistics
The charging ring of lateral lever end completes positive and negative anodes conducting, carries out owner of cargo's pair unmanned plane, logistics pair unmanned plane flat contact fills
Electricity.
Realize that the logistics unmanned plane that can promote transfer cruising ability is mended in the air another object of the present invention is to provide a kind of
Dynamic structure is filled, using the scalable parallel lever of a pair " fourth " font for being mounted on middle position right above unmanned plane, with contact
Charging modes supplement power to unmanned plane.
Another object of the present invention is to provide a kind of logistics unmanned plane delivery systems, and it is continuous can to promote logistics unmanned plane transfer
Boat ability, the logistics unmanned plane delivery system, including the main unmanned plane of logistics, owner of cargo's pair unmanned plane and express delivery post house it is secondary nobody
Machine.
Owner of cargo's pair unmanned plane is docked by the scalable parallel lever of " fourth " font with the main unmanned plane of logistics, and flat contact is carried out
Charging.
Express delivery post house pair unmanned plane is wirelessly communicated by unmanned aerial vehicle control system center with the main unmanned plane of logistics.
Express delivery post house pair unmanned plane after receiving transfer information, sends carried charge by express delivery post house unmanned plane control centre
Sufficient owner of cargo's pair unmanned plane goes to aerial goods to be transshipped.It simultaneously can by " fourth " font for being mounted on above owner of cargo's pair unmanned plane
The parallel lever that stretches contacts charging with the main unmanned plane of logistics, and the continuation of the journey for promoting the main unmanned plane of logistics is maked a return voyage ability.
It supplements and moves in the air another object of the present invention is to provide the logistics unmanned plane that one kind can promote transfer cruising ability
Power structure, the structure of " fourth " the font retractable lever include: " fourth " font lever by vertical lever, lateral lever and pass
Section.(" fourth " character form structure is formed by vertical lever, lateral lever, joint three parts, wherein joint is connected as intermediate connecting body
Vertical lever and lateral lever, vertical lever are fixed, and lateral lever can carry out flexible contact after the alignment) vertical lever is used for
It is fixed.Lateral lever uses spiral retractable lever.
Further, the lateral lever of " fourth " font lever is that spiral retractable lever is docked with owner of cargo's pair unmanned plane, is carried out
Contact charging complementary energy, lateral lever are two, and the end of two lateral levers is equipped with charging ring, and shows respectively just
Cathode.The end of two lateral levers is equipped with automatic focusing module.
Another object of the present invention is to provide the logistics unmanned planes that transfer cruising ability can be promoted described in a kind of realize to fill
The logistics unmanned plane of electric control method.
In conclusion advantages of the present invention and good effect are as follows:
The present invention provides a kind of aerial new models that mode selects on carriage of Cargo and a kind of aerial supplement dynamic structure
New design.Wherein aerial logistics goods transfer mode is selected using " empty two lands " unmanned plane transfer new model, wherein " a sky two
A sky in the new model of land " refer to transport cargo main unmanned plane, two lands refer mainly to Liang Ge earth station i.e. owner of cargo's unmanned plane and
Express delivery post house unmanned plane, new construction refer to " fourth " font lever contact charging structure.Logistics transportation pay the utmost attention to by the owner of cargo without
Cargo of man-machine completion goes directly transfer, next, which is considered further that, completes secondary transfer by express delivery post house unmanned plane.It is longer continuous to provide
Navigate the mileage that makes a return voyage, and the aerial new design for supplementing dynamic structure refers specifically to design " fourth " font and docks lever, completes major-minor unmanned plane
Interconnection charging is fixed in level docking.The present invention is used cooperatively by major-minor unmanned plane, can effectively improve existing logistics without
The efficiency that man-machine single machine transports.The flexibility that the owner of cargo selects the place of receipt can be effectively improved.The long Shi Xuhang of single machine can effectively be made up
The short slab for ability of making a return voyage.
The present invention can solve existing single machine unmanned plane transport cargo it is long when continuation of the journey make a return voyage problem.The owner of cargo can be improved and connect goods
It is alternative.It can increase the flexibility of logistics service industry.
