RU2787547C1 - Robotized mobile courier complex - Google Patents

Abstract

FIELD: robotic systems.

SUBSTANCE: invention relates to the field of multi-component robotic systems that are designed to work in the field of logistics and can be used to deliver goods. The robotic mobile courier complex includes a distribution unit with a receiving-loading and outlet zones, a storage and storage unit and a robotic unit that are structurally divided into functional ones in accordance with their purpose and connected in the course of the technological process, a storage and storage unit and a robotic unit that form an automated courier structure, management and control over which is carried out using the control subsystem. The receiving-loading zone contains a loading board, and the outlet zone - an elevator platform moving along the transport shaft, having interfaces with the transition sections of the floor (16) and ceiling (15) compartments of the robotic unit and with the transition section of the storage and storage unit and at least one Luke. The warehousing and storage unit includes at least one mobile rack-type structure with cells and a movable two-coordinate table equipped in the ceiling part, connected by a vertically oriented rack with a movable spherical support located in the floor part. A movable robotic arm is installed on a vertical rack to capture a cargo object and subsequent positional contact with non-separable equipment and/or air and ground robots-couriers. The floor (16) and ceiling (15) compartments of the robotic assembly are equipped with landing service areas for basing ground and air robots-couriers, each of which has an intelligent positioning system interacting with the specified control subsystem and determining the navigation route to the destination, providing for the possibility of mutual information exchange with authorized users.

EFFECT: invention provides increased automation and productivity.

5 cl, 18 dwg

Description

Technical field

The claimed invention relates to the field of multicomponent robotic systems that are designed to work in the field of logistics and can be used to deliver goods and correspondence to the population, including those living outside the boundaries of urban settlements, in particular, in settlements remote from civilization, whose inhabitants are acutely need to receive postal services and the possibility of information exchange with the outside world.

State of the art

Often, employees of the postal or courier service have to spend time delivering parcels to recipients who live far from the main postal or courier route, for example, in hard-to-reach areas, outside the settlement. Parcels and correspondence have to be delivered there either on foot, in the absence of technical feasibility of travel, or specially driven by car for the sake of one or more addressees. In addition, in conditions of traffic congestion in urban and other settlements, the delivery of parcels and correspondence still takes a long time, and it requires the involvement of large labor resources. In addition, in the context of a large-scale spread of viral and other diseases, the delivery of goods and correspondence by mobile, fully robotic complexes is becoming increasingly relevant and safe.

From the prior art, various technical solutions are known to overcome this problem, including mobile delivery systems using unmanned aerial vehicles of various designs that perform the duties of delivering various postal cargo to recipients in hard-to-reach areas.

Thus, a mobile robotic system for the delivery of postal cargo is known from the prior art (see US 2014254896, class B25J 9/00, published on September 11, 2014 [1]).

The known system [1] contains a camera for receiving and issuing cargo and a mobile robot drone (drone) equipped with a processor capable of controlling the movement of the drone based on its geographic location and route data; a memory card capable of storing at least payment data, purchase data, and route data; screen and camera for user interaction; GPS module. The drone is controlled using a mobile application installed on the user's device, for example, a wristwatch, smartphone, augmented reality devices.

The disadvantage of this system [1] is the possibility of delivering goods in a limited range of dimensions, not exceeding the dimensions of the chamber for receiving and issuing goods and at a limited distance from the charging station, because it is made stationary.

From the prior art, a system for delivering parcels using drones based on a vehicle is known (see From US 2018196445, class B64C 39/02, published on 07/12/2018 [2]).

As a vehicle of the well-known parcel delivery system [2], an electric car is mainly used, which is equipped with a cargo compartment with parcels and a special compartment on the roof for placing drones, a charging station and a system for attaching parcels to drones. The compartment is equipped with a sliding roof that covers the robotic runway and opens when the drone takes off.

During the delivery of parcels, the vehicle and the drone transmit telemetry information to the postal company to track the location and control the process of delivering parcels to recipients. Drone delivery is carried out after the client selects the specified option in a special mobile application installed on the user's communicator.

The disadvantage of this system [2] is the need to manually load the parcel into a specialized drone compartment for its subsequent delivery to the recipient, which does not allow fully automating the delivery process, requiring constant human participation in it.

