CN115214889A - Civil express transportation unmanned aerial vehicle - Google Patents
Civil express transportation unmanned aerial vehicle Download PDFInfo
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- CN115214889A CN115214889A CN202211007425.6A CN202211007425A CN115214889A CN 115214889 A CN115214889 A CN 115214889A CN 202211007425 A CN202211007425 A CN 202211007425A CN 115214889 A CN115214889 A CN 115214889A
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- 238000004891 communication Methods 0.000 claims description 38
- QVFWZNCVPCJQOP-UHFFFAOYSA-N chloralodol Chemical compound CC(O)(C)CC(C)OC(O)C(Cl)(Cl)Cl QVFWZNCVPCJQOP-UHFFFAOYSA-N 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000003028 elevating effect Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 241000220317 Rosa Species 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000012544 monitoring process Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Automation & Control Theory (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a civil express transportation unmanned aerial vehicle which comprises an unmanned aerial vehicle main body, a mechanical gripper and an express box picking system, wherein the mechanical gripper comprises a first gripper body and a second gripper body; the mechanical gripper is arranged at the bottom of the unmanned aerial vehicle main body and used for gripping the express box; express delivery box system of picking up includes express delivery box tracker and central control system, and express delivery box tracker is used for detecting the positional information of express delivery box, and central control system is used for controlling unmanned aerial vehicle main part according to the positional information control that express delivery box tracker detected to the express delivery box department of flying to control the accurate express delivery box that snatchs of mechanical tongs. The beneficial effects of the invention include: can detect the positional information of express delivery box through express delivery box tracker, central control system is used for flying to express delivery box department according to the positional information control unmanned aerial vehicle main part that express delivery box tracker detected to control machinery tongs accuracy and snatch the express delivery box, need not the manual work and fix the express delivery box on unmanned aerial vehicle, degree of automation is high.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a civil express transportation unmanned aerial vehicle.
Background
The unmanned plane is called unmanned plane for short, and is an unmanned plane operated by radio remote control equipment and a self-contained program control device. The machine has no cockpit, but is provided with an automatic pilot, a program control device and other equipment. The personnel on the ground, the naval vessel or the mother aircraft remote control station can track, position, remotely control, telemeter and digitally transmit the personnel through equipment such as a radar. The aircraft can take off like a common airplane under the radio remote control or launch and lift off by a boosting rocket, and can also be thrown into the air by a mother aircraft for flying. During recovery, the aircraft can land automatically in the same way as the common aircraft landing process, and can also be recovered by a parachute or a barrier net for remote control. Can be repeatedly used for many times. The method is widely used for aerial reconnaissance, monitoring, communication, anti-submergence, electronic interference and the like. At express delivery transportation industry, express delivery unmanned aerial vehicle is also being developed and applied slowly. The express delivery unmanned aerial vehicle can be automatically delivered to the destination with the express delivery parcel, and the express delivery unmanned aerial vehicle has the advantages of mainly solving the delivery problem in remote areas, improving the delivery efficiency and reducing the labor cost. The intelligent degree of current unmanned aerial vehicle is low, needs the manual work to fix the express delivery box and transports on unmanned aerial vehicle, can not snatch the express delivery transportation according to the position of express delivery box is automatic accurate.
Disclosure of Invention
The invention aims to overcome the technical defects, provides a civil express transportation unmanned aerial vehicle, and solves the technical problems that in the prior art, an express box needs to be manually fixed on the unmanned aerial vehicle for transportation, and express transportation cannot be automatically and accurately grabbed according to the position of the express box.
In order to achieve the technical purpose, the technical scheme of the invention provides a civil express transport unmanned aerial vehicle which is characterized by comprising an unmanned aerial vehicle main body, a mechanical gripper and an express box pickup system;
the mechanical gripper is arranged at the bottom of the unmanned aerial vehicle main body and used for gripping the express box;
express delivery box system of picking up includes express delivery box tracker and central control system, and express delivery box tracker is used for detecting the positional information of express delivery box, and central control system is used for controlling unmanned aerial vehicle main part according to the positional information control that express delivery box tracker detected to the express delivery box department of flying to control the accurate express delivery box that snatchs of mechanical tongs.
Further, mechanical tongs includes elevating gear, first track, first slider, first drive assembly and splint, and elevating gear installs in unmanned aerial vehicle main part bottom, and first track is installed to the elevating gear lower extreme, and first track bottom sliding connection has two first sliders, and two first sliders are connected with the first drive assembly that is used for driving two first sliders relative or opposite movement on first track respectively, and splint are all installed to two first slider bottoms.
Furthermore, the lifting device comprises two first air cylinders which are respectively arranged on two sides of the bottom of the mounting plate, the first air cylinders are arranged on two sides of the bottom of the mounting plate, and piston rods of the two first air cylinders are respectively connected with two ends of the top of the first track.
Further, a first driving assembly comprises a first screw rod, a first bearing and a first motor, two sets of first external threads with opposite spiral directions are arranged on the outer wall of the first screw rod, first threaded holes with opposite spiral directions are formed in the two first sliding blocks respectively, the two sets of first external threads are in threaded connection with the first threaded holes of the two first sliding blocks respectively, one end of the first screw rod is arranged in the first bearing, the first bearing is arranged at one end of the bottom of the first track, the other end of the first screw rod is connected with an output shaft of the first motor, and the first motor is arranged at the other end of the bottom of the first track.
Furthermore, anti-slip strips are arranged on the opposite sides of the two clamping plates.
Further, mechanical tongs still includes the second track, the second slider, second drive assembly, connecting plate and backup pad, the second track install in unmanned aerial vehicle main part bottom and with first track mutually perpendicular, second track bottom sliding connection has two second sliders, two second sliders are connected with the second drive assembly who is used for driving two second sliders relatively or opposite movement on the second track respectively, the connecting plate is all installed to two second slider bottoms, the backup pad is all installed to the lower extreme of two relative one sides of connecting plate.
Further, the second driving assembly comprises a second lead screw, a second bearing and a second motor, two sets of second external threads with opposite spiral directions are arranged on the outer wall of the second lead screw, second threaded holes with opposite spiral directions are formed in the two second sliding blocks respectively, the two sets of second external threads are in threaded connection with the second threaded holes of the two second sliding blocks respectively, one end of the second lead screw is arranged in the second bearing, the second bearing is arranged at one end of the bottom of the second track, the other end of the second lead screw is connected with an output shaft of the second motor, and the second motor is arranged at the other end of the bottom of the second track.
Further, express delivery box tracking system is including establishing the first treater on the unmanned aerial vehicle body, a GPS module, the camera, UWB ranging module and first communication module, first treater respectively with a GPS module, the camera, UWB ranging module, first communication module and central controller electricity are connected, express delivery box tracking system is still including establishing the second treater on the express delivery box, a second GPS module, UWB emission module, position label and second communication module, the second treater respectively with a second GPS module, UWB emission module, position label and second communication module electricity are connected, first communication module and second communication module wireless communication are connected, UWB ranging module and UWB emission module wireless connection, the camera is used for obtaining the positional information of express delivery box through position label.
Further, the first processor and the second processor both adopt STM32 series single-chip microcomputers.
Further, the first communication module and the second communication module both adopt Lora communication modules.
