CN112241179A - Distribution scheduling method, controller, device and building - Google Patents
Distribution scheduling method, controller, device and building Download PDFInfo
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- CN112241179A CN112241179A CN202011063021.XA CN202011063021A CN112241179A CN 112241179 A CN112241179 A CN 112241179A CN 202011063021 A CN202011063021 A CN 202011063021A CN 112241179 A CN112241179 A CN 112241179A
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- 230000008569 process Effects 0.000 claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims description 60
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
- G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
- G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
- G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
- G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
- G05D1/0684—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing on a moving platform, e.g. aircraft carrier
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Abstract
The application provides a delivery scheduling method, a controller, a device and a building, relates to the technical field of delivery, and can realize automatic delivery from an unmanned aerial vehicle to a user house in the building, so that the delivery efficiency is improved. The delivery scheduling method based on the building comprises the following steps: when an unmanned aerial vehicle cargo delivery request sent by a cloud scheduling system is acquired, controlling an unmanned aerial vehicle take-off and landing platform to receive cargos delivered by the unmanned aerial vehicle, wherein the unmanned aerial vehicle cargo delivery request comprises user cabin position information; controlling a distribution vehicle on the track to load the goods; and controlling the distribution vehicle to move to a corresponding user cabin position through a track according to the user cabin position information in the unmanned aerial vehicle cargo delivery request, and controlling the distribution vehicle to unload the cargo into the user cabin. The technical scheme of this application mainly used unmanned aerial vehicle delivery process.
Description
Technical Field
The application relates to the technical field of distribution, in particular to a distribution scheduling method, a controller, a device and a building.
Background
The existing unmanned aerial vehicle delivery mode is that goods are generally delivered to a cell where a user is located, then the goods are taken manually and delivered to the user, and the delivery mode can only realize automatic delivery of the first half of the delivery process, so that the delivery efficiency is low; in addition, the existing automatic delivery system for the building can take goods through a robot and deliver the goods to the floor where the user is located in an elevator mode, the delivery mode is still low in efficiency, and automatic delivery of the last half of the delivery process can be achieved only.
Disclosure of Invention
The technical scheme of the application provides a distribution scheduling method, a controller, a device and a building, can realize the automatic distribution from an unmanned aerial vehicle to a user house in the building in the whole process, and improves the distribution efficiency.
In a first aspect, a technical solution of the present application provides a delivery scheduling method based on a building, including:
when an unmanned aerial vehicle cargo delivery request sent by a cloud scheduling system is acquired, controlling an unmanned aerial vehicle take-off and landing platform to receive cargos delivered by the unmanned aerial vehicle, wherein the unmanned aerial vehicle cargo delivery request comprises user cabin position information;
controlling a distribution vehicle on the track to load the goods;
and controlling the distribution vehicle to move to a corresponding user cabin position through a track according to the user cabin position information in the unmanned aerial vehicle cargo delivery request, and controlling the distribution vehicle to unload the cargo into the user cabin.
In a possible embodiment, the controlling the unmanned aerial vehicle take-off and landing platform to receive the goods delivered by the unmanned aerial vehicle comprises:
sending a landing allowing instruction to the cloud dispatching system;
after receiving the landing information of the unmanned aerial vehicle sent by the cloud dispatching system, controlling a position alignment mechanism of a take-off and landing platform of the unmanned aerial vehicle to adjust the position of the unmanned aerial vehicle so that the unmanned aerial vehicle is aligned to an unloading platform;
after the position alignment mechanism is controlled to adjust the position of the unmanned aerial vehicle to enable the unmanned aerial vehicle to be aligned with a discharging platform, a discharging request is sent to the cloud dispatching system;
and after the goods on the unloading platform are detected, controlling the position alignment mechanism to leave the unmanned aerial vehicle.
In one possible embodiment, the loading of the goods by the distribution vehicle on the control track comprises:
controlling a distribution vehicle on a track to move to the unmanned aerial vehicle take-off and landing platform through the track;
and controlling a fork of the distribution vehicle to load the cargos on the unmanned aerial vehicle lifting platform onto the distribution vehicle.
In a possible embodiment, the process of controlling the distribution vehicle to move to the corresponding user warehouse position through a track according to the user warehouse position information in the unmanned aerial vehicle cargo delivery request, and controlling the distribution vehicle to unload the cargo into the user warehouse comprises:
controlling the distribution vehicle to move to a corresponding user cabin position through a track according to the user cabin position information in the unmanned aerial vehicle cargo delivery request;
after the information that the distribution vehicle reaches the position of the user bin is acquired, controlling a corresponding user bin safety door to be opened, and controlling the distribution vehicle to unload the goods into the user bin through the opened safety door;
and after controlling a distribution vehicle to unload the goods into the user cabin through the opened safety door, controlling the safety door to be closed.
In one possible embodiment, the unmanned aerial vehicle cargo delivery request further includes delivery speed gear information;
and in the process of controlling the distribution vehicle to move to the corresponding user bin position through a track, controlling the moving speed of the distribution vehicle according to distribution speed gear information in the unmanned aerial vehicle cargo delivery request.
In a possible embodiment, before the distribution vehicle on the control track loads the cargo, the method further comprises:
the method comprises the steps of obtaining the state of a distribution vehicle on a track, controlling an unmanned aerial vehicle lifting platform to place the goods in a buffer position if the distribution vehicle is in the distribution state, and triggering the distribution vehicle on the control track to load the goods if the distribution vehicle is in the idle state.
In one possible implementation, if the cargo of the cache bit is full, a stop dispatch instruction is sent to the cloud scheduling system.
In a possible implementation manner, the working state information of the unmanned aerial vehicle taking-off and landing platform, the track and the delivery vehicle is periodically sent to the cloud scheduling system.
