CN207397334U - Automatic delivery station is concentrated in unmanned plane logistics based on independent navigation - Google Patents
Automatic delivery station is concentrated in unmanned plane logistics based on independent navigation Download PDFInfo
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- CN207397334U CN207397334U CN201721156293.8U CN201721156293U CN207397334U CN 207397334 U CN207397334 U CN 207397334U CN 201721156293 U CN201721156293 U CN 201721156293U CN 207397334 U CN207397334 U CN 207397334U
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Abstract
The utility model discloses a kind of unmanned plane logistics based on independent navigation to concentrate automatic delivery station, belongs to unmanned air vehicle technique field.Delivery station includes enclosure wall, the cooperation mark being arranged at the top of enclosure wall, and container transmission equipment delivers time sequence controller；Used unmanned plane includes airborne approach guidance module, container, container fixed mechanism, container state sensor, delivery request module, automatic obstacle-avoiding module；Unmanned plane drops to specified altitude assignment above delivery station and when other unmanned planes is not detected in airborne resolving module from the image that airborne camera shoot, and transmission delivery request is delivered after securing permission.The utility model is by the way of vision guide, provide the approach that unmanned plane logistics is connected with Ground Operation, the degree of automation and operating efficiency are improved, reduces landing and misoperation fault that artificial discharging brings, and with a variety of flexible realization methods.
Description
Technical field
The utility model is related to a kind of unmanned plane logistics delivery station, more particularly to a kind of unmanned plane of view-based access control model navigation
Automatic delivery station.Belong to unmanned air vehicle technique field.
Background technology
It with the development of unmanned air vehicle technique, is continuously increased using field, unmanned plane is in plant protection, logistics, power-line patrolling etc.
Aspect is carried out substantial amounts of operation, and next stage of Development of UAV is unmanned plane robot, increasingly automated intelligence
Change alternative being accomplished manually more elaborates of the task, the transport of wherein goods and materials is the important application neck that logistics is unmanned plane
Domain, unmanned plane logistics pilot has been carried out in China part rural area, however its autonomy-oriented degree is heavily dependent on object
The design of website is flowed, especially unattended unmanned plane logistics delivery point is still a technical issues that need to address, vision
Under navigation unmanned plane logistics efficiency and application potential are brought from main boot.Existing unmanned plane logistics website is mostly that unmanned plane falls
Container manually won behind ground, is unfavorable for intelligent centralized operation, and more demanding to ground environment, be susceptible to landing accident or
Artificial maloperation, unmanned plane is caused to be damaged, injury to personnel or cargo lose etc..The goods and materials of unmanned plane carry realize that automatic deliver has
Help reduce manpower and maloperation, for realizing that high independence and unmanned plane logistics have vital meaning.
Utility model content
To solve the above-mentioned problems, the utility model provides a kind of unmanned plane logistics based on independent navigation and concentrates automatically
Delivery station：
Including enclosure wall, the cooperation mark being arranged at the top of enclosure wall, the container transmission equipment being arranged on inside enclosure wall is delivered secondary
Sequence controller；Used unmanned plane include airborne approach guidance module, container, container fixed mechanism, container state sensor,
Delivery request module, automatic obstacle-avoiding module；The unmanned plane is VTOL type unmanned plane；Wherein：
Enclosure wall for showing the border of delivery station, and prevents container from rolling out border when being delivered by unmanned plane；Enclosure wall is enclosed
The maximum gauge in region should be greater than the maximum gauge of container；
The cooperation mark being arranged at the top of enclosure wall is to distinguish over background with geometry in particular and color or brightness
Mark, for for unmanned aerial vehicle onboard approach guidance module identification delivery station position and its enclosure wall scope；And it each throws
The cooperation character shape for passing station is unique；
Container transmission equipment, the container for unmanned plane to be delivered are transmitted to designated position storage wait and send with charge free；
Airborne approach guidance module includes airborne camera, satellite positioning module, airborne resolving module；For guiding nobody
Machine declines and hovers encloses overlying regions specified altitude assignment to enclosure wall；And cooperation mark, the satellite location data of each delivery station prestore
In airborne resolving module；
Airborne camera, satellite positioning module, container state sensor, delivery request module respectively with airborne resolving module
It is connected, airborne resolving module is connected with UAV Flight Control System；
Airborne resolving module, for by satellite positioning module, airborne camera, container state sensor, delivery request mould