The closest in terms of technical essence in relation to the claimed invention should be considered a mobile complex for the delivery of goods, made in the form of a cargo vehicle (see WO2020104568, G06Q10/08, publ. 28.05.2020 [3]).

The cargo vehicle known from [3] contains an autonomous cargo platform with a mobile cargo conveyor, compartments for cargo and unmanned aerial vehicles and ground delivery robots, a computer control unit, communications equipment. The conveyor contains a controller configured to receive and transmit positioning data for processing by a computer control unit.

The disadvantage of this mobile complex [3] is the possibility of delivering goods to a limited distance from the charging station, because its presence in the mobile complex is not provided. In addition, moving cargo compartments entirely along linear guides inside the mobile complex to gateways or exit areas does not allow optimal use of the space inside the complex in order to ensure maximum filling with cargo for delivery and at the same time the possibility of their movement to the junction with delivery robots.

Disclosure of invention

The objective of the presented technical solution is to create a high-performance autonomous robotic mobile complex for the courier delivery of goods and correspondence, which ensures uninterrupted automated delivery of goods and correspondence, including to remote settlements, access to which is difficult due to geographical location or seasonal climate.

The technical result of the proposed invention, which solves the specified technical problem (technical problem), is the implementation of the designation of a high-performance autonomous robotic mobile complex, fully automated, with a wide mail coverage, ground and air courier delivery of goods and correspondence.

The specified technical result is achieved by the fact that the robotic mobile courier complex includes a distribution unit (I) located in a container or a body of a vehicle, structurally divided into functional ones in accordance with the purpose and connected during the technological process with a receiving-loading and outlet zones, a storage unit and storage (II), and a robotic unit (III), which form an automated courier structure, the management and control of which is carried out using a control subsystem consisting of a hardware module with a processor connected via a wireless communication module to a central controller and a cloud storage and data transmission server , wherein:

- the receiving-loading area of the distribution unit (I) contains a loading board, and the outlet area of the distribution unit (I) contains an elevator platform moving along the transport shaft, which has interfaces with the transitional sections of the floor and ceiling compartments of the robotic assembly (III), as well as with the transitional a section of the warehousing and storage unit (II), and at least one hatch;

- the warehousing and storage unit (II) includes at least one mobile rack-type structure with cells and a movable two-coordinate table equipped in the ceiling part, connected by means of a vertically oriented rack with a movable spherical support located in the floor part, while on a mobile robotic arm is mounted on said vertical post, configured to grab a cargo object for the purpose of its subsequent positional contact with non-detachable equipment and/or air and ground courier robots;

- said floor and ceiling compartments of the robotic unit (III) are equipped with landing service areas for basing ground and air robots-couriers, each of which has an intelligent positioning system interacting with the specified control subsystem and determining the navigation route to the destination, providing for the possibility of mutual information exchange with authorized users.

According to one of the variants, the receiving and loading area or the robotic arm is equipped with a cargo identification device (for example, a device for scanning barcodes or qr codes) in order to double verify the cargo sent for delivery or confirm the identification of the cargo, the packaging of which was carried out directly in mobile courier complex.

According to one of the embodiments, the warehousing and storage unit is equipped with an apparatus for automatic packaging of goods.

According to one of the embodiments, the elevator platform is equipped with an actuator in the form of an electric drive equipped with a piston with a pusher and with a gripping device for moving cargo from the elevator platform to any of the compartments of the mobile courier complex or for moving cargo into the cargo compartment of a ground robot courier.

In one of the embodiments, the elevator platform is equipped with a means of photo and video monitoring of the load located on it and / or scales installed directly under the platform of the elevator platform in order to control the weight of the platform itself and the platform with the load.

It is advisable if the warehousing and storage unit is connected to the floor compartment of the robotic unit with ground delivery robots through an opening with a door with an automatic locking mechanism.

The specified combination of known and new design features is not known from the studied prior art, the proposed technical solution has an inventive step and allows you to increase the process of automating the courier delivery of goods, especially to remote and hard-to-reach settlements, and also allows you to maximize the optimization of routes and time of delivery of goods and eliminate cases where delivery using only drones is not possible due to the presence of natural or artificial obstacles (trees, dead ends) or weather conditions (heavy rains, strong winds, etc.) or the cargo is large enough to be delivered using a drone, or , on the contrary, in cases where delivery only by ground couriers is impossible due to the presence of natural or artificial ground obstacles.

