CN112230672A

CN112230672A - Logistics transportation system, unmanned aerial vehicle, landing platform and control method thereof

Info

Publication number: CN112230672A
Application number: CN201911096505.1A
Authority: CN
Inventors: 崔鹏
Original assignee: Beijing Sankuai Online Technology Co Ltd
Current assignee: Beijing Sankuai Online Technology Co Ltd
Priority date: 2019-07-15
Filing date: 2019-11-11
Publication date: 2021-01-15
Also published as: CN110398983A

Abstract

The invention provides a logistics transportation system, an unmanned aerial vehicle, a landing platform and a control method thereof, wherein the unmanned aerial vehicle lands and stops on the landing platform, a first support in the unmanned aerial vehicle is contacted with a first surface of a first push plate in the landing platform, a second support in the unmanned aerial vehicle is contacted with a first surface of a second push plate in the landing platform, and the first surface is a landing surface on which the unmanned aerial vehicle lands and stops; a push-pull hook on the push plate of the landing platform drives the movement of the first support and/or the second support. The unmanned aerial vehicle does not need to consume self electric energy when unloading, the endurance is favorably improved, and the support and the connection structure of the support and the unmanned aerial vehicle body are simpler, so that the self weight and the manufacturing cost are favorably reduced.

Description

Logistics transportation system, unmanned aerial vehicle, landing platform and control method thereof

Technical Field

The invention relates to the technical field of unmanned equipment, in particular to a logistics transportation system, an unmanned aerial vehicle, a landing platform and a control method of the landing platform.

Background

With the development and progress of the unmanned control technology, the unmanned aerial vehicle gradually participates in the process of logistics transportation.

In the conventional logistics transportation process, in order to carry the carried goods, the locking mechanism or the unloading device is driven to act by the electric power of an unmanned aerial vehicle battery, so that the goods are fixed and released.

However, above-mentioned locking mechanism or discharge devices fix on unmanned aerial vehicle's fuselage, and its drive operation mechanism is comparatively complicated, has increased unmanned aerial vehicle dead weight on the one hand, has increased the energy consumption, and on the other hand consumes the electric energy of battery, has increased the energy consumption, has shortened unmanned aerial vehicle's continuation of the journey mileage. Furthermore, the partial discharge devices present a jamming positioning process during the discharge process, increasing the risk of damaging the goods.

It can be seen that current unmanned aerial vehicle has the complicated problem that leads to making and energy consumption with high costs, continuation of the journey mileage at least in the commodity circulation transportation.

Disclosure of Invention

The embodiment of the invention provides a logistics transportation system, an unmanned aerial vehicle, a landing platform and a control method thereof, and aims to at least solve the problems of high manufacturing and energy consumption cost and short endurance mileage caused by complex structure of the existing unmanned aerial vehicle.

According to a first aspect of an embodiment of the present invention, an embodiment of the present invention discloses a logistics transportation system, which includes an unmanned aerial vehicle and a landing platform;

the unmanned aerial vehicle comprises an unmanned aerial vehicle body and a landing gear assembly;

the landing gear assembly comprises a first bracket, a second bracket and an elastic resetting piece;

the first support and the second support are oppositely arranged, at least one of the first support and the second support is movably connected with the unmanned aerial vehicle body, and a loading space for clamping a cargo box is formed between the first support and the second support;

the elastic reset piece is arranged between the first bracket and the second bracket, or the elastic reset piece is arranged between any one of the brackets and the unmanned aerial vehicle body;

the landing platform comprises a platform base and a push-pull assembly;

the push-pull assembly comprises a first push plate and a second push plate, and a push-pull hook is arranged on a first surface of at least one of the first push plate and the second push plate, wherein the first surface is a landing surface on which the unmanned aerial vehicle lands and stops;

the first push plate and the second push plate are oppositely arranged on the same horizontal plane, and at least one of the first push plate and the second push plate is connected with the platform base in a sliding manner;

the push-pull hook drives the first support and/or the second support to move, wherein the distance between the container and the first surface is at least equal to the height of the push-pull hook;

the unmanned aerial vehicle lands and stops on the landing platform, the first support is in contact with the first surface of the first push plate, the second support is in contact with the first surface of the second push plate, and the first surface is a landing surface on which the unmanned aerial vehicle lands and stops;

the push-pull hook drives the first support and/or the second support to move.

According to a second aspect of an embodiment of the present invention, an embodiment of the present invention discloses an unmanned aerial vehicle, which includes an unmanned aerial vehicle body and a landing gear assembly;

elasticity resets and sets up first support with between the second support, or, elasticity resets and sets up arbitrary support with between the unmanned aerial vehicle body.

According to a third aspect of the embodiment of the present invention, the embodiment of the present invention further discloses a landing platform for carrying the landing of the above-mentioned unmanned aerial vehicle, wherein the landing platform comprises a platform base and a push-pull assembly;

the push-pull hook drives the first support and/or the second support to move, wherein the distance between the container and the first surface is at least equal to the height of the push-pull hook.