The data of block acquisition carry out fusion calculation, and are sent to UAV Flight Control System, decline and hang so that unmanned plane to be controlled to march into the arena
Stop, deliver container and adjustment UAV Attitude；
Airborne camera, for shooting ambient image below unmanned plane, airborne camera regards under keeping；
Satellite positioning module, for obtaining unmanned plane present satellites location information；
Container, for carrying goods and materials to be transported；
Container fixed mechanism, for container to be fixed on unmanned plane；Container state sensor and container fixed mechanism phase
Even, for obtaining state that whether container delivered and issue delivery time sequence controller and airborne resolving module；Container state passes
Sensor is connected with airborne resolving module；
The automatic obstacle-avoiding module being arranged on unmanned plane, is connected with UAV Flight Control System, for preventing unmanned plane
Bump against；
The delivery request module of unmanned plane, for sending the request for delivering container；
The delivery time sequence controller of delivery station, communicates for the delivery request module with unmanned plane, receives and verify
The delivery request that unmanned plane delivery request module is sent sends the delivery request module for being licensed to unmanned plane after being verified；
Delivery request module is carried out wireless communication with delivering time sequence controller；
Power supply unit, for providing power supply for each several part.
The prior art is compared, the beneficial effects of the utility model are：It is provided by the utility model using vision guide
The automatic delivery station of unmanned plane logistics carries out logistics delivery convenient for unmanned plane, and this architecture provides unmanned plane logistics and Ground Operations
The approach being connected improves the degree of automation, and particularly suitable logistics website is turned into industry, reduce landing and artificial discharging with
The misoperation fault come, and there are a variety of flexible realization methods, effectively increase the operating efficiency of unmanned plane logistics.
Description of the drawings
Fig. 1 is delivery station described in the utility model and unmanned plane composition schematic diagram used；
Wherein：1- enclosure walls, 2- cooperations mark (LED light lighted), 3- cooperations mark (non-lit up LED light), 4- containers
Transmission equipment, 5- containers (delivery).
Specific embodiment
The utility model is described in detail below in conjunction with drawings and examples, while also describes the utility model
The technical issues of technical solution solves and advantageous effect, it should be pointed out that described embodiment is intended merely to facilitate to this reality
With new understanding, and any restriction effect is not played to it.
A kind of unmanned plane logistics based on independent navigation described in the utility model is concentrated certainly with reference to embodiment and Fig. 1
Explanation is described in the specific embodiment of dynamic delivery station：
Automatic delivery station is concentrated in a kind of unmanned plane logistics based on independent navigation, including enclosure wall, is arranged at the top of enclosure wall
Cooperation mark, the container transmission equipment being arranged on inside enclosure wall deliver time sequence controller；Used unmanned plane include it is airborne into
Field guiding module, container, container fixed mechanism, container state sensor, delivery request module, automatic obstacle-avoiding module；The nothing
Man-machine is VTOL type unmanned plane；A kind of schematic diagram of example is shown in Fig. 1, wherein,
Enclosure wall for showing the border of delivery station, and prevents container from rolling out border when being delivered by unmanned plane；Enclosure wall is enclosed
The maximum gauge in region should be greater than the maximum gauge of container；Enclosure wall can be square, circular, infundibulate, taper；
The cooperation mark being arranged at the top of enclosure wall, for the position for unmanned aerial vehicle onboard approach guidance module identification delivery station
With the scope of its enclosure wall；And the cooperation character shape of each delivery station is unique；The cooperation mark is LED light or with reflective painting
Expect the mark of coating；When cooperation mark is LED light, including：Multiple LED light, lamp array controller；Multiple LED light are evenly distributed
And be fixed at the top of enclosure wall, the LED light is using the LED circular luminous bodies formed or strip-form illuminator；Each LED light
Power cord is connected respectively by lamp array controller with power supply unit；Lamp array controller is used to control the light on and off of each LED light.It is described
LED light is the solid circles illuminator being coiled to form by barcode LED lamp band, and the diameter of each LED light is at least 300mm；LED light
Quantity be more than 4；Spacing between its center of circle is more than or equal to 3 times of LED light radius.When the LED light of cooperation mark is strip-form
During illuminator, perimeter of the length less than or equal to enclosure wall of scope is laid along enclosure wall.The luminosity of each LED light is more than or equal to
113000lm.The LED light is laid along the inward flange at the top of enclosure wall.Each cooperation mark is opposite with a delivery station address
Should, when delivery station is in dead status, corresponding cooperation mark is capped or extinguishes.
