CN211055378U

CN211055378U - Unmanned aerial vehicle distribution system for community

Info

Publication number: CN211055378U
Application number: CN201921390471.2U
Authority: CN
Inventors: 王坤; 陈豪杰; 陈晓锦; 李若愚; 窦烨涵; 高梦雅
Original assignee: Southwest Jiaotong University
Current assignee: Southwest Jiaotong University
Priority date: 2019-08-23
Filing date: 2019-08-23
Publication date: 2020-07-21
Anticipated expiration: 2029-08-23

Abstract

The utility model discloses an unmanned aerial vehicle delivery system towards community, include: the background information system receives and processes the order information and confirms the order distribution state, controls the order scheduling queue of the automatic unmanned cabinet, controls the unmanned plane to distribute the order scheduling queue and plans the flight path of the unmanned plane; the automatic unmanned cabinet stores the target goods at a designated position, and dispatches the target goods to the unmanned aerial vehicle or receives goods delivery of the unmanned aerial vehicle; the unmanned aerial vehicle distributes the target goods to the target distribution position according to the track path and delivers the target goods to the outdoor home decoration receiving device; or flying to a target distribution position according to the track path, loading target goods and returning; an outdoor home decoration receiving device for receiving a target cargo; the cloud database is used for realizing the storage and the calling of data; and (4) a user terminal APP. The utility model discloses realize the delivery of terminal unmanned aerial vehicle completely, promoted the delivery efficiency and the quality of service of express delivery, really realize that the delivery arrives at home.

Description

Unmanned aerial vehicle distribution system for community

Technical Field

The utility model belongs to the technical field of the commodity circulation, concretely relates to unmanned aerial vehicle delivery system towards community.

Background

In the existing terminal distribution, two modes of door-to-door distribution and fixed-point part taking are mainly adopted, wherein the problems of distribution failure, poor distribution timeliness, high goods damage rate, low service quality and high distribution cost caused by the change of a user time window often exist; on the other hand, the orders in the national logistics express industry are increasing continuously, the aging trend of the Chinese population is strengthened, the labor population is reduced, and the aging and rarefying problems of the distributors are also emerging continuously, specifically:

(1) the demand for logistics increases.

The rapid expansion of express delivery business in China brings challenges to the logistics industry, and under the business volume of the scale, logistics distribution faces huge pressure, and future logistics are not only solved by manpower, but also can be transformed to intelligent logistics.

(2) The number of express delivery personnel is reduced.

The development of Chinese electronic commerce brings a contradiction between the rapid increase of the demand of delivery capacity and the continuous decrease of the population of the labor force with proper age in the society, and unmanned delivery is the most effective means for solving the contradiction. The working age population of china (16-59 years) peaks in 2011, declines year by year from 2012, and declines by 3800 ten thousand in 6 years to 2017. With the gradual stepping into the elderly society in China and the acceleration of the urbanization process in China, a huge gap exists between the number of people in good age and the increasing demands of production construction and service consumption.

(3) The drawback of manual express delivery.

The increase of logistics orders brings great pressure to the logistics distribution industry, the delay rate of manual express delivery is high, the delivery difficulty in remote areas is high, and the logistics cost is increased year by year. The logistics distribution market needs faster, more convenient and more modernized logistics distribution, which provides conditions for the logistics distribution of the unmanned aerial vehicle, and the logistics unmanned aerial vehicle test run of each large logistics enterprise makes the development of the logistics of the unmanned aerial vehicle take a great step forward.

In recent years, rapid development of hardware of the unmanned aerial vehicle provides a technical basis for unmanned distribution, and along with the opening of policies and the maturity of technologies, unmanned aerial vehicle distribution has an infinite development prospect.

SUMMERY OF THE UTILITY MODEL

In order to solve the above-mentioned problem that prior art exists, combine market environment, consider current unmanned aerial vehicle's restriction, the utility model aims to provide an unmanned aerial vehicle delivery system towards community. The utility model discloses realize the delivery of terminal unmanned aerial vehicle completely, promoted the delivery efficiency and the quality of service of express delivery, really realize that the delivery arrives at home.

The utility model discloses the technical scheme who adopts does:

unmanned aerial vehicle distribution system towards community includes:

the background information system receives and processes the order information and confirms the order distribution state, controls the automatic unmanned cabinet order scheduling queue and feeds back the goods information of the order according to the order processing result, controls the unmanned aerial vehicle to distribute the order scheduling queue, and plans a flight path from the automatic unmanned cabinet to the target distribution position of the unmanned aerial vehicle;

the automatic unmanned cabinet is arranged in a community, receives delivery of goods by a distributor, measures the length, width, height and weight of the goods and scans order numbers, stores target goods at a designated position, and dispatches the target goods in the automatic unmanned cabinet to the unmanned aerial vehicle; or receiving goods delivery of the unmanned aerial vehicle, scanning an order number, and storing the target goods at an appointed position;

the unmanned aerial vehicle acquires a target distribution position and distribution time, automatically loads target goods, starts the unmanned aerial vehicle to distribute and fly in the distribution time, distributes the target goods to the target distribution position according to a flight path, delivers the target goods to the outdoor home equipment receiving device, and then returns to the home; or starting the unmanned aerial vehicle to carry out distribution flight in distribution time, flying to a target distribution position according to a track path, loading target goods and returning to the air, and delivering the target goods to the automatic unmanned cabinet;

the outdoor home decoration receiving device is used for identifying a target distribution position by the unmanned aerial vehicle, receiving target goods delivered by the unmanned aerial vehicle at the target distribution position, and feeding back a goods receiving state to the background information system;

the cloud database is communicated with the background information system to realize data storage and calling, and comprises a three-dimensional geographic information database and an order information database, wherein the three-dimensional geographic information database stores each target distribution position, the three-dimensional geographic position of a community automatic unmanned cabinet fixed point and a three-dimensional geographic information model of an unmanned aerial vehicle airline flight area;

and the user terminal APP performs unmanned aerial vehicle delivery order placing and delivery information confirmation.

On above-mentioned technical scheme's basis, unmanned aerial vehicle delivery system towards community, its characterized in that: the background information system comprises:

the user management module stores user information and communicates with the user terminal APP and the order management module to realize unmanned aerial vehicle delivery order placement, delivery information confirmation, order processing and order delivery state confirmation;

the order management module receives and processes the order information and confirms the order distribution state;

the dispatching management module controls the automatic unmanned cabinet to dispatch and queue according to the order processing result and feeds back the goods information of the order, and controls the unmanned aerial vehicle to deliver the order to dispatch and queue;

the flight path planning module is used for planning a flight path from the automatic unmanned cabinet to a target distribution position of the unmanned aerial vehicle;

the unmanned aerial vehicle flight attitude control module comprises a manual auxiliary control unit and a visual auxiliary control unit;

and the safety alarm module is used for carrying out safety alarm on the abnormity of the target goods received by the automatic unmanned cabinet order scheduling queue, the unmanned plane delivery flight and the outdoor home decoration receiving device.

On the basis of the technical scheme, the unmanned aerial vehicle distribution system for the community comprises an automatic unmanned cabinet, wherein the automatic unmanned cabinet comprises a cabinet body, a plurality of layers of storage bins are arranged in the cabinet body, each layer of storage bin is provided with a plurality of storage containers, and each storage container is provided with a goods position port;

the cabinet body is provided with a goods storing/taking port and a test board communicated with the goods storing/taking port, and the test board comprises a weighing device, a three-dimensional volume measuring device and a stock scanning device;

a vertical transportation channel is arranged in the cabinet body and is communicated with the outlet side of the test board, and the vertical transportation channel is communicated with the cargo position port of each storage container of each layer of storage bin;

the automatic unmanned cabinet also comprises a lifter which does vertical lifting motion in the vertical transportation channel, a goods transporter which is borne by the lifter, and a control cabinet which controls the lifter and the goods transporter, wherein the weighing device, the three-dimensional volume measuring device and the stock scanning device are connected with the control cabinet to transmit measured data;

an unmanned aerial vehicle parking apron communicated with the top of the vertical transportation channel is arranged at the upper end of the cabinet body;

the cabinet body is also provided with a power supply device.

On the basis of the technical scheme, the unmanned aerial vehicle distribution system for the community is characterized in that the vertical transportation channel is arranged on a central axis of the cabinet body, the storage bins are arranged around the vertical transportation channel, the storage bins are uniformly distributed by taking the vertical transportation channel as a center, and the stock position ports of the storage bins are communicated with the vertical transportation channel;

or each layer of the storage warehouse is provided with a horizontal transportation channel communicated with the vertical channel, and the horizontal transportation channel is communicated with the cargo space port of each storage container of the current layer of the storage warehouse.

On above-mentioned technical scheme's basis, towards unmanned aerial vehicle delivery system of community, every layer the storage storehouse is equipped with the multilayer combination and deposits the packing cupboard, and every layer is made up and is deposited the packing cupboard and be equipped with a plurality of packing chests, when every layer of storage storehouse is equipped with the horizontal transportation passageway with vertical passageway intercommunication, the packing cupboard sets gradually along the horizontal direction, and the goods position mouth direction of a row of packing chests that set up along the horizontal direction is unanimous.