In order to solve the problems, such as the single limitation of single machine unmanned plane dispatching cargo, the flexibility of goods delivery is improved, the present invention
Traffic efficiency is improved, solves to continue a journey when unmanned captain to meet the dispatching demand of the owner of cargo using following new dis-tribution model
It makes a return voyage problem.New model distribution project is embodied in based on wireless communication using " empty two lands " mode, is built the main nothing of logistics
Man-machine, the secondary unmanned plane of the owner of cargo and the pair unmanned plane logistics of express delivery post house transport information platform and match line sending.First according to unmanned plane object
Stream transports information monitoring center, obtain current main unmanned plane savings carried charge it is how many and apart from the owner of cargo it is aerial it is horizontal away from
From preferentially connecing goods information to the transmission of owner of cargo's unmanned plane, complete a stage on carriage of Cargo.Secondly when occur the owner of cargo because objective factor without
When the timely response of method connects goods, by location finding and UAV Navigation System, consider the main unmanned plane of logistics apart from nearest express delivery post
The distance stood completes the two-stage on carriage of Cargo, realizes preliminary increase unmanned plane shipping kilometre.
Continuation of the journey is maked a return voyage when in order to solve the problems, such as unmanned captain, and the present invention is based on " empty two lands " transfer platforms of proposition, is led to
It crosses and designs unmanned mechanomotive force supplementing structure, the new model of synchronous unmanned plane logistics transfer process, using the horizontal mediate contact of two-shipper
Charging modes, further increase unmanned plane shipping kilometre, improve logistics unmanned plane conevying efficiency.The present invention devises new move
Power supplementing structure, technical solution are as follows: middle position installation is in telescopic a pair of of the support of " fourth " font right above unmanned plane,
Two support are connected with the joint of corner and are formed by vertical lever, lateral lever.Wherein, " fourth " font vertical section is fixed, horizontal
Spiral retractable lever is used to part, and the lateral lever end of two support is equipped with the charging ring of display positive and negative anodes and automatic right
Burnt module.Firstly, judging whether major-minor unmanned plane reaches identical height in conjunction with unmanned plane master information system and automatic focusing module
Degree, if meet horizontal alignment contact.Finally, when two pairs of lateral levers complete positive and negative docking and charging ring label display is right
Together, it can be attached and lock, charge circuit is connected, realize flat contact charging.
The present invention is flexibly matched with secondary unmanned plane for the dispatching of main unmanned plane single machine and assists dispatching by logistics distribution new model,
Control information centre's flexible dispatching owner of cargo unmanned plane and express delivery post house the two earth stations of unmanned plane are dispensed by main unmanned plane, realized
Aerial complementary energy and it is aerial on carriage of Cargo.Firstly, selecting logistics means of distribution according to " empty two lands " transfer mode, cargo spirit is completed
Transfer living.Then according to flight control center's instruction and Focusing module process, in certain horizontal safety distance, using " fourth "
Font docking structure completes two-shipper and is aligned contact in the air, carries out aerial charging complementary energy.The present invention overcomes the one-stop dispatchings of single machine
The limitation of mode effectively improves the flexibility ratio of logistics distribution service, while overcoming existing unmanned plane effectively in order to improve
Continuation of the journey is maked a return voyage ability, docks brought unstability when charging up and down using two-shipper.
Comprehensive dispatching new model and charging structure newly design, the present invention not only increase the owner of cargo receive cargo flexibility ratio,
Continuation of the journey is maked a return voyage the short slab of ability when effectively improving traffic efficiency, but also can overcome the disadvantages that logistics unmanned captain, extend logistics without
Man-machine shipping kilometre.
Detailed description of the invention
Fig. 1 is " empty two lands " new model logistics distribution schematic diagram of a scenario provided in an embodiment of the present invention.
In figure: 1, the main unmanned plane of aerial logistics；2, owner of cargo's pair unmanned plane；3, express delivery post house pair unmanned plane；4, logistics distribution
Line.