According to a fourth aspect of the embodiments of the present invention, an embodiment of the present invention discloses a method for controlling an unmanned aerial vehicle, where the method is used for the unmanned aerial vehicle, and the method includes:

after the unmanned aerial vehicle lands and lands, the first support and the second support move relatively in opposite directions under the action of external force, wherein the relative movement is relative translation or relative rotation;

when the first support and the second support move to the preset first position, the container is unloaded from the loading space and released.

According to a fifth aspect of the embodiments of the present invention, an embodiment of the present invention discloses a method for controlling a landing platform, where the method is used for the landing platform, and the method includes:

when the unmanned aerial vehicle lands on the landing platform, the first push plate and the second push plate relatively translate in opposite directions under the action of external force, the first support and the first push plate synchronously move, and the second support and the second push plate synchronously move;

when the first push plate and the second push plate relatively translate to a preset second position, the container is unloaded from the loading space and released.

According to a sixth aspect of the embodiments of the present invention, an embodiment of the present invention discloses a control method for a logistics transportation system, the method is used for the aforementioned logistics transportation system, and the method includes:

the unmanned aerial vehicle executes a landing instruction after searching the landing platform;

according to the landing instruction, the unmanned aerial vehicle lands and stops on the landing platform;

when the unmanned aerial vehicle lands on the landing platform, triggering the first push plate and the second push plate to translate relatively to drive the first support and the second support to move relatively;

when the first bracket and the second bracket move to a preset first position, the container is unloaded and released from the loading space;

the landing platform receives unloading completion information from the unmanned aerial vehicle;

according to the unloading completion information, the first push plate and the second push plate relatively translate to an initial position;

the drone exits the landing platform.

In the embodiment of the invention, at least one of the first support and the second support is movably connected with the unmanned aerial vehicle body respectively, the first support and the second support are arranged oppositely, and the first support and the second support have a clamping effect by utilizing the elasticity of the elastic resetting piece, so that after the unmanned aerial vehicle carries the transport cargo box to land, the first support and the second support move in opposite directions under the action of external force, and the cargo box can be unloaded. Therefore, compared with the traditional scheme, the unmanned aerial vehicle does not need to consume self electric energy when unloading, the endurance is promoted, and the support and the connection structure of the support and the unmanned aerial vehicle body are simple, so that the self weight and the manufacturing cost are reduced. In addition, with the help of the landing platform that uses with unmanned aerial vehicle is supporting, can realize the automatic of the first support of unmanned aerial vehicle and second support and expand, need not artifical manual participation, can reduce the human labor and pay out, promote degree of automation and commodity circulation conveying efficiency.

The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic structural diagram of a logistics transportation system provided in an embodiment of the invention;

fig. 2 is a schematic structural diagram of an unmanned aerial vehicle provided in an embodiment of the present invention;

FIG. 3 is a schematic structural view of a push-pull hook of a landing platform according to an embodiment of the present invention;

fig. 4 is a schematic diagram of an operation process of a logistics transportation system provided in an embodiment of the invention;

FIG. 5 is a schematic structural diagram of another landing platform provided in the embodiments of the present invention;

fig. 6 is a flowchart of a control method for an unmanned aerial vehicle according to an embodiment of the present invention;

FIG. 7 is a flowchart of a method for controlling a landing platform according to an embodiment of the present invention;

fig. 8 is a flowchart of a control method of a logistics transportation system provided in an embodiment of the invention.

Detailed Description

The technical solutions in the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The logistics transportation system, the unmanned aerial vehicle, the landing platform and the control method thereof provided by the invention are described in detail by listing several specific embodiments.

Example one

Referring to fig. 1 to 4, an embodiment of the present invention provides a logistics transportation system, which includes an unmanned aerial vehicle 1 and a landing platform 2;

the unmanned aerial vehicle 1 comprises an unmanned aerial vehicle body 10 and a landing gear assembly 11;

the landing gear assembly 11 comprises a first bracket 111, a second bracket 112 and an elastic resetting piece 113;

the first bracket 111 and the second bracket 112 are oppositely arranged, at least one of the first bracket 111 and the second bracket 112 is movably connected with the unmanned aerial vehicle body 10, and a loading space for clamping the container 12 is formed between the first bracket 111 and the second bracket 112;

the elastic reset piece 113 is arranged between the first bracket 111 and the second bracket 112, or the elastic reset piece 113 is arranged between any one of the brackets and the unmanned aerial vehicle body 10;

the landing platform 2 comprises a platform base and a push-pull assembly 21;

the push-pull assembly 21 comprises a first push plate 211 and a second push plate 212, a push-pull hook is arranged on a first surface of at least one of the first push plate 211 and the second push plate 212, wherein the first surface is a landing surface on which the unmanned aerial vehicle 1 lands and stops;

the first push plate 211 and the second push plate 212 are oppositely arranged on the same horizontal plane, and at least one of the first push plate 211 and the second push plate 212 is connected with the platform base in a sliding manner;

the push-pull hook drives the first support 111 and/or the second support 112 to move, wherein the distance between the cargo box 12 and the first surface is at least equal to the height of the push-pull hook;

the unmanned aerial vehicle 1 lands and rests on the landing platform 2, the first support 111 is in contact with a first surface of the first push plate 211, and the second support 112 is in contact with a first surface of the second push plate 212;

the push-pull hook drives the movement of the first support 111 and/or the second support 112.