Brief description of the drawings

In FIG. 1 is a schematic side view of the proposed complex, which clearly shows the distribution unit (I) with the receiving-loading and outlet zones, the warehousing and storage unit (II), the robotic unit (III), forming an automated courier structure;

In FIG. 2 is a schematic representation of the distribution unit (I) with the receiving-loading and outlet zones, the warehousing and storage unit (II) (top view);

In FIG. 3 is a schematic representation of the robotic assembly (III), a top view depicting ground delivery robots, their charging points in the robotic assembly and indicating the areas of their placement on the charging devices;

In FIG. 4 schematically shows rack-type mobile units with cells filled with cargo and installed in the warehousing and storage unit (II) of the mobile courier complex;

In FIG. 5 is a schematic representation of a manipulator robotic mechanism that controls the spatial arrangement of objects of the proposed complex in the warehousing and storage unit (II) and the distribution unit (I) (side view of the mobile courier complex);

In FIG. 6 shows a detailed image of the manipulator robotic mechanism (side view);

In FIG. 7 is a schematic representation of a part of the robotic unit (III), in which air robots-couriers are located on recharging and an image of the second robotic mechanism that controls the spatial arrangement of air robots-couriers is shown;

In FIG. 8 schematically shows the process of filling and loading into a mobile courier complex of mobile rack-type blocks with cells filled with cargo;

In FIG. 9, 10, 11, 12 schematically shows the process of moving cargo from the warehousing and storage unit (II) along the transportation shaft with an elevator platform to the ceiling compartment for the location of air robotic couriers of the robotic unit (III) and the arrangement of the outlet zone of air robotic couriers;

In FIG. 13, 14, 15, 16 schematically shows the process of returning to the mobile courier complex after delivering the cargo of the air courier robot, its landing in the exit zone and the process of moving it with the help of the second robotic mechanism that controls the spatial arrangement of the air courier robots to the ceiling compartment of the robotic node (III) for storage and recharging;

In FIG. 17 schematically shows a method for identifying goods in the cells of a rack-type mobile unit and transmitting information about this to the central controller.

In FIG. 18 is a schematic representation of the landing plan and routes of ground and air courier robots.

Implementation of the invention

The present invention is illustrated by a specific example of execution and implementation, which, however, are not the only possible ones, but clearly demonstrate the achievement of the specified set of essential features of the desired technical result, as well as the solution of the existing technical problem. When describing the exemplary embodiment, specific terminology is used for greater clarity. However, the invention is not intended to be limited to the particular terminology thus chosen. One skilled in the art will recognize that other equivalent parts and mechanisms or algorithms may be used without departing from the scope of the invention.

The listed figures show the following parts and elements of the proposed mobile courier complex:

I - distribution node;

II - warehousing and storage unit;

III - robotic unit;

1 - vehicle;

2 - external hatch;

3 - cargo;

4 - mobile rack-type structure with cells;

5 - transport shaft;

6 - floor lock part;

7 - ceiling lock part;

8 - two-coordinate work table;

9 - working platform of the table;

10 - vertically oriented rack;

11 - robotic arm;

12 - a tool for capturing and holding goods;

13 - spherical support;

14 - base of the robotic arm;

15 - retractable mechanism of the robotic arm;

16 - lift platform;

17 - servos;

18 - floor compartment;

19 - ceiling compartment;

20 - ground robot courier;

21 - air robot courier;

22 - control subsystem;

23 - cells;

24 - the second two-coordinate desktop;

25 - small robotic arm;

26 - gripping device of a small robotic arm;

27 - working platforms of the table;

28 - ladder for ground delivery robots;

29 - inner hatch;

30 - barriers for air flows;

31 - a separate mobile unit rack type;

32 - lifting machine;

33 - second horizontal jumper;

34 - servo elements;

35 - area for storage and recharging of air robots-couriers;

36 - area for storage and recharging of ground delivery robots;

37 - loading board;

38 - the first horizontal jumper;

39 - loading and unloading hatch.

