CN115099442A

CN115099442A - Unmanned vehicle, reserved door-to-door distribution method, controller and system

Info

Publication number: CN115099442A
Application number: CN202210689650.6A
Authority: CN
Inventors: 莫俊枫; 蔡松坡
Original assignee: Hive Box Network Technology Ltd
Current assignee: Hive Box Network Technology Ltd
Priority date: 2022-06-17
Filing date: 2022-06-17
Publication date: 2022-09-23

Abstract

The invention relates to the technical field of parcel delivery, and discloses an unmanned vehicle, a delivery method by appointment of going to the home, a controller and a system. In the method, a release time period and a delivery starting time period are determined according to a reserved delivery time period; if the parcel to be delivered is confirmed to be delivered to the preset pickup position within the delivery time period, controlling the unmanned vehicle to reach the preset pickup position within the delivery starting time period; conveying the packages to be delivered to a lattice floor of the unmanned vehicle; and controlling the unmanned vehicle to deliver the package to be delivered to the place to be delivered within the appointed delivery time period. The unmanned vehicle adopts a modular design, shortens the upgrading and reconstruction period, has high configuration flexibility, and reduces the risk of regional configuration. The invention can realize 24-hour reservation delivery service through the unmanned vehicle, can respond to the reservation delivery instruction of the user terminal without manual intervention and automatically take and deliver the parts, thereby improving the delivery efficiency and the user experience.

Description

Unmanned vehicle, reserved door-to-door distribution method, controller and system

Technical Field

The invention relates to the technical field of parcel delivery, in particular to an unmanned vehicle, a reserved door-to-door delivery method, a controller and a system.

Background

At present, along with the popularization of online shopping, the quantity of express packages is also increased rapidly, more and more packages are put into an intelligent cabinet and an express post house, and the requirement that a user hopes to make an appointment for delivery and delivery to home is more and more obvious. However, in the prior art, because of limited manpower, the scheme for customizing 24-hour reservation and delivery service does not have smooth realization conditions, and therefore, the problem that how to meet the reservation and delivery service requirements of customers on the premise of utilizing intelligent cabinets and express courier stations is needed to be solved urgently at present.

Disclosure of Invention

The embodiment of the invention provides an unmanned vehicle, a reserved door-to-door delivery method, a controller and a system, and aims to solve the problems that 24-hour reserved door-to-door delivery service cannot be smoothly realized due to limited manpower in the prior art.

An embodiment of the present invention provides an unmanned vehicle, including:

the vehicle-mounted cabinet comprises a cabinet body, a communication layer, a grid layer, a sensing layer and an operation layer, wherein the communication layer is used for communicating with the outside, the grid layer is used for storing parcels transmitted to a preset position or transmitting parcels at the preset position, the sensing layer is used for detecting surrounding obstacle information, and the operation layer is connected with the communication layer, the grid layer and the sensing layer;

the vehicle-mounted cabinet is detachably mounted on the movable chassis, and the movable chassis is used for driving the vehicle-mounted cabinet to move.

The embodiment of the invention provides a method for reserving door-to-door delivery, which comprises the following steps:

receiving a reserved distribution instruction sent by a user terminal; the appointed delivery instruction comprises an appointed delivery time period and a site to be delivered of the package to be delivered;

determining a release time period and a delivery starting time period according to the reserved delivery time period; a first ending time point of the reserved delivery period is greater than a first ending time point of the delivery starting period, and the first ending time point is greater than a second ending time point of the delivery period;

if the parcel to be delivered is confirmed to be delivered to a preset pickup position in the delivery time period, controlling the unmanned vehicle to reach the preset pickup position in the delivery starting time period;

conveying the packages to be delivered to a lattice floor of the unmanned vehicle;

and controlling the unmanned vehicle to deliver the package to be delivered to the place to be delivered within the appointed delivery time period.

A controller for executing the above-mentioned appointed home delivery method; the controller is in communication connection with the unmanned vehicle.

The reserved door-to-door distribution system is characterized by comprising a controller and the unmanned vehicle, wherein the controller is in communication connection with the unmanned vehicle.

Compared with the prior art, the embodiment of the invention has the following advantages: in the reserved door-to-door delivery method provided by the embodiment of the invention, after receiving a reserved delivery instruction sent by a user terminal, according to a reserved delivery time period appointed by the user in the reserved delivery instruction, the delivery time for delivering a package to be delivered to a reserved pickup position (such as an intelligent cabinet or an express post) and the delivery start time for picking up the package (for starting reserved delivery) when an unmanned vehicle arrives at the reserved pickup position are determined, and then the package to be delivered can be automatically picked out from the reserved pickup position and stored through a grid layer of the unmanned vehicle, so that the unmanned vehicle is controlled to deliver the package to be delivered to a to-be-delivered position appointed by the user in the reserved delivery time period.

The unmanned vehicle adopts a modular design, the vehicle-mounted cabinet is detachably mounted on the mobile chassis, and the vehicle-mounted cabinet is provided with a communication layer, a grid layer, a sensing layer and an operation layer, so that the upgrading and modification period is shortened, the configuration flexibility is high, and the regional configuration risk is reduced. The lattice layer of the unmanned vehicle can automatically store the packages transmitted to the preset position or transmit the packages at the preset position out, so that the unmanned vehicle has the functions of automatically taking and sending the packages by butting the express courier station and the intelligent cabinet; therefore, the unmanned vehicle can realize 24-hour reservation and delivery service customized by a user, respond to the reservation and delivery instruction of the user terminal without manual intervention in the process and automatically take and deliver the parts, and the delivery efficiency and the user experience are improved. Meanwhile, the unmanned vehicle further meets the compatibility requirement of simultaneous docking with the intelligent cabinet and the express post station.

Drawings

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

Fig. 1 is a schematic structural diagram of an unmanned vehicle according to an embodiment of the present invention.