In a second aspect, the present application provides a method for controlling a user cabin in a building, including:
receiving an unmanned aerial vehicle cargo delivery request sent by a cloud scheduling system, wherein the unmanned aerial vehicle cargo delivery request comprises an order number;
when goods are detected to be placed in the user bin, triggering and informing a user to pick up the goods;
detecting the state of a user cabin safety door, controlling a user side goods taking door of the user cabin to be in a forced closing state when the safety door is opened, and controlling the user side goods taking door of the user cabin to be in an openable state or controlling the user side goods taking door of the user cabin to be opened when the safety door is closed;
and when the goods placed in the user bin are detected to be taken away, sending order completion information to the cloud scheduling system based on the order number.
In a third aspect, a technical solution of the present application provides a local controller, including: a processor and a memory for storing at least one instruction that is loaded and executed by the processor to implement the building-based delivery scheduling method described above.
In a fourth aspect, the present technical solution provides a user cabin control device, including: the system comprises a processor and a memory, wherein the memory is used for storing at least one instruction, and the instruction is loaded by the processor and executed to realize the control method of the user cabin in the building.
In a fifth aspect, a technical solution of the present application provides a building, including:
the building comprises a building body, wherein a user cabin is arranged in the building body;
the unmanned aerial vehicle taking-off and landing platform is arranged on the building body and used for receiving goods delivered by the unmanned aerial vehicle;
the track is arranged in the building body and is communicated with the user cabin and the unmanned aerial vehicle take-off and landing platform;
the distribution vehicle is used for loading goods from the unmanned aerial vehicle take-off and landing platform or the user cabin, is matched with the track, and transmits the goods between the user cabin and the unmanned aerial vehicle take-off and landing platform through the track;
the local controller is in communication connection with the user cabin, the unmanned aerial vehicle take-off and landing platform, the track and the distribution vehicle.
In a possible implementation manner, the building further comprises a gateway, and the gateway is in communication connection with the local controller and a cloud scheduling system arranged outside the building.
In one possible embodiment, the unmanned aerial vehicle take-off and landing platform comprises a landing platform and a position alignment mechanism slidably connected to the landing platform, and the position alignment mechanism is in communication connection with the local controller.
In a possible embodiment, the unmanned aerial vehicle take-off and landing platform further comprises a buffer position for accommodating the rest of the cargos unloaded by the unmanned aerial vehicle when the distribution vehicle is in the distribution state.
In one possible embodiment, the building body includes a hoistway for accommodating the rail;
the user cabin is provided with a safety door for isolating the user cabin from the well;
the safety door is connected with a position sensor and a safety door driving mechanism, the position sensor is used for sensing whether the delivery vehicle reaches the position of the user cabin or not and sending the sensing signal to the local controller; the emergency gate drive mechanism receives a signal from the local controller.
In one possible embodiment, the user compartment is provided with a wall for isolation from the hoistway;
the wall is provided with an opening through which the distribution vehicle can pass;
the safety door is arranged at the opening to open or close the opening;
the wall is also provided with an accommodating groove which is communicated with the opening;
when the opening is opened, the safety door can be accommodated in the accommodating groove;
the safety door is also slidable out of the receiving groove to close the opening.
In a possible implementation manner, the user cabin is further provided with a goods taking door, the goods taking door is connected with a goods taking door locking mechanism, the goods taking door locking mechanism is connected with an emergency exit state sensor, and the emergency exit state sensor is used for sensing whether the emergency exit is in an opening state or not and sending an opening state sensing signal of the emergency exit to the goods taking door locking mechanism.
In a possible implementation manner, the user cabin is further provided with a goods taking platform, the goods taking platform is provided with a weighing device and an order device, the order device is in communication connection with the weighing device, and the order device is in communication connection with a cloud dispatching system outside the building.
In one possible embodiment, the track or the delivery vehicle is provided with a delivery vehicle driving mechanism, the delivery vehicle driving mechanism is used for driving the delivery vehicle to move on the track, and the delivery vehicle driving mechanism is in communication connection with the local controller.
In one possible embodiment, the dispensing vehicle is provided with forks, a fork drive mechanism and a load bed, the fork drive mechanism being in communicative connection with the local controller.
According to the distribution scheduling method, the controller, the device and the building, on one hand, automatic distribution from an unmanned aerial vehicle landing platform to a user cabin is achieved through matching of the distribution vehicle and the track in the building, on the other hand, the unmanned aerial vehicle scheduling process of the cloud scheduling system and the distribution scheduling process in the building are combined, automatic distribution from the unmanned aerial vehicle to the user cabin is achieved, and distribution efficiency is improved.
Drawings
Fig. 1a is a block diagram of a structure of an unmanned aerial vehicle dispatch system in an embodiment of the present application;
fig. 1b is a block diagram of another structure of an unmanned aerial vehicle dispatch system in the embodiment of the present application;
FIG. 2 is a schematic structural diagram of a building according to an embodiment of the present application;
FIG. 3 is an enlarged view taken at A in FIG. 2;
FIG. 4 is an enlarged view of FIG. 2 at B;
FIG. 5 is a schematic structural diagram of a distribution vehicle in a building according to an embodiment of the present disclosure;
FIG. 6 is a flow chart of a building-based delivery scheduling method in an embodiment of the present application;
FIG. 7 is a flow chart of another building-based delivery scheduling method in an embodiment of the present application.
Detailed Description
The terminology used in the description of the embodiments section of the present application is for the purpose of describing particular embodiments of the present application only and is not intended to be limiting of the present application.
First, a description is given of a scene related to an embodiment of the present application, which relates to a scene of delivering to a user in a building through an unmanned aerial vehicle, as shown in fig. 1a and fig. 2, where a building 10 may include a building body 1, an unmanned aerial vehicle take-off and landing platform 2, a track 3, and a delivery vehicle 4, and the building body 1 is provided with a user cabin 12.
In the distribution process, the cooperation of the unmanned aerial vehicle 20, the local controller 30 and the cloud scheduling system 40 is also required, wherein the local controller 30 can be a controller arranged in the building 10, and the cloud scheduling system 40 can be a cloud server.
