CN113570306A - Wisdom logistics system - Google Patents
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Abstract
The invention discloses an intelligent logistics system, which relates to the technical field of intelligent logistics and comprises an unmanned aerial vehicle terminal, a receiving terminal, a delivery terminal, a data processing module, a flight control module and a control base station, the unmanned aerial vehicle terminal comprises a support body, a multi-rotor assembly, an annular track assembly and a logistics assembly, the data processing module and the flight control module are arranged on the support body, the multi-rotor wing assembly is electrically connected with the flight control module, the logistics component consists of a plurality of logistics boxes, the central line of the annular track component is horizontally arranged, the logistics box can slide along the surface of the circular track component, the data processing module is used for collecting flight parameter information in real time, the flight control module is used for acquiring a real-time control signal sent by the control base station and adjusting the working state of the multi-rotor assembly according to the real-time control signal. The invention has the advantages of stable and reliable operation and effective state management.
Description
Technical Field
The invention relates to the technical field of intelligent logistics, in particular to an intelligent logistics system.
Background
The intelligent logistics is a modernized logistics mode which realizes refined, dynamic and visual management of each logistics link through intelligent software and hardware, the Internet of things, big data and other intelligent technical means, improves intelligent analysis decision and automatic operation execution capacity of a logistics system, and improves logistics operation efficiency. And the piece that has the most prospect in the wisdom commodity circulation is unmanned aerial vehicle express delivery, and unmanned aerial vehicle express delivery is through utilizing the unmanned low latitude aircraft delivery parcel of the remote control equipment of radio and the program control device manipulation of self-contained, and the automatic destination of arriving is reached, and its advantage mainly lies in solving the delivery problem in remote area, improves delivery efficiency, reduces the human cost simultaneously. At present, express enterprises such as Shunfeng, Amazon and DHL in China all start to try to run unmanned aerial vehicle express, while German postal service obtains the government's flight permission, the unmanned aerial vehicle express has started to be actually applied in Germany, and in the 2021 world artificial intelligence meeting at 8 th 7 th month in this year, the county carries unmanned delivery latest products to participate, and contracts with the Jinshan area in Shanghai city in a cooperative manner, so that the low-altitude logistics operation demonstration center in the first city in the country where the Jinshan area falls to the ground is promoted jointly. Unmanned aerial vehicle is when facing the commodity circulation operation, must fly according to predetermined orbit, and can change through its gesture of wireless remote control command control, flight in-process must be steady, must can shuttle in complicated narrow space swiftly, just can realize accomplishing appointed flight task in the space of city complicacy, nevertheless because express delivery weight differs, current unmanned aerial vehicle can not guarantee the focus betterly after accomodating the express delivery, lead to can't satisfy or can't stably satisfy above-mentioned requirement at the in-process of carrying out the flight task, current unmanned aerial vehicle express delivery still has more problem of waiting to solve in the aspect of integration, the dispatch, the location, receive and dispatch by oneself and state management simultaneously.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an intelligent logistics system.
An intelligent logistics system comprises an unmanned aerial vehicle terminal, a receiving terminal, a delivery terminal, a data processing module, a flight control module and a control base station; the goods receiving terminal is arranged at a first preset place and used for receiving appointed goods on the unmanned aerial vehicle terminal; the delivery terminal is arranged at a second preset place and used for assisting the unmanned aerial vehicle terminal to load goods; the unmanned aerial vehicle terminal comprises a support body, a multi-rotor component fixed on the support body, an annular track component fixed on the support body and a logistics component clamped in the annular track component, wherein the support body is provided with the data processing module and a flight control module, and the multi-rotor component is electrically connected with the flight control module; the logistics assembly consists of a plurality of logistics boxes clamped on the annular track assembly, the logistics boxes are used for loading goods, the center line of the annular track assembly is horizontally arranged, and the logistics boxes can slide along the surface of the annular track assembly; the data processing module is used for collecting flight parameter information in real time and feeding back to the control base station, the flight parameter information includes that the logistics boxes are located at the real-time position on the circular track assembly, the control base station is used for sending real-time control signals according to the flight parameter information, the flight control module is used for obtaining the real-time control signals sent by the control base station and adjusting the working state of the multi-rotor assembly according to the real-time control signals, so that the preset flight attitude is maintained. For the unmanned aerial vehicle terminal, adopt many rotors subassembly to carry out the flight operation, it can fly according to predetermined orbit completely independently, and can change its posture through wireless remote control command control, compare with other many rotors, four rotors have simple structure, convenient operation, easy control, with low costs, flight stability, mobility characteristics such as strong, can shuttle in the complicated narrow space swiftly, can realize accomplishing appointed flight task in the complicated space in city; furthermore, the unmanned aerial vehicle terminal is provided with a satellite positioning module, various sensors and a wireless signal transmitting and receiving device, has various flight modes such as fixed-point suspension, manual control and the like, integrates various high-precision sensors such as a three-axis accelerometer, a three-axis gyroscope, a