Container transmission equipment, the container for unmanned plane to be delivered are transmitted to designated position storage wait and send with charge free；
Airborne approach guidance module includes airborne camera, satellite positioning module, airborne resolving module；For guiding nobody
Machine declines and hovers encloses overlying regions specified altitude assignment to enclosure wall；And cooperation mark, the satellite location data of each delivery station prestore
In airborne resolving module；
Airborne camera, satellite positioning module, container state sensor, delivery request module respectively with airborne resolving module
It is connected, airborne resolving module is connected with UAV Flight Control System；
Airborne resolving module, for by satellite positioning module, airborne camera, container state sensor, delivery request mould
The data of block acquisition carry out fusion calculation, and are sent to UAV Flight Control System, decline and hang so that unmanned plane to be controlled to march into the arena
Stop, deliver container and adjustment UAV Attitude；
Airborne camera, for shooting ambient image below unmanned plane, airborne camera regards under keeping；
Satellite positioning module, for obtaining unmanned plane present satellites location information, to guide unmanned plane to delivery station
Neighbouring position；
Container, for carrying goods and materials to be transported and being hung on unmanned plane；
Container fixed mechanism, for container to be fixed on unmanned plane；Container state sensor and container fixed mechanism phase
Even, for obtaining state that whether container delivered and issue delivery time sequence controller and airborne resolving module；Container state passes
Sensor is connected with airborne resolving module；
Power supply unit, for providing power supply for each several part.
The automatic obstacle-avoiding module being arranged on unmanned plane, is connected with UAV Flight Control System, for preventing unmanned plane
Bump against；(but can not ensure whether lower section has unmanned plane, therefore can not prevent from pounding other unmanned planes when container from delivering, therefore
It needs to observe lower section environment using airborne camera, and is engaged with delivery request module with delivering time sequence controller)
The delivery request module of unmanned plane, for sending the request for delivering container；
The delivery time sequence controller of delivery station, communicates for the delivery request module with unmanned plane, receives and verify
The delivery request that unmanned plane delivery request module is sent sends the delivery request module for being licensed to unmanned plane after being verified；
Delivery request module is carried out wireless communication with delivering time sequence controller.
Workflow：
Before unmanned plane takes off, path rule are carried out according to the satellite location data of the destination delivery station of this delivery task
It draws；
Unmanned plane takes off, and the delivery station location is moved closer to according to the route of planning, and carries out automatic obstacle-avoiding, airborne camera shooting
Head searches for the cooperation mark of the delivery station in the ground image of acquisition, starts unmanned plane after cooperation mark is found and declines, and
Cooperation mark is persistently locked during declining, unmanned plane is made to be located above cooperation mark, and refers to the descent direction of unmanned plane
Within delivery station's enclosure wall, during decline, automatic obstacle-avoiding is carried out；
The real time data that the image and satellite positioning module that airborne resolving module is shot according to airborne camera gather,
With reference to unmanned plane elevation information, judge whether unmanned plane has dropped to specified altitude assignment above delivery station, when specified above it
During height, and airborne resolving module is from the image that airborne camera is shot when being not detected other unmanned planes, delivery request
Module sends delivery time sequence controller of the delivery request to delivery station of current unmanned plane；Time sequence controller is delivered to receive and verify
The delivery request that unmanned plane delivery request module is sent sends the delivery request module for being licensed to unmanned plane after being verified；When
After the delivery request obtains license, then unmanned plane container fixed mechanism unclamps so that container is fallen from unmanned plane, until falling within throwing
It passs within the enclosure wall of station, container transmission mechanism transports container to designated position；When unmanned plane container fixed mechanism opening, indicate
This delivers completion to the unmanned plane, and unmanned plane container state sensor sends a signal to delivery time sequence controller and airborne resolving mould
Block, unmanned plane start horizontal flight, sail out of the delivery station.
Further, the delivery request transmitted by delivery request module includes the posting address in container logistics information；
The delivery time sequence controller of delivery station, when receiving and verify the delivery request that unmanned plane delivery request module is sent, verifies addressee
Address.
The above is only specific embodiment of the present utility model, but the scope of protection of the utility model is not limited to
In this, any people for being familiar with the technology is in the technical scope disclosed by the utility model, it will be appreciated that the conversion and replacement expected,
It should all cover within the scope of the utility model, therefore, the scope of protection of the utility model should be with claims
Protection domain subject to.
Claims (8)
1. automatic delivery station is concentrated in a kind of unmanned plane logistics based on independent navigation, which is characterized in that including enclosure wall, is arranged on and encloses
The cooperation mark in wall top portion, the container transmission equipment being arranged on inside enclosure wall deliver time sequence controller；Used unmanned plane bag
Include airborne approach guidance module, container, container fixed mechanism, container state sensor, delivery request module, automatic obstacle-avoiding mould
Block；The unmanned plane is VTOL type unmanned plane；Wherein：
Enclosure wall for showing the border of delivery station, and prevents container from rolling out border when being delivered by unmanned plane；Enclosure wall encloses region
Maximum gauge should be greater than the maximum gauge of container；
The cooperation mark being arranged at the top of enclosure wall is that have geometry in particular and color or brightness distinguish over the mark of background
Will, for the position for unmanned aerial vehicle onboard approach guidance module identification delivery station and the scope of its enclosure wall；And each delivery station
Cooperation character shape it is unique；
Container transmission equipment, the container for unmanned plane to be delivered are transmitted to designated position storage wait and send with charge free；
Airborne approach guidance module includes airborne camera, satellite positioning module, airborne resolving module；For guiding under unmanned plane
It drops and hovers and enclose overlying regions specified altitude assignment to enclosure wall；And cooperation mark, the satellite location data of each delivery station are pre-stored in machine
It carries and resolves in module；
Airborne camera, satellite positioning module, container state sensor, delivery request module resolve module phase with airborne respectively
Even, airborne resolving module is connected with UAV Flight Control System；
Airborne resolving module, for satellite positioning module, airborne camera, container state sensor, delivery request module to be adopted
The data of collection carry out fusion calculation, and are sent to UAV Flight Control System, unmanned plane to be controlled to march into the arena decline and hovering, throwing
Pass container and adjustment UAV Attitude；
Airborne camera, for shooting ambient image below unmanned plane, airborne camera regards under keeping；
Satellite positioning module, for obtaining unmanned plane present satellites location information；
Container, for carrying goods and materials to be transported；
Container fixed mechanism, for container to be fixed on unmanned plane；Container state sensor is connected with container fixed mechanism, uses
In obtaining the state whether delivered of container and issue delivery time sequence controller and airborne resolving module；Container state sensor with
Airborne resolving module is connected；
The automatic obstacle-avoiding module being arranged on unmanned plane, is connected with UAV Flight Control System, for preventing unmanned plane from bumping against；
The delivery request module of unmanned plane, for sending the request for delivering container；
The delivery time sequence controller of delivery station, communicates for the delivery request module with unmanned plane, receives and verify nobody
The delivery request that machine delivery request module is sent sends the delivery request module for being licensed to unmanned plane after being verified；
Delivery request module is carried out wireless communication with delivering time sequence controller；
Power supply unit, for providing power supply for each several part.