Specifically, as shown in fig. 1, the drone 1 in the logistics system provided in the embodiment of the present invention includes a drone body 10 and a landing gear assembly 11. Unmanned aerial vehicle body 10 is the organism at unmanned aerial vehicle's power, flight control system and other mechanical parts place, provides the flight control scheme and installs other subsidiary mechanical parts for unmanned aerial vehicle. Undercarriage subassembly 11 is the bearing structure when connecting take off or landing on unmanned aerial vehicle body 10, prevents the damage of unmanned aerial vehicle body 10 that the direct contact of unmanned aerial vehicle body 10 and landing surface leads to.

Landing gear assembly 11 includes a first bracket 111, a second bracket 112, and a resilient return member 113. The first support 111 and the second support 112 are oppositely arranged and form an opposite supporting structure, at least one of the first support 111 and the second support 112 is movably connected with the drone body 10, for example, any one of the first support 111 or the second support 112 is movably connected with the drone body 10 and can move relatively, the other support is fixedly connected with the drone body 10 and cannot move relatively, of course, both the first support 111 and the second support 112 can be movably connected with the drone body 10, both the first support 111 and the second support 112 can move relatively with the drone body 10, so that an adjustable space can be formed between the first support 111 and the second support 112, the space is a loading space for clamping the cargo box 12, when the first support 111 and the second support 112 move relatively close to each other, the cargo box 12 in the loading space is clamped, when the first bracket 111 and the second bracket 112 are moved relatively away from each other, the cargo box 12 in the cargo space is released.

In order to provide the first bracket 111 and the second bracket 112 with power to move close to each other to clamp the cargo box 12 in the cargo space, an elastic restoring member 113, such as a tension spring, a rubber band, or the like, may be disposed between the first bracket 111 and the second bracket 112 to provide tension, and when the first bracket 111 and the second bracket 112 move away from each other, the two brackets are pulled close to each other to clamp the cargo box 12 in the cargo space. It can be understood that, the elastic reset piece 113 such as a soft rubber or a rubber with elasticity may also be disposed between any one of the brackets and the drone body 10, and after the first bracket 111 and the second bracket 112 move away from each other relatively, the elastic reset piece 113 is compressed to generate a pushing force, and may push the corresponding bracket to return to the initial position to clamp the cargo box 12 in the cargo space.

As shown in fig. 2, the landing platform 2 in the logistics transportation system provided in the embodiment of the present invention is used for receiving the landing of the aforementioned unmanned aerial vehicle 1, and the landing platform 2 includes a platform base (not shown in the figure) and a push-pull assembly 21. The push-pull assembly 21 comprises a first push plate 211 and a second push plate 212, and a push-pull hook is arranged on a first surface of at least one of the first push plate 211 and the second push plate 212, wherein the first surface is a landing surface on which the unmanned aerial vehicle 1 lands and stops. The first push plate 211 and the second push plate 212 are disposed opposite to each other on the same horizontal plane, and at least one of the first push plate 211 and the second push plate 212 is slidably connected to the platform base, for example, the first push plate 211 is slidably connected to the platform base, and the second push plate 212 is fixedly connected to the platform base, so that the first push plate 211 can move linearly relative to the second push plate 212, that is, the first push plate 211 can move linearly relative to the platform base. It is understood that when the second push plate 212 is slidably connected to the platform base and the first push plate 211 is fixedly connected to the platform base, the second push plate 212 can move linearly relative to the first push plate 211, that is, the second push plate 212 can move linearly relative to the platform base. In addition, when the first push plate 211 and the second push plate 212 are both slidably connected to the platform base, the first push plate 211 and the second push plate 212 can simultaneously slide relative to the platform base, and the first push plate 211 and the second push plate 212 are close to or far away from each other.

Because the first face of at least one push pedal in first push pedal 211 and the second push pedal 212 is provided with the push-pull hook, this first face is again for the landing surface that unmanned aerial vehicle 1 landed and stops, consequently, after unmanned aerial vehicle 1 landed on this first face, when first push pedal 211 and second push pedal 212 relative motion, along with the motion of first push pedal 211 or second push pedal 212, the push-pull hook on the first push pedal 211 can drive the motion of first support 111, and the motion of second support 112 can be driven to the second push pedal 212. As shown in fig. 3, in order to ensure that the push-pull hook can effectively hook the first support 111 or the second support 112, a distance L between the bottom surface of the cargo box 12 in the loading space formed by the first support 111 and the second support 112 and the first surface is at least equal to a height H of the push-pull hook. Thus, there is enough space at the bottom of the cargo box 12 to accommodate the hook for hooking the first bracket 111 or the second bracket 112 to move.

As shown in fig. 4, after the unmanned aerial vehicle 1 lands on this landing platform 2, the first support 111 contacts with the first surface of the first push plate 211, and the second support 112 contacts with the first surface of the second push plate 212, so that when the first push plate 211 moves, the push-pull hook on the first push plate 211 can drive the movement of the first support 111, and when the second push plate 212 moves, the push-pull hook on the second push plate 212 can drive the movement of the second support 112. Thereby, the motion of push pedal drives the motion of unmanned aerial vehicle support on the landing platform, and unmanned aerial vehicle's landing discharge process need not artifical manual contact and opens the support, alright accomplish unloading of packing box among the unmanned aerial vehicle, provides a reliable and stable landing discharge platform for unmanned aerial vehicle, still can avoid the bodily injury that unmanned aerial vehicle probably caused.