The building body 1 can be a house or an office building where a user is located, the user cabin 12 can be located in the home of the user, and the user can take and deliver goods through the user cabin 12. The user cabin 12 may be an insulation box disposed on a balcony of a residential building, and the insulation box may be fixedly disposed on the balcony or disposed on the balcony in a plug-in manner according to actual needs.
Unmanned aerial vehicle take off and land platform 2 sets up on building body 1 for receive goods 6 that unmanned aerial vehicle 20 delivered. The unmanned aerial vehicle take-off and landing platform 2 can guide the unmanned aerial vehicle 20 to take off and land autonomously.
The distribution vehicle 4 is used for loading goods 6 from the unmanned aerial vehicle take-off and landing platform 2 or the user cabin 12, and is matched with the track 3, and the goods 6 are transmitted between the user cabin 12 and the unmanned aerial vehicle take-off and landing platform 2 through the track 3. The goods 6 may be meals ordered by the user or other items purchased by mail.
The unmanned aerial vehicle 20 can carry the cargo 6 to fly autonomously, and the cargo 6 is transported.
The local controller 30 is in communication connection with the user cabin 12, the unmanned aerial vehicle take-off and landing platform 2, the track 3 and the distribution vehicle 4, and is used for controlling the user cabin 12, the unmanned aerial vehicle take-off and landing platform 2, the track 3 and/or the distribution vehicle 4, wherein the user cabin 12, the unmanned aerial vehicle take-off and landing platform 2, the track 3 and the distribution vehicle 4 are provided with signal transceivers to be in communication connection with the local controller 30, and signals transmitted in the communication connection comprise state signals reported by at least one of the user cabin 12, the unmanned aerial vehicle take-off and landing platform 2, the track 3 and the distribution vehicle 4, or control signals transmitted to at least one of the unmanned aerial vehicle take-off and landing platform 2, the track 3 and the distribution vehicle 4 by the local controller 30.
The cloud scheduling system 40 is used to control the drone 20, including planning a flight line for the drone 20, controlling the takeoff and landing of the drone 20, delivering, and managing delivery orders.
Specifically, above-mentioned unmanned aerial vehicle 20 can deliver goods 6 to unmanned aerial vehicle platform 2 that takes off and land, and distribution car 4 loads goods 6 from unmanned aerial vehicle platform 2 that takes off and land after, and under the cooperation with track 3, distribution car 4 can deliver goods 6 to user's storehouse 12. The user can take the goods through the user cabin 12 at a convenient time, thereby realizing full-automatic delivery.
In addition, the distribution vehicle 4 is also used for loading the goods 6 in the user cabin 12 and is matched with the rail 3, the goods 6 are unloaded to the unmanned aerial vehicle take-off and landing platform 2 by moving the rail 3 to the position corresponding to the unmanned aerial vehicle take-off and landing platform 2, and the unmanned aerial vehicle take-off and landing platform 2 is also used for receiving the goods 6 unloaded by the distribution vehicle 4. After goods 6 are transported to unmanned aerial vehicle take off and land platform 2, unmanned aerial vehicle 20 takes goods 6 away. That is, through the cooperation of unmanned aerial vehicle 20, distribution car 4 and user storehouse 12, not only can realize automaticly delivering goods to the user, can also realize automaticly getting goods from the user's home.
In a specific embodiment, the building further includes a gateway 50, the gateway 50 is in communication connection with the local controller 30 and the cloud scheduling system 40 disposed outside the building, and due to the difference in networks between the cloud scheduling system 40 and the local controller 30, in the interaction process between the cloud scheduling system 40 and the local controller 30, information or instructions sent by the cloud scheduling system 40 need to be forwarded to the local controller 30 through the gateway, and similarly, information or instructions sent by the local controller 30 also need to be forwarded to the cloud scheduling system 40 through the gateway.
As shown in fig. 1b and fig. 2, the drone 20, after holding the cargo 6 and flying over the building 10, will land on the drone landing platform 2. As shown in fig. 3, in particular, the unmanned aerial vehicle landing platform 2 includes a landing platform 21 and a position alignment mechanism 22 slidably connected to the landing platform 21, and the position alignment mechanism 22 is communicatively connected to the local controller 30. After the unmanned aerial vehicle 20 falls, local controller 30 sends control signal to position and adjusts mechanism 22 well, and position is adjusted mechanism 22 well and is responded to control signal and is pushed positive with unmanned aerial vehicle 20, adjusts unmanned aerial vehicle 20's position promptly, makes unmanned aerial vehicle 20 aim at landing platform 21, and position is adjusted mechanism 22 and is realized the position through the push rod of arm or "well" style of calligraphy for example and is adjusted the function well.
After the unmanned aerial vehicle 20 is aligned with the unloading platform 21, the cargo 6 can be thrown to the unloading platform 21, the distribution vehicle 4 runs to the top position of the building 10 in cooperation with the rail 3, and then the cargo 6 is taken away from the unloading platform 21, so that the cargo can be accurately taken by the distribution vehicle 4.
During the time of the concentrated delivery of meals or during concentrated delivery of goods due to other reasons, the unloading platform 21 may not be able to accommodate too many goods 6. Thus, it may be provided that the drone take-off and landing platform 2 further comprises a buffer station for accommodating the remaining cargo 6 unloaded by the drone 20 when the distribution vehicle 4 is in the distribution state. Specifically, taking the unmanned aerial vehicle take-off and landing platform 2 including six buffer positions as an example, when the distribution vehicle 4 is in the distribution state, the unmanned aerial vehicle 20 may sequentially place six goods 6 in the buffer positions. When six buffer positions all have been filled with the goods, and distribution car 4 is still in busy state, then unmanned aerial vehicle 20 is in wait state, and can not drop in goods 6 to unmanned aerial vehicle take off and land platform 2 to avoid the goods to pile up the goods damage that causes.