Fig. 2 is a schematic partial structural diagram of an unmanned vehicle according to an embodiment of the present invention.

Fig. 3 is a schematic partial structural view of an unmanned vehicle according to another embodiment of the present invention.

Fig. 4 is a schematic partial structural view of an unmanned vehicle according to still another embodiment of the present invention.

Fig. 5 is a schematic structural diagram of a roller shutter assembly of an unmanned vehicle according to an embodiment of the present invention.

Fig. 6 is a block diagram of the sensing layer and the operation layer according to an embodiment of the present invention.

Fig. 7 is a schematic structural diagram of a reserved door-to-door distribution system according to an embodiment of the present invention.

Fig. 8 is a schematic structural diagram of an intelligent cabinet according to an embodiment of the present invention.

Fig. 9 is a schematic structural diagram of an appointment storage box of an intelligent cabinet according to an embodiment of the present invention.

Fig. 10 is a flowchart of a method for reserved door-to-door distribution according to an embodiment of the present invention.

The reference numerals in the specification are as follows:

1. a vehicle-mounted cabinet; 11. a cabinet body; 111. a top plate; 112. a first laminate; 113. an opening; 114. a first side plate; 115. a second side plate; 116. a second laminate; 117. an emergency stop button;

12. a communication layer; 121. a signal enhancement receiver; 122. a first radar; 123. an antenna;

13. a grid layer; 131. a grid control panel; 132. a roller blind assembly; 1321. a first bending guide groove; 1322. a second bending guide groove; 1323. a roller shutter door; 1324. a first driving member; 1325. a position detecting member; 133. a package delivery assembly; 1331. a package detection sensor; 1332. a second driving member; 1333. wrapping the conveyor belt;

14. a sensing layer; 141. a camera module; 142. a second radar; 143. a radar window;

15. an operation layer; 151. a control module; 152. a switch; 16. a charging interface;

2. moving the chassis; 21. a mobile platform; 22. a wheel assembly;

3. an intelligent cabinet; 31. reserving a storage box; 311. an inlet and an outlet; 312. a box body; 313. a box door; 314. an opening and closing mechanism; 315. parcel push mechanism.

Detailed Description

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, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", "middle", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.

As shown in fig. 1 to 4, the present invention provides an unmanned vehicle including:

the vehicle-mounted cabinet 1 comprises a cabinet body 11, a communication layer 12 for communicating with the outside, a grid layer 13 for storing parcels transmitted into a preset position (the preset position can be located in an area range on a parcel conveying belt 1333 determined by four parcel detection sensors 1331 in fig. 4) or transmitting parcels at the preset position, a sensing layer 14 for detecting surrounding obstacle information, and an operation layer 15 for connecting the communication layer 12, the grid layer 13 and the sensing layer 14; further, the communication layer 12, the grid layer 13 and the sensing layer 14 are arranged on the cabinet 11 from top to bottom; understandably, in this embodiment, as shown in fig. 2, the cabinet 11 is provided with a communication layer 12, a grid layer 13, the sensing layer 14 and an operation layer 15 from top to bottom; the sensing layer 14 needs to detect external obstacle information (such as surrounding objects or people) through the camera module 141 or a radar, and the like, so that if the sensing layer is arranged at a higher position, a detection dead angle is larger, and therefore, the sensing layer 14 needs to be arranged at a lower position to improve the obstacle information sensing sensitivity (reduce the detection dead angle); the grid layer 13 is not installed too high or too low considering the height required in its application process because of the need of butt-transferring the package. Moreover, the communication layer 12 and the operation layer 15 need to be distributed in a staggered manner to avoid signal interference between the two layers, and the larger the separation distance between the two layers is, the smaller the signal interference between the two layers is; meanwhile, the communication layer 12 needs to perform signal receiving and transmitting, and is not favorable for signal detection when being arranged at an excessively low position. In summary, in the present invention, the communication layer 12 is disposed at the highest position, correspondingly, the operation layer 15 is disposed at the lowest position to avoid mutual interference, and then the sensing layer 14 is disposed at the next lowest position, i.e., above the operation layer 15, and meanwhile, the grid layer 13 is disposed between the sensing layer 14 and the communication layer 12, and the height position thereof is adapted to the actual application height. The vehicle-mounted cabinet 1 provided by the invention has the beneficial effects of improving the sensitivity of an unmanned vehicle for sensing obstacles, avoiding signal interference, improving the convenience of package transmission, improving the signal transmission intensity and the like due to the arrangement of the modules. Further, on-vehicle cabinet 1 is still including setting up interface 16 that charges on the cabinet body 11 to pass through interface 16 that charges connects the power and charges for unmanned car.

The vehicle-mounted cabinet is characterized by comprising a movable chassis 2, wherein the vehicle-mounted cabinet 1 is detachably mounted on the movable chassis 2, and the movable chassis 2 is used for driving the vehicle-mounted cabinet 1 to move. Understandably, the movable chassis 2 and the vehicle-mounted cabinet 1 can be detachably connected through a bolt connection, a buckle connection, a sliding groove connection or the like; because the design is the independent module of dismantling the connection between the two for remove easier split between chassis 2 and the on-vehicle cabinet 1, so, remove under the current situation that chassis 2 breaks down easily at unmanned car, made things convenient for carry out the split and then be convenient for maintain or maintain to unmanned car remove chassis 2.

In an embodiment, the mobile chassis 2 includes a mobile platform 21, a wheel assembly 22, and a driving assembly (not shown) for driving the wheel assembly 22 to move, and a first interface (not shown) connected to the driving assembly is provided on the mobile platform 21; the cabinet body 11 is provided with a second interface (not shown) connected with the operation layer 15, and the driving assembly is in communication connection or electric connection with the operation layer 15 through the first interface and the second interface. That is, communication connection can be realized between the mobile chassis 2 and the vehicle-mounted cabinet 1, and further, the operation layer 15 can perform calculation according to the control signal received by the communication layer 12 or the obstacle information detected by the sensing layer 14, and finally control the driving assembly of the mobile chassis 2 to drive the wheel assembly 22 to move according to the calculation result, so that the vehicle can travel according to the preset route, direction, speed and the like at the set time point, and smoothly avoid obstacles and the like in the traveling process.

