CN114771670A - 一种无人机配送用快递接驳智能小车 - Google Patents

一种无人机配送用快递接驳智能小车 Download PDF

Info

Publication number
CN114771670A
CN114771670A CN202210448322.7A CN202210448322A CN114771670A CN 114771670 A CN114771670 A CN 114771670A CN 202210448322 A CN202210448322 A CN 202210448322A CN 114771670 A CN114771670 A CN 114771670A
Authority
CN
China
Prior art keywords
processing unit
central processing
unmanned aerial
aerial vehicle
storage box
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210448322.7A
Other languages
English (en)
Inventor
洪亮
邱胤原
李晓炜
付海文
林勇
何伟阳
吴舒淇
宋明杰
何雨星
倪嘉瑞
汪伟锋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fujian University of Technology
Original Assignee
Fujian University of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fujian University of Technology filed Critical Fujian University of Technology
Priority to CN202210448322.7A priority Critical patent/CN114771670A/zh
Publication of CN114771670A publication Critical patent/CN114771670A/zh
Pending legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D33/00—Superstructures for load-carrying vehicles
    • B62D33/04—Enclosed load compartments ; Frameworks for movable panels, tarpaulins or side curtains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60J—WINDOWS, WINDSCREENS, NON-FIXED ROOFS, DOORS, OR SIMILAR DEVICES FOR VEHICLES; REMOVABLE EXTERNAL PROTECTIVE COVERINGS SPECIALLY ADAPTED FOR VEHICLES
    • B60J7/00—Non-fixed roofs; Roofs with movable panels, e.g. rotary sunroofs
    • B60J7/08—Non-fixed roofs; Roofs with movable panels, e.g. rotary sunroofs of non-sliding type, i.e. movable or removable roofs or panels, e.g. let-down tops or roofs capable of being easily detached or of assuming a collapsed or inoperative position
    • B60J7/085—Non-fixed roofs; Roofs with movable panels, e.g. rotary sunroofs of non-sliding type, i.e. movable or removable roofs or panels, e.g. let-down tops or roofs capable of being easily detached or of assuming a collapsed or inoperative position winding up, e.g. for utility vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D33/00—Superstructures for load-carrying vehicles
    • B62D33/04—Enclosed load compartments ; Frameworks for movable panels, tarpaulins or side curtains
    • B62D33/042—Enclosed load compartments ; Frameworks for movable panels, tarpaulins or side curtains divided into compartments
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05B—LOCKS; ACCESSORIES THEREFOR; HANDCUFFS
    • E05B47/00—Operating or controlling locks or other fastening devices by electric or magnetic means
    • E05B47/02—Movement of the bolt by electromagnetic means; Adaptation of locks, latches, or parts thereof, for movement of the bolt by electromagnetic means
    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
    • E06B9/00—Screening or protective devices for wall or similar openings, with or without operating or securing mechanisms; Closures of similar construction
    • E06B9/02—Shutters, movable grilles, or other safety closing devices, e.g. against burglary
    • E06B9/08—Roll-type closures
    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
    • E06B9/00—Screening or protective devices for wall or similar openings, with or without operating or securing mechanisms; Closures of similar construction
    • E06B9/56—Operating, guiding or securing devices or arrangements for roll-type closures; Spring drums; Tape drums; Counterweighting arrangements therefor
    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
    • E06B9/00—Screening or protective devices for wall or similar openings, with or without operating or securing mechanisms; Closures of similar construction
    • E06B9/56—Operating, guiding or securing devices or arrangements for roll-type closures; Spring drums; Tape drums; Counterweighting arrangements therefor
    • E06B9/68—Operating devices or mechanisms, e.g. with electric drive
    • E06B9/70—Operating devices or mechanisms, e.g. with electric drive comprising an electric motor positioned outside the roller
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/50—Barriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/09—Other types of propulsion units, e.g. fluid motors, or type not specified
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Structural Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Civil Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Architecture (AREA)
  • Mathematical Physics (AREA)
  • Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Handcart (AREA)

Abstract

本发明涉及一种无人机配送用快递接驳智能小车，其包括：底盘；中央处理器；电源模块，为小车上的各机构供电；轮组机构；车头，其相背地固定在底盘的两端上；配送柜，其设在两个车头之间并固定在底盘上，包括若干个储存箱体，储存箱体对应小车的侧面铰接侧门，箱体侧门设有锁合机构；箱体顶部具有开口，箱体顶部的开口处设有拉闸门机构，拉闸门机构包括拉闸门、转轴二和驱动电机，箱体顶部对应车头一侧设有平行于开口的滑槽，拉闸门与滑槽滑动连接，拉闸门对应车头一侧与转轴二连接，转轴二由驱动电机驱动，驱动电机与中央处理器电连接，中央处理器控制驱动电机驱动转轴二带动拉闸门开合，采用以上技术方案可对接载货无人机，收取无人机快递包裹。