Example two

Referring to fig. 2, an embodiment of the present invention provides an unmanned aerial vehicle 1, where the unmanned aerial vehicle 1 includes an unmanned aerial vehicle body 10 and a landing gear assembly 11;

the elastic reset piece 113 is disposed between the first bracket 111 and the second bracket 112, or the elastic reset piece 113 is disposed between any one of the brackets and the unmanned aerial vehicle body 10.

Specifically, as shown in fig. 2, a drone 1 provided in an embodiment of the present invention includes a drone body 10 and a landing gear assembly 11. Unmanned aerial vehicle body 10 is the organism at unmanned aerial vehicle's power, flight control system and other mechanical parts place, provides the flight control scheme and installs other subsidiary mechanical parts for unmanned aerial vehicle. Undercarriage subassembly 11 is the bearing structure when connecting take off or landing on unmanned aerial vehicle body 10, prevents the damage of unmanned aerial vehicle body 10 that the direct contact of unmanned aerial vehicle body 10 and landing surface leads to.

In the embodiment of the invention, at least one of the first support and the second support is movably connected with the unmanned aerial vehicle body respectively, the first support and the second support are arranged oppositely, and the first support and the second support have a clamping effect by utilizing the elasticity of the elastic resetting piece, so that after the unmanned aerial vehicle carries the transport cargo box to land, the first support and the second support move in opposite directions under the action of external force, and the cargo box can be unloaded. Therefore, compared with the traditional scheme, the unmanned aerial vehicle does not need to consume self electric energy when unloading, the endurance is promoted, and the support and the connection structure of the support and the unmanned aerial vehicle body are simple, so that the self weight and the manufacturing cost are reduced.

Optionally, at least one of the first bracket 111 and the second bracket 112 is hinged or slidably connected to the drone body 10.

Specifically, the first support 111 and the second support 112 may be hinged or slidably connected to the main body 10. Fig. 1 shows a schematic that the first support 111 and the second support 112 are both connected to the drone body 10 in an articulated manner, that is, the first support 111 may rotate around its hinge point with respect to the drone body 10, and the second support 112 may rotate around its hinge point with respect to the drone body 10. Therefore, when the first support 111 and the second support 112 both rotate relative to the main body 10 of the drone and are far away from each other, the loading space in the first support 111 and the second support 112 is enlarged, the container can be clamped, and after the container enters the loading space, under the action of the elastic reset piece 113, the first support 111 and the second support 112 move close to each other, and the container is clamped. It will be appreciated that it is also possible that one of the first and

second supports

111, 112 is hinged to the drone body 10.

To sliding connection, can set up the spout on first support 111 and second support 112, set up the slide rail on unmanned aerial vehicle body 10, through the cooperation of spout and slide rail, realize the sliding connection of first support 111, second support 112 and unmanned aerial vehicle body 10. Therefore, when the first support 111 and the second support 112 both move away from each other linearly relative to the main body 10 of the drone, the loading space in the first support 111 and the second support 112 is enlarged, and the cargo box can be clamped, and after the cargo box enters the loading space, the first support 111 and the second support 112 move close to each other under the action of the force of the elastic restoring piece 113, and the cargo box is clamped. It will be appreciated that a sliding connection of one of the first bracket 111 and the second bracket 112 with the drone body 10 is also an achievable way.

Optionally, referring to fig. 2, the first bracket 111 and the second bracket 112 are both movably connected to the drone body 10;

one end of the elastic reset piece 113 is connected with the first bracket 111, and the other end is connected with the second bracket 112, wherein the elastic reset piece 113 is a tension spring.

Specifically, when both the first bracket 111 and the second bracket 112 are movably connected to the drone body 10, the elastic restoring member 113 may be disposed between the first bracket 111 and the second bracket 112. As shown in fig. 1, taking the hinged connection as an example, the first bracket 111 and the second bracket 112 are both hinged to the drone body 10, the elastic reset element 113 may be a tension spring, one end of the tension spring is connected to the first bracket 111, and the other end of the tension spring is connected to the second bracket 112, when the first bracket 111 and the second bracket 112 rotate relative to the drone body 10 and move away from each other, the tension spring is elongated to generate a tension force, and the first bracket 111 and the second bracket 112 can be pulled to approach each other to clamp a cargo box.

Optionally, the first bracket 111 and the second bracket 112 are both movably connected to the drone body 10;

elasticity reset member 113's one end with first support 111 is connected, the other end with unmanned aerial vehicle body 10 is connected, wherein, elasticity reset member 113 is the pressure spring.

Specifically, specifically speaking, when all with unmanned aerial vehicle body 10 swing joint to first support 111 and second support 112, another kind can provide the implementation of clamping-force for the support does, uses the pressure spring as elasticity piece 113 that resets, is connected the one end and the first support 111 of pressure spring, and the other end is connected with unmanned aerial vehicle body 10. Also take the articulated joint as an example, because the main body 10 of the drone is a fixed structure, then when the first support 111 and the second support 112 rotate relative to the main body 10 of the drone and move away from each other, the compression spring is compressed to generate thrust, and the first support 111 and the second support 112 can be pushed to approach each other to clamp the cargo box.