Fig. 2 is " empty two lands " new model logistics distribution transfer flow chart provided in an embodiment of the present invention.
Fig. 3 is the aerial charging structure figure of " fourth " font logistics unmanned plane provided in an embodiment of the present invention.
In figure: 5, lateral lever；6, vertical lever；7, charging ring；8, joint.
Fig. 4 is the aerial charging flow figure of " fourth " font logistics unmanned plane provided in an embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
The prior art not can effectively solve single machine unmanned plane transport cargo it is long when continuation of the journey make a return voyage problem.It not can solve single machine
The single limitation problem of unmanned plane dispatching cargo.Not can solve unmanned plane it is long when continuation of the journey make a return voyage problem.
To solve the above problems, below with reference to concrete scheme, the present invention is described in detail.
The logistics unmanned plane charge control method provided in an embodiment of the present invention for promoting transfer cruising ability, comprising:
Step 1 obtains the aerial main unmanned plane current flight shape of logistics according to visual sensor and unmanned plane positioning system
State, current carried charge be how many and the aerial horizontal distance between secondary unmanned plane.
Step 2 after owner of cargo's pair unmanned plane receives logistics order information and the main unmanned plane location information of logistics, is gone to aerial
It completes on carriage of Cargo.
Step 3, according to unmanned aerial vehicle control system center and the automatic focusing module confirmation main unmanned plane of logistics and owner of cargo's pair nothing
Man-machine double horizontal alignments.
Step 4, the aerial main unmanned aerial vehicle (UAV) control transverse direction lever horizontal extension contact of logistics, contacts errorless and charging ring and marks
Display alignment is connected by the UAV system control centre control main unmanned plane of logistics and the locking of owner of cargo's pair unmanned plane.
Step 5, after the main unmanned plane of logistics docks locking with owner of cargo's pair unmanned plane, the aerial main unmanned aerial vehicle (UAV) control two of logistics is right
The charging ring of lateral lever end completes positive and negative anodes conducting, carries out the main unmanned plane of logistics and fills with owner of cargo's pair unmanned plane flat contact
Electricity.
In embodiments of the present invention, step 2 completes method on carriage of Cargo in the air and includes:
1) the main unmanned plane of logistics is based on wireless communication and pays the utmost attention to send logistics order information to the owner of cargo.
2) owner of cargo is confirmed whether to send owner of cargo's pair unmanned plane to receiving cargo in the air based on the logistics order information received, complete
Join at cargo one stage transfer.If the owner of cargo because objective factor can not send owner of cargo's pair unmanned plane to connect goods in time, logistics master nobody
After machine receives feedback information, logistics order information is sent to express delivery post house pair unmanned plane, carries out the two-stage on carriage of Cargo.
3) two-stage on carriage of Cargo when, the main unmanned plane of logistics finds distance most by System Control Center and positioning system
Close express delivery post house after express delivery post house UAV system control centre receives information, can be sent during express delivery post house pair unmanned plane goes
Turn cargo, completes the two-stage on carriage of Cargo.
In embodiments of the present invention, empty in the main unmanned aerial vehicle (UAV) control transverse direction lever horizontal extension contact of the aerial logistics of step 4
Middle supplement dynamic structure is flat using the scalable transverse direction of a pair " fourth " font for being mounted on middle position right above the main unmanned plane of logistics
Row lever, contact charging modes supplement power to owner of cargo's pair unmanned plane.
Step 5 carries out the main unmanned plane of logistics and owner of cargo's pair unmanned plane flat contact charging method in embodiments of the present invention
It include: to be controlled by unmanned plane master control system information and automatic focusing module process.
The main unmanned plane of logistics, the identical height of owner of cargo's pair unmanned plane arrival are controlled, two pairs of the main unmanned plane of logistics can contracting transverse direction
Parallel lever complete with, owner of cargo's pair unmanned plane is positive and negative docks, then progress charging ring connection and locking, last charge circuit are led
It is logical, realize that the main unmanned plane of logistics and owner of cargo's pair unmanned plane flat contact charge.