Description

一种无人机配送用快递接驳智能小车
技术领域
本发明涉及物流配送技术领域，具体涉及了一种无人机配送用快递接驳智能小车。
背景技术
无人驾驶一直被视为下一个风口，据麦肯锡预测，到2025年无人驾驶汽车可产生2000亿至1.9万亿美元的产值。
但就目前而言，无人驾驶不论从市场接受度还是本身技术方面，都还需要一段发展时间。在不久前结束的云栖大会中，菜鸟ET物流实验室发布了两款新零售物流无人车，车上分别搭载刷脸取件柜、零售货架。这些无人车可以在拥挤的人群中智能避让，穿梭自如。观众在车前扫码或者刷脸，就能开启零售柜口。而且很快，这些具备自动驾驶功能的新零售设施或将出现在你的生活周围。此次的菜鸟末端无人车已经是升级后的第四代，在今年3月的时候，有人就在路上发现了菜鸟的萌物，可以在红绿前行车自如。
除了菜鸟，618的时候，京东的无人快递车也上了路，旨在解决“最后一公里”的配送难题。无人快递车投入运营，不仅囊括了小区配送、园区配送、快递员接驳等多种应用场景，还通过智慧配送站的多车型、多线路循环配送，探索了全新的调度运营模式，为配送机器人的规模化应用和更广布局积累了宝贵的经验。
自动化无人机快递系统利用无人机替代人工投送快递，旨在实现快递投送的自动化、无人化、信息化，提升快递的投递效率和服务质量，以便缓解快递需求与快递服务能力之间的矛盾。
无人配送车会根据调度平台发出的命令，躲避拥堵，规划合理路线。不仅如此，行驶中，懂得智能避开障碍物，对交通信号灯准确识别并作出反应。在即将到达目的地时，无人配送车会通过手机APP、手机短信等方式通知用户收货，用户到无人车前输入提货码就可以打开货仓，取走自己的快递。
现有的方案在快递包裹获取的渠道对接的仍是人力，依旧有人参与，这个缺点在疫情等灾害爆发时尤为突出，无法实现“无接触”配送，而其他厂家生产的无人配送小车并不具备与无人机快件对接的功能。
发明内容
针对现有技术的不足，本发明提供一种可对接载货无人机，收取无人机快递包裹的无人机配送用快递接驳智能小车。
本发明的一种无人机配送用快递接驳智能小车，采用以下技术方案：其包括
底盘；
中央处理器，设在小车上；
车头，其相背地固定在底盘的两端上；
配送柜，其设在两个车头之间并固定在底盘上，包括若干个储存箱体，所述储存箱体沿底盘的长度方向对称设置，储存箱体对应小车的侧面铰接侧门，所述箱体侧门设有锁合机构；
电源模块，设在小车上，为小车上的各机构供电；
轮组机构，分别设在底盘的四个转角下，其包括驱动舵机、转轴一和全向轮，所述驱动舵机与中央处理器电连接，所述中央处理器控制驱动舵机带动转轴一为全向轮行驶提供驱动力；
所述储存箱体顶部具有开口，储存箱体顶部的所述开口处设有拉闸门机构，所述拉闸门机构包括拉闸门、转轴二和驱动电机，储存箱体顶部对应车头一侧设有平行于开口的滑槽，所述拉闸门与滑槽滑动连接，拉闸门对应车头一侧与转轴二连接，转轴二由所述驱动电机驱动，所述驱动电机与中央处理器电连接，中央处理器控制驱动电机驱动转轴二带动拉闸门开合。
进一步，所述配送柜内为多层上下结构的储存箱体，上层储存箱体的底部对应所述下层储存箱体顶部开口即为上层储存箱体与下层储存箱体对应的底部开口。
进一步，所述锁合机构包括电磁感应器和磁性件，所述侧门背离铰接处的一侧设有磁性件，所述箱体内侧壁对应磁性件设有电磁感应器，所述磁性件与所述电磁感应器磁连接，电磁感应器与中央处理器电连接。
进一步，其还包括全景摄像头，所述全景摄像头设在车头，与中央处理器电连接。
进一步，其还包括显示器，所述显示器设在车头，与中央处理器电连接。
进一步，其还包括传感器，所述传感器设在车头，与中央处理器电连接。
与现有技术相比，本发明的有益效果如下：
1、采用拉闸门机构可对接载货无人机，收取无人机快递包裹的无人机配送用快递接驳智能小车，能减少快递接驳的人工参与，物流运输的配送效率也会大大地提高，降低物流配送成本，配送时间更加灵活；
2、采用多层上下结构的储存箱体使得小车的载货量达到最大，更容易对快递包裹进行分类、分别储存；
3、储存箱体门体采用锁合机构，其包含电磁感应器、磁性件与自动闭门器，能够应用现有的二维码扫描技术开合储存箱，方便用户存取快件包裹，实现整套物流配送过程的无人运输以及无接触存取快递包裹；
4、采用全景摄像头透过显示器与传感器配合获得路面信息，再经由中央处理器处理控制驱动舵机带动转轴进而带动全向轮行驶，使得小车可以自主避开障碍物，实现智能行驶，同时全景摄像头还可以扫描顾客的快递包裹二维码信息，实现顾客的取货功能。
附图说明
此处所说明的附图用来提供对本申请的进一步理解，在附图中：
图1为本发明实施例侧门拉闸门全闭轴测图；
图2为本发明实施例侧门全开示意图；
图3为本发明实施例顶部拉闸门全开示意图；
图4为本发明实施例顶部及第二层拉闸门全开示意图；
图5为本发明实施例车头背离配送柜一侧透视示意图；
图6为本发明实施例车头另一侧示意图；