In the embodiment of the invention, after a controller of a reserved home delivery system receives a reserved delivery instruction sent by a user terminal, according to a reserved delivery time period appointed by a user in the reserved delivery instruction, the delivery time of delivering a package to be delivered to a reserved pickup position (such as a smart cabinet 3 or an express post) and the delivery start time of picking up the package (to start reserved delivery) when an unmanned vehicle arrives at the reserved pickup position are determined, and then the controller sends the delivery instruction containing the delivery time to the reserved pickup position and detects whether feedback information of the reserved pickup position is received or not. If the controller receives the feedback information, and the feedback information represents that the reserved pick-up position puts the package to be delivered to the reserved pick-up position within the delivery time, the controller sends a control signal containing the reserved pick-up position and the delivery start time to a communication layer 12 of an unmanned vehicle (preferably, an unmanned vehicle which is nearest to and free from the reserved pick-up position is selected from all unmanned vehicles associated with the controller to send the control signal), an operation layer 15 of the unmanned vehicle starts operation according to the received control signal, and then a mobile chassis 2 of the unmanned vehicle is controlled to drive a vehicle-mounted cabinet 1 to drive towards the reserved pick-up position within the delivery start time, in the driving process, a sensing layer 14 detects surrounding obstacle information, and the operation layer 15 performs operation according to a detection result to control the mobile chassis 2 to move so as to avoid an obstacle. After the unmanned vehicle reaches the preset pickup position, the unmanned vehicle automatically opens the grid layer 13, automatically takes out the packages to be delivered from the reserved pickup position and stores the packages to be delivered, and automatically closes the grid layer 13, the controller controls the unmanned vehicle to deliver the packages to be delivered to the places to be delivered appointed by the user within the reserved delivery time period, and the unmanned vehicle performs signal receiving, obstacle avoidance and other processing in the delivery process according to the driving process from the unmanned vehicle to the reserved pickup position, and the details are not repeated.

The unmanned vehicle adopts a modular design, the vehicle-mounted cabinet 1 is detachably mounted on the mobile chassis 2, and the vehicle-mounted cabinet 1 is provided with the communication layer 12, the grid layer 13, the sensing layer 14 and the operation layer 15 which are arranged from top to bottom, so that the upgrading and transforming period is shortened, the configuration flexibility is high, and the regional configuration risk is reduced. The grid layer 13 of the unmanned vehicle can automatically store the packages transmitted to the preset position or transmit the packages at the preset position, so that the unmanned vehicle has the functions of automatically taking and sending the packages by butting the express courier station and the intelligent cabinet 3; therefore, the invention designs the unmanned vehicle aiming at the current situation that the current parcels to be delivered are more and more delivered into the intelligent cabinet 3 and the express post house, and the customers more hope to directly reserve the delivery at home within the delivery time but the manual work is limited, the customized 24-hour reservation delivery service can be realized through the unmanned vehicle, and the process can respond to the reservation delivery instruction of the user terminal without manual intervention and automatically take out the parcels for delivery, thereby improving the delivery efficiency and the user experience. Meanwhile, the unmanned vehicle also meets the compatibility requirement of simultaneous butt joint with the intelligent cabinet 3 and an express post station (the mode of manually putting packages into the grid layer 13 during compatible pickup is satisfied), namely, the unmanned vehicle can also automatically open the grid layer 13 to receive the packages which are put into the grid layer 13 by couriers of the express post station, and automatically close the grid layer 13 after receiving the packages), so that the application scene of the unmanned vehicle is more diversified.

In one embodiment, as shown in fig. 3 and 4, the cabinet 11 includes a top plate 111 and a first layer of panels 112 disposed below the top plate 111; the communication layer 12 includes a signal enhancement receiver 121 disposed between the first layer plate 112 and the top plate 111, and a first radar 122 and an antenna 123 both disposed on the top plate 111, the antenna 123 being connected to the signal enhancement receiver 121. The antenna 123 may be one or more, and the antenna 123 may transmit and receive one or more signals of bluetooth, WIFI, 4G, 5G signals, and the like. As long as it can be connected with a controller or other external control devices through the antenna 123 for communication, thereby realizing the scheduled delivery. The signal enhancement receiver 121 can be used for enhancing the signal received by the antenna 123, and the signal enhancement receiver 121 is accommodated in the accommodating space between the first layer board 112 and the top board 111, so that the signal enhancement receiver can be protected on one hand, and the appearance of the unmanned vehicle is maintained on the other hand. The first radar 122 may be a 3D radar in order to detect the spatial obstacle information. Understandably, the communication layer 12 may further include an emergency stop button 117 disposed on the first layer 112, and further, when an emergency event occurs, the unmanned vehicle may be stopped from further running by triggering the emergency stop button 117.