In embodiments of the present invention, the present invention, which provides a kind of realization of logistics unmanned plane delivery system, can promote transfer continuation of the journey energy
The logistics unmanned plane charge control system of power includes:
Visual sensor and unmanned plane positioning system, for obtaining the main unmanned plane current flight state of logistics, current electrification
Measure the how many and aerial horizontal distance between owner of cargo's pair unmanned plane.
Owner of cargo's pair unmanned aerial vehicle control system, for by owner of cargo's pair unmanned plane receive logistics order information and logistics master nobody
After machine location information, aerial complete on carriage of Cargo is gone to.
Unmanned aerial vehicle control system center, the main unmanned plane contact of display owner of cargo's pair unmanned plane, logistics is errorless and charging ring marks
After alignment, the main unmanned plane locking connection of control owner of cargo's pair unmanned plane, logistics.
Automatic focusing module, for confirming the main unmanned plane horizontal alignment of owner of cargo's pair unmanned plane, logistics.
Aerial supplement dynamic structure control module, for controlling a pair " fourth " for being mounted on middle position right above unmanned plane
The scalable parallel lever of font, after the main unmanned plane docking locking of owner of cargo's pair unmanned plane, logistics, two pairs of the control main unmanned plane of logistics
The charging ring of lateral lever end completes positive and negative anodes conducting, carries out the charging of major-minor unmanned plane flat contact.
Realize that the logistics unmanned plane that can promote transfer cruising ability is mended in the air another object of the present invention is to provide a kind of
It fills dynamic structure and uses the scalable parallel lever of a pair " fourth " font for being mounted on middle position right above the main unmanned plane of logistics, with
It contacts charging modes and supplements power to owner of cargo's pair unmanned plane.
In embodiments of the present invention, the present invention provides a kind of logistics unmanned plane delivery system, including the main unmanned plane of logistics, goods
Major-minor unmanned plane and express delivery post house pair unmanned plane.
Owner of cargo's pair unmanned plane is docked by the scalable parallel lever of T-shaped with the main unmanned plane of logistics, is carried out flat contact and is filled
Electricity.
Express delivery post house pair unmanned plane is connect by unmanned aerial vehicle control system center with the main unmanned plane signal of logistics.
In embodiments of the present invention, the present invention provides a kind of logistics unmanned plane that can promote transfer cruising ability and supplements in the air
Dynamic structure, the structure of " fourth " the font retractable lever include: " fourth " font lever by vertical lever, lateral lever and pass
Section composition.Vertical lever is for fixing.Lateral lever uses spiral retractable lever.
In embodiments of the present invention, the lateral lever of " fourth " font lever is spiral retractable lever and owner of cargo's pair unmanned plane
Docking carries out contact charging complementary energy, and lateral lever is two, and the end of two lateral levers is equipped with charging ring, and
Positive and negative anodes are shown respectively.The end of two lateral levers is equipped with automatic focusing module.
The invention will be further described with reference to the accompanying drawings and embodiments.
Embodiment 1
One kind proposed by the present invention can promote the logistics unmanned plane of transfer cruising ability, and main includes building logistics distribution
" empty two lands " new model and aerial charging structure newly design.
For clearer description " empty two lands " new model, first the implement scene of the new model in the present invention is set
It sets, as shown in Figure 1.The implement scene includes the main unmanned plane 1 of aerial logistics.Owner of cargo's pair unmanned plane 2 and express delivery post house it is secondary nobody
The two earth stations of machine 3.The logistics distribution line 4 of " empty two lands " new model.The main unmanned plane 1 of aerial logistics.Owner of cargo's pair nothing
Between man-machine 2 and express delivery post house pair unmanned plane 3 rely on wirelessly be communicatively coupled, information sharing platform by Logistics Information Platform with
Unmanned plane information control center composition.The logistics information preferentially established between the main unmanned plane of logistics and owner of cargo's pair unmanned plane communicates,
The through transfer of a cargo is completed, next, which is considered further that, completes secondary transfer by express delivery post house pair unmanned plane.