2. automatic delivery station is concentrated in a kind of unmanned plane logistics based on independent navigation according to claim 1, feature exists
In the cooperation mark is LED light or the mark coated with reflecting coating；When cooperation mark is LED light, including：Multiple LED
Lamp, lamp array controller；
Multiple LED light are evenly distributed and are fixed at the top of enclosure wall, the LED light be using the LED circular luminous bodies formed or
Strip-form illuminator；The power cord of each LED light is connected respectively by lamp array controller with power supply unit；Lamp array controller is used to control
Make the light on and off of each LED light.
3. automatic delivery station is concentrated in a kind of unmanned plane logistics based on independent navigation according to claim 2, feature exists
In the LED light is the solid circles illuminator being coiled to form by barcode LED lamp band, and the diameter of each LED light is at least
300mm；The quantity of LED light is more than 4；Spacing between its center of circle is more than or equal to 3 times of LED light radius.
4. automatic delivery station is concentrated in a kind of unmanned plane logistics based on independent navigation according to claim 2, feature exists
In, when cooperation mark LED light be strip-form illuminator when, along enclosure wall lay scope length be less than or equal to enclosure wall week
It is long.
5. automatic delivery station is concentrated in a kind of unmanned plane logistics based on independent navigation according to claim 2, feature exists
In the luminosity of each LED light is more than or equal to 113000lm.
6. automatic delivery station is concentrated in a kind of unmanned plane logistics based on independent navigation according to claim 2, feature exists
In the LED light is laid along the inward flange at the top of enclosure wall.
7. automatic delivery station is concentrated in a kind of unmanned plane logistics based on independent navigation according to claim 2, feature exists
In, each cooperation mark is corresponding with a delivery station address, when delivery station is in dead status, corresponding cooperation mark
Will is capped or extinguishes.
8. automatic delivery station is concentrated in a kind of unmanned plane logistics based on independent navigation according to claim 1, feature exists
In the delivery request transmitted by delivery request module includes the posting address in container logistics information；The delivery time of delivery station
Sequence controller when receiving and verify the delivery request that unmanned plane delivery request module is sent, verifies posting address.
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| CN201721156293.8U CN207397334U (en) | 2017-09-09 | 2017-09-09 | Automatic delivery station is concentrated in unmanned plane logistics based on independent navigation |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107451788A (en) * | 2017-09-09 | 2017-12-08 | 厦门大壮深飞科技有限公司 | Automatic delivering method and delivery station are concentrated in unmanned plane logistics based on independent navigation |
| CN109159117A (en) * | 2018-08-22 | 2019-01-08 | 北京云迹科技有限公司 | A kind of position calibration method and distributed robot |
| CN109896014A (en) * | 2019-03-28 | 2019-06-18 | 大连民族大学 | A kind of fixed-wing unmanned plane roof air-drop indicating means |
-
2017
- 2017-09-09 CN CN201721156293.8U patent/CN207397334U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107451788A (en) * | 2017-09-09 | 2017-12-08 | 厦门大壮深飞科技有限公司 | Automatic delivering method and delivery station are concentrated in unmanned plane logistics based on independent navigation |
| CN109159117A (en) * | 2018-08-22 | 2019-01-08 | 北京云迹科技有限公司 | A kind of position calibration method and distributed robot |
| CN109896014A (en) * | 2019-03-28 | 2019-06-18 | 大连民族大学 | A kind of fixed-wing unmanned plane roof air-drop indicating means |
| CN109896014B (en) * | 2019-03-28 | 2022-11-18 | 徐州臣赐网络科技有限公司 | Fixed-wing unmanned aerial vehicle roof airdrop indicating method |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180522 Termination date: 20180909 |
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| CF01 | Termination of patent right due to non-payment of annual fee |