In an embodiment, referring to fig. 2 to 5, the cabinet 11 is further provided with an opening 113 for entering and exiting packages, and the grid layer 13 includes a grid control board 131 connected to the operation layer 15 (the grid control board 131 may be mounted on an inner side wall of the cabinet 11), a rolling curtain component 132 for opening or closing the opening 113, and a package conveying component 133 for conveying the packages (such as the packages to be delivered specified in the reserved delivery instruction) from the opening 113; the slot control panel 131 is connected to the roller blind assembly 132 and the package conveying assembly 133. Understandably, the cell control board 131 is communicatively connected to the computation layer 15, the cell control board 131 is electrically connected to the rolling shutter assembly 132 and the package conveying assembly 133, and further, the cell control board 131 can control the rolling shutter assembly 132 and the package conveying assembly 133 to operate according to the indication of the computation layer 15, for example, control the rolling shutter assembly 132 to open or close the opening 113, control the package conveying assembly 133 to convey the package, and so on. By arranging the rolling shutter component 132 and the package conveying component 133, after the unmanned vehicle reaches the preset pickup position, the hatch control panel 131 controls the rolling shutter component 132 to automatically open the opening 113 in the hatch layer 13, and the package to be delivered, which is taken out from the reserved pickup position, is transmitted to the preset position in the hatch layer 13 through the package conveying component 133 and stored, and then the automatic hatch control panel 131 controls the rolling shutter component 132 to automatically close the opening 113 in the hatch layer 13, so that automatic pickup and automatic delivery can be realized (the automatic delivery process is the same as the automatic pickup process, and is not described again here).

In an embodiment, as shown in fig. 1 to 5, the cabinet 11 includes a first side plate 114 and a second side plate 115 which are oppositely disposed, and the opening 113 is disposed between the first side plate 114 and the second side plate 115; the rolling shutter assembly 132 includes a first bending guide slot 1321 installed on the first side plate 114, a second bending guide slot 1322 installed on the second side plate 115 and disposed parallel to the first bending guide slot 1321, a rolling shutter door 1323 slidably installed between the first bending guide slot 1321 and the second bending guide slot 1322, a first driving member 1324 for driving the rolling shutter door 1323 to roll along the first bending guide slot 1321 and the second bending guide slot 1322 to open or close the opening 113 (the opening 113 is located at the lattice layer 13, and the rolling shutter door 1323 rolls between the first layer plate 112 and the second layer plate 116 to open or close the opening 113, so that, in one embodiment, the first driving member 1324 is installed at the bottom of the first layer plate 112 to allow enough space for the rolling shutter door 1323 to roll between the first layer plate 112 and the second layer plate 116), and a position detecting member 1325 for detecting a sliding position of the shutter door 1323 with respect to the first bending guide slot 1321; the first driving member 1324 and the position detecting member 1325 are connected to the lattice control plate 131. Further, the position detecting element 1325 is required to be installed on the cabinet 11 at a position opposite to the rolling door, for example, the position detecting element 1325 may also be installed at the bottom of the first layer 112 to detect the sliding position of the rolling door opposite thereto. Understandably, the first driving member 1324 and the position detecting member 1325 are electrically connected to the cell control plate 131.

In this embodiment, the rolling blind assembly 132 is configured to automatically open and close the opening 113 of the unmanned vehicle, and the first bending guide slot 1321 and the second bending guide slot 1322 are disposed on the first side plate 114 and the second side plate 115, so as to support and protect the rolling blind assembly 132; in this embodiment, the sliding position of the rolling door 1323 relative to the first bending guide slot 1321 is detected by the position detecting component 1325, and then it can be determined whether the rolling door 1323 is wound in place (for example, whether the opening 113 is completely opened or the opening 113 is completely closed) according to the detected sliding position, so that when a package is conveyed into or out of the opening 113, the opening 113 can be in a stable completely opened state, and thus, the largest conveying space is provided when the package is conveyed into or out of the opening 113; after the completion, the opening 113 can be determined to be completely closed, so that the package loss is avoided, and the distribution safety is improved; meanwhile, the opening 113 is opened and closed by winding the rolling door 1323, the rolling door 1323 is opened and closed without interfering with external equipment, damage to the self or other people caused by opening and closing the door of the unmanned vehicle is avoided, and the running safety of the unmanned vehicle is improved.

In one embodiment, as shown in fig. 2-4, the cabinet 11 includes a first deck 112 and a second deck 116 disposed below the first deck 112; the roller shade assembly 132 is mounted between the first deck 112 and the second deck 116; the package feeding assembly 133 comprises a package detecting sensor 1331, a second drive 1332 and a package feeding belt 1333, all mounted on the second layer board 116, the second drive 1332 and the package detecting sensor 1331 being connected to the hatch control board 131; wherein, the second driving part 1332 and the package detecting sensor 1331 are electrically connected to the compartment control board 131. The second driving member 1332 is used for driving the package conveying belt 1333 to convey the package from the opening 113, the package detecting sensor 1331 is used for detecting whether the package is conveyed to a preset position by the package conveying belt 1333, and the slot control panel 131 is used for controlling the roller shutter assembly 132 to open or close the opening 113 according to the detection signal of the package detecting sensor 1331. In one embodiment, the second drive 1332 is mounted to the bottom of the second deck 116 to allow sufficient space for the tambour door 1323 to be wound between the first deck 112 and the second deck 116. The package detection sensors 1331 are disposed at the edge of the package conveying belt 1333, specifically, in fig. 4, two package detection sensors 1331 are disposed at one end of the package conveying belt 1333 close to the opening 113 and one end of the package conveying belt 1333 far from the opening 113, and the two package detection sensors 1331 at each segment are disposed at two sides of the package conveying belt 1333, so that it can be accurately detected whether the packages conveyed on the package conveying belt 1333 are conveyed to a preset position by the package conveying belt 1333.

In this embodiment, the above-described unmanned vehicle package delivery assembly 133 arrangement may be implemented to include automated access from the opening 113; in this embodiment, the specific position of the parcel on the parcel conveying belt 1333 is detected by the parcel detection sensor 1331, and it can be determined whether the parcel is conveyed to the preset position by the parcel conveying belt 1333 or whether the parcel has been completely conveyed out of the opening 113 of the gate layer 13 from the preset position according to the detected detection signal. After the package is determined to be conveyed to the preset position or completely conveyed out of the opening 113 of the grid layer 13 by the package conveying belt 1333, the rolling curtain component 132 is automatically controlled to completely close the opening 113 of the grid layer 13, so that the package is prevented from being lost, and the distribution safety is improved. Understandably, the above-mentioned detection and transmission processes can be controlled by the cell control board 131.