On the basis of the technical scheme, towards unmanned aerial vehicle distribution system of community, one side that the testboard is close to the mouth of depositing/getting goods is equipped with relative testboard and to keeping away from the gliding first piece of supporting of mouth direction of depositing/getting goods, one side that the testboard was kept away from the mouth of depositing/getting goods is equipped with relative testboard and supports the piece to being close to the gliding second of mouth direction of depositing/getting goods, and one side that the testboard was kept away from the mouth of depositing/getting goods is the outlet side, and first piece and the second of supporting is by the switch board control slip.

On the basis of the technical scheme, the unmanned aerial vehicle distribution system for the community is characterized in that an upper cross beam, a lower cross beam and an upright post for connecting the upper cross beam and the lower cross beam are arranged in the vertical transportation channel, and the upright post is provided with a guide rail;

the elevator comprises a lifting driving motor, a rope pulley, a pulley block, a steel wire rope, an objective table and a safety protection device, wherein the lifting driving motor is fixedly connected to an upper cross beam, the rope pulley is connected with an output shaft of the lifting driving motor, the steel wire rope is wound on the rope pulley and the pulley block and is connected with the objective table, the objective table is connected with a guide rail, the objective table is vertically lifted relative to the guide rail under the traction of the power of the lifting driving motor, and the lifting driving motor and the safety protection device are both connected with a control cabinet.

On the basis of the technical scheme, the unmanned aerial vehicle distribution system for the community comprises a cargo transporter, a transportation controller and a driving device, wherein the transportation controller is arranged on the cargo transporter, the driving device is connected with the transportation controller and used for driving the cargo transporter to travel, the transportation controller is in communication connection with a control cabinet, two clamping pieces which are oppositely arranged and do vertical lifting motion relative to the cargo transporter are arranged on the cargo transporter, and the clamping pieces are controlled by the transportation controller;

the machine body is also provided with a goods taking and scanning device connected with the transportation controller, and the clamping piece is also provided with a proximity switch connected with the transportation controller.

On above-mentioned technical scheme's basis, towards the unmanned aerial vehicle delivery system of community, the unmanned aerial vehicle air park is equipped with the automatic transport area with vertical transportation passageway intercommunication, and the automatic transport area is by switch board control work, and when the objective table vertical lift reached cabinet body upper end, cargo transporter transferred the goods to the automatic transport area.

On the basis of the technical scheme, the unmanned aerial vehicle distribution system for the community comprises a power supply cabinet and a battery charging storage bin, wherein the power supply cabinet is connected with commercial power;

the utility model discloses a battery charging storage device, including cabinet body, cabinet cover, battery, manipulator device, wireless charging device connects the commercial power, the battery charges and stores the storehouse and is equipped with the canopy and is used for controlling the automatic switch ware that the canopy was opened and is closed, automatic switch ware is controlled by the switch board, the battery charges and stores the storehouse and be equipped with and be used for installing the battery and get and put the groove, wireless charging device locates the bottom of a storehouse that the battery charges and stores the storehouse, manipulator device locates to get and puts the inslot, manipulator device includes air pump and the pneumatic telescopic rod who is connected with the air pump, manipulator device is controlled by the switch board.

On the basis of the technical scheme, the unmanned aerial vehicle distribution system for the community also comprises a plurality of infrared sensors, and the infrared sensors are connected with the control cabinet to return monitoring data to the control cabinet in real time;

still be equipped with the unmanned aerial vehicle scanning device who is connected with the switch board on the cabinet body.

On the basis of the technical scheme, the unmanned aerial vehicle distribution system for the community comprises an unmanned aerial vehicle body and a plurality of rotary wings, wherein the rotary wings are arranged on the unmanned aerial vehicle body;

the flight control board comprises a flight controller, an IMU unit, a magnetometer, a barometer, a GPS unit, an ultrasonic sensor, an optical flow sensor and a camera, wherein the IMU unit, the magnetometer, the barometer, the GPS unit, the ultrasonic sensor, the optical flow sensor and the camera are connected with the flight controller;

the flight controller is also connected with a radar, a laser ranging sensor and an airborne radio frequency tag;

the flight controller is also connected with a vision sensor and a scanner.

On the basis of the technical scheme, the unmanned aerial vehicle distribution system for the community is characterized in that the flight controller is further connected with one or more of a wind speed sensor, a rotating speed sensor, a humidity sensor and a milemeter.

On the basis of the technical scheme, the unmanned aerial vehicle distribution system for the community also comprises an express box connected with the machine body, the express box comprises an express box body and an automatic switch for controlling the express box body to be opened and closed, and the automatic switch is connected with the flight controller and is controlled by the flight controller;

express delivery case body includes the roof of being connected with the fuselage, with roof fixed connection's left side board and right side board, with roof articulated preceding curb plate and posterior lateral plate, respectively with left side board and right side board articulated left bottom plate and right bottom plate, the automatic switch ware is including the curb plate automatic switch ware that is used for controlling preceding curb plate and posterior lateral plate switch, and the bottom plate automatic switch ware that is used for controlling left bottom plate and right bottom plate switch.

On the basis of the technical scheme, the unmanned aerial vehicle distribution system for the community is characterized in that a pressure sensor connected with a flight controller is arranged on the left bottom plate or the right bottom plate;

and an infrared sensor is arranged on the outer side of the front side plate or the rear side plate.

On the basis of the technical scheme, the unmanned aerial vehicle distribution system for the community is characterized in that the outdoor home decoration receiving device comprises a receiving basket body connected with a building, and a plurality of labels are arranged at the top of the receiving basket body;

the goods receiving basket body is also provided with a radio frequency tag, and the radio frequency tag comprises a unique identifier of the outdoor home goods receiving device and stores customer information;

the bottom of the goods receiving basket body is also provided with a pressure sensor, the pressure sensor is connected with a goods receiving controller, and the goods receiving controller is connected with a communication unit;

the goods receiving basket body is also provided with an infrared sensor connected with the goods receiving controller.

On the basis of the technical scheme, the unmanned aerial vehicle distribution system for the community is characterized in that the label is a cross graphic label which can be identified through a visual sensor.

The utility model has the advantages that:

the utility model discloses realize the delivery of terminal unmanned aerial vehicle completely, promoted the delivery efficiency and the quality of service of express delivery, really realize that the delivery arrives at home.

Drawings

Fig. 1 is a system block diagram of the utility model-unmanned aerial vehicle distribution system of embodiment facing to community.

Fig. 2 is a system block diagram of an automated unmanned cabinet according to an embodiment of the present invention.

Fig. 3 is a schematic structural diagram of an automated unmanned cabinet according to an embodiment of the present invention.

Fig. 4 is another schematic structural diagram of an automated unmanned cabinet according to an embodiment of the present invention.

Fig. 5 is a system block diagram of an unmanned aerial vehicle according to an embodiment of the present invention.

Fig. 6 is the utility model discloses-unmanned aerial vehicle's structural schematic.

Figure 7 is the utility model discloses-unmanned aerial vehicle's structural schematic (with express delivery case).

Fig. 8 is a left side view schematic diagram of an outdoor home decoration receiving device according to an embodiment of the present invention.

Fig. 9 is a schematic front view of an outdoor home receiving device according to an embodiment of the present invention.

Fig. 10 is a schematic top view of an outdoor home decoration receiving device according to an embodiment of the present invention.

Fig. 11 is a flowchart of a distribution method of the community-oriented unmanned aerial vehicle distribution system according to an embodiment of the present invention.

Fig. 12 is a mail flow chart of a distribution method of the community-oriented unmanned aerial vehicle distribution system according to an embodiment of the present invention.

Fig. 13 is a flow chart of the unmanned aerial vehicle flight path planning method according to an embodiment of the present invention.

Fig. 14 is a system block diagram of a three-dimensional geographic information system according to an embodiment of the present invention.

Fig. 15 is a scene graph for planning the flight path of the unmanned aerial vehicle of the three-dimensional geographic information system according to the embodiment of the present invention.

In the figure: 101-a cabinet body; 102-an access/pick-up port; 103-a test bench; 104-vertical transport channels; 105-a horizontal transport channel; 106-a lift; 107-storage containers; 108-unmanned airplane apron; 109-automatic conveyor belt; 110-rain proof shed; 111-cargo conveyers; 201-a fuselage; 202-rotor wing; 203-battery insertion port; 204-a camera; 205-a vision sensor; 206-a scanner; 207-connecting piece; 208-a courier box; 2081-a top plate; 2082-left side panel; 2083-right side panel; 2084-front panel; 2085-rear side plate; 2086-left bottom plate; 2087-right bottom plate; 301-a basket body; 302-a label; 303-a radio frequency tag; 304-hook means.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and specific embodiments.

Example (b):

as shown in fig. 1, the unmanned aerial vehicle distribution system for community of this embodiment includes:

The background information system comprises: the user management module stores user information and communicates with the user terminal APP and the order management module to realize unmanned aerial vehicle delivery order placement, delivery information confirmation, order processing and order delivery state confirmation;

As shown in fig. 2-4, the automated unmanned cabinet comprises a cabinet body 101, wherein a plurality of layers of storage bins are arranged in the cabinet body, each layer of storage bin is provided with a plurality of layers of combined storage containers, each layer of combined storage container is provided with a plurality of storage containers 107, and each storage container 107 is provided with a cargo level port.