As shown in fig. 2 and 4, the building body 1 further comprises a hoistway 11 for accommodating the rail 3, and the hoistway 11 may be formed in the building body 1 when the building 10 is constructed. The track 3 is provided in the hoistway 11, and the user compartment 12 is provided on both sides of the hoistway 11. The distribution vehicle 4 can move up and down along the shaft 11 during the engagement with the track 3 to deliver the goods 6 to the user compartment 12 on both sides of the shaft 11 or to remove the goods 6 from the user compartment 12 on both sides of the shaft 11.
As shown in fig. 1b and 4, in order to secure delivery, the user compartment 12 is provided with a security door 121 for isolating from the hoistway 11. The emergency gate 121 is connected to a position sensor 131 and an emergency gate driving mechanism 132, the position sensor 131 is used for sensing whether the distribution vehicle 4 reaches the user compartment position and sending a sensing signal to the local controller 30, the emergency gate driving mechanism 132 receives the signal from the local controller 30, when the position sensor senses that the distribution vehicle 4 reaches the user compartment 12 position, the sensing signal is sent to the local controller 30, the local controller 30 sends a control signal for opening the emergency gate to the emergency gate driving mechanism 132, so that the emergency gate driving mechanism 132 controls the emergency gate 121 to open in response to the signal for opening the emergency gate, and at this time, the distribution vehicle 4 can send the goods 6 into the user compartment 12 through a passage after the emergency gate 121 is opened. When the delivery car 4 has unloaded the goods 6 to the customer compartment 12, the local controller 30 sends a control signal for closing the security gate to the security gate driving mechanism 132 so that the security gate driving mechanism 132 controls the security gate 121 to be closed in response to the signal for closing the security gate, and exits from the customer compartment 12 after the delivery of the delivery car 4 is completed, and the security gate 121 is in a closed state to isolate the customer compartment 12 from the hoistway 11.
Specifically, the customer compartment 12 is provided with a wall 122 for being isolated from the hoistway 11, the wall 122 is provided with an opening 123 through which the distribution vehicle 4 can pass, and the security gate 121 is provided at the opening 123 to open or close the opening 123. In this embodiment, the user compartment 12 may be provided on a wall 122 of a balcony of a user's home, the wall 122 may separate the hoistway 11, and the cargo 6 may be loaded or unloaded through an opening 123 in the wall 122. By providing the opening 123 in the wall 122 near the hoistway 11 for delivery and pickup, the user compartment 12 can be fixed by using the existing building wall surface, saving the use space for the user.
In order to further save space, the wall 122 is further provided with a receiving groove 122a, and the receiving groove 122a is communicated with the opening 123. When the safety door 121 opens the opening 123, it can be accommodated in the accommodating groove 122a, and the safety door 121 can slide out of the accommodating groove 122a to close the opening 123. In this embodiment, the receiving groove 122a is disposed above the opening 123, and the safety door 121 may slide in the receiving groove 122 a.
In order to improve the safety of the user in fetching goods, the user cabin 12 is further provided with a fetching door 124, the fetching door 124 is connected with a fetching door locking mechanism 133, the fetching door locking mechanism 133 is connected with an emergency exit state sensor 134, and the emergency exit state sensor 134 is used for sensing whether the emergency exit 121 is in an opened state or not and sending a signal for sensing the opened state of the emergency exit 121 to the fetching door locking mechanism 133. Specifically, when the security gate 121 is opened, the delivery vehicles 4 can deliver goods into the customer compartment 12 or take goods from the customer compartment 12. At this time, the security door state sensor 134 senses that the security door 121 is in an open state, and sends an open state sensing signal to the access door locking mechanism 133, and the access door locking mechanism 133 controls the access door 124 to be forcibly closed, so that the user does not open the access door 124 at this time, touch the goods 6 delivered by the delivery vehicle 4, or hit the delivery vehicle 4. When the security gate 121 is closed, the goods 6 have been dispensed, or the user compartment 12 is in an empty state, and the security gate state sensor 134 senses that the security gate 121 is in a closed state and transmits a closed state sensing signal to the access gate locking mechanism 133, and the access gate locking mechanism 133 controls the access gate 124 to be in an unlocked state, and the user can manually close or manually open the access gate 124.
In a specific embodiment, the customer warehouse 12 is further provided with a weighing device 135 and an order device 136, the order device 136 is in communication connection with the weighing device 135, the order device 136 is in communication connection with the cloud dispatching system 40 outside the building, the order device 136 can receive information from the cloud dispatching system 40, for example, the cloud dispatching system 40 sends information related to the order distributed by the unmanned aerial vehicle, the order device 136 sends a weighing instruction to the weighing device 135 in response to the information related to the order distributed by the unmanned aerial vehicle, so that the weighing device 135 periodically weighs the order and reports the weighing result to the order device 136, if the weighing result is greater than a threshold value, it indicates that goods are placed on the goods taking platform, i.e. the goods are successfully delivered to the customer warehouse 12 at the station, at this time, the order device 136 can report corresponding information to the cloud dispatching system 40, and notify the user of taking goods through the cloud dispatching system 40, or only a prompting device, such as an indicator light or a speaker, may be arranged in the user cabin 12, and the order device 136 may control the prompting device to prompt the user to pick up goods from the user cabin, so that when the user takes the goods from the user cabin 12, the weighing result of the weighing device 135 is smaller than the threshold value, and at this time, the order device 136 may report corresponding information to the cloud scheduling system 40 to complete the order.
As shown in fig. 1b and 5, the distribution vehicle 4 may be provided with a fork 41, a fork driving mechanism 44 and a loading platform 42, and the fork 41 is connected to one side of the loading platform 42. The fork drive mechanism 44 is in communication with the local controller 30, wherein the fork drive mechanism 44 may be in communication with the local controller 30 directly or via a track, and the forks 41 are used for loading or unloading the cargo 6. When delivering goods to the user compartment 12, the fork drive mechanism 44 receives a discharge control command from the local controller 30, and the fork drive mechanism 44 controls the forks 41 to push the goods 6 from the loading table 42 into the user compartment 12. Upon retrieval from the user compartment 12, the fork drive mechanism 44 receives a load control command from the local controller 30, and the fork drive mechanism 44 controls the forks 41 to draw the load back to the load bed 42 of the dispensing vehicle 4. When the distribution vehicle 4 runs to the drone landing platform 2, the fork driving mechanism 44 receives the unloading control command from the local controller 30, and the fork driving mechanism 44 controls the forks 41 to push the cargo 6 from the cargo bed 42 to the unloading platform 21 of the drone landing platform 2, or when the fork driving mechanism 44 receives the unloading control command from the local controller 30, controls the forks 41 to pull the cargo 6 from the unloading platform 21 of the drone landing platform 2 back to the cargo bed 42 of the distribution vehicle 4. Specifically, after the fork 41 pulls the cargo 6 to the cargo bed 42, the distribution vehicle 4 may run along with the cargo 6 to transport the cargo 6 to the corresponding position of the user warehouse 12 or the unmanned aerial vehicle take-off and landing platform 2. The goods 6 can be smoothly placed on the cargo bed 42 without falling over and spilling the goods 6 during distribution.
In a specific embodiment, the track 3 or the distribution vehicle 4 is provided with a distribution vehicle driving mechanism 45, the distribution vehicle driving mechanism 45 is used for driving the distribution vehicle 4 to move on the track 3, the distribution vehicle driving mechanism 45 is in communication connection with the local controller 30, the local controller 30 sends a control signal to the distribution vehicle driving mechanism 45 so that the distribution vehicle driving mechanism 45 drives the distribution vehicle 4 to move along the track 3 to a position corresponding to the user cabin 12 or a position corresponding to the unmanned aerial vehicle lifting platform 2, and the distribution vehicle driving mechanism 45 can report position information of the distribution vehicle 4 to the local controller 30.
The dispensing cart 4 may also include a chassis 43 that is attached to the load bed 42 to provide support for the load bed 42. The chassis 43 cooperates with the track 3 to provide drive for the dispensing vehicle 4. The distribution vehicle 4 can move to a position corresponding to the user cabin 12 or a position corresponding to the unmanned aerial vehicle take-off and landing platform 2 by the cooperation of the chassis 43 and the track 3. Specifically, the distribution vehicle 4 may run along the track 3, or the distribution vehicle 4 may be fixed on the track 3, and the track 3 runs to drive the distribution vehicle 4 to move up and down.
As shown in fig. 6, an embodiment of the present application provides a building-based delivery scheduling method, which is executed by a local controller 30, and includes:
Wherein, when receiving unmanned aerial vehicle goods and delivering the request, show that unmanned aerial vehicle 20 has arrived the unmanned aerial vehicle take off and land platform 2 of corresponding building 10, at this moment, can control unmanned aerial vehicle take off and land platform 2 and unmanned aerial vehicle 20 and cooperate, receive goods 6 that unmanned aerial vehicle 20 delivered.
And step 102, controlling the distribution vehicle 4 on the track 3 to load the goods 6.
After the unmanned aerial vehicle take-off and landing platform 2 receives the goods 6 distributed by the unmanned aerial vehicle 20, the distribution vehicle 4 is controlled to load the received goods 6.
And 103, controlling the distribution vehicle 4 to move to the corresponding user cabin position through the track 3 according to the user cabin position information in the unmanned aerial vehicle cargo delivery request, and controlling the distribution vehicle 4 to unload the cargo 6 into the user cabin 12.
When receiving a cargo delivery request of the unmanned aerial vehicle, the position information of the user warehouse corresponding to the cargo 6 is acquired, so that after the cargo 6 is loaded on the delivery vehicle 4, the delivery vehicle 4 is controlled to deliver the cargo 6 to the corresponding user warehouse position and unload the cargo 6 to the corresponding user warehouse 12, and the cargo delivery process from the unmanned aerial vehicle lifting platform 2 to the user warehouse 12 is completed.
According to the building-based delivery scheduling method in the embodiment of the application, on one hand, automatic delivery from the unmanned aerial vehicle landing platform 2 to the user cabin 12 is achieved through cooperation of the delivery vehicle 4 and the track 3 in the building 10, on the other hand, the unmanned aerial vehicle scheduling process of the cloud scheduling system 40 and the delivery scheduling process in the building are combined, automatic delivery from the unmanned aerial vehicle 20 to the user cabin 12 in the whole process is achieved, and delivery efficiency is improved.
As shown in fig. 7, in a possible implementation, after the unmanned aerial vehicle 20 arrives near the unmanned aerial vehicle landing platform 2 of the corresponding building 10, the cloud scheduling system 40 executes step 201 to send an unmanned aerial vehicle cargo delivery request to the user cabin 12 and the local controller 30, where the unmanned aerial vehicle cargo delivery request includes user cabin position information, and may further include delivery speed gear information and order number, where the user cabin position information is used to indicate a specific position of the user cabin 12 corresponding to the cargo 6 in the building 10, so as to deliver the cargo 6 to the corresponding user cabin 12 according to the user cabin position information.
The distribution speed gear information is used to indicate the corresponding speed gear of the distribution vehicle 4 during distribution of the goods 6, which is related to the goods 6, for example, for fragile goods, a lower speed gear is required. The order number is the order identification corresponding to the delivery.
The control unmanned aerial vehicle take-off and landing platform 2 receives goods 6 delivered by unmanned aerial vehicle 20 in the above-mentioned step 101 includes:
step 1011, sending a landing permission instruction to the cloud dispatching system 40.
That is, when the local controller 30 receives the unmanned aerial vehicle cargo delivery request and determines that the unmanned aerial vehicle take-off and landing platform 2 is allowed to land, step 1011 is executed.
After the cloud scheduling system 40 receives the request for allowing landing, step 202 is executed: controlling the unmanned aerial vehicle to land, and then executing step 203: send a message to the local controller 30 that the drone 20 has landed.