In conjunction with new model implement scene, the specific embodiment of logistics unmanned plane " empty two lands " new model are as follows: according to master
Unmanned plane 1 is mounted on the rotatable visual sensor on fuselage and the navigation information at UAV system center, obtains fuselage
In the state of flight of current air.By unmanned plane information monitoring center, how much is the savings carried charge of the current main unmanned plane of acquisition
And the aerial horizontal distance apart from the owner of cargo, unmanned aerial vehicle (UAV) control center combine unmanned plane current time carried charge number and distance
The mileage of the owner of cargo or express delivery post house pays the utmost attention to immediately send logistics information to the owner of cargo based on wireless communication, and the owner of cargo is according to receipts
The logistics order information arrived is confirmed whether to send secondary unmanned plane 2 to cargo is received in the air, completes cargo according to logistics distribution line 4
One stage transfer handover.2 information of owner of cargo's pair unmanned plane is sent when main unmanned plane 1 does not receive owner of cargo's confirmation in regulation response time
When, the express delivery post house that main unmanned plane 1 will be nearest according to Logistics Information Platform orientation distance, and goods to be transshipped information is sent, fastly
It passs after post house UAV system control centre receives information, express delivery post house pair unmanned plane 3 can be sent to realize two-stage aerial cargo
Transfer." one be made of the main unmanned plane 1 of logistics, owner of cargo's pair unmanned plane 2 and express delivery post house pair unmanned plane 3 as described above
The specific embodiment of empty two lands " new model, it is as shown in Figure 2 that the present invention obtains specific implementation process.
Embodiment 2
As shown in Fig. 2, a kind of logistics unmanned plane that can promote transfer cruising ability, using " empty two lands " new model logistics
Dispense the detailed process of transfer are as follows: the main unmanned plane of logistics carries cargo and takes off.Obtain logistics unmanned plane current flight state, current
Carried charge is how many and the aerial horizontal distance between secondary unmanned plane.Object is preferentially sent based on the main unmanned plane of communication
Order information is flowed to the owner of cargo.Judge whether the owner of cargo replys and connects goods.After the owner of cargo sends response message to main unmanned plane, according to main nothing
The logistics order information of man-machine transmission, the owner of cargo send secondary unmanned plane to connect goods to aerial.Complete a stage on carriage of Cargo.If the owner of cargo does not have
Have and make feedback in regulation response time, be based on communication, main unmanned plane is flat according to navigation information and logistics information
Platform, main unmanned plane will connect goods notice to sending apart from nearest express delivery post house.Express delivery post house control centre connects according to what is received
Goods notice, sends secondary unmanned plane that main unmanned plane is assisted to complete on carriage of Cargo.Complete the two-stage on carriage of Cargo.
Concrete principle includes: firstly, the main unmanned plane control centre of logistics will be arrived at the destination according to current location and cargo
The distance between, the unmanned plane of can currently go out operation and carried charge abundance is sent, in the main unmanned plane of goods delivery center logistics
Identified detection carrying need to dispense cargo and take off.It is current that logistics unmanned plane is obtained by unmanned aerial vehicle (UAV) control center on the way in flight
State of flight, current carried charge be how many and the range information apart from the owner of cargo, is based on communication, the main preferential root of unmanned plane
It is sent according to logistics order information to the owner of cargo and connects goods notice.According to unmanned plane power consumption rate, certain feedback is set to main unmanned plane
Response time, when the owner of cargo is when defined response time internal feedback can connect goods, owner of cargo's pair unmanned plane sends pair according to order information
Unmanned plane, which is gone to, connects goods, completes a stage on carriage of Cargo.Goods request can be connect when the owner of cargo does not make in defined response time
Feedback when, the main unmanned plane of logistics will be based on wireless communication mode, according to navigation information and Logistics Information Platform, most to distance
Close express delivery post house, which is sent, connects goods notice, and express delivery post house unmanned plane control centre is sent current according to the order information received
The secondary unmanned plane for operation and the carried charge abundance of can going out goes to goods to be transshipped, completes the two-stage on carriage of Cargo.
Embodiment 3
In embodiments of the present invention, the aerial of the logistics unmanned plane of transfer cruising ability can be promoted the invention proposes one kind
The new design of charging structure, the structure are in " fourth " font, are mounted on the surface of unmanned plane.For clearer description " fourth "
Character form structure is first illustrated " fourth " character form structure, as shown in Figure 3." fourth " character form structure is by lateral lever 5, vertical
Lever 6, charging ring 7, joint 8 form.
In conjunction with " fourth " character form structure, the specific implementation process of the horizontal charging modes of logistics unmanned plane are as follows: every frame unmanned plane is just
A pair of " fourth " character form structure is installed in top middle position, and the charging ring of structure end respectively indicates positive and negative anodes.Based on " a sky two
Land " selection mode, according to the Focusing module process and unmanned aerial vehicle (UAV) control center instruction being mounted at lateral lever, judge major-minor without
The identical height of man-machine arrival, and when hovering in horizontal safety distance range, main unmanned plane is controlled by unmanned aerial vehicle (UAV) control center
The lateral retractable spiral lever of a pair contacted with a pair of of transverse direction retractable spiral lever of secondary unmanned plane, two pairs of levers are complete
After contact, the positive and negative anodes of lateral lever end charging ring 7 will be docked, and positive and negative anodes dock and charging ring label display is right
Together, it can be attached and lock, charge circuit is connected, realize flat contact charging.
Embodiment 4
The newly-designed specific embodiment of the aerial charging structure of logistics unmanned plane and process as described above, the present invention
It is as described in Figure 4 to obtain specific implementation process.
As shown in figure 4, a kind of logistics unmanned plane that can promote transfer cruising ability, using the tool of " fourth " font charging structure
Body process are as follows: it is more that main unmanned plane current flight state, current carried charge are obtained according to visual sensor and unmanned plane positioning system
Aerial horizontal distance less and between secondary unmanned plane.Secondary unmanned plane receives logistics order information and main unmanned plane location information
Afterwards, aerial complete on carriage of Cargo is gone to.Two-shipper horizontal alignment is confirmed according to unmanned aerial vehicle control system center and automatic focusing module.
It is contacted by the lateral part horizontal extension of unmanned aerial vehicle (UAV) control " fourth " font lever, contacts the label display alignment of errorless and charging ring,
By the control two-shipper locking connection of UAV system control centre.After two-shipper docking locking, two pairs of unmanned aerial vehicle (UAV) control lateral levers
The charging ring of end completes positive and negative anodes conducting, carries out the charging of two-shipper flat contact.
Concrete principle includes:
Firstly, obtaining the current state of flight of the main unmanned plane of logistics, band according to visual sensor and unmanned plane positioning system
Electricity is how many and the range information apart from secondary unmanned plane, and secondary unmanned plane is according to the logistics order information received and leads nobody
After the location information of machine, sends the unmanned plane of can go out operation and carried charge abundance to go to and connect goods.When the arrival of secondary unmanned plane connects goods
It is right according to unmanned aerial vehicle control system center and automatic focusing module confirmation two-shipper level within the scope of level of security after place
Together.Two frame unmanned plane flat contacts are carried out by the lateral part of unmanned aerial vehicle (UAV) control " fourth " font lever, in contact process laterally
Lever spiral expanding judges that lever contact is errorless and charging ring shows and has been aligned by control centre, so that it may it is attached locking,
After two-shipper docking locking, the positive and negative anodes of the end charging ring of unmanned aerial vehicle (UAV) control transverse direction lever are connected, and carry out two-shipper flat contact
Charging.
One kind proposed by the present invention can promote the logistics unmanned plane of transfer cruising ability, and the transfer scheme is mainly with " one
Empty two lands " new model is transfer platform, selectively flexibly completes one stage of cargo or two-stage transfer.