In one embodiment, as shown in fig. 2 to 4 and 6, the sensing layer 14 includes at least two camera modules 141 disposed on different sides of the cabinet 11; the computation layer 15 includes a control module 151 connected to the image capturing module 141 and a switch 152 connected to the control module 151, where the switch 152 is configured to switch the operating state of each image capturing module 141 according to the movement direction indication of the in-vehicle cabinet 1 calculated by the control module 151. Further, the cabinet 11 further includes a plurality of third laminate plates (the number of the third laminate plates may be the same as the number of the camera modules 141) disposed on the inner side wall of the cabinet 11 and corresponding to the positions of the camera modules 141; a third layer on which the camera module 141 can be mounted is located below the second layer 116; understandably, the cabinet 11 further includes a bottom plate disposed below the third floor, on which the control module 151 and the switch 152 may be mounted. Understandably, the number of the camera modules 141 can be set according to the requirement, and each camera module 141 is arranged around the periphery of the cabinet 11 at intervals, and the interval distance is also set according to the requirement. In the present embodiment, the vehicle-mounted cabinet 1 of the unmanned vehicle as shown in fig. 1 to 4 is a rectangular parallelepiped, and therefore, one camera module 141 may be disposed at each side middle position of the rectangular parallelepiped cabinet body 11, and the camera module 141 may be a binocular camera. Understandably, the camera modules 141 and the control module 151, the control module 151 and the switch 152 are electrically connected, and the switch 152 is further connected to the four camera modules 141 at the same time, so that when the unmanned vehicle travels, the operating state of each camera module 141 can be controlled by the switch 152, for example, one or more camera modules 141 can be controlled to work at the same time, for example, when the unmanned vehicle travels, only the camera module 141 facing the forward direction can be controlled to shoot a forward image to identify an obstacle in the forward direction, and when the unmanned vehicle travels, only the camera module 141 facing the backward direction can be controlled to shoot a backward image to identify an obstacle in the backward direction. And the control module 151 may control the travel and operation of the entire unmanned vehicle.

In an embodiment, as shown in fig. 2 to 4 and 6, the sensing layer 14 further includes a second radar 142 for detecting obstacle information around the unmanned vehicle, and a preset number of radar windows 143 disposed at intervals on the cabinet 11, and all the radar windows 143 are located on a plane parallel to the electromagnetic wave emitted by the second radar 142; the radar is coupled to the control module 151 (optionally, the radar is electrically coupled to the control module 151). The preset number can be set according to the requirement, and each radar window 143 can also be arranged around the periphery of the cabinet 11 at intervals, and the interval distance is also set according to the requirement. For example, as the vehicle-mounted cabinet 1 of the unmanned vehicle shown in fig. 1 to 4 is a rectangular parallelepiped, in this embodiment, the vehicle-mounted cabinet 1 may be provided with transparent radar windows 143 on four sides, and a second radar 142 for detecting obstacle information around the unmanned vehicle is further provided between the second layer plate 116 and the third layer plate; when the first radar 122 is a 3D radar for detecting obstacle information in a space, the second radar 142 is preferably a 2D radar for monitoring obstacle information by emitting electromagnetic waves through respective transparent radar windows 143 spaced apart from each other on the side wall of the cabinet 11. Furthermore, the obstacle information in the space where the unmanned vehicle is located can be comprehensively detected without dead angles through the cooperation of the unmanned vehicle and the unmanned vehicle.

As shown in fig. 10, the present invention provides a distribution method for reserved visiting, which in an embodiment of the present invention specifically includes the following steps:

s10: receiving a reserved distribution instruction sent by a user terminal; the appointed delivery instruction comprises an appointed delivery time period and a site to be delivered of the package to be delivered; the reserved delivery instruction is an instruction which is sent to a controller of a reserved delivery system through a user terminal and contains a reserved delivery time period and a reserved delivery place of the package to be delivered when the user determines that the package to be delivered is reserved.

S20: determining a release time period and a delivery starting time period according to the reserved delivery time period; a first ending time point of the reserved delivery period is greater than a first ending time point of the delivery starting period, and the first ending time point is greater than a second ending time point of the delivery period; that is, after the controller receives the reserved delivery instruction sent by the user terminal, according to the reserved delivery time period specified by the user in the reserved delivery instruction, the delivery time for delivering the package to be delivered to the reserved pickup position (such as the intelligent cabinet 3 or the express post) and the delivery start time for the unmanned vehicle to arrive at the reserved pickup position to pick up the package (to start the reserved delivery) are determined, and then the controller sends the delivery instruction including the delivery time to the reserved pickup position and detects whether the feedback information of the reserved pickup position is received.

S30: if the parcel to be delivered is confirmed to be delivered to a preset pickup position in the delivery time period, controlling the unmanned vehicle to reach the preset pickup position in the delivery starting time period; that is, after the controller sends the delivery instruction including the delivery time to the reserved pickup position, if the controller receives the feedback information of the reserved pickup position, and the feedback information indicates that the reserved pickup position has delivered the package to be delivered to the reserved pickup position within the delivery time (the package to be delivered is delivered to the intelligent cabinet 3 or the express post), the controller will send a control signal including the reserved pickup position and the delivery start time to the communication layer 12 of the unmanned vehicle (preferably, the unmanned vehicle which is closest to and free from the position of the reserved pickup position is selected from all the unmanned vehicles associated with the controller sends the control signal), the operation layer 15 of the unmanned vehicle starts to operate according to the received control signal, and then the mobile chassis 2 of the unmanned vehicle is controlled to drive the vehicle-mounted cabinet 1 to travel towards the reserved pickup position within the delivery start time, and in the travel process, the sensing layer 14 will detect the surrounding obstacle information, and the operation layer 15 performs operation according to the detection result to control the moving chassis 2 to move so as to avoid the obstacle.