So, a robotic mobile courier complex includes 1 located in a container or a body of a vehicle 1, structurally divided into functional ones in accordance with the purpose and connected in the course of the technological process, a distribution unit (I) with a receiving-loading and outlet zones, a warehousing and storage unit (II), robotic unit (III), forming an automated courier structure with the possibility of centralized and local remote control and management of the structure and its autonomous components.

Distribution node (I) consists of two zones:

- - receiving and loading,

- graduation.

Said receiving-loading area is located in the end or side part of the container or body of the vehicle 1 and includes at least one loading board 37, which opens automatically, through which the vehicle 1 is loaded with separate mobile rack-type units 31.

The receiving-loading area can be equipped with an identification device (by the type of a device for scanning a barcode) of mobile rack-type units 31, which identifies mobile rack-type units 31 with loads 3 placed in their cells 23.

Said outlet zone is made in the form of a transport shaft 5, inside which the elevator platform 16 (pneumatic, electric, hydraulic or other) installed in it moves. At the same time, the transport shaft 5 has interfaces with the transition sections of the floor and ceiling compartments of the robotic unit (III), as well as with the transition section of the warehousing and storage unit (II).

The warehousing and storage unit (II) includes at least one mobile rack-type structure 4, formed from mobile rack-type blocks 31 with cells 23, and a two-coordinate desktop 8 located above it in the ceiling part, the first horizontal jumper 38 of which by means of servomotors 17 moves from the end part of the container or vehicle body 1 to its front part along the guides fixed along the ceiling part of the storage and storage unit II. To the working platform 9 of the two-coordinate desktop 8, which has the ability to move along the first horizontal bridge 38 due to servo drives, a vertical rack 10 is attached, which serves as the basis for the vertical movement of the robotic arm 11 along it, equipped with a tool for capturing and holding loads 12 ( clip with side grips) and computer vision elements (cameras, lidars, etc.). The lower part of the specified vertical rack 10 rests on a spherical support 13 (wheel, ball, drum, roller, etc.), which abuts against the floor of the storage and storage unit II. Thus, the vertical post 10 of the XY table 8, supported by the spherical support 13, can move along the floor of the specified node, which, together with the upper attachment to the work platform 9 of the XY table 8, forms a stable vertical system that can move around room with a sufficiently high positional accuracy. As already mentioned, structurally two-coordinate work table 8 consists of a work platform 9, which has 17 servo drives that provide movement along the first horizontal jumper 38, which also has 17 servo drives that provide movement along guides fixed in the ceiling of the storage and storage unit II.

With its base 14, the robotic arm 11 is attached to a vertical stand 10, which allows its base to move up and down. Additionally, this base can rotate around the axis of the vertical rack 10. Such a 360-degree rotation allows the robotic arm 11 to reach any point of the racks and storage and storage unit II at any angle. Moreover, the robot arm 11 is additionally equipped with a retractable mechanism 15, which allows you to lengthen and shorten the length of the robot arm 11 and grab loads 3, which provides an additional degree of freedom. Any cargo 3, captured and held by the robot-manipulator 11, can be moved through the transition section of the storage and storage unit (II) to the elevator platform 16 of the transport shaft 5. Further, the cargo 3 on the elevator platform 16 moving along the transport shaft 5, which has interfaces with transitional sections of the floor and ceiling compartments of the robotic assembly (III), can be delivered to the indicated transitional sections of the floor and ceiling compartments of the robotic assembly (III).

In the warehousing and storage unit II, in the immediate vicinity of the transport shaft 5 of the distribution unit (I), an apparatus for automatic packing of goods 3 can be installed, where, if necessary, they can be packed.

The apparatus for automatic packing of goods can be made in the form of a stretch film packing device powered by a motor, containing a turntable on which the load to be packed is installed, a vertical clamping device descending from above on the load to fix the load, having a rotational mechanism, an exit motorized stretch film pre-stretch carriage, horizontal rotary clamp that allows you to intercept and turn the load during the packaging process.

Any load 3 captured and held by the robotic arm 11 can be moved to the turntable of the automatic packaging machine for subsequent packaging in accordance with the software embedded in the automatic packaging machine.