图7为本发明实施例底盘透视示意图；
图8为本发明实施例总体工作流程图。
具体实施方式
参见图1-7之一所示，实施例一种无人机配送用快递接驳智能小车，其包括
底盘1；
中央处理器206，设在小车上；
车头2，其相背地固定在底盘1的两端上；
配送柜，其设在两个车头2之间并固定在底盘1上，包括若干个储存箱体3，所述储存箱体3沿底盘1的长度方向对称设置，储存箱体3对应小车的侧面通过铰接8安装有侧门5；所述储存箱体3顶部具有开口，储存箱体3顶部的所述开口处设有拉闸门机构，所述拉闸门机构包括拉闸门4、9、转轴二203、201和驱动电机209、208，储存箱体3顶部对应车头2一侧设有平行于开口的滑槽12、11，所述拉闸门4、9为柔性卷帘门，与滑槽12、11滑动连接，拉闸门4、9对应车头2一侧与转轴二203、201连接，转轴二203、201由所述驱动电机209、208驱动，所述驱动电机209、208与中央处理器206电连接，中央处理器206控制驱动电机209、208驱动转轴二203、201带动拉闸门4、9开合，当然配送柜内可以是单层或多层上下结构的储存箱体3，当为多层上下结构的储存箱体3时，上层储存箱体3的底部对应所述下层储存箱体3顶部开口即为上层储存箱体3与下层储存箱体3对应的底部开口，本实施例以配送柜结构上下两层为例，一层对称排列四个储存箱体3，一共八个储存箱体3。
电源模块104、210，设在小车上，电源模块104为轮组机构行驶提供动力驱动能源，电源模块210小车上其他功能的能源需求；
轮组机构，分别设在底盘1的四个转角下，其包括驱动舵机103、转轴一102和全向轮6，所述驱动舵机103与中央处理器206电连接，所述中央处理器206控制驱动舵机103带动转轴一102为全向轮3行驶提供驱动力；
锁合机构，设在所述箱体3侧门，其包括电磁感应器7和磁性件，所述侧门5背离铰接处的一侧设有磁性件，所述箱体3内侧壁对应磁性件设有电磁感应器7，所述磁性件与所述电磁感应器7磁连接，电磁感应器7与中央处理器电连接，还可以配合市场上常用自动关门器10自动关门。
进一步，其还包括全景摄像头204，所述全景摄像头204设在车头2，与中央处理器206电连接。
进一步，其还包括显示器202，所述显示器202设在车头2，与中央处理器206电连接。
进一步，其还包括传感器207，控制器211、212，所述传感器207，控制器211、212设在车头2，与中央处理器206电连接。
参见图8所示，本发明的工作原理：
接驳存货：无人机配送用快递接驳智能小车在待机状态下，储存箱体四个拉闸门4（上层）与两侧的侧门5都处于关闭状态；当无人机锁定本小车准备投放快件包裹，小车感应到无人机配送快件到达顶部时，判断小车内储存格的空余状态，如上层某个储存箱体有空闲，就通讯无人机飞至空闲储存格上方，其拉闸门机构的转轴203在控制器211控制下配合中央处理器206由驱动电机209驱动，驱动电机209驱动转轴二203正转时可将拉闸门4（上层）门体沿着滑槽12收缩卷起使得拉闸门开启，从而使拉闸门4（上层）开启以接收快递包裹并放置在小车上层储存箱体，若此时小车下层储存箱体有储存空位时，同理驱动电机208驱动转轴二201正转时可将拉闸门9（下层）门体沿着滑槽11收缩卷起使得拉闸门9（第二层）开启，在完全开启时，即拉闸门9（下层）将完全卷收，以防止包裹放置时被卡住，包裹下落被放置到小车下层储存箱体，当下层储存箱体装满后，驱动电机208驱动反转，将拉闸门9（下层）沿着滑槽11展开使得拉闸门9（下层）关闭，这时无人机可再往小车上层储存箱体投放，当上层储存箱体装满后，驱动电机209驱动反转，将拉闸门4（上层）沿着滑槽12展开使得拉闸门4（上层）关闭；
智能配送：电源模块104为轮组机构行驶提供动力驱动能源；车头2内部的位于摄像头支架205上的全景摄像头204透过显示器202的透明玻璃外壳与传感器207的配合获得路面信息，再经由中央处理器206处理控制底盘的驱动舵机103，通过转轴一102带动全向轮6按GPS信号控制按照既定路线行驶，行驶过程中小车可自主避开障碍物，如小区为无电梯联网的住宅将行驶至住宅楼底层，通知用户下楼通过扫码取件；如小区为有电梯联网的住宅将与电梯通讯进入电梯到达制定楼层并行驶到用户单元房门口，通知用户开门扫码取件；此后小车将继续派送自动移动到下一个地点直至所有包裹派送完成。
自动取货：当小车到达既定位置时，用户提供二维码取件，全景摄像头204扫描顾客的快递包裹二维码信息，中央处理器206控制控制器212使电磁感应器7断电，侧门5打开，顾客把快递包裹取出，最后自动关门器10把门关闭，电磁感应器7得电，吸附侧门上的磁性件，实现顾客的取货功能；
尽管已经示出和描述了本发明的实施例，对于本领域的普通技术人员而言，可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由所附权利要求及其等同物限定。