Optionally, the end of at least one of the first support 111 and the second support 112 is provided with an anti-dropping flange, wherein the end is the end of the support far away from the unmanned aerial vehicle body 10.

Specifically, in order to prevent the cargo box from falling from the cargo space between the first bracket 111 and the second bracket 112, an end of at least one of the first bracket 111 and the second bracket 112, that is, an end of the first bracket 111 or the second bracket 112 away from the drone body 10, is provided with an anti-drop flange. When the packing box is held in the loading space by the two supports, the anti-falling flanging can support the packing box at the bottom of the packing box, so that the packing box is prevented from falling due to insufficient clamping force.

Optionally, the unmanned aerial vehicle further comprises an image recognition device, and the image recognition device is fixedly connected with the unmanned aerial vehicle body 10.

Particularly, can also include image recognition device among the foretell unmanned aerial vehicle, this image recognition device can be fixed on unmanned aerial vehicle body 10, can monitor unmanned aerial vehicle's landing environment through the camera among the image recognition device, when suitable landing position was monitored in the scanning, flight parameters such as adjustment speed, direction were in order to descend. For example, a specific landing pattern may be recognized by the image recognition device to trigger a landing behavior. Thus, the landing accuracy can be ensured by providing the image recognition device.

Therefore, on the basis of the embodiment of the invention, compared with the traditional scheme, the unmanned aerial vehicle in the embodiment of the invention does not need to consume self electric energy, is beneficial to improving the endurance, and is simple in the support and the connection structure of the support and the unmanned aerial vehicle body, thereby being beneficial to reducing the self weight and the manufacturing cost. But also provide articulated connection or two kinds of different swing joint forms of sliding connection, can be according to the more nimble mode and the elasticity piece that resets of selecting swing joint of the structure of unmanned aerial vehicle body, provide more abundant implementation for realizing that unmanned aerial vehicle centre gripping packing box.

EXAMPLE III

Referring to fig. 1, an embodiment of the present invention provides a landing platform 2, configured to support landing of an unmanned aerial vehicle 1 according to a second embodiment, where the landing platform 2 includes a platform base and a push-pull assembly 21;

the push-pull assembly 21 comprises a first push plate 211 and a second push plate 212, wherein a push-pull hook is arranged on a first surface of at least one of the first push plate 211 and the second push plate 212, and the first surface is a landing surface on which the unmanned aerial vehicle lands and stops;

the push-pull hook drives the first support 111 and/or the second support 112 to move, wherein the distance between the cargo box 12 and the first surface is at least equal to the height of the push-pull hook.

Specifically, as shown in fig. 1, the present embodiment provides a landing platform for receiving a drone of the first embodiment for landing, and the landing platform includes a platform base (not shown) and a push-pull assembly 21. The push-pull assembly 21 includes a first push plate 211 and a second push plate 212, and a push-pull hook is disposed on a first surface of at least one of the first push plate 211 and the second push plate 212, where the first surface is a landing surface on which the unmanned aerial vehicle in the first embodiment lands. The first push plate 211 and the second push plate 212 are disposed opposite to each other on the same horizontal plane, and at least one of the first push plate 211 and the second push plate 212 is slidably connected to the platform base, for example, the first push plate 211 is slidably connected to the platform base, and the second push plate 212 is fixedly connected to the platform base, so that the first push plate 211 can move linearly relative to the second push plate 212, that is, the first push plate 211 can move linearly relative to the platform base. It is understood that when the second push plate 212 is slidably connected to the platform base and the first push plate 211 is fixedly connected to the platform base, the second push plate 212 can move linearly relative to the first push plate 211, that is, the second push plate 212 can move linearly relative to the platform base. In addition, when the first push plate 211 and the second push plate 212 are both slidably connected to the platform base, the first push plate 211 and the second push plate 212 can simultaneously slide relative to the platform base, and the first push plate 211 and the second push plate 212 are close to or far away from each other.

Because the first face of at least one push pedal in first push pedal 211 and the second push pedal 212 is provided with the push-pull hook, this first face is the landing surface that the unmanned aerial vehicle landing of embodiment one was parked again, consequently, after unmanned aerial vehicle fell on this first face, when first push pedal 211 and second push pedal 212 relative motion, along with the motion of first push pedal 211 or second push pedal 212, the push-pull hook on first push pedal 211 can drive the motion of first support 111, the motion of second support 112 can be driven to second push pedal 212. As shown in fig. 3, in order to ensure that the push-pull hook can effectively hook the first bracket 111 or the second bracket 112, a distance L between the bottom surface of the cargo box in the loading space formed by the first bracket 111 and the second bracket 112 and the first surface is at least equal to a height H of the push-pull hook. Therefore, enough space is provided at the bottom of the cargo box for accommodating the push-pull hook to hook the first bracket 111 or the second bracket 112, so as to drive the push-pull hook to move.