For the local controller 30, after receiving the information that the unmanned aerial vehicle 20 has landed sent by the cloud scheduling system 40, step 1012 is executed to control the position alignment mechanism 22 of the unmanned aerial vehicle landing platform 2 to clamp the unmanned aerial vehicle 20 and control the position alignment mechanism 22 to adjust the position of the unmanned aerial vehicle 20 so that the unmanned aerial vehicle 20 is aligned with the landing platform 21.
After the high in the clouds dispatch system 40 controls unmanned aerial vehicle 20 to descend, unmanned aerial vehicle 20 can only descend according to self and the alignment mode of unmanned aerial vehicle take off and land platform 2, and the landing position this moment is not accurate, consequently, needs unmanned aerial vehicle take off and land platform 2 to adjust unmanned aerial vehicle 20's position through the position alignment mechanism 22 further to subsequent unmanned aerial vehicle 20 can unload goods 6 on required position.
After controlling position alignment mechanism 22 to adjust the position of drone 20 to align drone 20 with landing platform 21, step 1013 is performed, sending a landing request to cloud dispatch system 40.
When the cloud scheduling system 40 receives the unloading request, step 204 is executed to control the unmanned aerial vehicle to unload. For local controller 30, step 1014 is performed to detect whether unloading platform 21 unloads cargo 6, and then step 1015 is performed to send unloaded information to cloud scheduling system 40 when cargo 6 on unloading platform 21 is detected.
In step 1014, whether the cargo 6 is on the unloading platform 21 can be detected by means of diffuse reflection detection.
After the cloud scheduling system 40 receives the unloaded information, step 205 is executed to send a request for takeoff application to the local controller 30.
When the local controller 30 receives the request for takeoff, step 1016 is executed, the position alignment mechanism 21 is controlled to release the clamping of the unmanned aerial vehicle 20, and step 1017 is executed, and a command for allowing takeoff is sent to the cloud scheduling system 40.
After the cloud scheduling system 40 receives the takeoff permission instruction, the unmanned aerial vehicle 20 can be controlled to take off, that is, the cargo distribution between the unmanned aerial vehicle 20 and the building 10 is completed.
It should be noted that, because the networks of the cloud scheduling system 40 and the local controller 30 are different, in the interaction process between the cloud scheduling system 40 and the local controller 30, a gateway may be further included, that is, information or instructions sent by the cloud scheduling system 40 need to be forwarded to the local controller 30 through the gateway, and similarly, information or instructions sent by the local controller 30 also need to be forwarded to the cloud scheduling system 40 through the gateway.
In a possible embodiment, the step 102 of controlling the distribution vehicle 4 on the track 3 to load the goods 6 includes:
and step 1021, controlling the distribution vehicle 4 on the track 3 to move to the unmanned aerial vehicle take-off and landing platform 2 through the track 3.
If the track 3 is provided with the distribution vehicle driving mechanism 45, the local controller 30 may control the movement of the distribution vehicle 4 through the track 3, and the process of controlling the distribution vehicle 4 to load the cargo 6 may be performed after step 1016, for example, the local controller 30 sends a distribution vehicle 4 movement instruction to the track 3 to move the distribution vehicle 4 to the unmanned aerial vehicle landing platform 2, after the distribution vehicle 4 moves to the unmanned aerial vehicle landing platform 2, the track 3 or the distribution vehicle driving mechanism 45 may perform step 301, send information that the unmanned aerial vehicle landing platform 2 has been reached to the local controller 30, and after the local controller 30 receives the information that the distribution vehicle 4 has reached the unmanned aerial vehicle landing platform 2, step 1022 may be performed.
Step 1022, controlling the fork 41 of the distribution vehicle 4 to load the cargo 6 on the unmanned aerial vehicle take-off and landing platform 2 onto the distribution vehicle 4, and after the distribution vehicle 4 finishes loading the cargo 6, sending the cargo taking information to the local controller 30 so that the local controller 30 can acquire the state of the distribution vehicle 4.
In a possible embodiment, the step 103 of controlling the distribution vehicle 4 to move to the corresponding user warehouse position through the track 3 according to the user warehouse position information in the unmanned aerial vehicle cargo delivery request, and controlling the distribution vehicle 4 to unload the cargo 6 into the user warehouse 12 includes:
and step 1031, controlling the distribution vehicle 4 to move to the corresponding user cabin position through the track 3 according to the user cabin position information in the unmanned aerial vehicle cargo delivery request.
When the track 3 controls the distribution vehicle 4 to move to the corresponding user compartment position, step 302 is executed to send the information of the destination to the local controller 30, and for the local controller 30, after the information that the distribution vehicle 4 has reached the user compartment position is acquired, step 1032 is executed to control the security door 121 of the corresponding user compartment 12 to open, and control the distribution vehicle 4 to unload the goods 6 into the user compartment 12 through the opened security door 121. In other implementable embodiments, step 302 may be performed by position sensor 131.
Before step 1032 is performed, the safety door 121 is kept in a closed state to ensure isolation between the user and the rail 3 for safety. In step 1032, after controlling the security gate 121 to be opened, the distribution vehicle 4 is controlled to unload the loaded goods 6 into the receiving space of the user compartment 12 through the opened security gate 121, and then step 1033 is performed.
Step 1033, after controlling the distribution vehicle 4 to unload the goods 6 into the user compartment 12 through the opened security door 121, controlling the security door 121 to close, namely, after the goods 6 are unloaded into the user compartment 12, closing the security door 121 to ensure the isolation between the user and the track 3, so as to ensure the security.
In a possible implementation, the unmanned aerial vehicle cargo delivery request further includes delivery speed gear information. In the process of controlling the distribution vehicle 4 to move to the corresponding user warehouse 12 position through the track 3 in step 103, the moving speed of the distribution vehicle 4 is controlled according to the distribution speed gear information in the unmanned aerial vehicle cargo delivery request, wherein the gear is related to the cargo 6, for example, for fragile cargo, a lower speed gear is needed, and for non-fragile cargo, a higher speed gear can be used, so as to improve the distribution efficiency.
In a possible embodiment, before controlling the distribution vehicle 4 on the track 3 to load the goods 6 in step 102, the method further includes: the state of the distribution vehicle 4 on the track 3 is obtained, if the distribution vehicle 4 is in the distribution state, the unmanned aerial vehicle lifting platform 2 is controlled to place the goods 6 in the buffer position, and if the distribution vehicle 4 is in the idle state, the distribution vehicle 4 on the track 3 is triggered and controlled to load the goods 6.
Specifically, after goods 6 are unloaded to unmanned aerial vehicle take-off and landing platform 2, at first, judge the current state of delivery car 4, if delivery car 4 is in the delivery state, then can't get goods in time, if there is other goods delivery demands in the same building in a short time, then probably because goods 6 before are not taken away and lead to the problem when delivering, consequently, when delivery car 4 can't get goods in time, can place goods 6 in the buffer position earlier, so that when goods 6 are not taken away, unmanned aerial vehicle take-off and landing platform 2 still can receive the goods, and when delivery car 4 accomplished the delivery, when being in idle state, if the buffer position has goods 6, then control delivery car 4 to load the goods 6 of buffer position and deliver.
In one possible implementation, the local controller 30 may periodically detect the cargo state of the buffer location, and if the cargo of the buffer location is full, send a stop dispatch instruction to the cloud scheduling system 40, and suspend new cargo dispatch in the building 10, so as to prevent a problem when the unmanned aerial vehicle 20 delivers the cargo due to the full buffer location, until the buffer location has a vacancy, the local controller 30 sends a resume dispatch instruction to the cloud scheduling system 40, so as to resume cargo dispatch in the building 10.
In a possible implementation manner, the method further includes that the local controller 30 periodically sends the working state information of the unmanned aerial vehicle take-off and landing platform 2, the track 3 and the delivery vehicle 4 to the cloud scheduling system 40, and the working state information may be used to determine whether the working state of each part in the building 10 is normal or abnormal, and when a certain part is abnormal, the cloud scheduling system 40 may notify related personnel to go to the troubleshooting.
On the other hand, the embodiment of the present application further provides a method for controlling a user cabin in a building, where an execution subject of the method may be the user cabin 12 or a user cabin control device 120 in the user cabin 12, as shown in fig. 7, the method includes:
receiving a cargo delivery request of the unmanned aerial vehicle sent by the cloud scheduling system 40, wherein the cargo delivery request of the unmanned aerial vehicle comprises an order number.
When it is detected that a user has placed a good 6 in the bin 12, step 401 is triggered, informing the user to pick up the good.
The goods detection mode can be, for example, a weighing mode, when the weight corresponding to the platform of the user bin 12 exceeds a threshold value, it is indicated that the platform has the goods 6, the user can be notified to pick up the goods, the user is notified that the goods picking-up mode is not limited, for example, the user is reminded on the mobile terminal of the user through an order number, the user is called, a short message is sent, or the user is notified directly through a prompting device such as a buzzer arranged on the user bin.
The state of the security gate 121 of the user compartment 12 is detected, when the security gate 121 is opened, the user-side goods-taking door 124 of the user compartment 12 is controlled to be in a forced closing state, and when the security gate 121 is closed, the user-side goods-taking door 124 of the user compartment 12 is controlled to be in an openable state or the user-side goods-taking door 124 of the user compartment is controlled to be opened.
Specifically, the safety door state sensor 134 is provided in the customer compartment 12, the state of the safety door 121 can be detected by the safety door state sensor 134, and when the safety door 121 is detected to be opened, in order to avoid a safety risk that the user may be caused by the fork 41 extending into the customer compartment 12 when unloading goods or loading goods, the pickup door 124 can be controlled to be in a forced closing state, so that the user and the distribution vehicle 4 can be always kept in an isolated state. When the security gate 121 is closed, which indicates that the unloading or loading of the goods is completed, the user compartment 12 is no longer in a dangerous state due to the delivery vehicle 4, and thus the access door 124 is controlled to be in an openable state or the access door 124 is controlled to be opened, so that the user can take the goods through the access door 124.
When it is detected that the goods 6 placed in the user warehouse 12 are taken away, step 402 is executed to send order completion information to the cloud scheduling system 40 based on the order number, so that the whole process of delivering the order for the goods forms a complete closed loop and is automatically ended.
It should be noted that, for the customer premise 12, the security gate 121 therein is controlled by the local controller 30, and there is a respective network between the customer premise control device 120 and the local controller 30, so that the local controller 30 cannot control the access door 124, but the access door 124 is controlled by the customer premise control device 120, and the customer premise control device 120 can use the network of the customer to realize communication with the cloud scheduling system 40. In one possible embodiment, the user compartment control 120 may specifically include the above-described security gate status sensor 134, the access gate locking mechanism 133, the weighing device 135, and the ordering device 136.
According to the control method of the user cabin in the building in the embodiment of the application, on one hand, the relevant information of the unmanned aerial vehicle delivery order at this time is obtained through communication between the user cabin control device 120 and the cloud dispatching system 40, and on the other hand, the automatic delivery from the unmanned aerial vehicle 20 to the user cabin 12 in the whole process is realized through control over the user cabin 12, so that the delivery efficiency is improved.
An embodiment of the present application further provides a local controller, including: a processor and a memory for storing at least one instruction which is loaded and executed by the processor to implement the building-based delivery scheduling method of the above embodiments.
An embodiment of the present application further provides a user cabin control device, including: the system comprises a processor and a memory, wherein the memory is used for storing at least one instruction, and the instruction is loaded by the processor and executed to realize the control method of the user cabin in the building in the embodiment.
In the above local controller 30 or the user cabin control device 120, the number of the processors may be one or more, and the processors and the memories may be connected by a bus or other means. The memory, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, and the processor executes the non-transitory software programs, instructions, and modules stored in the memory to execute various functional applications and data processing, i.e., implement the methods in any of the above method embodiments. The memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; and necessary data, etc. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device.