Claims (6)

1.一种无人机配送用快递接驳智能小车，其包括
底盘；
中央处理器，设在小车上；
车头，其相背地固定在底盘的两端上；
配送柜，其设在两个车头之间并固定在底盘上，包括若干个储存箱体，所述储存箱体沿底盘的长度方向对称设置，储存箱体对应小车的侧面铰接侧门，所述箱体侧门设有锁合机构；
电源模块，设在小车上，为小车上的各机构供电；
轮组机构，分别设在底盘的四个转角下，其包括驱动舵机、转轴一和全向轮，所述驱动舵机与中央处理器电连接，所述中央处理器控制驱动舵机带动转轴一为全向轮行驶提供驱动力；
其特征在于：所述箱体顶部具有开口，箱体顶部的所述开口处设有拉闸门机构，所述拉闸门机构包括拉闸门、转轴二和驱动电机，箱体顶部对应车头一侧设有平行于开口的滑槽，所述拉闸门与滑槽滑动连接，拉闸门对应车头一侧与转轴二连接，转轴二由所述驱动电机驱动，所述驱动电机与中央处理器电连接，中央处理器控制驱动电机驱动转轴二带动拉闸门开合。
2.根据权利要求1所述的一种无人机配送用快递接驳智能小车，其特征在于：所述配送柜内为多层上下结构的储存箱体，上层储存箱体的底部对应所述下层储存箱体顶部开口即为上层储存箱体与下层储存箱体对应的底部开口。
3.根据权利要求1所述的一种无人机配送用快递接驳智能小车，其特征在于：所述锁合机构包括电磁感应器和磁性件，所述侧门背离铰接处的一侧设有磁性件，所述箱体内侧壁对应磁性件设有电磁感应器，所述磁性件与所述电磁感应器磁连接，电磁感应器与中央处理器电连接。
4.根据权利要求1所述的一种无人机配送用快递接驳智能小车，其特征在于：其还包括全景摄像头，所述全景摄像头设在车头，与中央处理器电连接。
5.根据权利要求1所述的一种无人机配送用快递接驳智能小车，其特征在于：其还包括显示器，所述显示器设在车头，与中央处理器电连接。
6.根据权利要求1所述的一种无人机配送用快递接驳智能小车，其特征在于：其还包括传感器，所述传感器设在车头，与中央处理器电连接。
CN202210448322.7A 2022-04-26 2022-04-26 一种无人机配送用快递接驳智能小车 Pending CN114771670A (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210448322.7A CN114771670A (zh) 2022-04-26 2022-04-26 一种无人机配送用快递接驳智能小车