The continuation of the journey scheme is passed through using a pair " fourth " character form structure design for being mounted on center right above unmanned plane
Flexible transverse direction lever contact, conducting charge circuit give main unmanned plane electric energy supplement, so that it is insufficient short to make up the continuation of the journey electric energy that makes a return voyage
Plate increases the shipping kilometre of main unmanned plane.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. the logistics unmanned plane charge control method that one kind can promote transfer cruising ability, which is characterized in that described to be promoted
The logistics unmanned plane charge control method for turning cruising ability includes:
Step 1, according to visual sensor and unmanned plane positioning system obtain the main unmanned plane current flight state of aerial logistics, when
Preceding carried charge is how many and the aerial horizontal distance between secondary unmanned plane；
Step 2 goes to aerial completion after owner of cargo's pair unmanned plane receives logistics order information and the main unmanned plane location information of logistics
On carriage of Cargo；
Step 3, according to unmanned aerial vehicle control system center and the automatic focusing module confirmation main unmanned plane of logistics and owner of cargo's pair unmanned plane
Double horizontal alignments；
Step 4, the aerial main unmanned aerial vehicle (UAV) control transverse direction lever horizontal extension contact of logistics, contacts the label display of errorless and charging ring
Alignment is connected by the UAV system control centre control main unmanned plane of logistics and the locking of owner of cargo's pair unmanned plane；
Step 5, after the main unmanned plane of logistics docks locking with owner of cargo's pair unmanned plane, aerial main two pairs of transverse directions of unmanned aerial vehicle (UAV) control of logistics
The charging ring of lever end completes positive and negative anodes conducting, carries out the main unmanned plane of logistics and owner of cargo's pair unmanned plane flat contact charges.
2. the logistics unmanned plane charge control method of transfer cruising ability can be promoted as described in claim 1, which is characterized in that
The method that step 2 is completed on carriage of Cargo in the air includes:
1) the main unmanned plane of logistics is based on wireless communication and pays the utmost attention to send logistics order information to the owner of cargo；
2) owner of cargo is confirmed whether to send owner of cargo's pair unmanned plane to cargo is received in the air based on the logistics order information received, completes goods
Object one stage transfer handover；If the owner of cargo is because objective factor can not send owner of cargo's pair unmanned plane to connect goods in time, the main unmanned plane of logistics is received
To after feedback information, logistics order information is sent to apart from nearest express delivery post house pair unmanned plane, carries out the two-stage on carriage of Cargo；
3) two-stage on carriage of Cargo when, it is nearest to find distance by System Control Center and positioning system for the main unmanned plane of logistics
Express delivery post house after express delivery post house UAV system control centre receives information, can send express delivery post house pair unmanned plane to remove transfer goods
Object completes the two-stage on carriage of Cargo.
3. the logistics unmanned plane charge control method of transfer cruising ability can be promoted as described in claim 1, which is characterized in that
The aerial logistics of step 4 main unmanned aerial vehicle (UAV) control transverse direction lever horizontal extension contact, supplements dynamic structure in the air, using being mounted on object
The scalable horizontally-parallel lever of a pair of T-shaped for flowing middle position right above main unmanned plane, gives owner of cargo's pair to contact charging modes
Unmanned plane supplements power.
4. the logistics unmanned plane charge control method of transfer cruising ability can be promoted as described in claim 1, which is characterized in that
Step 5 carries out the main unmanned plane of logistics and owner of cargo's pair unmanned plane flat contact charging method includes: to be believed by unmanned plane master control system
Breath and automatic focusing module process are controlled；
The main unmanned plane of logistics, the identical height of owner of cargo's pair unmanned plane arrival are controlled, two pairs of the main unmanned plane of logistics can contract horizontally-parallel
Lever is completed and owner of cargo's pair unmanned plane is positive and negative docks, and charging ring connection and locking, last charge circuit conducting, realization are then carried out
The main unmanned plane of logistics and owner of cargo's pair unmanned plane flat contact charge.