The cabinet body 101 is provided with a goods storing/taking port 102, the goods storing/taking port 102 is communicated with the test platform 103, the test platform 103 comprises a weighing device, a three-dimensional volume measuring device and a stock scanning device, the weighing device, the three-dimensional volume measuring device and the stock scanning device are used for acquiring the length, the width, the height, the weight and the order number of goods, the weighing device, the three-dimensional volume measuring device and the stock scanning device are connected with the control cabinet to transmit measuring data to the control cabinet, and in the embodiment, the goods storing/taking port 102 is arranged at the lower end.

The side of the test board 103 close to the access/pick-up port is provided with a first abutting block which slides towards the direction far away from the access/pick-up port relative to the test board 103, the side of the test board 103 far away from the access/pick-up port is provided with a second abutting block which slides towards the direction near the access/pick-up port relative to the test board 103, the side of the test board 103 far away from the access/pick-up port is an outlet side, the outlet side of the test board 103 is also an inlet side during picking up, and the first abutting block and the second abutting block are controlled by the control cabinet to slide.

The logistics and express delivery industry usually charges the goods by the weight or volume of the goods, and the charge of the volume is sometimes converted into the volume weight, for example, the length × is the width × (cm)/6000 is the volume weight (kg), and the value between the volume weight and the real weight of the goods is taken as the basis for calculating the freight rate.

The three-dimensional volume measuring device utilizes 3D scanning technique to acquire the length, width and height of goods fast, and the weighing device acquires the weight of goods fast, and its advantage is that size measurement accuracy and weighing accuracy are higher, and the average precision of size reaches 3mm, and weighing accuracy is 10g, and stock scanning device acquires the order number fast. One corner of the goods is blocked to the positioning origin through the first abutting block, and then the goods are scanned in the directions of three coordinate axes through the three-dimensional volume measuring device, so that the length, the width and the height of the goods are respectively measured. And the control cabinet transmits the measurement data to a background information system, and the order number is quickly retrieved from a background database to add or modify the data in real time.

A vertical transportation channel 104 is arranged in the cabinet body 101, wherein the vertical transportation channel 104 is communicated with the outlet side of the test bench 103, and the vertical transportation channel is communicated with the cargo space port of each storage container of each layer of storage warehouse.

As shown in fig. 3, one structure of the automated unmanned cabinet is: each layer of the storage bins is provided with a horizontal transportation channel 105 communicated with the vertical channel, the horizontal transportation channel is communicated with the position opening of each storage container 107 of the current layer of the storage bins, when each layer of the storage bins is provided with the horizontal transportation channel communicated with the vertical channel, the storage containers 107 are sequentially arranged along the horizontal direction, and the position opening directions of a row of the storage containers 107 arranged along the horizontal direction are consistent; the goods are convenient to store and take, and an automatic switch cabinet door is arranged on the outer side of the storage cabinet 107 and controlled to be opened and closed by a control cabinet, and is arranged for a user to take the goods.

As shown in fig. 4, another structure of the automated unmanned cabinet is as follows: on the axis of the cabinet body was located to vertical transportation passageway, stock storehouse surrounded vertical transportation passageway setting, and the goods shelves mouth and the vertical transportation passageway intercommunication of the goods shelves of storage that use vertical transportation passageway as center evenly distributed of the goods shelves of storage.

The automated unmanned cabinet further includes an elevator 106 that moves vertically up and down within the vertical transport corridor 104, and a cargo transporter 111 carried by the elevator 106.

The vertical transportation channel 104 is internally provided with an upper cross beam, a lower cross beam and a stand column for connecting the upper cross beam and the lower cross beam, the upper cross beam and the lower cross beam are formed by welding steel plates and section steel, the cross section performance is good, the two sides of the lower cross beam are provided with running axle holes, the running axle holes are machined and processed in a floor type boring and milling machine in a clamping mode, and the axes of the driving pulley and the driven pulley are ensured to be parallel, so that the running stability of the whole machine is improved, the stand column is made of square steel pipes, flat steel guide rails are welded on the two sides of the square steel pipes, the surfaces of.

The elevator 106 comprises a lifting driving motor, a rope pulley, a pulley block, a steel wire rope, an objective table and a safety protection device, wherein the lifting driving motor is fixedly connected to the upper cross beam, the rope pulley is connected with an output shaft of the lifting driving motor, the steel wire rope is wound on the rope pulley and the pulley block and is connected with the objective table, the objective table is connected with a guide rail, the objective table is driven by power of the lifting driving motor to do vertical lifting motion relative to the guide rail, and the lifting driving motor and the safety protection device are both connected with a control cabinet.

When every layer of stock storehouse was equipped with the horizontal transportation passageway with vertical passageway intercommunication, the objective table upper surface was equipped with the slide rail, is equipped with the slide rail in the horizontal transportation passageway 105, and when the objective table vertical lift during to any one deck horizontal transportation passageway 105, the slide rail of objective table links up with the slide rail in the horizontal transportation passageway 105.

Cargo transporter includes the organism and locates the transportation controller on the organism, transportation controller and switch board communication connection. When every layer of stock storehouse is equipped with the horizontal transportation passageway with vertical passageway intercommunication, the transportation controller still is connected with the drive arrangement who is used for driving the organism walking, and the lower surface of organism is equipped with the spout with slide rail complex. The machine body is provided with two clamping pieces which are oppositely arranged and do vertical lifting motion relative to the machine body, the clamping pieces are controlled by the transportation controller, the two clamping pieces realize bag clamping motion, the machine body can do rotation, vertical lifting, stretching and the like, the machine body is also provided with a goods taking and scanning device connected with the transportation controller, and specified goods can be taken out or sent into the empty storage cabinet 107.

The organism includes the bottom plate, locates the vertical lift piece on the bottom plate through rotary device, the horizontal extensible member of being connected with the vertical lift piece, and two holders are connected with the horizontal extensible member, and rotary device, vertical lift piece and horizontal extensible member are controlled by the transportation controller, still are equipped with the proximity switch who is connected with the transportation controller on the holder.

The proximity switch is a photoelectric proximity switch, automatic control of the transportation controller is achieved through photoelectric identification and conversion of optical communication signals, meanwhile, an optimized speed regulation method is adopted, impact generated when the cargo transporter decelerates and stops is reduced, the starting and stopping buffer distance of the cargo transporter is greatly shortened, and the operating efficiency of the cargo transporter is improved.

The upper end of cabinet body 101 is equipped with the unmanned aerial vehicle air park 108 with the top intercommunication of vertical transportation passageway 104, and unmanned aerial vehicle air park 108 is equipped with the automatic transport area 109 with vertical transportation passageway 104 intercommunication, and when the objective table vertical lift reached cabinet body 101 upper end, cargo transporter took 109 with the goods transfer to the automatic transport on, taken 109 the goods transfer to unmanned aerial vehicle's express delivery case by the automatic transport, and automatic transport takes 109 and is controlled work by the switch board.

The cabinet body 101 is provided with a power supply device, the power supply device comprises a power supply cabinet and a battery charging storage bin, the power supply cabinet is connected with commercial power, and the commercial power is converted by a transformer and then is supplied to the test board 103, the lifter 106 and the control cabinet for use.

The battery charges and stores the storehouse and locates cabinet body 101 upper end, the battery charges and is equipped with wireless charging device, battery and manipulator device in storing the storehouse, battery supply of goods cargo airplane and unmanned aerial vehicle use, wireless charging device connects the commercial power, set up wireless charging mode, reduce the punishment cost that charge time caused, promote unmanned aerial vehicle's flight power and cargo airplane's access goods efficiency, the battery adopts removable, charge rapidly, pollution-free, the high hydrogen fuel rechargeable battery of energy density.

The battery charging storage bin is provided with a bin cover and an automatic switch device used for controlling the bin cover to be opened and closed, the automatic switch device is controlled by a control cabinet, the battery charging storage bin is provided with a taking and placing groove used for installing a battery, a wireless charging device is arranged at the bottom of the bin of the battery charging storage bin, a manipulator device is arranged in the taking and placing groove, the manipulator device comprises an air pump and a pneumatic telescopic rod connected with the air pump, and the manipulator device is controlled by the control cabinet.

The top of the cabinet body 101 is provided with a rain-proof shed 110, the rain-proof shed 110 is provided with a solar charging panel, the solar charging panel is connected with a storage battery through a charging control unit, and the storage battery is connected with a power supply device. The weather enclosure prevents inside the automatic unmanned cabinet of rainwater infiltration, leads to equipment to damage.

The weather enclosure 110 is provided with a skylight for the unmanned aerial vehicle to go in and out, and an automatic switch for controlling the skylight to be opened and closed, and the automatic switch is controlled by the control cabinet.