magnetometer, an air pressure altimeter and the like and an advanced control algorithm, simultaneously has an out-of-control protection function, automatically keeps accurate hovering when the unmanned aerial vehicle enters an out-of-control state, flies to a nearest delivery terminal when the unmanned aerial vehicle is out-of-control overtime, further transmits data with a control base station, a receiving terminal, a delivery terminal and the like through a 4G/5G network and a radio communication remote sensing technology, transmits flight parameter information of the unmanned aerial vehicle to the control base station in real time, receives an instruction transmitted by the control base station, and transmits a landing request to a target receiving terminal or the delivery terminal after the unmanned aerial vehicle enters a target area, after receiving the landing request response, the receiving terminal or the delivery terminal guides the unmanned aerial vehicle terminal to land, load and unload the express and carry out quick charging on the shutdown platform. The delivery terminal and the receiving terminal are respectively provided with an unmanned aerial vehicle landing guide system, a goods loading and unloading center, a mechanical transmission system and the like, meanwhile, the delivery terminal and the receiving terminal both have a quick charging function and can charge the unmanned aerial vehicle terminal, and the receiving terminal and the delivery terminal are respectively arranged at a first preset place and a second preset place, wherein the first preset place can be a roof or a certain layer of balcony position to ensure that the last kilometer problem is solved, the second preset place is generally a logistics distribution point or a logistics distribution base, further, during the logistics transportation process, the unmanned aerial vehicle terminal sends a landing request to the receiving terminal, the unmanned aerial vehicle landing guide system of the receiving terminal guides the unmanned aerial vehicle terminal to the goods loading and unloading center, specified goods on the unmanned aerial vehicle terminal are automatically taken out through the goods loading and unloading center, and then the unmanned aerial vehicle terminal is charged or directly continues to perform the logistics transportation operation, and meanwhile, the mechanical conveying system can convey the taken goods to a specified position. In conclusion, the whole intelligent logistics system has certain advantages in integration, scheduling, positioning and self-service receiving and sending.
Preferably, the circular track assembly is composed of two track groups arranged in parallel, each track group comprises an inner track group wound on the support body and an outer track group wound on the inner track group, and the central lines of the inner track group and the outer track group are collinear and arranged horizontally; the thing flow box bottom is provided with the card and establishes in interior rail group and can follow the gliding interior card structure of interior rail group surface, the thing flow box top is provided with the card and establishes in outer rail group and can follow the gliding outer card structure of outer rail group surface. A plurality of logistics boxes are supported through two rail sets, and the structural reliability of the logistics boxes is guaranteed. When the logistics box slides along the surface of the track group, the outer clamping sliding structure at the top of the logistics box slides along the surface of the outer track group, and the inner clamping sliding structure at the bottom of the logistics box slides along the surface of the inner track group.
Preferably, the inner rail group comprises a first annular inner rail arranged around the support body and a second annular inner rail arranged around the first annular inner rail, the center line of the first annular inner rail and the center line of the second annular inner rail are collinear and arranged horizontally, and an inner sliding channel is formed between the first annular inner rail and the second annular inner rail; interior card sliding structure is including setting up interior installation body on the thing flow box, interior installation body level is passed interior slip passageway, it establishes the first interior pulley on the first annular inner rail and the second interior pulley on the second annular inner rail is established to a plurality of cards to be provided with on the interior installation body. An inner clamping and sliding structure is clamped inside the inner rail group, wherein the inner rail group consists of a first annular inner rail and a second annular inner rail, a gap is formed between the first annular inner rail and the second annular inner rail to form an inner sliding channel, an inner mounting body of the inner clamping and sliding structure penetrates through the inner sliding channel, when the logistics box slides along the inner rail group, a first inner pulley on the inner mounting body can slide along the first annular inner rail, and a second inner pulley on the inner mounting body can slide along the second annular inner rail; in particular, the inner mount may be provided in plurality.
Preferably, the outer rail group comprises a first annular outer rail arranged around the second annular inner rail and a second annular outer rail arranged around the first annular outer rail, the center line of the first annular outer rail and the center line of the second annular outer rail are collinear and arranged horizontally, and an outer sliding channel is formed between the first annular outer rail and the second annular outer rail; outer card sliding structure is including setting up outer installation body on the thing flow box, outer installation body level passes outer sliding channel, be provided with the outer pulley of second that a plurality of cards established on first annular outer rail and a plurality of cards established on the outer rail of second ring-shaped on the outer installation body. Similarly, an outer clamping and sliding structure is clamped inside the outer rail group, wherein the outer rail group consists of a first annular outer rail and a second annular outer rail, a gap is formed between the first annular outer rail and the second annular outer rail to form an outer sliding channel, an outer mounting body of the outer clamping and sliding structure penetrates through the outer sliding channel, when the logistics box slides along the outer rail group, a first outer pulley on the outer mounting body can slide along the first annular outer rail, and a second outer pulley on the outer mounting body can slide along the second annular outer rail; in particular, the outer mounting body may be provided in plurality.
Preferably, the top of the material flow box is provided with a top limiting groove, the bottom of the material flow box is provided with a bottom limiting groove, the top limiting groove is internally provided with the outer installation body, and the bottom limiting groove is internally provided with the inner installation body. Because outer installation body and interior installation body set up respectively at top spacing inslot and end spacing inslot, consequently whole outer sliding channel and partly that slides passageway can be located thing flow box inside to a certain extent, thing flow box can improve whole circular orbit subassembly's structural strength.
Preferably, logistics box bottom edge is provided with and supports and press the chamfer, and two mutually just supporting that adjacent logistics box is right press the chamfer and can contact each other. Adjacent thing flow box must can collide each other under the action of gravity, and support through the setting and press the chamfer, can improve the area of contact of adjacent thing flow box at the collision in-process each other to reduce the collision influence, can also set up sponge layer or rubber layer simultaneously on supporting pressing the chamfer, improve the shock-absorbing capacity.
Preferably, the data processing module comprises position sensing modules which are arranged on the periphery of the support body and are right opposite to the circular track assembly, and the position sensing modules are used for acquiring the position of the logistics box on the circular track assembly in real time and integrating the position of the logistics box on the circular track assembly into flight parameter information. The position sensing module can be a plurality of optical detection units, and a single optical detection unit utilizes and carries out continuous monitoring to certain direction on the circular orbit subassembly, and feedback signal in this direction changes, then represents logistics box position on the circular orbit subassembly and changes, and further, through setting up a plurality of optical detection units, can monitor the real-time position of the logistics box of whole circular orbit subassembly.
Preferably, the data processing module is including setting up the camera platform at the supporter front end, the camera platform is used for gathering unmanned aerial vehicle terminal real scene image on flight path in real time and integrates into flight parameter information. The camera platform gathers the outdoor scene image of unmanned aerial vehicle terminal on the flight path in real time, and data processing module itself or control base station carry out the analysis to the outdoor scene image that the camera platform gathered simultaneously to reach the function of sign location and alarm early warning, can also carry out contrastive analysis through the outdoor scene image in the transfer database simultaneously, gather geographical position and convert longitude and latitude information into, obtain the specific position of unmanned aerial vehicle terminal, thereby realize the automatic deployment of commodity circulation more reliably.
Preferably, the data processing module comprises a satellite positioning module, and the satellite positioning module is used for acquiring the three-dimensional position coordinates of the unmanned aerial vehicle terminal in real time and integrating the three-dimensional position coordinates into flight parameter information. The satellite positioning module mainly comprises a global positioning system GPS, a Glonass satellite navigation system (GLONASS), a Galileo satellite navigation system (GALILEO) and a Beidou satellite navigation system (BDS), and the space-based radio navigation positioning system can provide all-weather three-dimensional coordinates, speed and time information at any place on the earth surface or in the near-earth space.
Preferably, the flight control module comprises a path selection module, and the path selection module is used for selecting and adjusting flight paths from the delivery terminal to the plurality of receiving terminals. The route selection module can plan the flight route according to national power grid information, the main route can be planned at the fastest speed through the method, and route optimization can be achieved, so that the unmanned aerial vehicle terminal flies through the route of the second position from the first position and is a route communicated with the high-voltage direct-current power transmission network from the first position to the second position. .
The invention has the beneficial effects that:
in the unmanned aerial vehicle terminal, the annular track component is fixed on the support body, the logistics component is clamped in the annular track component, the plurality of logistics boxes surround the support body on a vertical plane, the support body is protected to a certain extent, a data processing module and a flight control module which are arranged on the support body are prevented from being collided too much, more importantly, the logistics boxes can slide along the annular track component randomly, whether goods are uniformly distributed in the logistics boxes or not is not required to be considered when the unmanned aerial vehicle terminal assembles goods, whether the quality of each logistics box is equal or not is not required to be considered, only the goods are filled into the logistics boxes, and finally, the logistics boxes can automatically slide along the annular track component under the action of gravity until the logistics boxes abut against each other, the gravity center of the whole logistics component is always kept at the center, so that the balance cannot be influenced by the goods with different weights, effectively ensures that the unmanned aerial vehicle terminal flies stably in the process of executing a flight task and swipes around a complex and narrow space swiftly, further, in the flight operation process of the unmanned aerial vehicle terminal, a data processing module is utilized to acquire flight parameter information and feed the flight parameter information back to a control base station, the flight parameter information comprises the real-time position of a logistics box on an annular track component, the position of the logistics box on the annular track component represents the gravity center of the unmanned aerial vehicle terminal to a certain extent, namely, the flight state of the whole unmanned aerial vehicle terminal can be directly judged by detecting the real-time position of the logistics box on the annular track component, the unmanned aerial vehicle state judgment logic is greatly optimized, and the adjustment result of the flight attitude of the unmanned aerial vehicle terminal can be quickly judged by acquiring the change of the real-time position of the logistics box on the annular track component after the working state of a plurality of rotor components is adjusted, the state judgment logic of the unmanned aerial vehicle is further optimized, and the state management efficiency and effect of the unmanned aerial vehicle terminal are improved.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
Fig. 1 is a structural side view of the drone terminal of the present invention;
fig. 2 is a structural plan view of the unmanned aerial vehicle terminal of the present invention;
FIG. 3 is a perspective view of the structure of the support body, endless track assembly and logistics assembly of the present invention;
FIG. 4 is a perspective view of the construction of the physical distribution box of the present invention;
FIG. 5 is a schematic composition diagram of the present invention.
Reference numerals:
1-drone terminal, 11-support, 12-multi-rotor assembly, 13-circular track assembly, 131-track set, 1311-inner track set, 1311 a-first circular inner track, 1311 b-second circular inner track, 1311 c-inner slide channel, 1312-outer track set, 1312 a-first circular outer track, 1312 b-second circular outer track, 1312 c-outer slide channel, 14-logistics assembly, 141-logistics box, 1411-top limit groove, 1412-bottom limit groove, 1413-press chamfer, 15-inner click structure, 151-inner mount, 152-first inner pulley, 153-second inner pulley, 16-outer click structure, 161-outer mount, 162-first outer pulley, 163-second outer pulley, 2-pickup terminal, 3-a delivery terminal, 4-a data processing module, 41-a position sensing module, 42-a camera platform, 43-a satellite positioning module, 5-a flight control module, 51-a path selection module and 6-a control base station.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the 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.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present invention, it should be noted that the terms "inside", "outside", "upper", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally arranged when products of the present invention are used, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements indicated must have specific orientations, be constructed in specific orientations, and operated, and thus, cannot be construed as limiting the present invention.
As shown in fig. 1 to 5, an intelligent logistics system includes an unmanned aerial vehicle terminal 1, a receiving terminal 2, a delivering terminal 3, a data processing module 4, a flight control module 5, and a control base station 6; the goods receiving terminal 2 is arranged at a first preset place and used for receiving the designated goods on the unmanned aerial vehicle terminal 1; the delivery terminal 3 is arranged at a second preset place and used for assisting the unmanned aerial vehicle terminal 1 in loading cargos; the unmanned aerial vehicle terminal 1 comprises a supporting body 11, a multi-rotor assembly 12 fixed on the supporting body 11, an annular track assembly 13 fixed on the supporting body 11 and a logistics assembly 14 clamped inside the annular track assembly 13, wherein the supporting body 11 is provided with a data processing module 4 and a flight control module 5, and the multi-rotor assembly 12 is electrically connected with the flight control module 5; the logistics component 14 is composed of a plurality of logistics boxes 141 clamped on the annular track component 13, the logistics boxes 141 are used for loading goods, the center line of the annular track component 13 is horizontally arranged, and the logistics boxes 141 can slide along the surface of the annular track component 13; the data processing module 4 is used for collecting flight parameter information in real time and feeding back to the control base station 6, the flight parameter information includes that the logistics box 141 is located the real-time position on the circular orbit component 13, the control base station 6 is used for sending real-time control signals according to the flight parameter information, the flight control module 5 is used for obtaining the real-time control signals sent by the control base station 6, and adjusting the working state of the multi-rotor component 12 according to the real-time control signals, so that the preset flight attitude is maintained.
In this embodiment, it should be noted that, for the unmanned aerial vehicle terminal 1, the multi-rotor assembly 12 is used for flight operation, preferably, the multi-rotor assembly 12 may be a quad-rotor, a hexa-rotor, or an octa-rotor, and the like, and can completely and autonomously fly according to a predetermined trajectory, and can control the attitude change thereof through a wireless remote control instruction, compared with other multi-rotors, the quad-rotor has the characteristics of simple structure, convenient operation, easy control, low cost, stable flight, strong maneuverability, and the like, and can swiftly shuttle in a complex and narrow space, and can complete a designated flight task in a complex space in a city; furthermore, the unmanned aerial vehicle terminal 1 is provided with a satellite positioning module 43, various sensors and a wireless signal transmitting and receiving device, has various flight modes such as fixed-point suspension, manual control and the like, integrates various high-precision sensors such as a three-axis accelerometer, a three-axis gyroscope, a magnetometer, a barometric altimeter and the like and an advanced control algorithm, simultaneously has an out-of-control protection function, automatically keeps accurate hovering when the unmanned aerial vehicle enters an out-of-control state, flies to the nearest delivery terminal 3 when the unmanned aerial vehicle is out-of-control overtime, further carries out data transmission with the control base station 6, the receiving terminal 2, the delivery terminal 3 and the like through a 4G/5G network and a radio communication remote sensing technology, sends flight parameter information of the unmanned aerial vehicle to the control base station 6 in real time, receives an instruction sent by the control base station 6, and sends a delivery request to the target receiving terminal 2 or the delivery terminal 3 after entering a landing target area, after receiving the landing request response, the receiving terminal 2 or the delivery terminal 3 guides the unmanned aerial vehicle terminal 1 to land on a shutdown platform, load and unload the express, and perform quick charging. To delivery terminal 3 and receipt terminal 2, all be equipped with unmanned aerial vehicle landing guide system, cargo handling center, mechanical transmission system etc, and simultaneously, delivery terminal 3 and receipt terminal 2 all have the quick charge function, can charge for unmanned aerial vehicle terminal 1, receive terminal 2 and delivery terminal 3 simultaneously and set up respectively at first preset place and the preset place of second, wherein, first preset place can be on roof or certain layer balcony position, guarantee that last kilometer problem is solved, what need explain very much, A, the major possession is to the roof: the floor layer top of intelligent house wisdom building in the wisdom community is directly sent to by the express delivery major possession of logistics center delivery, builds the roof with rich nest, check etc. at the bottom of the big building, resident community gate: firstly, a property company roof manager sends a goods box allocated by an unmanned plane to a resident door of the building; secondly, aiming at VIP important customers after the building is mature, the property can directly open residents of the building to a doorway of the roof for goods taking and delivering to a vertical and longitudinal unmanned aerial vehicle delivery form in a delivery form of the roof; B. small piece to window: sending a horizontal and transverse unmanned aerial vehicle in a distribution form of a window to send small pieces; C. a first panel and a second panel on the construction machine are pushed, namely the panel on the unmanned aerial vehicle is called as wing plate, and a photovoltaic cell is used for collecting energy; after the 5G unmanned aerial vehicle reaches the destination, vertically doing a large piece to send to the roof, and horizontally doing a small piece to send to the window; the specific description is as follows: the panel is that the unmanned aerial vehicle opens the upper panel from the product line to absorb energy; the second pushing is a 'handling' action, when the unmanned aerial vehicle reaches the roof or a window, a conveying and pushing link is needed, the humanized 'spitting' is to convey goods to the target, and the 'swallowing' after the mature development is to convey the target customer goods to the storage opening of the unmanned aerial vehicle; the goods transportation in the whole world comprises the sea transportation from warehouse to warehouse, the container from door to door, the air express delivery from table to table and the like; the unmanned aerial vehicle is from mouth to mouth, namely the unmanned aerial vehicle swallows and spits the mouth to the 'mouth to mouth' of a client floating window; the place is generally for commodity circulation collection and distribution branch point or commodity circulation collection and distribution base to the second is preset, furtherly, in the logistics transportation process, unmanned aerial vehicle terminal 1 sends the landing request to receiving terminal 2, receiving terminal 2's unmanned aerial vehicle landing guidance system guides unmanned aerial vehicle terminal 1 to loading and unloading goods center, through the automatic appointed goods that take out on unmanned aerial vehicle terminal 1 of loading and unloading goods center, then let unmanned aerial vehicle terminal 1 charge or directly continue to carry out the commodity circulation transportation operation, mechanical transfer system can carry the goods of taking off to the assigned position simultaneously. In conclusion, the whole intelligent logistics system has certain advantages in integration, scheduling, positioning and self-service receiving and sending.
What still need explain is, solved the terminal logistics distribution problem of unmanned aerial vehicle: the scheme that the tail end of the unmanned aerial vehicle is delivered intelligently and feasible is provided, namely the intelligent household intelligent building platform is accepted. The first point is as follows: from small articles to large articles, the whole-article logistics are started from the small articles to the large articles; the second point is as follows: from the roof to the windowsill, firstly, the roof logistics of the first scheme is started, and then accurate logistics is carried out at the door of the resident; the third point is that: from suburb to urban: the method is carried out from suburban experiments with less dense population and then gradually deepens into urban areas in city centers. Wherein, unmanned aerial vehicle commodity circulation is to the balcony, is wafted the window, can also include the equipment balcony of every family's outdoor window machine of air conditioner etc. that all have, and this can be vividly think: the small express logistics of the green mailbox of each family that five sixties of the age was rising can become more advanced, ageing 5G unmanned aerial vehicle logistics now, send the window at the smallclothes at present and fail under the condition that realizes: the 5G unmanned aerial vehicle can carry all the articles to the roof.