5. a kind of realize mentioning for the logistics unmanned plane charge control method described in claim 1 for promoting transfer cruising ability
Rise the logistics unmanned plane charge control system of transfer cruising ability, which is characterized in that the object for promoting transfer cruising ability
Flowing unmanned plane charge control system includes:
Visual sensor and unmanned plane positioning system are more for obtaining the main unmanned plane current flight state of logistics, current carried charge
Less and the aerial horizontal distance between owner of cargo's pair unmanned plane；
Owner of cargo's pair unmanned aerial vehicle control system, for control owner of cargo's pair unmanned plane receive logistics order information and determine logistics master nobody
After machine location information, aerial complete on carriage of Cargo is gone to；
Unmanned aerial vehicle control system center, display owner of cargo's pair unmanned plane, the main unmanned plane of logistics contact errorless and charging ring label alignment
Afterwards, the main unmanned plane locking connection of owner of cargo's pair unmanned plane, logistics is controlled；
Automatic focusing module, for confirming the main unmanned plane horizontal alignment of owner of cargo's pair unmanned plane, logistics；
Aerial supplement dynamic structure control module, for control be mounted on a pair of of T-shaped in unmanned plane surface middle position can
Stretch parallel lever, after the main unmanned plane docking locking of owner of cargo's pair unmanned plane, logistics, the lateral thick stick of two pairs of the control main unmanned plane of logistics
The charging ring of bar end completes positive and negative anodes conducting, carries out owner of cargo's pair unmanned plane, the charging of logistics pair unmanned plane flat contact.
6. a kind of realize being promoted for the logistics unmanned plane charge control method that can promote transfer cruising ability described in claim 1
The logistics unmanned plane of transfer cruising ability supplements dynamic structure in the air, which is characterized in that the transfer cruising ability that promoted
Logistics unmanned plane supplements dynamic structure in the air, can using a pair of of the T-shaped for being mounted on middle position right above the main unmanned plane of logistics
Stretch parallel lever, supplements power to contact charging modes to owner of cargo's pair unmanned plane.
7. the logistics unmanned plane that one kind can promote transfer cruising ability as claimed in claim 6 supplements dynamic structure in the air,
It is characterized in that, the structure of the T-shaped retractable lever includes: tee T lever by vertical lever, lateral lever and joint；
Wherein joint connects vertical lever and lateral lever as intermediate connecting body, and vertical lever is fixed, lateral lever after alignment into
The flexible contact of row；Vertical lever is for fixing；Lateral lever uses spiral retractable lever.
8. the logistics unmanned plane that can promote transfer cruising ability as claimed in claim 7 supplements dynamic structure, feature in the air
It is, the lateral lever of tee T lever is that spiral retractable lever is docked with owner of cargo's pair unmanned plane, carries out contact charging and mends
Can, lateral lever is two, and the end of two lateral levers is equipped with charging ring, and shows positive and negative anodes respectively；Two cross
Automatic focusing module is installed to the end of lever.
9. it is a kind of realize can be promoted described in claim 1 logistics of the logistics unmanned plane charge control method of transfer cruising ability without
Man-machine delivery system can promote logistics unmanned plane transfer cruising ability, which is characterized in that the logistics unmanned plane delivery system,
Including the main unmanned plane of logistics, owner of cargo's pair unmanned plane and express delivery post house pair unmanned plane；
Owner of cargo's pair unmanned plane is docked by the scalable parallel lever of T-shaped with the main unmanned plane of logistics, and flat contact charging is carried out；
Express delivery post house pair unmanned plane is wirelessly communicated by unmanned aerial vehicle control system center with the main unmanned plane of logistics.
Express delivery post house pair unmanned plane after receiving transfer information, sends carried charge sufficient by express delivery post house unmanned plane control centre
Owner of cargo's pair unmanned plane go to aerial goods to be transshipped；It can be stretched by being mounted on the T-shaped above the pair unmanned plane of express delivery post house simultaneously
The parallel lever that contracts contacts charging with the main unmanned plane of logistics, and the continuation of the journey for promoting the main unmanned plane of logistics is maked a return voyage ability.
10. a kind of realize the logistics that can promote the logistics unmanned plane charge control method of transfer cruising ability described in claim 1
Unmanned plane.
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