When every layer of stock storehouse is equipped with the horizontal transportation passageway with vertical passageway intercommunication, the middle part of the cabinet body 101 is located to vertical transportation passageway 104, in practical application, unmanned aerial vehicle air park 108 is located the both sides at vertical transportation passageway 104 top, both sides unmanned aerial vehicle air park 108 all is provided with an unmanned aerial vehicle, and is the same, there is automatic transport area 109 corresponding the position, supporting facilities such as skylight and battery charging storage storehouse, an unmanned aerial vehicle is used for daily delivery operation, another is as reserve machine, be used for all kinds of special scenes, support the operation of unmanned aerial vehicle delivery system of community jointly.

Still be equipped with the unmanned aerial vehicle scanning device who is connected with the switch board on the cabinet body 101.

The unmanned aerial vehicle scanning device feeds back to the control cabinet through receiving the RFID radio signal that the last machine of unmanned aerial vehicle carried the radio frequency identification label and returned for detect unmanned aerial vehicle and this automatic unmanned cabinet's relative position and state, and the automatic switch ware in drive skylight realizes opening and closing in skylight.

In this embodiment, in order to save the space that the switching action took, the skylight adopts an automatic switch's translation formula skylight, and the automatic switch ware includes mechanical moving mechanism and control circuit board, and control circuit board is connected and control mechanical moving mechanism switch skylight with the switch board, and mechanical moving mechanism includes housing and housing apron, is equipped with motor, reduction gears in the housing, and control circuit board also locates in the housing, the output shaft of motor reduction gears, and reduction gears connects the skylight.

The automatic unmanned cabinet also comprises a plurality of infrared sensors, the infrared sensors are used for monitoring the running position of goods in the automatic unmanned cabinet and the real-time condition in the whole running period in the automatic unmanned cabinet, and the infrared sensors are connected with the control cabinet to return monitoring data to the control cabinet in real time.

Infrared sensors are generally provided at the deposit/retrieval port 102, the test station 103, the loading table, each level of the horizontal transportation passage 105, each storage container 107, and the automatic transportation belt 109.

The control cabinet is a control center of the automatic unmanned cabinet, manages all goods stored and taken in the automatic unmanned cabinet, distributes the goods in the storage cabinet 107, performs statistical analysis on data, coordinates the operation of each part, controls and monitors the operation of the whole automatic unmanned cabinet, controls the operation of field equipment such as an automatic switch cabinet door, a first abutting block, a second abutting block, the elevator 106, a goods conveyor, an automatic conveying belt 109, a skylight, a bin cover and the like, and finishes goods storage and goods taking operation. The control cabinet is further connected with a human-computer interaction device, the human-computer interaction device comprises a touch display screen and a code scanning device for access, and the human-computer interaction device is used for interaction between a distributor, a user and the automatic unmanned cabinet.

The control cabinet is in communication connection with the background information system, the background information system can process cargo information, user interaction information, unmanned aerial vehicle shutdown and docking information and the like, controls the switches of the central opening parts of the universal forklift loader, the conveying belt and the rain-proof shed and controls the switches of the parking apron and the like, and performs information interaction, state feedback and the like with a superior level through the wireless transmitting device.

The automatic unmanned cabinet comprises the following access operation flows:

step1, after goods are conveyed to a community by a delivery person, express delivery is carried out from an automatic unmanned cabinet goods storage/taking port, the length, the width and the height of the goods are rapidly obtained by a three-dimensional volume measuring device through a 3D scanning technology, the weight of the goods is rapidly obtained by a weighing device, an order number is rapidly obtained by a stock scanning device, measurement data are transmitted to a control cabinet, and the measurement data are transmitted to a background information system by the control cabinet;

if the measured data does not conform to the storage specification of the storage cabinet of the automatic unmanned cabinet, the background information system feeds back return information of release failure, and the goods are returned to the goods storage/pickup port by using the first resisting block;

step2, if the measured data conforms to the storage specification of the storage cabinet of the automated unmanned cabinet, the background information system feeds back the successful delivery and the position information of the empty storage cabinet, the second resisting block is used for pushing the goods onto the object stage, the control cabinet sends a lifting instruction, the elevator is controlled to convey the goods to the storage bin at the appointed layer to stop, the control cabinet sends a conveying instruction, the goods conveyor is controlled to rotate to the appointed angle, and the early-stage preparation work of the goods is completed;

step3, before the goods arrive at the appointed storage container, the goods on the object stage are clamped and wrapped by the goods transporter, the goods are lifted to be suspended, and when the goods arrive at the appointed storage container, the goods are descended and then released in the appointed storage container;

step4, when the goods conveyor receives a goods taking instruction of the control cabinet, scanning and acquiring an order number through a goods taking scanning device, transmitting measurement data to the control cabinet, transmitting the measurement data to the background information system by the control cabinet, executing goods taking operation after the background information system feeds back goods information accurately, clamping goods in a storage cabinet by the goods conveyor, and lifting the goods to suspend the goods;

step5, the control cabinet sends a lifting instruction to control the elevator to convey goods to an unmanned aerial vehicle parking apron at the upper end of the cabinet body to stop, the goods are released on the automatic conveying belt, and the goods are transferred into an express box of the unmanned aerial vehicle by the automatic conveying belt;

step6, after the express box of the unmanned aerial vehicle is closed, sending a distribution instruction by the background information system, and controlling the skylight to be opened through the control cabinet;

step7, scanning the unmanned aerial vehicle by the unmanned aerial vehicle scanning device through an unmanned aerial vehicle-mounted radio frequency tag, reading (not reading) information of the unmanned aerial vehicle by the unmanned aerial vehicle scanning device after the unmanned aerial vehicle drives in (drives out) a radio wave magnetic field range, transmitting the information of the unmanned aerial vehicle to a background information system by a control cabinet, and sending an instruction to control a skylight to be opened (closed);

step8, after the single distribution of unmanned aerial vehicle, whether the electric quantity is lower than the threshold value set through the battery coulometer detection, if, then feed back unmanned aerial vehicle's battery power state information to the background information system in real time, and start another unmanned aerial vehicle and carry out the interim supplementary distribution operation, send "change battery" instruction by the background information system this moment, the canopy of control battery charging storage storehouse is opened, control manipulator device opens unmanned aerial vehicle's battery cover, pack into unmanned aerial vehicle battery cabin cover with the battery charging storage storehouse in the battery charging, and will carry out wireless charging to the battery that the electric quantity is not enough.

The switch of the battery cover is generally controlled by a button, the mechanism is composed of three parts, namely a push rod, a rotary disc and a sliding groove, an auxiliary spring is arranged in the sliding groove, when the button is pressed, pressure is applied to the push rod, the push rod moves along the sliding groove to press the rotary disc to move downwards, when the meshing part of the rotary disc and the sliding groove is separated, the radial force generated by the characteristic part of the head of the push rod at the contact part of the inclined surface of the rotary disc forces the rotary disc to rotate, so that the rotary disc and the sliding groove are meshed again, and when the button is pressed again, the actions are repeated.

The utility model discloses an automatic unmanned cabinet, the distribution cost is lower, the timeliness is high, the switch board is managed and stock the cabinet distribution to all access goods of automatic unmanned cabinet, carry out statistical analysis to data, be responsible for coordinating the operation of each part, control and the operation of keeping watch on whole automatic unmanned cabinet, control is first to the piece, the second is to the piece, the lift, cargo airplane, the automatic transportation area, the skylight, the field device operation such as cang gai, accomplish the goods stock, get the goods operation, through keeping watch on the picture, with the dynamic display field device's the state of carrying cargo, the running position, the goods information, real-time information such as goods position information.

As shown in fig. 5-7, the unmanned aerial vehicle of this embodiment includes fuselage 201 and locates a plurality of rotors 202 on fuselage 201, is equipped with in the fuselage 201 and flies the control panel, flies the control panel and is connected with the motor through the motor drive unit respectively, a plurality of rotors 202 respectively with the output shaft of motor, unmanned aerial vehicle still includes for the power of flying control panel and motor power supply to and with the communication unit that flies the control panel and be connected.

Fuselage 201 is central symmetrical structure, can realize that unmanned aerial vehicle carries out stable flight and stable sky ability of putting in the air.

The body 201 is made of carbon fiber material with light weight and high strength.

The power includes the battery and is connected with the battery and convert the voltage into the voltage conversion chip of mains voltage VCC, and the downside of fuselage 201 is equipped with battery insertion hole 203, and battery insertion hole department is equipped with the battery lid, realizes the automatic change of battery, reaches quick charge's effect, and correspondingly, the battery passes through the eye-splice to be installed in battery insertion hole 203, and the battery is rechargeable battery.

The flight control board is mainly used for realizing the flight control of the unmanned aerial vehicle, automatically keeping the normal flight attitude of the unmanned aerial vehicle and enabling the unmanned aerial vehicle to fly according to a planned route.

The flight control board comprises a flight controller, an IMU unit, a magnetometer, a barometer, a GPS unit, an ultrasonic sensor, an optical flow sensor and a camera 204, wherein the IMU unit, the magnetometer, the barometer, the GPS unit, the ultrasonic sensor, the optical flow sensor and the camera 204 are connected with the flight controller, and the motor driving unit is connected with the flight controller.