The landing platform provided by the embodiment of the invention can be used in cooperation with the unmanned aerial vehicle provided by the second embodiment, when the unmanned aerial vehicle lands on the landing platform, the unmanned aerial vehicle can drive the unmanned aerial vehicle support to move by means of the movement of the push plate on the platform, the support does not need to be manually opened in the landing and unloading process of the unmanned aerial vehicle, the unloading of a container in the unmanned aerial vehicle is realized, a stable and reliable landing and unloading platform is provided for the unmanned aerial vehicle, and personal injury possibly caused by the unmanned aerial vehicle can be avoided.

Optionally, with reference to fig. 5, the landing platform 2 further comprises a transfer assembly 22;

the conveying assembly 22 is disposed on one side of the second surfaces of the first pushing plate 211 and the second pushing plate 212, and the conveying assembly 22 is aligned with the opening and closing position where the first pushing plate 211 and the second pushing plate 212 are relatively translated, wherein the second surface is a surface opposite to the first surface.

Specifically, as shown in fig. 5, the landing platform 2 further includes a conveying assembly 22, and the conveying assembly 22 may be a belt conveying assembly or an AGV (Automated Guided Vehicle) carriage or other conveying assembly. The conveying member 22 is disposed on the side of the second faces of the first push plate 211 and the second push plate 212, which are opposite to the first faces, i.e., opposite to the landing plane. Because first push pedal 211 and second push pedal 212 can relative motion each other, consequently, have the position of opening and shutting of relative translation between first push pedal 211 and second push pedal 212, transfer assembly 22 is to this position of opening and shutting, after unmanned aerial vehicle lands on this landing platform, relative translation along with two push pedals is kept away from each other, two supports are kept away from relatively on the unmanned aerial vehicle, two push pedals are opened the back, the packing box can be unloaded on the transfer assembly, carry to the packing box destination through the transfer assembly, thereby can save the process of manpower conveying, the cost of using manpower sparingly.

Optionally, the conveying assembly 22 includes: a transfer platform and a drive mechanism;

the driving mechanism is connected with the transmission platform and drives the transmission platform to move.

In particular, the above-described transport assembly 22 may include a transport platform and a drive mechanism. Take belt transmission assembly as an example, conveying platform can be conveyer, and actuating mechanism can be motor, roller etc. and actuating mechanism such as motor, roller is connected with conveyer, drives conveyer's operation, realizes the transportation conveying of packing box.

The landing platform provided by the embodiment of the invention can be used in cooperation with the unmanned aerial vehicle provided by the second embodiment, and after the unmanned aerial vehicle lands on the landing platform, the unmanned aerial vehicle support can be driven to move by means of the movement of the push plate on the platform, so that the unloading of a cargo box in the unmanned aerial vehicle is realized, and a stable and reliable landing unloading platform is provided for the unmanned aerial vehicle. In addition, still through configuration conveying subassembly, save the process of manpower conveying, use manpower cost sparingly.

Example four

Referring to fig. 6, an embodiment of the present invention provides a method for controlling an unmanned aerial vehicle, where the method is used for the unmanned aerial vehicle described in the second embodiment, and the method includes:

s101, after the unmanned aerial vehicle 1 lands and lands, the first support 111 and the second support 112 move relatively in opposite directions under the action of external force, wherein the relative movement is relative translation or relative rotation.

Specifically, for the unmanned aerial vehicle provided in the first embodiment of the present invention, since the first bracket 111 and the second bracket 112 on the unmanned aerial vehicle are in the form of a hinged connection or a sliding connection with the unmanned aerial vehicle body 10, when the first bracket 111 and the second bracket 112 move relatively in opposite directions under the action of an external force, the relative movement may be a relative translation generated based on the sliding connection, and may also be a relative rotation generated based on the hinged connection. The first and

second brackets

111, 112 may be moved away from or towards each other, either by relative translation or rotation, and may be used to grip a container when moved towards each other and to release a container when moved away from each other.

S102, when the first bracket 111 and the second bracket 112 move to the preset first position, the container is unloaded and released from the loading space.

Specifically, a first position of the first and

second brackets

111 and 112 during the movement process may be set in advance according to the size of the cargo box clamped between the first and

second brackets

111 and 112, and the first position corresponds to the position of the first and

second brackets

111 and 112 when the cargo box is released from the cargo space. It will be appreciated that when the first and

second brackets

111, 112 are moved to the respective first positions, the space between the first and

second brackets

111, 112 is large enough that the container is free to fall without being held by the brackets.

S103, when the first bracket 111 and the second bracket 112 move to the preset first position, the container is released from the loading space, including:

when the distance between the first support 111 and the second support 112 after the translation meets the preset target distance, the first support 111 and the second support 112 move to the preset first position, the first support 111 and the second support 112 release the clamping effect on the container, and the container is separated from the loading space.

Specifically, when the first support 111, the second support 112 and the unmanned aerial vehicle body 10 are connected in a sliding manner, the relative movement between the first support 111, the second support 112 and the unmanned aerial vehicle body 10 is linear translation, and therefore, when the distance after the translation of the first support 111 and the second support 112 meets the preset target distance, the first support 111 and the second support 112 can be considered to move to reach the preset first position, and at this time, the cargo box meets the condition of unloading and releasing.