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210448322.7A CN114771670A (zh) 2022-04-26 2022-04-26 一种无人机配送用快递接驳智能小车

Publications (1)

Publication Number Publication Date
CN114771670A true CN114771670A (zh) 2022-07-22

Family

ID=82433884

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210448322.7A Pending CN114771670A (zh) 2022-04-26 2022-04-26 一种无人机配送用快递接驳智能小车

Country Status (1)

Country Link
CN (1) CN114771670A (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115432312A (zh) * 2022-10-18 2022-12-06 长沙万为机器人有限公司 一种冷链运输机器人用卷绕式储存箱

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106541880A (zh) * 2016-10-25 2017-03-29 北京印刷学院 一种智能运输装置
CN109353261A (zh) * 2018-09-20 2019-02-19 苏州得尔达国际物流有限公司 基于无人机的货运系统
CN109436360A (zh) * 2018-11-22 2019-03-08 河南机电职业学院 一种乡村无人机快递投递系统和方法
CN110276914A (zh) * 2019-06-28 2019-09-24 福建工程学院 一种无人机配送用自动存储型快递柜
CN211592353U (zh) * 2019-12-18 2020-09-29 南京信息工程大学 一种无人车与无人机协同快递投递系统
DE102020110981A1 (de) * 2020-04-22 2021-10-28 Deutsche Post Ag Kurierfahrzeug zum autonomen Transport von Stückgutmodulen nacheinander im öffentlichen Raum und Verfahren zum autonomen Transport wenigstens eines Stückgutmoduls im öffentlichen Raum

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106541880A (zh) * 2016-10-25 2017-03-29 北京印刷学院 一种智能运输装置
CN109353261A (zh) * 2018-09-20 2019-02-19 苏州得尔达国际物流有限公司 基于无人机的货运系统
CN109436360A (zh) * 2018-11-22 2019-03-08 河南机电职业学院 一种乡村无人机快递投递系统和方法
CN110276914A (zh) * 2019-06-28 2019-09-24 福建工程学院 一种无人机配送用自动存储型快递柜
CN211592353U (zh) * 2019-12-18 2020-09-29 南京信息工程大学 一种无人车与无人机协同快递投递系统
DE102020110981A1 (de) * 2020-04-22 2021-10-28 Deutsche Post Ag Kurierfahrzeug zum autonomen Transport von Stückgutmodulen nacheinander im öffentlichen Raum und Verfahren zum autonomen Transport wenigstens eines Stückgutmoduls im öffentlichen Raum

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115432312A (zh) * 2022-10-18 2022-12-06 长沙万为机器人有限公司 一种冷链运输机器人用卷绕式储存箱

Similar Documents

Publication Publication Date Title
US11383388B2 (en) Storage system, use and method with robotic parcel retrieval and loading onto a delivery vehicle
US20190232849A1 (en) Vehicle
CA3029268A1 (en) Tugger train trailer, transport system and transport method
CN112158499B (zh) 一种分布式物流系统
CN112101854B (zh) 一种物流系统及货物监管方法
CN107644310A (zh) 一种城市管式物流运输方法
CN110239967B (zh) 一种自动化集装箱堆场
CN112101620A (zh) 一种物流线路规划方法
WO2022033500A1 (zh) 一种分布式物流系统
WO2022033499A1 (zh) 一种库位单元、立体仓库及其货物存储方法
CN112061653B (zh) 一种减少分拣时间的物流系统及方法
CN107480932A (zh) 一种城际智能物流系统
CN107491926A (zh) 一种基于管网的城市物流系统
CN107741736A (zh) 一种用于管式物流系统的安全控制系统及方法
JP7325499B2 (ja) 配送ステーション
CN113120118A (zh) 一种车厢可分离的自动驾驶物流车
CN107578209A (zh) 一种城际物流运输方法
CN112093346B (zh) 一种减少货物停留时间的物流系统及方法
CN216332395U (zh) 一种车厢可分离的自动驾驶物流车
CN207216680U (zh) 一种城际智能物流系统
CN219969851U (zh) 一种无人驾驶配送车
CN114771670A (zh) 一种无人机配送用快递接驳智能小车
CN107600935A (zh) 一种用于管式物流系统的物流车
CN107609714B (zh) 一种用于管式物流系统的路径规划方法
CN207375219U (zh) 一种用于管式物流系统的物流车

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination