CN110239716B - Method for delivering packing boxes by unmanned aerial vehicle - Google Patents
Method for delivering packing boxes by unmanned aerial vehicle Download PDFInfo
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- CN110239716B CN110239716B CN201910526429.7A CN201910526429A CN110239716B CN 110239716 B CN110239716 B CN 110239716B CN 201910526429 A CN201910526429 A CN 201910526429A CN 110239716 B CN110239716 B CN 110239716B
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000012856 packing Methods 0.000 title claims description 11
- 230000001133 acceleration Effects 0.000 claims description 69
- 230000000737 periodic effect Effects 0.000 claims description 14
- 238000005259 measurement Methods 0.000 claims description 8
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000006378 damage Effects 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 239000004677 Nylon Substances 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
- B64D1/12—Releasing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention provides a method for delivering a container by an unmanned aerial vehicle. The unmanned aerial vehicle delivery container method comprises the following steps: mounting a container on the unmanned aerial vehicle through a connecting structure; when the unmanned aerial vehicle reaches the destination, controlling the unmanned aerial vehicle to move in an accelerated manner so as to release the connection state of the connection structure; and after the container falls off, controlling the unmanned aerial vehicle to stop accelerating movement. The method reduces the self weight and maintenance cost of the unmanned aerial vehicle and improves the endurance mileage of the unmanned aerial vehicle.
Description
Technical Field
The application relates to the field of logistics transportation, in particular to a method for delivering a container by an unmanned aerial vehicle.
Background
In the field of unmanned aerial vehicle logistics transportation, currently, an electric drive control mode is generally adopted to lock or release cargos. For example, the following ways of handling goods exist in the prior art:
scheme one, the goods are loaded to the warehouse under the adoption, and the warehouse sets up the electrically operated gate, leaves the goods in the warehouse to transport the warehouse through unmanned aerial vehicle. When unmanned aerial vehicle arrived the destination, opened the electrically operated gate, unloaded the goods in the warehouse through extra push mechanism or picking up the mechanism, perhaps through artifical uninstallation goods.
Scheme two, the warehouse passes through the rope with unmanned aerial vehicle and is connected. When the unmanned aerial vehicle arrives at the destination, the rope is cut off through the electric driving cutting knife.
Scheme three, unmanned aerial vehicle is equipped with by motor drive's couple, and the couple is located through the rope string to goods or the storehouse that is equipped with the goods, and when unmanned aerial vehicle arrived the destination, motor drive couple rotated to release the goods.
Disclosure of Invention
However, the inventors of the present application noted that: because commodity circulation unmanned aerial vehicle all has higher requirement to dead weight and battery energy consumption, and current electric drive mechanism had both increased unmanned aerial vehicle's dead weight and needed extra electric power to drive, after commodity circulation unmanned aerial vehicle's scale is managed and is fallen to the ground, current electric drive scheme will increase unmanned aerial vehicle's energy consumption, shorten unmanned aerial vehicle's continuation of the journey mileage to holistic operation cost has been increased. In addition, the electric driving structure has problems of complexity in structure and control, and insufficient reliability and stability. To this end, the present application aims to provide a method for delivering containers by unmanned aerial vehicles to at least partially solve the above technical problem.
One aspect of the application provides a method of unmanned aerial vehicle delivery of containers. The unmanned aerial vehicle delivery container method comprises the following steps: mounting a container on the unmanned aerial vehicle through a connecting structure; when the unmanned aerial vehicle reaches the destination, controlling the unmanned aerial vehicle to move in an accelerated manner so as to release the connection state of the connection structure; and after the container falls off, controlling the unmanned aerial vehicle to stop accelerating movement.
Optionally, one end of the connecting structure is connected with the unmanned aerial vehicle, the other end of the connecting structure is connected with the cargo box, and the connecting structure is provided with a fracture part.
Optionally, controlling the accelerated motion of the drone includes: and controlling the unmanned aerial vehicle to perform periodic accelerated motion.
Optionally, the controlling the drone to perform periodic accelerated motion includes: and controlling the unmanned aerial vehicle to linearly move along the up-down direction with the periodically changed acceleration until the fracture part of the connecting structure is disconnected.
Optionally, the controlling the drone to perform periodic accelerated motion includes: and controlling the unmanned aerial vehicle to rotate in the horizontal direction at the periodically changed angular acceleration until the fracture part of the connecting structure is disconnected.
Optionally, the unmanned aerial vehicle includes a controller, the connection structure includes a line electrically connected to the controller, and the controller determines whether the cargo box falls off according to whether the line is disconnected.
Optionally, the connecting structure comprises a stud arranged on the unmanned aerial vehicle and a screw hole arranged on the cargo box; or, connection structure is including setting up in the double-screw bolt of packing box and setting up in unmanned aerial vehicle's screw, the double-screw bolt with the screw passes through screw-thread fit connection.
Optionally, the controlling the accelerated motion of the unmanned aerial vehicle includes: the unmanned aerial vehicle is controlled to rotate in the horizontal direction at the periodically changed angular acceleration so as to remove the matching between the stud and the screw hole.
Optionally, one movement cycle of the drone includes: firstly accelerating rotation at a first angular acceleration and then decelerating rotation at a second angular acceleration; when the unmanned aerial vehicle rotates at a first angular acceleration in an accelerating mode, the friction torque between the stud and the screw hole is smaller than the inertia torque generated by the container, and the stud is gradually disengaged relative to the screw hole; when the unmanned aerial vehicle rotates at the second angular acceleration in a speed reducing mode, the friction torque between the stud and the screw hole is larger than the inertia torque generated by the container, and the relative position of the stud and the screw hole is unchanged.
Optionally, the unmanned aerial vehicle includes an inertial measurement sensor, and the inertial measurement sensor determines whether the cargo box falls off by detecting the acceleration of the unmanned aerial vehicle.
This application unmanned aerial vehicle delivers method of packing box, owing to remove connection structure's connection state through control unmanned aerial vehicle accelerated motion for the packing box drops, thereby realizes the delivery to the packing box, so, need not to set up electric drive mechanism such as electric switch door, electronic locking mechanism on unmanned aerial vehicle, thereby has reduced unmanned aerial vehicle's dead weight and maintenance cost, has improved unmanned aerial vehicle's continuation of the journey mileage.
Drawings
FIG. 1 is a schematic view of an embodiment of the present application with the cargo box mounted to a drone;
FIG. 2 is an enlarged view at A shown in FIG. 1;
figure 3 is a speed-time diagram of the drone shown in figure 1;
figure 4 is an angular velocity versus time diagram for the drone shown in figure 1;
fig. 5 is a schematic view of another embodiment of the present application with the cargo box mounted to the drone;
FIG. 6 is an enlarged view at B shown in FIG. 5;
fig. 7 is an angular velocity versus time diagram for the drone shown in fig. 5.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
The method for delivering the containers by the unmanned aerial vehicles is described in detail below with reference to the attached drawings. The features of the following examples and embodiments may be combined with each other without conflict.
Referring to fig. 1 to 7, an embodiment of the invention provides a method for delivering a container by a drone. The method comprises the following steps: mounting the cargo box 20 to the drone 10 through the connection structure 30; after the unmanned aerial vehicle 10 reaches the destination, controlling the unmanned aerial vehicle 10 to accelerate so as to release the connection state of the connection structure 30; after the cargo box 20 falls off, the unmanned aerial vehicle 10 is controlled to stop the acceleration movement.
Here, the control of the acceleration of the drone 10 includes the following two modes: the unmanned aerial vehicle 10 is controlled to accelerate the linear motion, or the unmanned aerial vehicle 10 is controlled to accelerate the rotation.
Because this application removes connection structure 30's connection state through control unmanned aerial vehicle 10 accelerated motion for packing box 20 drops, thereby realizes delivering packing box 20, so, need not to set up electric drive mechanism such as electric switch door, electronic locking mechanism on unmanned aerial vehicle 10, thereby reduced unmanned aerial vehicle 10's dead weight and maintenance cost, improved unmanned aerial vehicle 10's continuation of the journey mileage.
The connecting structure 30 may be a rope, such as a nylon rope, a steel wire rope, etc., and the connecting structure 30 may also be a plastic connecting member, etc., but is not limited thereto.
Referring to fig. 1 and 2, one end of the connecting structure 30 is connected to the unmanned aerial vehicle 10, and the other end is connected to the cargo box 20, and the connecting structure 30 has a breaking portion 31. The breaking portion 31 is thinner than other portions of the connection structure 30. In the illustrated embodiment, the breaking portion 31 is disposed at an intermediate position in the vertical direction of the connecting structure 30. In other embodiments, the breaking portion 31 may also be disposed at an end of the connecting structure 30 close to the drone 10, or at an end of the connecting structure 30 close to the cargo box 20. In the illustrated embodiment, the breaking portion 31 is recessed from the surface of the connecting structure 30 toward the center, i.e., the breaking portion 31 is located at the center of the connecting structure 30. In other embodiments, the breaking portion 31 is formed by providing a groove on one side of the connecting structure 30, that is, the breaking portion 31 is provided at a non-central position of the connecting structure 30.
The arrangement of fracture portion 31 for connection structure 30's destruction stress is minimum at fracture portion 31 position, and after unmanned aerial vehicle 10 arrived the destination, control unmanned aerial vehicle 10 in aerial certain altitude position along upper and lower direction acceleration linear motion, perhaps rotate with higher speed along the horizontal direction, make the stress that connection structure 30 received grow, and when the stress that connection structure 30 received was greater than the destruction stress of fracture portion 31 position department, connection structure 30's fracture portion 31 breaks off, and packing box 20 drops thereupon. In this way, the delivery of the cargo box 20 can be facilitated.
Controlling the unmanned aerial vehicle 10 to accelerate includes: the drone 10 is controlled to make periodic acceleration movements. Since the power system of the drone 10 is unable to provide continuous acceleration, in a preferred embodiment, the drone 10 is controlled to make periodic acceleration movements.
In one embodiment, the controlling the drone 10 to perform periodic acceleration movements includes: the unmanned aerial vehicle 10 is controlled to move linearly in the up-down direction at the periodically changing acceleration until the breaking portion 31 of the connection structure 30 is broken.
Referring to fig. 3, in this embodiment, one movement cycle of the drone 10 includes the following steps in sequence: 1. upward acceleration movement at a first acceleration a 1; 2. decelerating movement upwards at a second acceleration a 2; 3. acceleration movement downward at a third acceleration a 3; 4. the movement is decelerated downward at a fourth acceleration a 4. The values of a1, a2, a3 and a4 may be partially or totally the same or totally different. The time used in the steps 1, 2, 3 and 4 can be the same or different.
In another embodiment, one movement cycle of the drone 10 comprises the following steps in sequence: 1. accelerating the motion downwards at a first acceleration a 1; 2. the downward deceleration movement is carried out at a second acceleration a 2; 3. upward acceleration movement at a third acceleration a 3; 4. the upward deceleration movement is performed at a fourth acceleration a 4. The values of a1, a2, a3 and a4 may be partially or totally the same or totally different. The time used in the steps 1, 2, 3 and 4 can be the same or different.
In a preferred embodiment, the distance that the drone 10 moves up is the same as the distance that the drone 10 moves down during a complete movement cycle of the drone 10, so that the drone 10 moves up and down within a certain height range without being too high from the ground, thereby avoiding the cargo from being dropped too high from the ground when being thrown.
In another embodiment, the controlling the drone 10 to perform periodic acceleration movements includes: the unmanned aerial vehicle 10 is controlled to move linearly in the oblique direction at the periodically changing acceleration until the breaking portion 31 of the connecting structure 30 is broken.
In another embodiment, the controlling the drone 10 to perform periodic acceleration movements includes: the unmanned aerial vehicle 10 is controlled to rotate in the horizontal direction at the periodically changing angular acceleration until the breaking portion 31 of the connection structure 30 is broken.
Referring to fig. 4, in this embodiment, a movement cycle of the drone 10 includes the following steps of 1, rotating with a first angular acceleration α 1 in a clockwise acceleration manner, 2, rotating with a second angular acceleration α 2 in a clockwise deceleration manner, 3, rotating with a third angular acceleration α 3 in a counterclockwise acceleration manner, and 4, rotating with a fourth angular acceleration α 4 in a counterclockwise deceleration manner, where the values of the α 1, α 2, α 3, and α 4 may be partially or completely the same or may be different, and the time used in the steps 1, 2, 3, and 4 may be the same or may be different.
In another embodiment, a movement cycle of the drone 10 includes the steps of 1, rotating with a first angular acceleration α 1 in a counterclockwise acceleration manner, 2, rotating with a second angular acceleration α 2 in a counterclockwise deceleration manner, 3, rotating with a third angular acceleration α 3 in a clockwise acceleration manner, and 4, rotating with a fourth angular acceleration α 4 in a clockwise deceleration manner, wherein the values of α 1, α 2, α 3, α 4 may be partially or completely the same or different, and the time used in the steps 1, 2, 3, 4 may be the same or different.
The failure stress of the connection structure 30 is [ sigma ]1]The stress in the connection structure 30 caused by the gravity of the cargo box 20 is σGσ at the time of transportG<[σ1]During delivery, the drone 10 power system may provide angular acceleration α or acceleration a. the cargo box 20 mass is m, the moment of inertia is J, the rotational inertia force is J α, and the linear motion inertia force is ma, which produces stress σ in the connection structure 30RWhen σ isG+σR>[σ1]At this time, the connecting structure 30 is broken, and the delivery is completed. By controlling the drone 10 to perform a periodic acceleration movement, an alternating stress σ is generated in the connection structure 30Ra>σRTherefore, it is easier to control the drone 10 to make periodic acceleration movements to drop off the cargo box 20.
In the illustrated embodiment, the drone 10 includes a controller, and the connection structure 30 includes a line 35 electrically connected to the controller, the controller determining whether the cargo box 20 is dropped based on whether the line 35 is broken. When the cargo box 20 is judged not to fall off, the controller controls the unmanned aerial vehicle 10 to continuously perform periodic acceleration movement; when the cargo box 20 is judged to fall off, the controller controls the unmanned aerial vehicle 10 to stop accelerating and execute the next work task.
In another embodiment, the drone 10 includes inertial measurement sensors that determine whether the cargo box 20 is dropped by detecting the acceleration of the drone 10. Specifically, when the inertial measurement sensor detects that the acceleration of the unmanned aerial vehicle 10 in the vertical direction changes greatly, the controller determines that the cargo box 20 has fallen off, and controls the unmanned aerial vehicle 10 to stop accelerating.
Referring to fig. 5 and 6, the connecting structure 30 includes a stud 36 disposed on the drone 10 and a screw hole 37 disposed on the cargo box 20. The cargo box 20 is mounted to the bottom of the drone 10 by the threaded engagement between the studs 36 and the screw holes 37.
In another embodiment, the connecting structure includes a stud disposed on the cargo box and a screw hole disposed on the unmanned aerial vehicle, and the cargo box 20 is mounted on the bottom of the unmanned aerial vehicle 10 by the screw fit between the stud and the screw hole.
In the above embodiment, the drone is controlled to rotate at an angular acceleration in a direction to release the fit between the stud 36 and the screw hole 37, and the angular acceleration at which the drone rotates generates an inertia moment on the cargo box that is greater than a friction moment between the stud 36 and the screw hole 37. In this way, the engagement between the stud 36 and the screw hole 37 can be released, and the cargo box 20 can be detached.
Controlling the accelerated motion of the unmanned aerial vehicle, comprising: the unmanned aerial vehicle is controlled to rotate in the horizontal direction at the periodically changed angular acceleration so as to remove the matching between the stud and the screw hole. Since in actual use the power system of the drone is not able to continuously provide angular acceleration, in a preferred embodiment the drone is controlled to rotate in the horizontal direction with a periodically varying angular acceleration.
Referring to fig. 7, one movement cycle of the drone 10 includes first rotating at a first angular acceleration α 1 and then rotating at a second angular acceleration α 2, when the drone rotates at the first angular acceleration α 1, the friction torque between the stud 36 and the screw hole 37 is less than the inertia torque generated by the container 20, at which time the stud 36 is gradually disengaged from the screw hole 37, and when the drone rotates at the second angular acceleration α 2, the friction torque between the stud 36 and the screw hole 37 is greater than the inertia torque generated by the container 20, at which time the relative position of the stud 36 and the screw hole 37 remains unchanged, so that after one or more movement cycles, the engagement between the stud 36 and the screw hole 37 is released, allowing the container 20 to fall off the drone 10, thereby enabling delivery of the container 20.
In this embodiment, the drone 10 includes an inertial measurement sensor that determines whether the cargo box 20 is detached by detecting the acceleration of the drone 10. Specifically, when the inertial measurement sensor detects that the component of the acceleration of the unmanned aerial vehicle 10 in the vertical direction changes greatly, the controller determines that the cargo box 20 has fallen off, and controls the unmanned aerial vehicle 10 to stop accelerating.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the scope of protection of the present application.
Claims (11)
1. A method for delivering containers by an unmanned aerial vehicle is characterized in that: the method comprises the following steps:
mounting a container on the unmanned aerial vehicle through a connecting structure;
after the unmanned aerial vehicle reaches the destination, controlling the unmanned aerial vehicle to accelerate to release the connection state of the connection structure, wherein the accelerating comprises: accelerating linear motion or accelerating rotation;
and after the container falls off, controlling the unmanned aerial vehicle to stop accelerating movement.
2. The method of unmanned aerial vehicle delivery cargo box of claim 1, wherein: connection structure one end is connected with unmanned aerial vehicle, and the other end is connected with the packing box, connection structure has fracture portion.
3. The method of unmanned aerial vehicle delivery cargo box of claim 2, wherein: controlling the accelerated motion of the unmanned aerial vehicle comprises: and controlling the unmanned aerial vehicle to perform periodic accelerated motion.
4. A method of drone delivery cargo box according to claim 3, characterized by: control unmanned aerial vehicle carries out periodic accelerated motion, include: and controlling the unmanned aerial vehicle to linearly move along the up-down direction with the periodically changed acceleration until the fracture part of the connecting structure is disconnected.
5. A method of drone delivery cargo box according to claim 3, characterized by: control unmanned aerial vehicle carries out periodic accelerated motion, include: and controlling the unmanned aerial vehicle to rotate in the horizontal direction at the periodically changed angular acceleration until the fracture part of the connecting structure is disconnected.
6. The method of unmanned aerial vehicle delivery cargo box of claim 4, wherein: the unmanned aerial vehicle comprises a controller, the connecting structure comprises a circuit electrically connected with the controller, and the controller judges whether the cargo box falls off according to whether the circuit is disconnected.
7. The method of unmanned aerial vehicle delivery cargo box of claim 5, wherein: the unmanned aerial vehicle comprises a controller, the connecting structure comprises a circuit electrically connected with the controller, and the controller judges whether the cargo box falls off according to whether the circuit is disconnected.
8. The method of unmanned aerial vehicle delivery cargo box of claim 1, wherein: the connecting structure comprises a stud arranged on the unmanned aerial vehicle and a screw hole arranged on the container; or, connection structure is including setting up in the double-screw bolt of packing box and setting up in unmanned aerial vehicle's screw, the double-screw bolt with the screw passes through screw-thread fit connection.
9. The method of unmanned aerial vehicle delivery cargo box of claim 8, wherein: controlling the accelerated motion of the unmanned aerial vehicle, comprising: the unmanned aerial vehicle is controlled to rotate in the horizontal direction at the periodically changed angular acceleration so as to remove the matching between the stud and the screw hole.
10. The method of unmanned aerial vehicle delivery cargo box of claim 9, wherein: one motion cycle of the drone includes: firstly accelerating rotation at a first angular acceleration and then decelerating rotation at a second angular acceleration; when the unmanned aerial vehicle rotates at a first angular acceleration in an accelerating mode, the friction torque between the stud and the screw hole is smaller than the inertia torque generated by the container, and the stud is gradually disengaged relative to the screw hole; when the unmanned aerial vehicle rotates at the second angular acceleration in a speed reducing mode, the friction torque between the stud and the screw hole is larger than the inertia torque generated by the container, and the relative position of the stud and the screw hole is unchanged.
11. A method for unmanned aerial vehicle delivery cargo box according to any one of claims 1-10, wherein: the unmanned aerial vehicle comprises an inertial measurement sensor, and the inertial measurement sensor judges whether the cargo box falls off or not by detecting the acceleration of the unmanned aerial vehicle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910526429.7A CN110239716B (en) | 2019-06-18 | 2019-06-18 | Method for delivering packing boxes by unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910526429.7A CN110239716B (en) | 2019-06-18 | 2019-06-18 | Method for delivering packing boxes by unmanned aerial vehicle |
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| CN110239716A CN110239716A (en) | 2019-09-17 |
| CN110239716B true CN110239716B (en) | 2020-07-03 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022083881A1 (en) * | 2020-10-23 | 2022-04-28 | Herbert Weirather | Coupling device for fastening a shipping container to an uav |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013066462A2 (en) * | 2011-08-30 | 2013-05-10 | Marvin Engineering Company, Inc. | Aircraft store ejector system |
| CN105151303B (en) * | 2015-08-06 | 2017-03-01 | 张子林 | A kind of unmanned plane delivery device and method |
| CA3034704C (en) * | 2016-07-27 | 2021-05-04 | Jeong-Hoon Shin | Home-delivered article loading device for drone |
| CN109720575A (en) * | 2017-10-30 | 2019-05-07 | 北京京东尚科信息技术有限公司 | Unmanned plane cargo delivery apparatus and method, unmanned plane |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022083881A1 (en) * | 2020-10-23 | 2022-04-28 | Herbert Weirather | Coupling device for fastening a shipping container to an uav |
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