S40: conveying the package to be delivered into a grid layer 13 of the unmanned vehicle; understandably, after the unmanned vehicle reaches the preset pickup position, the unmanned vehicle automatically opens the grid layer 13, and automatically takes out the packages to be delivered from the reserved pickup position and stores the packages to be delivered, and then automatically closes the grid layer 13.

S50: and controlling the unmanned vehicle to deliver the package to be delivered to the place to be delivered within the appointed delivery time period. That is, after the grid layer 13 has received the package to be delivered and the opening 113 of the grid layer 13 is closed, the controller will control the unmanned vehicle to deliver the package to be delivered to the place to be delivered specified by the user within the reserved delivery time period, and in the delivery process, the unmanned vehicle travels to perform processing such as signal receiving and obstacle avoidance with reference to the travel process from the unmanned vehicle to the reserved pick-up location, which is not described herein again.

It can be understood that, in all the driving processes of the above unmanned vehicle, the driving route of the unmanned vehicle is calculated in advance, and then the safe driving area is determined according to the driving route, and if the unmanned vehicle leaves the safe driving area, prompt information is automatically sent to the unmanned vehicle management personnel to prompt the management personnel to process in time.

In the reserved door-to-door delivery method provided by the embodiment of the invention, after receiving a reserved delivery instruction sent by a user terminal, according to a reserved delivery time period appointed by the user in the reserved delivery instruction, the delivery time of delivering a package to be delivered to a reserved pickup position (such as an intelligent cabinet 3 or an express post) and the delivery start time of picking up the package (to start reserved delivery) when an unmanned vehicle arrives at the reserved pickup position are determined, and then the package to be delivered can be automatically picked out from the reserved pickup position and stored through a grid layer 13 of the unmanned vehicle, so that the unmanned vehicle is controlled to deliver the package to be delivered to the destination appointed by the user in the reserved delivery time period. The unmanned vehicle used in the reserved door-to-door delivery method adopts a modular design, the vehicle-mounted cabinet 1 is detachably mounted on the movable chassis 2, and the vehicle-mounted cabinet 1 is provided with the communication layer 12, the grid layer 13, the sensing layer 14 and the operation layer 15 which are arranged from top to bottom, so that the upgrading and transformation period is shortened, the configuration flexibility is high, and the regional configuration risk is reduced. The lattice layer 13 of the unmanned vehicle can automatically store the parcels transmitted to the preset position or transmit the parcels at the preset position out, so that the unmanned vehicle has the functions of automatically taking and sending parcels to the express post station and the intelligent cabinet 3; therefore, the reserved delivery method can realize the reserved delivery service for 24 hours customized by the user, and the process can respond to the reserved delivery instruction of the user terminal and automatically take the parts for delivery without manual intervention, thereby improving the delivery efficiency and the user experience. Meanwhile, the reserved door-to-door delivery method meets the compatibility requirement of simultaneous butt joint with the intelligent cabinet 3 and the express post house through the use of the unmanned vehicle, so that the application scene of the unmanned vehicle is more diversified, the tail end delivery pressure can be reduced, 24-hour reserved delivery and manual and automatic delivery compatibility can be realized, and the equipment configuration flexibility and the equipment competitiveness are improved.

In an embodiment, as shown in fig. 7 to 9, the predetermined pick-up location is a reserved storage box 31 on the intelligent cabinet 3, which is at the same height as the grid layer 13; wherein, the quantity of the reservation storage box 31 that sets up on same intelligent cabinet 3 can be one or more, and a plurality of reservations storage box 31 can set up to different height to dock in the unmanned car that has different height grid layer 13. Further, the controlling the unmanned vehicle to reach a preset pick-up position within the distribution starting period includes:

controlling the unmanned vehicle to travel to the front of the box door 313 of the reserved storage box 31 in the distribution starting time period; that is, it is first necessary to control the unmanned vehicle to travel to the front of the door 313 of the reservation storage box 31 within the set delivery start time and to finish the unmanned pickup in time.

After the position of the opening 113 of the bay layer 13 is adjusted to be opposite to the door 313, it is confirmed that the unmanned vehicle reaches the preset pick-up position, and the door 313 is controlled to be opened by the opening and closing mechanism 314 of the reservation storage box 31. That is, in this step, after the unmanned vehicle reaches a preset distance (which is set according to requirements and needs to be greater than the maximum space distance that needs to be satisfied when the door 313 is opened) before the door 313 of the reserved storage box 31, the opening 113 of the grid layer 13 may not be aligned with the door 313, and at this time, the unmanned vehicle reaches the preset pick-up position until the unmanned vehicle is aligned with the door 313, and at this time, because the unmanned vehicle is still spaced from the door 313 by the preset distance, the door 313 is controlled to be opened first, so that the unmanned vehicle is not spaced too close from the door 313 to prevent the door 313 from being opened. Understandably, if the unmanned vehicle cannot adjust the position of the opening 113 of the grid layer 13 to be opposite to the door 313 all the time (for example, there is a fault or an obstacle), at this time, after the first preset time period is adjusted, an audible and visual alarm prompt is sent to prompt surrounding personnel to move the obstacle, or alarm information is sent to the unmanned vehicle management personnel to notify the management personnel to handle the fault or the obstacle in time.