In the embodiments of the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, and means that there may be three relationships, for example, a and/or B, and may mean that a exists alone, a and B exist simultaneously, and B exists alone. Wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" and similar expressions refer to any combination of these items, including any combination of singular or plural items. For example, at least one of a, b, and c may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or multiple.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (14)
1. A delivery scheduling method based on a building is characterized by comprising the following steps:
when an unmanned aerial vehicle cargo delivery request sent by a cloud scheduling system is acquired, controlling an unmanned aerial vehicle take-off and landing platform to receive cargos delivered by the unmanned aerial vehicle, wherein the unmanned aerial vehicle cargo delivery request comprises user cabin position information;
controlling a distribution vehicle on the track to load the goods;
and controlling the distribution vehicle to move to a corresponding user cabin position through a track according to the user cabin position information in the unmanned aerial vehicle cargo delivery request, and controlling the distribution vehicle to unload the cargo into the user cabin.
2. The method of claim 1,
control unmanned aerial vehicle take off and land platform and receive the goods that unmanned aerial vehicle delivered includes:
sending a landing allowing instruction to the cloud dispatching system;
after receiving the landing information of the unmanned aerial vehicle sent by the cloud dispatching system, controlling a position alignment mechanism of a take-off and landing platform of the unmanned aerial vehicle to adjust the position of the unmanned aerial vehicle so that the unmanned aerial vehicle is aligned to an unloading platform;
after the position alignment mechanism is controlled to adjust the position of the unmanned aerial vehicle to enable the unmanned aerial vehicle to be aligned with a discharging platform, a discharging request is sent to the cloud dispatching system;
and after the goods on the unloading platform are detected, controlling the position alignment mechanism to leave the unmanned aerial vehicle.
3. The method of claim 1,
the loading of the goods by the distribution vehicle on the control track comprises:
controlling a distribution vehicle on a track to move to the unmanned aerial vehicle take-off and landing platform through the track;
and controlling a fork of the distribution vehicle to load the cargos on the unmanned aerial vehicle lifting platform onto the distribution vehicle.
4. The method of claim 1,
the process of controlling the distribution vehicle to move to the corresponding user bin position through a track according to the user bin position information in the unmanned aerial vehicle cargo delivery request, and controlling the distribution vehicle to unload the cargo into the user bin comprises the following steps:
controlling the distribution vehicle to move to a corresponding user cabin position through a track according to the user cabin position information in the unmanned aerial vehicle cargo delivery request;
after the information that the distribution vehicle reaches the position of the user bin is acquired, controlling a corresponding user bin safety door to be opened, and controlling the distribution vehicle to unload the goods into the user bin through the opened safety door;
and after controlling a distribution vehicle to unload the goods into the user cabin through the opened safety door, controlling the safety door to be closed.
5. The method of claim 1,
the unmanned aerial vehicle cargo delivery request further comprises delivery speed gear information;
and in the process of controlling the distribution vehicle to move to the corresponding user bin position through a track, controlling the moving speed of the distribution vehicle according to distribution speed gear information in the unmanned aerial vehicle cargo delivery request.
6. The method of claim 1,
before the distribution vehicle on the control track loads the goods, the method further comprises the following steps:
the method comprises the steps of obtaining the state of a distribution vehicle on a track, controlling an unmanned aerial vehicle lifting platform to place the goods in a buffer position if the distribution vehicle is in the distribution state, and triggering the distribution vehicle on the control track to load the goods if the distribution vehicle is in the idle state.
7. The method of claim 6,
and if the goods in the cache position are full, sending a dispatch stopping instruction to the cloud dispatching system.
8. The method of claim 1, further comprising:
and periodically sending the working state information of the unmanned aerial vehicle take-off and landing platform, the track and the delivery vehicle to the cloud scheduling system.
9. A control method for a user cabin in a building is characterized by comprising the following steps:
receiving an unmanned aerial vehicle cargo delivery request sent by a cloud scheduling system, wherein the unmanned aerial vehicle cargo delivery request comprises an order number;
when goods are detected to be placed in the user bin, triggering and informing a user to pick up the goods;
detecting the state of a user cabin safety door, controlling a user side goods taking door of the user cabin to be in a forced closing state when the safety door is opened, and controlling the user side goods taking door of the user cabin to be in an openable state or controlling the user side goods taking door of the user cabin to be opened when the safety door is closed;
and when the goods placed in the user bin are detected to be taken away, sending order completion information to the cloud scheduling system based on the order number.
10. A local controller, comprising:
a processor and a memory for storing at least one instruction which is loaded and executed by the processor to implement the building based delivery scheduling method of any one of claims 1 to 8.
11. A user compartment control device, comprising:
a processor and a memory for storing at least one instruction which is loaded and executed by the processor to implement the method of controlling a user cabin within a building as claimed in claim 9.
12. A building, comprising:
the building comprises a building body, wherein a user cabin is arranged in the building body;
the unmanned aerial vehicle taking-off and landing platform is arranged on the building body and used for receiving goods delivered by the unmanned aerial vehicle;
the track is arranged in the building body and is communicated with the user cabin and the unmanned aerial vehicle take-off and landing platform;
the distribution vehicle is used for loading goods from the unmanned aerial vehicle take-off and landing platform or the user cabin, is matched with the track, and transmits the goods between the user cabin and the unmanned aerial vehicle take-off and landing platform through the track;
the local controller of claim 10, in communicative connection with the user bay, the drone take-off and landing platform, the track, and the dispensing car.
13. A building as claimed in claim 12, further comprising a gateway communicatively coupled to the local controller, a cloud dispatch system disposed outside the building.
14. A building as claimed in claim 12 or 13 wherein the drone take-off and landing platform further includes a buffer station for holding the remainder of the cargo unloaded by the drone when the distribution vehicle is in a distribution condition.
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| CN113003228B (en) * | 2021-02-10 | 2022-12-20 | 北京二郎神科技有限公司 | Cargo distribution system and distribution method, cargo transfer mechanism and cargo transfer method |
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