The IMU unit measures three-axis attitude angles (or angular rates) and acceleration of an object, the magnetometer is used for measuring a magnetic field, the barometer is used for roughly controlling hovering height, the GPS unit is used for roughly positioning horizontal position height, the ultrasonic sensor is used for accurately controlling low altitude height or avoiding obstacles, the optical flow sensor is used for accurately determining hovering horizontal position, the camera is used for avoiding obstacles in the flying process, and the two cameras 204 are binocular cameras and are symmetrically arranged by using the center of the machine body 201.

Unmanned aerial vehicle is when flying, provide the data that the gesture was solved for flight control ware through the IMU unit, solve current gesture through flight control ware, optimal control, produce corresponding controlled variable and carry out rotational speed and steering control to the motor through the motor drive unit, the rotational speed of every rotor of rotational speed and steering control through the control motor, and then provide different lift in order to realize various gestures, through magnetometer, the barometer, the GPS unit, the position determination of flight in-process is realized to ultrasonic sensor and light stream sensor, it keeps away the barrier to realize the flight in-process through the camera.

The flight control panel also comprises an air speed sensor, a rotating speed sensor, a humidity sensor and a milemeter which are connected with the flight controller.

Unmanned aerial vehicle requires to descend the position at the descending in-process of loading with delivering the operation, and consequently, the flight control board still includes the radar of being connected with flight controller, laser range sensor and machine carries radio frequency label, because the GPS unit is used for the high rough location of horizontal position, and the altitude error of general calculation is about 10 meters, consequently, the utility model discloses utilize GPS unit, barometer, radar and laser range sensor, realize that data jointly solve, when making unmanned aerial vehicle deliver the operation, the error of object is not more than 0.7m to the distance.

The unmanned aerial vehicle of this embodiment still includes the vision sensor 205 of being connected with flight controller, the downside of fuselage 201 is located to vision sensor 205, vision sensor 205 is four, vision sensor 205 combines GPS unit, barometer, radar and laser range finding sensor, can realize loading and deliver the operation and descend in accurate position, make unmanned aerial vehicle stop accurately when the operation is delivered to the high floor and deliver in suitable position, prevent to throw the sky and produce unnecessary danger and loss.

The unmanned aerial vehicle of this embodiment still includes locates fuselage 201 and the scanner 206 of being connected with flight controller.

The unmanned aerial vehicle of this embodiment still includes the battery fuel gauge of being connected with flight controller.

The unmanned aerial vehicle is connected with a background information system through a communication unit, and the background information system comprises a user management module, an order management module, a scheduling management module, a track path planning module, an unmanned aerial vehicle flight attitude control module and a safety alarm module.

The unmanned aerial vehicle of this embodiment still includes the express delivery case 208 of being connected through connecting piece 207 and fuselage 201, and the loading and the delivery operation of goods are accomplished to express delivery case 208.

The express box 208 comprises an express box body and an automatic switch device for controlling opening and closing of the express box body, the express box body is made of a high-strength light-weight martensitic stainless steel material, and the automatic switch device is connected with the flight controller and controlled by the flight controller.

The express delivery case body includes the roof 2081 of being connected with connecting piece 207, left side board 2082 and right side board 2083 with roof 2081 fixed connection, preceding side plate 2084 and posterior lateral plate 2085 with roof 2081 articulated, left bottom plate 2086 and right bottom plate 2087 with left side board 2082 and right side board 2083 articulated respectively, the automatic switch ware is including the curb plate automatic switch ware that is used for controlling preceding side plate 2084 and posterior lateral plate 2085 switch, and the bottom plate automatic switch ware that is used for controlling left bottom plate 2086 and right bottom plate 2087 switch.

When the automatic switch receives a switch command, corresponding actions are executed, and the front side plate 2084, the rear side plate 2085, the left bottom plate 2086 and the right bottom plate 2087 are in a closed state in the process of transporting goods by the unmanned aerial vehicle.

The front side plate 2084 and the rear side plate 2085 are opened when goods are loaded, so that the goods can be conveniently forked and fixed, and the effect of quickly loading the goods is achieved; left bottom plate 2086 and right bottom plate 2087 open when delivering the goods, make things convenient for the goods to deliver automatically, when unmanned aerial vehicle reachd the assigned position and descend to suitable height, left bottom plate 2086 and right bottom plate 2087 are opened, and the goods drops naturally from the centre.

And a pressure sensor connected with the flight controller is arranged on the left bottom plate 2086 or the right bottom plate 2087 and used for detecting whether loading is successful, and an infrared sensor is further arranged on the outer side of the front side plate 2084 or the rear side plate 2085.

As shown in fig. 8-10, outdoor home decoration receiving device, including receiving basket body 301, the top of receiving basket body 301 is equipped with four labels 302 with visual sensor 205 position one-to-one, and label 302 is the cross graphic label, confirms accurate position and height through visual sensor 205 discernment cross graphic label center, confirms that unmanned aerial vehicle stops in correct target delivery position, avoids putting the danger that the mistake produced.

Still be equipped with radio frequency identification label 303 on the receiving basket body 301, radio frequency identification label 303 includes the only sign of outdoor house dress receiving device and stores customer information, and customer information includes name, serial number, address, contact means etc. scans radio frequency identification label 303 through scanner 206, guarantees that the express delivery matches with the customer is accurate, ensures that the delivery is accurate, is equipped with the draw-in groove that is used for installing radio frequency identification label 303 on the receiving basket body 301.

The upside of receiving basket body 301 is equipped with the opening, and label 302 and radio frequency label 303 all locate the open-ended top, and the bottom of receiving basket body 301 still is equipped with pressure sensor, and pressure sensor is connected with the receiving controller, and the pressure that detects is different around delivering, can judge whether the express delivery is delivered successfully, and the receiving controller is connected with the communication unit.

The top of the upper side opening of the receiving basket body 301 is also provided with an infrared sensor connected with the receiving controller, and the infrared sensor is used for detecting whether goods are all delivered into the receiving basket body 301.

The goods receiving basket body 301 is made of waterproof, anticorrosive, light, high-temperature resistant and high-strength materials.

The goods receiving basket body 301 is hung or fixedly connected with a wall body, and when the goods receiving basket body 301 is hung, a hook device 304 is arranged on the outer wall of the goods receiving basket body 301; when fixedly attached, the manner of fixedly attaching includes, but is not limited to, attachment by screws, adhesives, welding, and the like.

The outdoor home decoration receiving device of the utility model identifies the label center through the vision sensor to determine the accurate position and height, determines that the unmanned aerial vehicle hovers at the correct target delivery position, avoids the danger caused by the delivery error, the radio frequency label is scanned by the scanner, the radio frequency signal transmitted by the radio frequency label on the outdoor home goods receiving device is received to ensure the correct customer information, the express delivery is accurately matched with the customer, the accurate distribution is ensured, after the information matches, unmanned aerial vehicle express delivery case left bottom plate 2086 and right bottom plate 2087 are opened, and outdoor house ornamentation receiving arrangement is put into in the goods, and unmanned aerial vehicle's pressure sensor detects the goods and puts in the back, closes left bottom plate 2086 and right bottom plate 2087, and outdoor house ornamentation receiving arrangement is different through the pressure that detects around delivering, can judge whether the express delivery is delivered successfully, detects whether whole delivery of goods through infrared sensor and goes into the receiving basket body.

The utility model discloses utilize the GPS unit, the barometer, radar and laser range sensor, realize data and jointly solve, when making unmanned aerial vehicle deliver the operation, the error of object is not more than 0.7m to the distance of delivering, loading and the descending in-process of delivering the operation, accurate location descending position, visual sensor combines the GPS unit, the barometer, radar and laser range sensor, can realize loading and deliver the operation descending at accurate target delivery position, the high floor makes unmanned aerial vehicle stop accurately when delivering the operation and delivers the position and deliver at suitable target delivery position, prevent to throw empty production unnecessary danger and loss. The express box is used for completing the loading and delivery operation of cargoes, the front side plate and the rear side plate are opened when the cargoes are loaded, the cargoes are convenient to fork and fix, and the effect of quickly loading the cargoes is achieved; the left bottom plate and the right bottom plate are opened when delivering goods, so that the goods can be delivered automatically.

As shown in fig. 11, the distribution method of the community-oriented unmanned aerial vehicle distribution system includes the following steps:

SA100, receiving goods delivery by an automatic unmanned cabinet, measuring the length, width, height and weight of the goods, scanning order numbers, and storing the target goods at a designated position;

SA200, a user performs unmanned aerial vehicle distribution order placing and distribution information confirmation at a user terminal APP, and transmits order information and distribution information to a background information system;

SA300, a background information system receives and processes the order, controls the automatic unmanned cabinet to schedule and queue the order and feed back goods information of the order according to an order processing result, and plans a track path from the automatic unmanned cabinet to a target distribution position of the unmanned aerial vehicle;

SA400, a background information system controls the unmanned aerial vehicle to distribute order scheduling queues, the automatic unmanned cabinet schedules target goods in the automatic unmanned cabinet to the unmanned aerial vehicle, and the unmanned aerial vehicle automatically loads the target goods;

SA500, the unmanned aerial vehicle obtains a target distribution position and distribution time, starts the unmanned aerial vehicle to distribute and fly at the distribution time, and distributes target goods to the target distribution position according to a track path;

SA600, when the unmanned aerial vehicle flies to the position near the target delivery position, identifying the target delivery position, and at the moment, carrying out online confirmation delivery through a user terminal APP by a user, delivering the target cargo to an outdoor home decoration delivery device, and then returning to the air;

SA700, receiving target goods delivered by the unmanned aerial vehicle at a target delivery position by the outdoor home decoration receiving device, and feeding back a goods receiving state to a background information system;

SA800, the background information system receives the goods receiving state fed back by the outdoor home decoration receiving device, and then order distribution state confirmation is carried out.