The beneficial effects of the invention include:
1. the position information of the express box can be detected through the express box tracking system, the central control system is used for controlling the unmanned aerial vehicle main body to fly to the express box according to the position information detected by the express box tracking system and controlling the mechanical gripper to accurately grab the express box, the express box is not required to be fixed on the unmanned aerial vehicle manually, and the automation degree is high;
2. when the express box is grabbed, the two first sliding blocks can be driven to move relatively through the first driving assembly, the two first sliding blocks can respectively drive the two clamping plates to move relatively, so that the express box can be grabbed, after the express box is grabbed, the express box can be driven to ascend through the lifting device, after the express box ascends to a certain height, the two second sliding blocks can be driven to move relatively through the second driving assembly, the two second sliding blocks can respectively drive the two supporting plates to move relatively through the connecting plate, so that the two supporting plates move to the position below the express box to support the express box, and the express box can be prevented from falling off in the transportation process;
3. first GPS module is used for acquireing the current position information of unmanned aerial vehicle main part, the second GPS module acquires the current position information of stopping the express delivery box, and communicate respective position information each other through first communication module and second communication module, the elementary bootstrap system of unmanned aerial vehicle main part comprises first GPS module and UWB ranging module, utilize ranging function and range finding data between the position information that first GPS module acquireed and UWB ranging module and the UWB emission module, come guide unmanned aerial vehicle main part and get into near region of express delivery box, the camera can discern the 3D position information of the position label on the express delivery box, the unmanned aerial vehicle main part can carry out the accurate positioning according to 3D position information and stop, thereby can make mechanical tongs accurately snatch the express delivery box.
Drawings
Fig. 1 is a schematic structural view of a civil express transportation unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is another state diagram of a civil express delivery unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 3 is a functional block diagram of a courier box pickup system of an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an express delivery box according to an embodiment of the invention;
in the figure: 1. an unmanned aerial vehicle main body; 2. a mechanical gripper; 21. a lifting device; 22. a first track; 23. a first slider; 24. a first drive assembly; 241. a first lead screw; 242. a first bearing; 243. a first motor; 25. a splint; 251. anti-slip strips; 26. a second track; 27. a second slider; 28. a second drive assembly; 281. a second lead screw; 282. a second bearing; 283. a second motor; 29. a connecting plate; 20. a support plate; 3. an express delivery box pickup system; 31. an express box tracking system; 311. a first processor; 312. a first GPS module; 313. a camera; 314. a UWB ranging module; 315. a first communication module; 316. a second processor; 317. a second GPS module; 318. a UWB transmitting module; 319. a location tag; 310. a second communication module; 32. a central control system; 4. an express box.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1-4, the invention provides a civil express delivery transportation unmanned aerial vehicle, which comprises an unmanned aerial vehicle main body 1, a mechanical gripper 2 and an express delivery box pickup system 3;
the mechanical gripper 2 is arranged at the bottom of the unmanned aerial vehicle main body 1, and the mechanical gripper 2 is used for gripping the express box 4;
express delivery box system 3 of picking up includes express delivery box tracker 31 and central control system 32, and express delivery box tracker 31 is used for detecting the positional information of express delivery box 4, and central control system 31 is used for controlling unmanned aerial vehicle main part 1 to fly to express delivery box 4 department according to the positional information that express delivery box tracker 31 detected to control mechanical gripper 2 and accurately snatch express delivery box 4.
More specifically, mechanical tongs 2 includes elevating gear 21, first track 22, first slider 23, first drive assembly 24 and splint 25, and elevating gear 21 installs in unmanned aerial vehicle main part 1 bottom, and first track 22 is installed to elevating gear 21 lower extreme, and first track 22 bottom sliding connection has two first sliders 23, and two first sliders 23 are connected with the first drive assembly 24 that is used for driving two first sliders 23 relative or opposite movement on first track 22 respectively, and splint 25 is all installed to two first slider 23 bottoms. The first driving assembly 24 can drive the two first sliding blocks 23 to move relatively or oppositely on the first track 22, and the two first sliding blocks 23 can respectively drive the two clamping plates 25 to move relatively or oppositely, so that the express boxes 4 can be grabbed or put down.
In this embodiment, elevating gear 21 includes two cylinders, and two cylinders are installed respectively in 1 bottom both sides of unmanned aerial vehicle main part, and the piston rod of two cylinders is connected with first track 22 top both ends respectively.
More specifically, the first driving assembly 24 includes a first screw rod 241, a first bearing 242 and a first motor 243, two sets of first external threads with opposite spiral directions are disposed on an outer wall of the first screw rod 241, first threaded holes with opposite spiral directions are disposed in the two first sliders, the two sets of first external threads are respectively and threadedly connected in the first threaded holes of the two first sliders 24, one end of the first screw rod 241 is disposed in the first bearing 242, the first bearing 242 is mounted at one end of the bottom of the first rail 23, the other end of the first screw rod 241 is connected with an output shaft of the first motor 243, and the first motor 243 is mounted at the other end of the bottom of the first rail 23. The first motor 243 can drive the first lead screw 241 to rotate, and the first lead screw 241 can drive the two first sliding blocks 24 to move relatively or oppositely along the first track 23 through the matching of the first external thread and the first threaded hole.
It should be noted that the anti-slip strips 251 are disposed on the opposite sides of the two clamping plates 25. When the antislip strip 251 can avoid two splint 25 to snatch express delivery box 4, express delivery box 4 drops from between two splint 25.
More specifically, mechanical tongs 2 still includes second track 26, second slider 27, second drive assembly 28, connecting plate 29 and backup pad 20, and second track 22 is installed in unmanned aerial vehicle main part 1 bottom and with first track 22 mutually perpendicular, and second track 22 bottom sliding connection has two second sliders 27, and two second sliders 27 are connected with the second drive assembly 28 that is used for driving two second sliders 27 relative or opposite movement on second track 26 respectively, and connecting plate 29 is all installed to two second slider 27 bottoms, and backup pad 20 is all installed to the lower extreme of two opposite sides of connecting plate 29. After express delivery box 4 is snatched, can drive express delivery box 4 through elevating gear 21 and rise, after express delivery box 4 rose a take the altitude, can drive two second slider 27 relative motion through second drive assembly 28, two second sliders 27 can drive two backup pads 20 relative motion through connecting plate 29 respectively, make two backup pads 20 move and support express delivery box 4 to express delivery box 4 below to can prevent that express delivery box 4 from droing at the in-process of transportation.
More specifically, the second driving assembly 28 includes a second lead screw 281, a second bearing 282 and a second motor 283, two sets of second external threads with opposite spiral directions are provided on an outer wall of the second lead screw 281, two second threaded holes with opposite spiral directions are respectively provided in the two second sliders, the two sets of second external threads are respectively in threaded connection with the second threaded holes of the two second sliders 27, one end of the second lead screw 281 is provided in the second bearing 282, the second bearing 282 is installed at one end of the bottom of the second rail 26, the other end of the second lead screw 281 is connected with an output shaft of the second motor 283, and the second motor 283 is installed at the other end of the bottom of the second rail 26. The second motor 283 can drive the first lead screw 281 to rotate, and the first lead screw 281 can drive the two second sliding blocks 27 to move relatively or oppositely along the second track 26 through the matching of the first external thread and the first threaded hole.
More specifically, the express box tracking system 31 includes a first processor 311, a first GPS module 312, a camera 313, a UWB ranging module 314 and a first communication module 315, which are disposed on the unmanned aerial vehicle body 1, the first processor 311 is electrically connected to the first GPS module 312, the camera 313, the UWB ranging module 314, the first communication module 315 and the central controller 22, the express box tracking system 31 further includes a second processor 316, a second GPS module 317, a UWB transmitting module 318, a position tag 319 and a second communication module 310, which are disposed on the express box, the second processor 316 is electrically connected to the second GPS module, the UWB transmitting module 318, the position tag 319 and the first communication module 310, the first communication module 315 is wirelessly connected to the second communication module 310, the UWB ranging module 314 is wirelessly connected to the UWB transmitting module 318, and the camera 313 is used for acquiring the position information of the express box 4 through the position tag 319. The first GPS module 312 is used for obtaining the current position information of the unmanned aerial vehicle main body 1, the second GPS module 317 is used for obtaining the current position information of the express box 4, and the respective position information is communicated with each other through the first communication module 315 and the second communication module 310, the primary guiding system of the unmanned aerial vehicle main body 1 is composed of the first GPS module 312 and the UWB ranging module 314, the position information obtained by the first GPS module 11, the ranging function and the ranging data between the UWB ranging module 314 and the UWB transmitting module 318 are utilized to guide the unmanned aerial vehicle main body 1 to enter the near area of the express box 1, the camera 12 can identify the 3D position information of the position label 319 on the express box 4, the unmanned aerial vehicle main body 1 can be accurately positioned and parked according to the 3D position information, and therefore the mechanical gripper 2 can accurately grab the express box 4.