S104, when the first support 111 and the second support 112 move to the preset first position, the container is unloaded and released from the loading space, including:

when the included angle formed by the rotation of the first bracket 111 and the second bracket 112 meets the preset target included angle, the first bracket 111 and the second bracket 112 move to the preset first position, the first bracket 111 and the second bracket 112 release the clamping effect on the container, and the container is separated from the loading space.

Specifically, when first support 111, second support 112 and unmanned aerial vehicle body 10 are articulated to be connected, the relative motion of first support 111, second support 112 and unmanned aerial vehicle body 10 is for rotating, consequently, when the contained angle after first support 111 and second support 112 rotate satisfied predetermined target contained angle, can regard first support 111 and second support 112 to move and reach to predetermineeing first position, and at this moment, the packing box satisfied the condition of unloading and dropping the release.

In the embodiment of the invention, at least one of the first support and the second support is movably connected with the unmanned aerial vehicle body respectively, the first support and the second support are arranged oppositely, and the first support and the second support have a clamping effect by utilizing the elasticity of the elastic resetting piece, so that after the unmanned aerial vehicle carries the transport cargo box to land, the first support and the second support move in opposite directions under the action of external force, and the cargo box can be unloaded. Therefore, compared with the traditional scheme, the unmanned aerial vehicle does not need to consume self electric energy when unloading, the endurance is promoted, and the support and the connection structure of the support and the unmanned aerial vehicle body are simple, so that the self weight and the manufacturing cost are reduced. Moreover, the unloading control process of the unmanned aerial vehicle is simple and easy to implement.

EXAMPLE five

Referring to fig. 7, an embodiment of the present invention provides a method for controlling a landing platform, where the method is used for the landing platform 2 according to the third embodiment, and the method includes:

s201, when unmanned aerial vehicle 1 descends on landing platform 2, first push pedal 211 with second push pedal 212 is to opposite direction relative translation under the exogenic action, first support 111 with first push pedal 211 simultaneous movement, second support 112 with second push pedal 212 simultaneous movement.

Specifically, when the drone 1 in the second embodiment lands on the landing platform 2 in the third embodiment, the first push plate 211 and the second push plate 212 relatively translate in opposite directions under the action of an external force, and since the first bracket 111 is in contact with the first push plate 211 and the second bracket 112 is in contact with the second push plate 212, the first bracket 111 can move synchronously with the first push plate 211, and the second bracket 112 can move synchronously with the second push plate 212. Thereby, the expansion of two supports of unmanned aerial vehicle need not artifical direct contact, need not manual opening.

S202, when the first push plate 211 and the second push plate 212 relatively translate to a preset second position, the cargo box 12 is unloaded and released from the cargo space.

Specifically, because there is the corresponding first position of predetermineeing in two supports on unmanned aerial vehicle 1, and the relative translation of the motion of two supports with the help of first push pedal 211 and second push pedal 212, consequently, have and predetermine the second position that the first position corresponds, when first push pedal 211 and second push pedal 212 relatively translated to predetermineeing the second position, this moment, two supports reach and predetermine the first position, and at this moment, the packing box satisfies the condition of unloading and releasing.

The control method of the landing platform provided by the embodiment of the invention can be used with the unmanned aerial vehicle provided by the second embodiment, when the unmanned aerial vehicle lands on the landing platform, the unmanned aerial vehicle can drive the support of the unmanned aerial vehicle to move by means of the movement of the push plate on the platform, the support does not need to be opened by manual contact in the landing and unloading process of the unmanned aerial vehicle, the unloading of a cargo box in the unmanned aerial vehicle is realized, a stable and reliable landing and unloading platform is provided for the unmanned aerial vehicle, and personal injury possibly caused by the unmanned aerial vehicle can be avoided.

EXAMPLE six

Referring to fig. 8, an embodiment of the present invention provides a method for controlling a logistics transportation system, where the method is used in the logistics transportation system according to the first embodiment, and the method includes:

s301, the unmanned aerial vehicle 1 executes a landing instruction after searching the landing platform 2.

Specifically, in the embodiment of the invention, a corresponding logistics transportation system includes the above-mentioned unmanned aerial vehicle 1 and landing platform 2, and certainly, there are a plurality of unmanned aerial vehicles 1 and landing platforms 2, which are not limited in the embodiment of the invention, and the control method of the logistics transportation system is described by taking the interaction between one unmanned aerial vehicle and one landing platform as an example. The unmanned aerial vehicle executes the landing instruction after searching the landing platform meeting the condition, for example, the landing instruction may be triggered and executed according to the received information that the landing platform is idle and unoccupied.

And S302, according to the landing instruction, the unmanned aerial vehicle 1 lands and stops on the landing platform 2.

Specifically, after the unmanned aerial vehicle 1 generates the landing instruction according to the external information, the flight parameters such as the rotation speed and the direction of the unmanned aerial vehicle are adjusted and controlled under the action of the landing instruction so as to stably and reliably land and stop on the landing platform 2.

S303, when the unmanned aerial vehicle 1 lands on the landing platform 2, triggering the first push plate 211 and the second push plate 212 to translate relatively to drive the first support 111 and the second support 112 to move relatively.