In one embodiment, the delivering the package to be delivered into the unmanned vehicle's hatch layer 13 includes:

after the distance between the opening 113 and the entrance 311 and exit 311 of the door 313 is adjusted to a preset safe distance, controlling the state of the roller blind assembly 132 of the compartment layer 13 to be switched from closing the opening 113 to fully opening the opening 113; that is, in this step, after the door 313 is opened, the unmanned vehicle is controlled to move toward the entrance 311 until the distance between the opening 113 and the entrance 311 is shortened to a preset safety distance, and it is considered that the process of pushing the package to be delivered to the package conveying assembly 133 of the gate layer 13 through the entrance 311 and the opening 113 will not fall from the gap between the reserved storage box 31 and the unmanned vehicle, and at this time, the state of the curtain assembly 132 of the gate layer 13 can be controlled to be switched from closing the opening 113 to fully opening the opening 113. Understandably, if the distance between the opening 113 and the inlet/outlet 311 of the box door 313 cannot be adjusted to a preset safe distance (for example, there is a fault or obstacle obstruction) by the unmanned vehicle, at this time, after a second preset time length (which may be the same as or different from the first preset time length) is adjusted, an audible and visual alarm prompt is sent to prompt surrounding personnel to move the obstacle, or alarm information is sent to the unmanned vehicle management personnel to notify the management personnel to handle the fault or the obstacle in time. Similarly, if the state of the rolling shutter assembly 132 cannot be switched from closing the opening 113 to fully opening the opening 113 (for example, cannot be opened or cannot be fully opened), the above-mentioned warning may also be performed after a third preset time period (which may be the same as or different from the first preset time period and the second preset time period).

Pushing the parcels to be delivered to the parcel conveying assembly 133 of the lattice layer 13 through the inlet and outlet 311 and the opening 113 by a parcel pushing mechanism 315 in the reservation storage box 31; that is, in this step, the intelligent cabinet 3 is also provided with a package pushing mechanism 315 for pushing the package to be delivered in the reserved storage box 31 into the lattice layer 13 of the unmanned vehicle. Understandably, if it is unable always with the parcel warp of awaiting delivery is imported and exported 311 and opening 113 propelling movement extremely on the parcel conveyor components 133 of grid layer 13, at this moment, after having adjusted the fourth preset duration (can be the same or different with first preset duration, second preset duration and third preset duration), intelligent cabinet 3 and/or unmanned car all can send audible and visual warning suggestion etc. and remind personnel around to move the barrier, perhaps send alarm information to unmanned car or the managers of intelligent cabinet 3 to inform managers in time to handle trouble or barrier.

After the package conveying assembly 133 conveys the package to be dispensed to the preset position in the lattice layer 13, the state of the roller shutter assembly 132 is controlled to be switched from completely opening the opening 113 to closing the opening 113. That is, in this step, the roller shutter assembly 132 may automatically close the opening 113 by the roller shutter assembly 132 after the package is completely stored to the preset position within the shelf layer 13, and control the opening and closing mechanism 314 of the preset storage box to automatically close the door 313 after the unmanned vehicle leaves the reserved storage box 31 for the preset safety distance. Understandably, if the state of the rolling shutter assembly 132 cannot be switched from the state of fully opening the opening 113 to the state of closing the opening 113 (for example, cannot be closed or cannot be fully closed), the warning may be performed after a fifth preset time period (which may be the same as or different from the first preset time period, the second preset time period, the third preset time period and the fourth preset time period).

Understandably, because the intelligent cabinet 3 can realize automatic control of the entering and exiting of the packages through the package pushing mechanism 315, when the courier at the express post station has a rest (non-business hours) and cannot realize manual parcel delivery as a preset pickup position, the intelligent cabinet 3 and the unmanned vehicle are matched to automatically realize 24-hour automatic reservation and delivery.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by functions and internal logic of the process, and should not limit the implementation process of the embodiments of the present invention in any way.

In an embodiment, the present invention further discloses a controller corresponding to the reserved door-up distribution method, and for convenience of description, only the parts related to the embodiment of the present invention are shown. The controller is used for executing the reserved door-to-door distribution method; the controller is in communication connection with the unmanned vehicle.

For the process of implementing the respective functions of each module/unit in the controller provided in this embodiment, reference may be made to the description of the reserved door-to-door distribution method, which is not described herein again. It will be apparent to those skilled in the art that, for convenience and simplicity of description, the foregoing functional units and modules are merely illustrated in terms of division, and in practical applications, the foregoing functional allocation may be performed by different functional units and modules as needed, that is, the internal structure of the controller is divided into different functional units or modules to perform all or part of the above described functions.

The invention also provides a delivery system for reserving to the door, which comprises a controller and the unmanned vehicle, wherein the controller is in communication connection with the unmanned vehicle. The process of implementing the respective function by each module/unit in the controller provided in this embodiment may specifically refer to the description of the above-mentioned reserved door-to-door distribution method, that is, the controller may be a controller corresponding to the above-mentioned reserved door-to-door distribution method in the above embodiments, and details thereof are not repeated herein. Furthermore, the reservation door-to-door distribution system further comprises an intelligent cabinet 3 in communication connection with the controller, and at least one reservation storage box 31 is arranged on the intelligent cabinet 3; wherein, the quantity of the reservation storage box 31 that sets up on same intelligent cabinet 3 can be one or more, and a plurality of reservations storage box 31 can set up to different height to dock in the unmanned car that has different height grid layer 13. The reservation storage box 31 comprises a box body 312 with an inlet and outlet 311, a box door 313 for opening and closing the inlet and outlet 311, and an opening and closing mechanism 314 for controlling the opening and closing of the box door 313, wherein the inlet and outlet 311 and the hatch layer 13 of the unmanned vehicle are at the same height, and a package pushing mechanism 315 for pushing packages from the inlet and outlet 311 into the hatch layer 13 is arranged on the inner side wall of the box body 312. Understandably, since the intelligent cabinet 3 can automatically control the parcel to enter and exit through the parcel pushing mechanism 315 (the parcel pushing mechanism 315 can be set by referring to the parcel conveying component 133 in the grid layer 13), and the opening and closing mechanism 314 (including a driving member and a telescopic assembly coupled between the door 313 and the cabinet 312) can also control the door 313 to be automatically opened and closed, and thus, when the courier at the courier post station can not realize manual parcel delivery as a preset pickup position during rest (non-business hours), the intelligent cabinet 3 is matched with the unmanned vehicle, the 24-hour reservation delivery service customized by the user can be automatically realized, and the process can respond to the reservation delivery instruction of the user terminal without manual intervention and automatically take and deliver the parts, so that the delivery efficiency and the user experience are improved, the terminal delivery pressure is reduced, and the equipment configuration flexibility and the equipment competitiveness are improved.