It should be noted that the location Tag 319 is aprilat, the Tags are black and white blocks similar to two-dimensional codes, different Tags contain different ID information, and the camera 12 can recognize the 3D location information of the Tag by only attaching the Tag to the target.
It should be noted that the first processor 311 and the second processor 316 both use an STM 32-series single chip microcomputer.
It should be noted that, the first communication module 315 and the second communication module 310 both adopt Lora communication modules.
The beneficial effects of the invention include: the position information of the express box can be detected through the express box tracking system 31, the central control system 32 is used for controlling the unmanned aerial vehicle main body 1 to fly to the express box 4 according to the position information detected by the express box tracking system 31, and controlling the mechanical gripper 2 to accurately grip the express box 4, the express box 4 does not need to be fixed on the unmanned aerial vehicle manually, and the automation degree is high; when the express box 4 is grabbed, the two first sliding blocks 23 can be driven to move relatively by the first driving component 24, the two first sliding blocks 23 can respectively drive the two clamping plates 25 to move relatively, so that the express box 4 can be grabbed, after the grabbing, the express box 4 can be driven to ascend by the lifting device 21, after the express box ascends to a certain height, the two second sliding blocks 27 can be driven to move relatively by the second driving component 28, the two second sliding blocks 27 can respectively drive the two supporting plates 20 to move relatively by the connecting plate 29, so that the two supporting plates 20 move to the position below the express box 4 to support the express box 4, and the express box 4 can be prevented from falling off in the transportation process; the first GPS module 312 is used for obtaining the current position information of the unmanned aerial vehicle main body 1, the second GPS module 317 is used for obtaining the current position information of the express box 4, and the respective position information is communicated with each other through the first communication module 315 and the second communication module 310, the primary guiding system of the unmanned aerial vehicle main body 1 is composed of the first GPS module 312 and the UWB ranging module 314, the position information obtained by the first GPS module 11, the ranging function and the ranging data between the UWB ranging module 314 and the UWB transmitting module 318 are utilized to guide the unmanned aerial vehicle main body 1 to enter the near area of the express box 1, the camera 12 can identify the 3D position information of the position label 319 on the express box 4, the unmanned aerial vehicle main body 1 can be accurately positioned and parked according to the 3D position information, and therefore the mechanical gripper 2 can accurately grab the express box 4.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. An unmanned aerial vehicle for civil express transportation is characterized by comprising an unmanned aerial vehicle main body, a mechanical gripper and an express box picking system;
the mechanical gripper is arranged at the bottom of the unmanned aerial vehicle main body and used for gripping the express box;
the express delivery box picking system comprises an express delivery box tracking system and a central control system, the express delivery box tracking system is used for detecting position information of the express delivery box, the central control system is used for controlling the unmanned aerial vehicle main body to fly to the express delivery box according to the position information detected by the express delivery box tracking system, and controlling the mechanical gripper to accurately grab the express delivery box.
2. The unmanned aerial vehicle for civil express transportation of claim 1, wherein the mechanical gripper comprises a lifting device, a first rail, a first slider, a first driving component and a clamping plate, the lifting device is mounted at the bottom of the unmanned aerial vehicle body, the first rail is mounted at the lower end of the lifting device, two first sliders are slidably connected to the bottom of the first rail, the two first sliders are respectively connected with a first driving component for driving the two first sliders to move relatively or oppositely on the first rail, and the clamping plate is mounted at the bottom of each of the two first sliders.
3. The unmanned aerial vehicle for civil express transportation according to claim 2, wherein the lifting device comprises two first air cylinders, the two first air cylinders are respectively installed on two sides of the bottom of the mounting plate, the first air cylinders are installed on two sides of the bottom of the mounting plate, and piston rods of the two first air cylinders are respectively connected with two ends of the top of the first track.
4. The civil express transportation unmanned aerial vehicle of claim 2, wherein the first driving assembly comprises a first screw rod, a first bearing and a first motor, the outer wall of the first screw rod is provided with two sets of first external threads with opposite spiral directions, first threaded holes with opposite spiral directions are respectively formed in the two first sliding blocks, the two sets of first external threads are respectively in threaded connection with the first threaded holes of the two first sliding blocks, one end of the first screw rod is arranged in the first bearing, the first bearing is arranged at one end of the bottom of the first track, the other end of the first screw rod is connected with an output shaft of the first motor, and the first motor is arranged at the other end of the bottom of the first track.
5. The unmanned aerial vehicle for civil express transportation of claim 2, wherein the two clamping plates are provided with anti-slip strips on opposite sides.
6. The unmanned aerial vehicle for civil express transportation of claim 2, wherein the mechanical gripper further comprises a second rail, a second slider, a second driving component, a connecting plate and a supporting plate, the second rail is mounted at the bottom of the unmanned aerial vehicle body and is perpendicular to the first rail, two second sliders are slidably connected to the bottom of the second rail, the two second sliders are respectively connected to a second driving component for driving the two second sliders to move on the second rail relatively or oppositely, the connecting plate is mounted at the bottom of each of the two second sliders, and the supporting plate is mounted at the lower end of the opposite side of each of the two connecting plates.
7. The unmanned aerial vehicle for civil express transportation of claim 6, wherein the second driving assembly comprises a second screw rod, a second bearing and a second motor, the outer wall of the second screw rod is provided with two sets of second external threads with opposite spiral directions, two second sliding blocks are respectively provided with second threaded holes with opposite spiral directions, the two sets of second external threads are respectively in threaded connection with the second threaded holes of the two second sliding blocks, one end of the second screw rod is arranged in the second bearing, the second bearing is arranged at one end of the bottom of the second track, the other end of the second screw rod is connected with an output shaft of the second motor, and the second motor is arranged at the other end of the bottom of the second track.
8. The unmanned aerial vehicle for civil express transportation of claim 1, wherein the express box tracking system comprises a first processor, a first GPS module, a camera, a UWB ranging module and a first communication module which are arranged on an unmanned aerial vehicle body, the first processor is electrically connected with the first GPS module, the camera, the UWB ranging module, the first communication module and a central controller respectively, the express box tracking system further comprises a second processor, a second GPS module, a UWB transmitting module, a position tag and a second communication module which are arranged on the express box, the second processor is electrically connected with the second GPS module, the UWB transmitting module, the position tag and the second communication module respectively, the first communication module is in wireless communication connection with the second communication module, the UWB ranging module is in wireless connection with the UWB transmitting module, and the camera is used for acquiring position information of the express box through the position tag.
9. The unmanned aerial vehicle for civil express transportation of claim 8, wherein the first processor and the second processor are both STM32 series single-chip microcomputers.
10. The unmanned aerial vehicle for civil express transportation of claim 8, wherein the first communication module and the second communication module are Lora communication modules.
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| CN202211007425.6A CN115214889A (en) | 2022-08-22 | 2022-08-22 | Civil express transportation unmanned aerial vehicle |
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| CN202211007425.6A CN115214889A (en) | 2022-08-22 | 2022-08-22 | Civil express transportation unmanned aerial vehicle |
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