Specifically, when the unmanned aerial vehicle 1 lands on the landing platform 2, the information of finishing the landing can be sent to the landing platform 2, so as to inform the landing platform 2 that the unmanned aerial vehicle 1 has reliably landed on the platform 2, so as to trigger the relative translation of the first push plate 211 and the second push plate 212 to drive the relative motion of the first support 111 and the second support 112, and further realize the expansion of the first support 111 and the second support 112.

S304, when the first support 111 and the second support 112 move to the predetermined first position, the container 12 is unloaded and released from the loading space.

Specifically, the first positions of the first and

second brackets

111, 112 during the movement process may be set in advance according to the size of the cargo box 12 clamped between the first and

second brackets

111, 112, and the first positions correspond to the positions of the first and

second brackets

111, 112 when the cargo box is released from the cargo space. It will be appreciated that when the first and

second brackets

S305, the landing platform 2 receives unloading completion information from the drone 1.

Specifically, after the cargo box is completely unloaded, the landing platform may receive unloading completion information from the drone, which is to say, inform the landing platform that the cargo box is not in the cargo space of the drone.

S306, according to the unloading completion information, the first push plate 211 and the second push plate 212 are relatively translated to an initial position.

Specifically, after receiving the unloading completion information sent by the unmanned aerial vehicle, the first push plate 211 and the second push plate 212 may move back to the initial position in a relative translational manner, that is, the position when the two push plates are closed, so as to prevent intrusion of foreign objects.

S307, the drone 1 leaves the landing platform 2.

Particularly, along with the closure of two push pedal, two supports of unmanned aerial vehicle also get back to initial position under the effect that elasticity resets 113, at this moment, can regard for unmanned aerial vehicle to have accomplished the unloading task, and unmanned aerial vehicle executable take-off instruction leaves landing platform.

The control method of the logistics transportation system is simple and easy, when the unmanned aerial vehicle lands on the landing platform, the support of the unmanned aerial vehicle can be driven to move by means of the movement of the push plate on the platform, the support does not need to be opened by manual contact in the landing and unloading process of the unmanned aerial vehicle, the unloading of a container in the unmanned aerial vehicle is realized, a stable and reliable landing and unloading platform is provided for the unmanned aerial vehicle, and personal injury possibly caused by the unmanned aerial vehicle can be avoided.

The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It will be appreciated by those skilled in the art that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in a vending apparatus according to the present invention. The present invention may also be embodied as an apparatus or device program for carrying out a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A logistics transportation system is characterized in that the logistics transportation system comprises an unmanned aerial vehicle and a landing platform;

the landing platform comprises a platform base and a push-pull assembly;

the push-pull hook drives the first support and/or the second support to move.

2. An unmanned aerial vehicle, comprising a unmanned aerial vehicle body and a landing gear assembly;

3. The drone of claim 2,

at least one support in first support with in the second support with unmanned aerial vehicle body hinged joint or sliding connection.

4. The drone of claim 2,

the first support and the second support are both movably connected with the unmanned aerial vehicle body;

one end of the elastic reset piece is connected with the first support, the other end of the elastic reset piece is connected with the second support, and the elastic reset piece is a tension spring.

5. The drone of claim 2,

elasticity reset the one end of piece with first leg joint, the other end with this body coupling of unmanned aerial vehicle, wherein, elasticity resets and is the pressure spring.

6. The drone of claim 2,

the tail end of at least one support in first support with the second support is provided with the anticreep turn-ups, wherein, the tail end is kept away from for the support the one end of unmanned aerial vehicle body.

7. The unmanned aerial vehicle of claim 2, further comprising an image recognition device, the image recognition device being fixedly connected to the unmanned aerial vehicle body.

8. A landing platform for landing on a drone according to any one of claims 2 to 7, the landing platform comprising a platform base and a push-pull assembly;

9. The landing platform of claim 8, further comprising a transport assembly;

the conveying assembly is arranged on one side of the second surfaces of the first push plate and the second push plate, and is aligned with the opening and closing positions of the first push plate and the second push plate in relative translation, wherein the second surface is the surface opposite to the first surface.

10. The landing platform of claim 9, wherein the transport assembly comprises: a transfer platform and a drive mechanism;

11. A method of controlling a drone, the method being for a drone according to any one of claims 2 to 7, the method comprising:

12. The method of claim 11, wherein releasing the container from the cargo space when the first stand and the second stand are moved to a predetermined first position comprises:

when the distance between the first support and the second support after translation meets a preset target distance, the first support and the second support move to reach a preset first position, the first support and the second support release the clamping effect on the container, and the container is separated from the loading space.

13. The method of claim 11, wherein releasing the container from the cargo space when the first stand and the second stand are moved to a predetermined first position comprises:

when the included angle formed by the rotation of the first support and the second support meets a preset target included angle, the first support and the second support move to reach a preset first position, the clamping effect on the container is relieved by the first support and the second support, and the container is separated from the carrying space.

14. A method of controlling a landing platform, the method being for use with a landing platform as claimed in any one of claims 8 to 10, the method comprising:

15. A control method of a logistics transportation system, wherein the method is used for the logistics transportation system of claim 1, the method comprising:

the drone exits the landing platform.