In particular, in the whole unmanned aerial vehicle terminal 1, the annular track assembly 13 is fixed on the support body 11, and the logistics assembly 14 is clamped in the annular track assembly 13, so that the plurality of logistics boxes 141 surround the support body 11 on a vertical plane, the support body 11 is protected to a certain extent, the data processing module 4 and the flight control module 5 arranged on the support body 11 are prevented from being collided too much, more importantly, the plurality of logistics boxes 141 can slide along the annular track assembly 13 at will, so that the unmanned aerial vehicle terminal 1 does not need to consider whether goods are uniformly distributed in the logistics boxes 141 when assembling goods, does not need to consider whether the quality of each logistics box 141 is equal, only needs to fill the goods into the logistics boxes 141, and finally, depending on the gravity, the plurality of logistics boxes 141 can automatically slide along the annular track assembly 13 until abutting against each other, so that the gravity center of the whole logistics assembly 14 is always kept at the center, therefore, the balance cannot be influenced by various cargoes with different weights, the stable flight of the unmanned aerial vehicle terminal 1 in the process of executing a flight task is effectively ensured, the unmanned aerial vehicle terminal can rapidly shuttle to a complex and narrow space, further, in the flight operation process of the unmanned aerial vehicle terminal 1, the data processing module 4 is used for collecting flight parameter information and feeding the flight parameter information back to the control base station 6, the flight parameter information comprises the real-time position of the logistics box 141 on the circular track component 13, the position of the logistics box 141 on the circular track component 13 represents the gravity center of the unmanned aerial vehicle terminal 1 to a certain extent, namely, the flight state of the whole unmanned aerial vehicle terminal 1 can be directly judged by detecting the real-time position of the logistics box 141 on the circular track component 13, the unmanned aerial vehicle state judgment logic is greatly optimized, and after the working state of the multi-rotor wing component 12 is adjusted, through the change that acquires the real-time position that thing flow box 141 is located the circular orbit subassembly 13, come the adjustment result of the flight gesture of rapid judgement unmanned aerial vehicle terminal 1, further optimized unmanned aerial vehicle state and judged the logic, improved state management efficiency and the effect to unmanned aerial vehicle terminal 1.
Specifically, the endless track assembly 13 is composed of two track groups 131 arranged in parallel, the track groups 131 include an inner track group 1311 arranged around the supporting body 11 and an outer track group 1312 arranged around the inner track group 1311, and the center lines of the inner track group 1311 and the outer track group 1312 are collinear and arranged horizontally; the bottom of the logistics box 141 is provided with an inner clamping and sliding structure 15 clamped on the inner rail set 1311 and capable of sliding along the surface of the inner rail set 1311, and the top of the logistics box 141 is provided with an outer clamping and sliding structure 16 clamped on the outer rail set 1312 and capable of sliding along the surface of the outer rail set 1312.
In the present embodiment, the two track groups 131 support the plurality of material distribution boxes 141, thereby ensuring structural reliability of the material distribution boxes 141. When the logistics box 141 slides along the surface of the track set 131, the outer skid structure 16 at the top slides along the surface of the outer track set 1312, and the inner skid structure 15 at the bottom slides along the surface of the inner track set 1311.
Specifically, the inner rail set 1311 includes a first annular inner rail disposed around the support body 11 and a second annular inner rail disposed around the first annular inner rail, a center line of the first annular inner rail and a center line of the second annular inner rail being collinear and disposed horizontally, and an inner sliding channel being formed between the first annular inner rail and the second annular inner rail; the inner clamping and sliding structure 15 comprises an inner mounting body 151 arranged on the material box 141, the inner mounting body 151 horizontally penetrates through the inner sliding channel, and a plurality of first inner pulleys 152 clamped on the first annular inner rail and a plurality of second inner pulleys 153 clamped on the second annular inner rail are arranged on the inner mounting body 151.
In this embodiment, it should be noted that the inner rail set 1311 is provided with the inner sliding structure 15 in a clamped manner, wherein the inner rail set 1311 is formed by a first annular inner rail and a second annular inner rail set 1311, a gap exists between the first annular inner rail and the second annular inner rail and forms an inner sliding channel, the inner mounting body 151 of the inner sliding structure 15 passes through the inner sliding channel, when the logistics box 141 slides along the inner rail set 1311, the first inner pulley 152 on the inner mounting body 151 slides along the first annular inner rail, and the second inner pulley 153 on the inner mounting body 151 slides along the second annular inner rail; in particular, the inner mount 151 may be provided in plurality.
Specifically, the outer rail group 1312 includes a first annular outer rail disposed around the second annular inner rail and a second annular outer rail disposed around the first annular outer rail, a centerline of the first annular outer rail and a centerline of the second annular outer rail being collinear and disposed horizontally, and an outer sliding channel being formed between the first annular outer rail and the second annular outer rail; the outer sliding structure 16 includes an outer mounting body 161 disposed on the material box 141, the outer mounting body 161 horizontally passes through the outer sliding channel, and a plurality of first outer pulleys 162 and a plurality of second outer pulleys 163 clamped on the first and second annular outer rails are disposed on the outer mounting body 161.
In this embodiment, it should be noted that, similarly, the outer rail set 1312 is internally provided with the outer sliding structure 16 in a clamping manner, where the outer rail set 1312 is composed of a first annular outer rail and a second annular outer rail set 1312, a gap exists between the first annular outer rail and the second annular outer rail and forms an outer sliding channel, the outer mounting body 161 of the outer sliding structure 16 passes through the outer sliding channel, when the logistics box 141 slides along the outer rail set 1312, the first outer pulley 162 on the outer mounting body 161 slides along the first annular outer rail, and the second outer pulley 163 on the outer mounting body 161 slides along the second annular outer rail; in particular, the outer mount body 161 may be provided in plurality.
Specifically, the top of the material flow box 141 is provided with a top limit groove 1411, the bottom of the material flow box 141 is provided with a bottom limit groove 1412, the top limit groove 1411 is internally provided with the outer mounting body 161, and the bottom limit groove 1412 is internally provided with the inner mounting body 151.
In this embodiment, it should be noted that, since the outer mounting body 161 and the inner mounting body 151 are respectively disposed in the top limit groove 1411 and the bottom limit groove 1412, a part of the entire outer sliding channel and the entire inner sliding channel are located inside the material flow box 141, so that the material flow box 141 can improve the structural strength of the entire circular track assembly 13 to a certain extent.
Specifically, the bottom edge of the material flow box 141 is provided with a pressing chamfer 1413, and two mutually opposite pressing chamfers 1413 of adjacent material flow boxes 141 can contact with each other.
In this embodiment, it should be noted that the adjacent material flow boxes 141 certainly collide with each other under the action of gravity, and the contact area of the adjacent material flow boxes 141 in the mutual collision process is increased by arranging the abutting chamfer 1413, so that the collision influence is reduced, and meanwhile, a sponge layer or a rubber layer can be arranged on the abutting chamfer 1413 to improve the buffering performance.
Specifically, the data processing module 4 includes a position sensing module 41 disposed around the support 11 and facing the circular track assembly 13, and the position sensing module 41 is configured to obtain the position of the logistics box 141 on the circular track assembly 13 in real time and integrate the position into flight parameter information.
In this embodiment, it should be noted that the position sensing module 41 may be a plurality of optical detection units, a single optical detection unit continuously monitors a certain direction on the circular track assembly 13, and when a feedback signal in the direction changes, the position of the material distribution box 141 on the circular track assembly 13 changes, and further, by providing a plurality of optical detection units, the real-time position of the material distribution box 141 of the whole circular track assembly 13 can be monitored.
Specifically, data processing module 4 is including setting up the camera platform 42 at the support 11 front end, and camera platform 42 is used for gathering unmanned aerial vehicle terminal 1 real scene image on the flight path in real time and integrates into flight parameter information.
In this embodiment, it should be noted that the camera platform 42 collects live-action images of the unmanned aerial vehicle terminal 1 on the flight path in real time, and the data processing module 4 itself or the control base station 6 analyzes the live-action images collected by the camera platform 42 to achieve the functions of mark positioning and alarm early warning, and meanwhile, the live-action images in the database can be called for comparative analysis to collect geographic positions and convert the geographic positions into longitude and latitude information to obtain the specific position of the unmanned aerial vehicle terminal 1, so that more reliable logistics automatic deployment is realized.
Specifically, the data processing module 4 includes a satellite positioning module 43, and the satellite positioning module 43 is used for acquiring the three-dimensional position coordinates of the unmanned aerial vehicle terminal 1 in real time and integrating the three-dimensional position coordinates into flight parameter information.
In the present embodiment, the satellite positioning module 43 mainly includes a global positioning system GPS, a GLONASS satellite navigation system (GLONASS), a GALILEO satellite navigation system (GALILEO), and a beidou satellite navigation system (BDS), and is a space-based radio navigation positioning system capable of providing all-weather three-dimensional coordinates, speed, and time information at any location on the earth surface or in the near-earth space.
Specifically, the flight control module 5 includes a path selection module 51, and the path selection module 51 is used for selecting and adjusting the flight path from the delivery terminal 3 to the plurality of receiving terminals 2.