Before ordering, a user inputs community information and user information through a user terminal APP, and binds target distribution position information for registration.

The goods information of the order specifically includes information such as a goods name, a goods type, a goods weight, a goods storage location, and the like.

In the SA100, the automated unmanned cabinet receives the delivery of the goods, and performs length, width, height, and weight measurement and order number scanning on the goods, and the operation flow of storing the goods at the designated position is as follows:

SA101, after goods are conveyed to a community by a delivery person, express delivery is carried out from an automatic unmanned cabinet goods storage/taking port, a three-dimensional volume measuring device rapidly obtains the length, width and height of the goods by using a 3D scanning technology, a weighing device rapidly obtains the weight of the goods, a stock scanning device rapidly obtains an order number, measurement data are transmitted to a control cabinet, and the control cabinet transmits the measurement data to a background information system;

SA102, if the measured data conforms to the storage specification of the storage cabinet of the automatic unmanned cabinet, the background information system feeds back the successful delivery and the position information of the empty storage cabinet, the second resisting block is utilized to push the goods to the object stage, the control cabinet sends a lifting instruction, the elevator is controlled to convey the goods to a specified layer of storage warehouse to stop, the control cabinet sends a transportation instruction, the goods transporter is controlled to rotate to a specified angle, and the early-stage preparation work of the goods is completed;

SA103, before arriving appointed storage cabinet, goods on the cargo transporter clamp package objective table promote the goods and make the goods unsettled, descend the goods when arriving appointed storage cabinet, then release the goods in appointed storage cabinet.

In above-mentioned SA400, automatic unmanned aerial vehicle cabinet dispatches the inside target goods of automatic unmanned aerial vehicle cabinet to unmanned aerial vehicle, and the automatic operation flow that loads the target goods of unmanned aerial vehicle is as follows:

SA401, when the goods conveyor receives a goods taking instruction of the control cabinet, scanning and obtaining an order number through a goods taking scanning device, transmitting measurement data to the control cabinet, transmitting the measurement data to a background information system by the control cabinet, executing goods taking operation after the background information system feeds back goods information accurately, clamping goods in a container by the goods conveyor, and lifting the goods to suspend the goods;

SA402, switch board send the instruction that rises, and the control lift transports the unmanned aerial vehicle air park of goods to cabinet body upper end and stops, takes the release of goods on automatic transport, takes the goods to shift to unmanned aerial vehicle's express delivery case by automatic transport.

In the above SA500, the unmanned aerial vehicle acquires a target delivery position and delivery time, and when the unmanned aerial vehicle is started at the delivery time to deliver and fly, the method further includes the following steps:

SA501, after an express box of the unmanned aerial vehicle is closed, sending a distribution instruction by a background information system, and controlling a skylight to be opened through a control cabinet;

SA502, unmanned aerial vehicle scanning device pass through unmanned aerial vehicle and carry the radio frequency identification mark scanning unmanned aerial vehicle, and when unmanned aerial vehicle drives in (drives away from) radio wave magnetic field scope after, unmanned aerial vehicle scanning device then reads (does not read) unmanned aerial vehicle information, by switch board with unmanned aerial vehicle information transmission to backstage information system, send the instruction control skylight and open (close).

Unmanned aerial vehicle is after the single delivery, whether detect the electric quantity through the battery fuel gauge and be less than the threshold value of settlement, if, then feed back unmanned aerial vehicle's battery power state information in real time to background information system, and start another unmanned aerial vehicle and carry out interim supplementary delivery operation, send "change battery" instruction by background information system this moment, the canopy of control battery storage storehouse that charges is opened, control manipulator device opens unmanned aerial vehicle's battery cover, pack into unmanned aerial vehicle battery cabin cover with the battery that charges in the battery storage storehouse, and will carry out wireless charging to the battery that the electric quantity is not enough.

In above-mentioned SA600, when unmanned aerial vehicle flies near target delivery position, carry out target delivery position discernment, deliver outdoor house ornamentation receiving devices with the target goods in, then the operation flow of returning a journey is:

SA601, identifying the center of the label by the unmanned aerial vehicle through a vision sensor to determine the accurate position and height, and determining that the unmanned aerial vehicle hovers at the correct target distribution position;

SA602, the unmanned aerial vehicle scans the radio frequency tag through the scanner and receives the radio frequency signal transmitted by the radio frequency tag on the outdoor home goods receiving device to ensure that the customer information is correct;

SA603, after the information is matched, opening a left bottom plate and a right bottom plate of an express box of the unmanned aerial vehicle, and throwing the goods into an outdoor home decoration receiving device;

SA604, unmanned aerial vehicle's pressure sensor detects the goods and puts in the back, closes left bottom plate and right bottom plate, then return the journey.

In above-mentioned SA700, outdoor house ornamentation receiving arrangement receives the target goods that unmanned aerial vehicle delivered on the target delivery position, and outdoor house ornamentation receiving arrangement is different through the pressure that detects around delivering, judges whether the express delivery is delivered successfully, detects whether whole delivery of goods through infrared sensor and goes into the delivery basket body to the back end information system feedback goods receipt status.

As shown in fig. 12, the distribution method of the community-oriented unmanned aerial vehicle distribution system further includes a sending step, where the sending step includes:

SB100, the user performs unmanned aerial vehicle distribution order placing and distribution information confirmation at a user terminal APP, and transmits order information and distribution information to a background information system;

the SB200 and the background information system receive and process the order, control the unmanned aerial vehicle to dispatch and queue the order according to the order processing result, and plan the flight path from the automatic unmanned cabinet to the target distribution position of the unmanned aerial vehicle;

SB300, the unmanned aerial vehicle obtains a target distribution position and distribution time, starts the unmanned aerial vehicle to carry out distribution flight in the distribution time, and flies to the target distribution position according to a track path;

SB400, when the unmanned aerial vehicle flies to the position near the target distribution position, identifying the target distribution position, paying by a user through a user terminal APP, loading and returning the target goods by the unmanned aerial vehicle, and delivering the target goods to the automatic unmanned cabinet;

the SB500 and the background information system control the automatic unmanned cabinet to schedule and queue and feed back the goods information of the order according to the order processing result, the automatic unmanned cabinet receives the goods delivery and scans the order number, the target goods are stored at the designated position, and the goods receiving state is fed back to the background information system;

the SB600 and the background information system receive the goods receiving state fed back by the automated unmanned cabinet and then confirm the order distribution state.

As shown in fig. 13. A distribution method of an unmanned aerial vehicle distribution system facing a community, and a flight path planning method of an unmanned aerial vehicle provide three assumptions for unmanned aerial vehicle flight path planning:

assume that 1: the unmanned aerial vehicle is in a constant-height and constant-speed flight state, and the unmanned aerial vehicle has the maximum deflection angle in the steering direction;

assume 2: the pre-planning of the track path only considers known static threats, and the dynamic threats operate according to a certain motion rule and can be detected in real time;

assume that 3: static threats are described in terms of a circular area within which the threats are measured at a uniform threat level.

The method comprises the following steps:

SC100, generating random sampling point t by RRT algorithm_ranFinding the slave root node t by using RRT algorithm_iniTo the target point t_goaThe unmanned aerial vehicle track path of (1);

SC200, for random sampling point t_ranIs optimized and a random sampling point t is obtained_ranAnd optimizing the generation process to obtain an optimized unmanned aerial vehicle track path.

Finding the slave root node t by using the RRT algorithm_iniTo the target point t_goaThe specific implementation steps of the planned path comprise the following steps:

SC101, determining that the fixed point of an automatic unmanned cabinet matched with the unmanned aerial vehicle is a random tree root node t_iniAcquiring three-dimensional geographic position information of the fixed point of the automatic unmanned cabinet from a three-dimensional geographic information database;

the SC102, obtaining a three-dimensional geographic information model of a distribution terminal containing three-dimensional geographic position information of the barrier from a three-dimensional geographic information database;

SC103, selecting a target point t_goaRandomly selecting a random sampling point t in a state space in a planned area according to a certain deviation probability P_ranWith t_neaRepresenting a random sample point t_ranNearest tree node, and at t_ran-t_neaOn the connection line, new node t is intercepted by taking extension step D as unit_new；

SC104, if the unmanned aerial vehicle goes from the last node to the new node t_newIf no obstacle is encountered in the traveling path, a new node t is formed_newAdding the nodes as expansion nodes into an expansion tree; otherwise, randomly selecting a random sampling point t again_ranAnd steps SC102-SC104 are repeated until a new node t_newAnd terminates when the target area is reached.

Since the RRT algorithm is a macroscopic planning model and is not accurately positioned to a target point at a terminal, a target area range (assuming a circle) in which the unmanned aerial vehicle can be accurately positioned is determined by matching with unmanned aerial vehicle auxiliary sensing, and then the RRT random tree node can be ended when reaching the target area.

For random sampling point t_ranThe selection of the node comprises the steps of selecting an evaluation index step length D and a next random sampling point t from a father node_ranThe generated deflection angle α and the corresponding weight coefficient are used for evaluating the function to the random sampling point t_ranThe evaluation is carried out, and the specific implementation steps comprise the following steps:

due to random sampling point t_ranThe time required for selecting and obtaining the optimal unmanned aerial vehicle track path is directly related to the track quality, so that the random sampling point t is required to be sampled_ranIs optimized in order to select the optimal random sampling point t_ranFor random sampling point t_ranEvaluating, wherein the straight line between the two points is shortest, so that the shortest route is always a random tree root node t_iniAnd target point t_goaThe connection line (c) can be known as the path obtained by the RRT algorithm and the connection line t_ini-t_goaThe closer to the optimal unmanned aerial vehicle track path, the better the obtained path, and in order to make the track path as short as possible, the optimal unmanned aerial vehicle track path needs to be made as short as possible with t_ini-t_goaIs close, so the step D and the yaw angle α are chosen as evaluation indices, x₁、x₂Weight coefficients for the step D and the deflection angle α, respectively, and an evaluation function M ═ x₁·D′+x₂α', because the index dimension is not uniform, the step D and the deflection angle α are dimensionless, and a set of k random sampling points t is calculated_ranThen, the maximum-minimum method is used to obtain D 'and α', and the calculation formula is as follows:

above D_maxIs the maximum value of step size D, D_minAs the minimum value of step D, α_maxα being the maximum value of the deflection angle α_minIs the minimum value of the deflection angle α.

The above-mentioned pair of random sampling points t_ranThe optimizing of the generation process comprises: to the next random sampling point t of the father node_ranThe generated deflection angle α is constrained to complete the random sampling point t_ranThe optimization of the generation direction comprises the following concrete implementation steps:

unmanned aerial vehicle azimuth angle measured by invoking IMU (inertial measurement Unit) from three-dimensional geographic information database

The constraint on the data, deflection angle α is:

for the maximum deflection angle of the unmanned aerial vehicle, the father node is a next random sampling point t_ranGenerated azimuth angle is

The above-mentioned pair of random sampling points t_ranThe optimizing of the generation process comprises: and (3) constraining the step length D to expand the step length D, wherein the specific implementation steps comprise the following steps:

in order to optimize the step length D, considering that if the traditional fixed step length D is used for selecting the expansion node, the expansion node is easy to directly step into a threat area during certain expansion to cause expansion failure, the RRT algorithm fixed step length D is divided into D according to the minimum direct flight range D of the assumed constraint condition of the flight of the unmanned aerial vehicle₁、d₂、d₃……d_nJudging whether each branch point enters the threat area or not, and assuming that the branch point is d_pFirst time with obstaclesD is processed_pAnd d_p-1Intersection point t of two distances_pAnd adding the expanded tree.

The above-mentioned pair of random sampling points t_ranIncludes optimizing the weight coefficient x of the step size D and the deflection angle α₁、 x₂The method comprises the following steps:

the definition of the step length D and the deflection angle α is optimized according to community distribution characteristics, and the weight coefficient x of the step length D and the deflection angle α needs to be optimized in consideration of conditions such as weight constraint of single-distribution goods, characteristic constraint of distribution goods (fragility, easy cracking and the like), distribution time window constraint and the like₁、x₂Subdividing, wherein the influence degrees of factors influencing the unmanned aerial vehicle track path planning route in the community distribution process on the step length D and the weight coefficient of the deflection angle α are different, and the influence degrees are w_iAnd y_i(i is 1,2,3, …, n) is given to the weight coefficient x₁、x₂Carrying out quantization processing on w in consideration of non-uniformity of dimensions of different influence conditions_iAnd y_i(i 1,2,3, …, n) is subjected to dimensionless processing by the max-min method, and the calculation formula is as follows:

w is above_maxIs w_iMaximum value of, w_minIs w_iMinimum value of, y_maxIs y_iMaximum value of, y_minIs y_iIs measured.

The above-mentioned pair of random sampling points t_ranThe optimizing of the generation process comprises: preferentially selecting a target point t_goaAs an extension child node and taking the last extension father node as the current extension father node, the specific implementation steps include the following:

if in step SC104, the unmanned aerial vehicle goes from the previous node to the new node t_newIf no obstacle is encountered in the traveling path, the nodes are randomly selected as new expansion directions and expansion nodes, and a step SC103 of executing the RRT algorithm is used for generating a random sampling point t_ranBefore, will be the lastAn extended node added into the extended tree is taken as a tree node t_neaTo target point t_goaAs random sampling points t_ranAnd at t_ran-t_neaOn the connection line, new node t is intercepted by taking extension step D as unit_newIf in step SC104, the unmanned aerial vehicle slave tree node t_neaTo the new node t_newDoes not pass through the barrier region in the traveling path of (2), the new node t is connected_newAdding the nodes as expansion nodes into an expansion tree; if in step SC104, the unmanned aerial vehicle goes from the previous node to the new node t_newWhen an obstacle is encountered in the traveling path, step SC103 is executed to generate a random sampling point t_ran. The utility model discloses unmanned aerial vehicle's flight path planning method, the route result high quality that the community delivery obtained, the route is optimal.

As shown in fig. 14, the cloud database is provided with a three-dimensional geographic information system, including:

the system layer comprises a distributed server cluster and is used for storing distributed data;

the data layer comprises a three-dimensional geographic information database storing a central three-dimensional geographic position of each outdoor home decoration receiving device, a three-dimensional geographic position of a community automatic unmanned cabinet fixed point and a three-dimensional geographic information model of an unmanned plane airline flight area, wherein the three-dimensional geographic information database comprises a geometric position information database and a semantic information database, the geometric position information database describes three-dimensional geographic information of a community, and road network information of the ground and information of low and short objects on the ground are not stored because of being irrelevant to detailed information of the ground, the three-dimensional geographic information of the community comprises geographic information with an entity height higher than a set height and brief texture information of the entity on a corresponding height, and the three-dimensional geographic information is distributed aiming at the community and has specificity, so only the brief texture information is needed, and high-precision texture information is not needed; the semantic information database is used for describing semantic information of entities in the community and describing a central three-dimensional geographic position of the outdoor home decoration receiving device, namely a target distribution position;

and the logical object layer comprises a plurality of entity objects.

Such entities include buildings, trees, utility poles, and outdoor home furnishing receiving devices.

The brief texture information at the corresponding height includes geometric feature data of points, lines and planes.

The points store the end point positions and the boundary angular points of the entity in order to depict the whole shape of the entity; the line stores entity edge information, consists of a plurality of points and represents the boundary of an entity; the surface storage entity surface range information is composed of a plurality of lines.

The surface of the tree is described by an ellipsoid, and the trunk part of the tree is described by a cylinder.

The semantic information of the entity includes: floor information of the building, building type, use, number and balcony/window orientation, the affiliated user id of the outdoor home delivery device, the affiliated balcony/window location and balcony/window type.

The three-dimensional geographic information system also comprises an application layer, wherein the application layer comprises a geographic information warehousing module, a community three-dimensional geographic information rendering module, an outdoor home decoration receiving device management module, a user permission and information module and a graphic basic operation module;

the geographic information storage module is used for updating the three-dimensional geographic information of the community;

the community three-dimensional geographic information rendering module is used for rendering the community three-dimensional geographic information;

the outdoor home decoration receiving device management module is used for managing semantic information of the outdoor home decoration receiving device;

the user authority and information module is used for managing user authority and information;

and the graphics basic operation module is used for performing basic operation on the image.

The utility model discloses combine the distributed server cluster to carry out distributed data storage, the three-dimensional geographic information data on a large scale can be saved to the geometry position information database, simultaneously because the special subject nature is strong, the utility model discloses the data object utensil that founds is targeted, has the directionality to the required precision of playing up the effect, consequently can realize the founding to the area on a large scale, and the concurrency is strong.

The utility model discloses the data source of big data analysis also can be regarded as to a large amount of data that produce, has the output to data analysis and big data industry, and the value of data can be embodied.

The utility model discloses a scalability is very strong, can enough satisfy GIS of itself increase and delete and change the function of basic geometry positional information database such as check, also can expand simultaneously, for example carry out meticulous modeling and storage in individual community and be used for special demand, to balcony/window and the storage of outdoor house ornamentation receiving device's positional information, explore whether it can fuzzy recognition etc..

The utility model discloses can avoid the data update problem, current three-dimensional/two-dimensional geographic information data need deal with the earth's surface information that changes constantly, because present epoch development is fast. The utility model provides a high available and feasible data error correction and update ability because geographic information is constantly changing, therefore geographic information puts in storage the module and carries out special data update, can deal with the change of the three-dimensional geographic information under the space-time change, the utility model discloses owing to with strong points, geographic information towards simultaneously is not like road network data update frequently and complicated again, but building information's update and deletion, and it is right consequently that this module can adopt manual and field operation mode the utility model discloses a three-dimensional geographic information of community updates.