The above-mentioned embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein.

Claims

1. An unmanned vehicle, comprising:

2. The unmanned aerial vehicle of claim 1, wherein the communication layer, the grid layer, and the sensing layer are disposed on the tank body from top to bottom.

3. The unmanned vehicle of claim 1, wherein the tank body comprises a top plate and a first deck disposed below the top plate; the communication layer comprises a signal enhancement receiver arranged between the first layer plate and the top plate, and a first radar and an antenna which are both arranged on the top plate, wherein the antenna is connected with the signal enhancement receiver.

4. The unmanned vehicle of claim 1, wherein the cabinet body is further provided with an opening for entering and exiting the package, and the hatch layer comprises a hatch control panel connected with the operation layer, a roller shutter assembly for opening or closing the opening, and a package conveying assembly for conveying the package from the opening; the lattice control panel is connected with the roller shutter assembly and the package conveying assembly.

5. The unmanned vehicle of claim 4, wherein the cabinet includes first and second oppositely disposed side panels, the opening being disposed between the first and second side panels;

the rolling shutter assembly comprises a first bending guide slot installed on the first side plate, a second bending guide slot installed on the second side plate and arranged in parallel with the first bending guide slot, a rolling shutter door installed between the first bending guide slot and the second bending guide slot in a sliding mode, a first driving piece used for driving the rolling shutter door to roll along the first bending guide slot and the second bending guide slot in a sliding mode so as to open or close the opening, and a position detection piece used for detecting the sliding position of the rolling shutter door relative to the first bending guide slot; the first driving piece and the position detection piece are connected with the grid control panel.

6. The unmanned vehicle of claim 4, wherein the tank comprises a first deck and a second deck disposed below the first deck; the roller shutter assembly is mounted between the first layer plate and the second layer plate;

the package conveying assembly comprises a package detection sensor, a second driving piece and a package conveying belt which are all arranged on the second laminate, and the second driving piece and the package detection sensor are all connected with the grid control plate; the second driving piece is used for driving the package conveying belt to convey packages from the opening, the package detection sensor is used for detecting whether the packages are conveyed to a preset position by the package conveying belt, and the lattice mouth control panel is used for controlling the roller shutter assembly to open or close the opening according to detection signals of the package detection sensor.

7. The unmanned vehicle of claim 1, wherein the sensing layer comprises at least two camera modules disposed on different sides of the cabinet; the operation layer comprises a control module connected with the camera shooting module and a switch connected with the control module, and the switch is used for switching the working state of each camera shooting module according to the movement direction indication of the vehicle-mounted cabinet calculated by the control module.

8. The unmanned vehicle of claim 7, wherein the sensing layer further comprises a second radar for detecting obstacle information around the unmanned vehicle, and a predetermined number of radar windows spaced apart from the cabinet, all of the radar windows being located on a plane parallel to electromagnetic waves emitted by the second radar; the radar is connected with the control module.

9. The unmanned vehicle of claim 1, wherein the mobile chassis comprises a mobile platform, a wheel assembly and a driving assembly for driving the wheel assembly to move, and a first interface connected with the driving assembly is arranged on the mobile platform; the cabinet body is provided with a second interface connected with the operation layer, and the driving assembly is in communication connection or electric connection with the operation layer through the first interface and the second interface.

10. A reserved door-to-door distribution method, comprising:

if the parcel to be delivered is confirmed to be delivered to a preset pick-up position in the delivery time period, controlling the unmanned vehicle according to any one of claims 1 to 9 to reach the preset pick-up position in the delivery starting time period;

11. The reserved door-to-door distribution method as claimed in claim 10, wherein the preset pick-up location is a reserved storage box on the intelligent cabinet at the same height as the grid layer;

the controlling the unmanned vehicle to reach a preset pick-up position within the distribution starting time period comprises:

controlling the unmanned vehicle to drive to the front of a box door of the reserved storage box in the distribution starting time period;

after the opening position of the grid layer is adjusted to be opposite to the box door, the unmanned vehicle is confirmed to reach the preset pick-up position, and the opening and closing mechanism of the reserved storage box is used for controlling the box door to be opened.

12. The reservation door-to-door distribution method as recited in claim 11, wherein the delivering the package to be distributed into a lot floor of the unmanned vehicle comprises:

after the distance between the opening and the inlet and outlet of the box door is adjusted to a preset safety distance, controlling the state of the roller shutter assembly of the lattice opening layer to be switched from the opening closing state to the opening fully opening state;

pushing the packages to be delivered to a package conveying assembly of the grid layer through the inlet and the outlet and the opening by a package pushing mechanism in the reserved storage box;

after the package conveying assembly conveys the package to be delivered to the preset position in the lattice opening layer, controlling the state of the roller shutter assembly to be switched from completely opening the opening to closing the opening.

13. A controller for executing the reserved door-to-door distribution method according to any one of claims 10 to 12; the controller is in communication connection with the unmanned vehicle.

14. An appointment door delivery system comprising a controller and an unmanned vehicle as claimed in any one of claims 1 to 9, the controller being communicatively connected to the unmanned vehicle.

15. The system of claim 14, further comprising an intelligent cabinet in communication with the controller, the intelligent cabinet having at least one appointment storage bin; the reservation is deposited the case and is including having the box of importing and exporting, being used for the switch the chamber door of importing and exporting and being used for control the mechanism that opens and shuts of chamber door switch, import and export with the gridline layer of unmanned car is in same height, be equipped with on the inside wall of box and be used for following the parcel is imported and exported the propelling movement extremely intraformational parcel push mechanism of gridline.