In this embodiment, it should be noted that the path selection module 51 may plan a flight path according to national grid information, and a main path may be planned at the fastest speed by this method, so that the optimization of the path may be achieved, and therefore, the unmanned aerial vehicle terminal 1 flies through a path at the second position from the first position and is a line through which the high-voltage direct-current power transmission network is communicated from the first position to the second position.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (10)
1. An intelligent logistics system is characterized by comprising an unmanned aerial vehicle terminal, a receiving terminal, a delivery terminal, a data processing module, a flight control module and a control base station; wherein the content of the first and second substances,
the goods receiving terminal is arranged at a first preset place and used for receiving the designated goods on the unmanned aerial vehicle terminal;
the delivery terminal is arranged at a second preset place and used for assisting the unmanned aerial vehicle terminal to load goods;
the unmanned aerial vehicle terminal comprises a support body, a multi-rotor component fixed on the support body, an annular track component fixed on the support body and a logistics component clamped in the annular track component, wherein the support body is provided with the data processing module and a flight control module, and the multi-rotor component is electrically connected with the flight control module;
the logistics assembly consists of a plurality of logistics boxes clamped on the annular track assembly, the logistics boxes are used for loading goods, the center line of the annular track assembly is horizontally arranged, and the logistics boxes can slide along the surface of the annular track assembly;
the data processing module is used for collecting flight parameter information in real time and feeding back to the control base station, the flight parameter information includes that the logistics boxes are located at the real-time position on the circular track assembly, the control base station is used for sending real-time control signals according to the flight parameter information, the flight control module is used for obtaining the real-time control signals sent by the control base station and adjusting the working state of the multi-rotor assembly according to the real-time control signals, so that the preset flight attitude is maintained.
2. The intelligent logistics system of claim 1, wherein the circular track assembly is composed of two track sets disposed in parallel, the track sets comprise an inner track set disposed around the support body and an outer track set disposed around the inner track set, and the center line of the inner track set and the center line of the outer track set are collinear and disposed horizontally;
the thing flow box bottom is provided with the card and establishes in interior rail group and can follow the gliding interior card structure of interior rail group surface, the thing flow box top is provided with the card and establishes in outer rail group and can follow the gliding outer card structure of outer rail group surface.
3. The intelligent logistics system of claim 2, wherein the inner rail set comprises a first annular inner rail disposed around the support body and a second annular inner rail disposed around the first annular inner rail, wherein a centerline of the first annular inner rail and a centerline of the second annular inner rail are collinear and horizontally disposed, and an inner sliding channel is formed between the first annular inner rail and the second annular inner rail;
interior card sliding structure is including setting up interior installation body on the thing flow box, interior installation body level is passed interior slip passageway, it establishes the first interior pulley on the first annular inner rail and the second interior pulley on the second annular inner rail is established to a plurality of cards to be provided with on the interior installation body.
4. The intelligent logistics system of claim 3 wherein the outer rail set comprises a first annular outer rail disposed around a second annular inner rail and a second annular outer rail disposed around the first annular outer rail, wherein the first annular outer rail centerline and the second annular outer rail centerline are collinear and horizontally disposed, and wherein an outer sliding channel is formed between the first annular outer rail and the second annular outer rail;
outer card sliding structure is including setting up outer installation body on the thing flow box, outer installation body level passes outer sliding channel, be provided with the outer pulley of second that a plurality of cards established on first annular outer rail and a plurality of cards established on the outer rail of second ring-shaped on the outer installation body.
5. The intelligent logistics system of claim 4 wherein the top of the logistics box is provided with a top limiting groove, the bottom of the logistics box is provided with a bottom limiting groove, the top limiting groove is provided with the outer installation body, and the bottom limiting groove is provided with the inner installation body.
6. The intelligent logistics system of claim 5 wherein the bottom edge of the logistics boxes is provided with a pressing chamfer, and two mutually opposite pressing chamfers of adjacent logistics boxes can contact each other.
7. The intelligent logistics system of any one of claims 1 to 6 wherein the data processing module comprises a position sensing module disposed around the support and facing the circular track assembly, wherein the position sensing module is configured to obtain the position of the logistics box on the circular track assembly in real time and integrate the position into flight parameter information.
8. The intelligent logistics system of any one of claims 1 to 6 wherein the data processing module comprises a camera platform disposed at the front end of the support body, the camera platform is used for collecting real images of the unmanned aerial vehicle terminal on the flight path in real time and integrating the real images into flight parameter information.
9. The intelligent logistics system of any one of claims 1 to 6 wherein the data processing module comprises a satellite positioning module, wherein the satellite positioning module is used for acquiring three-dimensional position coordinates of the unmanned aerial vehicle terminal in real time and integrating the three-dimensional position coordinates into flight parameter information.
10. The intelligent logistics system of any one of claims 1 to 6 wherein the flight control module comprises a routing module for selecting and adjusting flight routes from a delivery terminal to a plurality of receiving terminals.
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