The unmanned aerial vehicle track path planning application method of the three-dimensional geographic information system comprises the following steps:

the SD101 and the three-dimensional geographic information database store the central three-dimensional geographic position of each outdoor home decoration receiving device, the three-dimensional geographic position of a fixed point of the community automatic unmanned cabinet and a three-dimensional geographic information model of an unmanned plane flight area, and render the three-dimensional geographic information of the community;

the method comprises the steps that SD102, a user places an order, the central three-dimensional geographic position of an outdoor home decoration receiving device of a target user, the three-dimensional geographic position of a community automatic unmanned cabinet fixed point, the three-dimensional geographic positions of all possible obstacles and the current posture of the unmanned aerial vehicle are retrieved according to indexes, and the system carries out unmanned aerial vehicle track path planning according to data in a three-dimensional geographic information model by combining global planning and local obstacle avoidance;

and the SD103 and the unmanned aerial vehicle carry out distribution flight according to the flight path planning result.

And during global planning and local obstacle avoidance, calling the geographical information that the height of trees, telegraph poles and buildings is higher than the set height and the brief texture information on the corresponding height from the geometrical position information database, setting the distance between the level of the unmanned aerial vehicle and the obstacle to be more than a threshold value, and setting the flight height of the unmanned aerial vehicle not to exceed the highest height of the building.

Threshold value: the safety distance of the measuring unit is calculated by judging the relevant parameters of the unmanned aerial vehicle measured by the measuring unit, including the acceleration, the precision of the GPS coordinate, the precision and the measuring range of the ultrasonic sensor, the optical flow sensor and the camera, and the safety distance is the threshold value.

Setting the flying height of the unmanned aerial vehicle not to exceed the highest height of the building-the barometer is used for rough control (Pa) of the hovering height, so a safe highest height D + D is set for the highest height according to the precision of the barometer, wherein D is the highest height of the building, and D is the maximum error range of the height of the barometer.

The utility model discloses a three-dimensional geographic information system's geometric position information database and semantic information database classify the entity object, mainly divide into ground thing forms such as building, trees, wire pole and outdoor house ornamentation receiving devices to carry out fine space geometry and semantic description to the ground thing, be applicable to very much that the later stage carries out unmanned aerial vehicle's flight path planning.

The method for rendering the three-dimensional geographic information of the community comprises the following steps:

SD201, establishing pyramid indexes to perform urban division and urban division on communities in the geometric position information database;

SD202, three-dimensional community geographic information is described in the divided communities, the three-dimensional community geographic information comprises geographic information that an entity is higher than a set height and brief texture information on a corresponding height, and the brief texture information on the corresponding height comprises geometric feature data of points, lines and planes;

and SD203, updating three-dimensional geographic information of the community in real time.

The present invention is not limited to the above-mentioned optional embodiments, and any other products in various forms can be obtained by anyone under the teaching of the present invention, and any changes in the shape or structure thereof, all the technical solutions falling within the scope of the present invention, are within the protection scope of the present invention.

Claims

1. Unmanned aerial vehicle delivery system towards community, its characterized in that: the method comprises the following steps:

2. The community-oriented unmanned aerial vehicle distribution system of claim 1, wherein: the background information system comprises:

3. The community-oriented unmanned aerial vehicle distribution system of claim 1, wherein: the automatic unmanned cabinet comprises a cabinet body (101), wherein a plurality of layers of storage bins are arranged in the cabinet body, each layer of storage bin is provided with a plurality of storage containers (107), and each storage container is provided with a goods position port;

the cabinet body is provided with a goods storing/taking port (102) and a test bench (103) communicated with the goods storing/taking port, and the test bench comprises a weighing device, a three-dimensional volume measuring device and a stock scanning device;

a vertical transportation channel (104) is arranged in the cabinet body and is communicated with the outlet side of the test bench, and the vertical transportation channel is communicated with the cargo position port of each storage container of each layer of storage warehouse;

the automatic unmanned cabinet also comprises a lifter (106) which does vertical lifting motion in the vertical transportation channel, a goods transporter (111) carried by the lifter, and a control cabinet which controls the lifter and the goods transporter, wherein the weighing device, the three-dimensional volume measuring device and the stock scanning device are connected with the control cabinet to transmit measurement data;

an unmanned aerial vehicle parking apron (108) communicated with the top of the vertical transportation channel is arranged at the upper end of the cabinet body;

the cabinet body is also provided with a power supply device.

4. The community-oriented unmanned aerial vehicle distribution system of claim 3, wherein: the vertical transportation channel is arranged on a central axis of the cabinet body, the storage bins are arranged around the vertical transportation channel, the storage cabinets are uniformly distributed by taking the vertical transportation channel as a center, and the goods position ports of the storage cabinets are communicated with the vertical transportation channel;

or each layer of the storage bins is provided with a horizontal transportation channel (105) communicated with the vertical channel, and the horizontal transportation channel is communicated with the cargo space port of each storage container of the current layer of the storage bins.

5. The community-oriented unmanned aerial vehicle distribution system of claim 4, wherein: every layer the storehouse of stocking is equipped with the multilayer combination packing cupboard, and every layer of combination packing cupboard is equipped with a plurality of packing cupboards, and when every layer of storehouse was equipped with the horizontal transportation passageway with vertical passageway intercommunication, the packing cupboard set gradually along the horizontal direction, and the goods position mouth direction of a row of packing cupboard that sets up along the horizontal direction is unanimous.

6. The community-oriented unmanned aerial vehicle distribution system of claim 3, wherein: one side of the test board, which is close to the goods storing/taking port, is provided with a first abutting block which slides towards the direction far away from the goods storing/taking port relative to the test board, one side of the test board, which is far away from the goods storing/taking port, is provided with a second abutting block which slides towards the direction near to the goods storing/taking port relative to the test board, one side of the test board, which is far away from the goods storing/taking port, is an outlet side, and the first abutting block and the second abutting block are controlled by the control cabinet to slide.

7. The community-oriented unmanned aerial vehicle distribution system of claim 3, wherein: an upper cross beam, a lower cross beam and an upright post connecting the upper cross beam and the lower cross beam are arranged in the vertical transportation channel, and the upright post is provided with a guide rail;

8. The community-oriented unmanned aerial vehicle distribution system of claim 3, wherein: the goods conveyor comprises a machine body, a transportation controller arranged on the machine body and a driving device connected with the transportation controller and used for driving the machine body to walk, the transportation controller is in communication connection with a control cabinet, two clamping pieces which are oppositely arranged and do vertical lifting motion relative to the machine body are arranged on the machine body, and the clamping pieces are controlled by the transportation controller;

9. The community-oriented unmanned aerial vehicle distribution system of claim 3, wherein: the unmanned aerial vehicle air park is provided with an automatic conveying belt (109) communicated with the vertical conveying channel, the automatic conveying belt is controlled by the control cabinet to work, and when the objective table vertically ascends and descends to the upper end of the cabinet body, the cargo conveyor transfers cargos to the automatic conveying belt.

10. The community-oriented unmanned aerial vehicle distribution system of claim 3, wherein: the power supply device comprises a power supply cabinet and a battery charging storage bin, wherein the power supply cabinet is connected with commercial power;

11. The community-oriented unmanned aerial vehicle distribution system of claim 3, wherein: the automatic unmanned cabinet also comprises a plurality of infrared sensors, and the infrared sensors are connected with the control cabinet and return monitoring data to the control cabinet in real time;

12. The community-oriented unmanned aerial vehicle distribution system of claim 1, wherein: the unmanned aerial vehicle comprises a body (201) and a plurality of rotors (202) arranged on the body, wherein a flight control board is arranged in the body, the flight control board is respectively connected with a motor through a motor driving unit, the rotors are respectively connected with output shafts of the motors, and the unmanned aerial vehicle further comprises a power supply and a communication unit connected with the flight control board;

the flight controller is also connected with a vision sensor (205) and a scanner (206).

13. The community-oriented unmanned aerial vehicle distribution system of claim 12, wherein: the unmanned aerial vehicle also comprises an express box (208) connected with the body, wherein the express box comprises an express box body and an automatic switch for controlling the express box body to be switched on and switched off, and the automatic switch is connected with the flight controller and is controlled by the flight controller;

express delivery case body includes roof (2081) of being connected with the fuselage, left side board (2082) and right side board (2083) with roof fixed connection, with roof articulated preceding curb plate (2084) and posterior lateral plate (2085), respectively with left side board and right side board articulated left bottom plate (2086) and right bottom plate (2087), the automatic switch ware is including the curb plate automatic switch ware that is used for controlling preceding curb plate and posterior lateral plate switch, and the bottom plate automatic switch ware that is used for controlling left bottom plate and right bottom plate switch.

14. The community-oriented unmanned aerial vehicle distribution system of claim 1, wherein: the outdoor home decoration goods receiving device comprises a goods receiving basket body (301) connected with a building, wherein the top of the goods receiving basket body is provided with a plurality of labels (302);

the goods receiving basket body is also provided with a radio frequency tag (303), and the radio frequency tag comprises a unique identifier of the outdoor home goods receiving device and stores customer information;