After the packaging is completed, the packaged cargo 3 captured and held by the robot-manipulator 11 can be moved through the transition section of the storage and storage unit (II) to the elevator platform 16 of the transport shaft 5. Next, the cargo 3 on the elevator platform 16 moving along the transport shaft 5, which has interfaces with transitional sections of the floor and ceiling compartments of the robotic assembly (III), can be delivered to the indicated transitional sections of the floor and ceiling compartments of the robotic assembly (III).

Robotic node III includes floor and ceiling compartments 18 and 19 with storage and recharging areas (36, 35) for intelligent ground and air robots-couriers 20, 21, equipped with an intelligent positioning system and determining the navigation route to the destination, made with the ability to mutual information exchange with authorized users to maintain communication interaction in a certain area.

Management and control over the operation of the components of the complex, both as a whole and separately, is carried out using the control subsystem 22, consisting of a hardware module with a processor connected via a wireless communication module to a central controller and a cloud storage and data transmission server.

In the preferred embodiment of the invention, the intelligent aerial delivery robots 21 are in the form of drones using propellers for movement. Well-known developments can be used as air courier robots 21, in particular Aerones models (see https://rg.ru/2017/05/15/na-video-sniali-pervyj-pryzhok-cheloveka-s-drona .html).

Intelligent ground delivery robots 20 are equipped with manipulator legs, wheel sets or caterpillar propellers for movement over rough terrain. Known developments can be used as ground delivery robots 20, in particular Marathon Robotics or Gita, Piaggio robots (see http://robotrends.ru/robopedia/ulichnye-roboty-kurery).

Ground 20 and air 21 courier robots are equipped with a processor for control and data processing, a wireless communication module, a global satellite positioning and navigation module, an all-round camera that allows you to study routes and identify recipients, lidars and other positioning tools.

Each cell 23 for placing and storing goods 3 of a separate mobile rack-type unit 31 has its own identification number, which is applied to the surface of the cell and stored in the memory of the central controller and stored on a cloud storage and data transmission server. The cells are installed in a separate mobile rack-type unit 31. The package of each cargo 3 is marked with an identifying specified cargo, information about the recipient, delivery address and other necessary parameters code (for example, a barcode or qr-code). This allows you to systematize information about the cargo 3 stored in each cell 23 and its addressee. Information about the identified cells 23 and the goods 3 in them is stored in the memory of the central controller at the time of loading the goods 3 into the cells 23 of a separate mobile rack-type unit 31 in the sorting center. Each individual rack-type mobile unit 31 also has its own identification number stored in the memory of the central controller and printed on its surface.

Identification data on the positioning position of a separate mobile unit of rack type 31 in a mobile structure of rack type 4 is entered into the memory of the central controller at the time of loading individual mobile units of rack type 31 into the mobile courier complex and forming a mobile structure of rack type 4 in the warehousing and storage unit (II) through the loading area.

The specified information is transmitted to the robot-manipulator 11, which will pick up the necessary cargo 3 from a certain cell 23 and place it in the storage compartment of the ground courier robot 20 or on the elevator platform 16 to move the cargo 3 along the transport shaft 5 to the transitional sections of the floor and ceiling compartments robotic node (III) for the purpose of further transfer to the air 21 or ground 20 robot courier. When the cargo 3 is transferred to the air 21 or ground 20 courier robot, the identifying information of the cargo 3 enters the processor for controlling and processing data of the corresponding ground 20 or air 21 courier robot, thanks to which they receive information about the specific cargo 3 and its delivery address.

According to one embodiment, the tool for capturing and holding loads 12 of the robot manipulator 11 can be equipped with its own identification device (for example, a bar or qr code scanner, numbers, or a video camera that allows you to read codes or numbers). Thus, when the hardware module with the processor of the control subsystem 22 sends the corresponding command, the robot-manipulator 11, scanning the codes from the cargo packages 3 or the surface of a separate mobile rack-type unit 31, can identify the load 3 or an autonomous separate unit 31 in the mobile rack-type structure 4.

Inside the storage and storage node II and the distribution node I, goods 3 are moved using a robotic arm 11, which is equipped with a gripping mechanism in the form of a gripping and holding tool 12. Upon the arrival of a mobile courier complex in the delivery area, the control subsystem 22 sequentially activates commands to the robotic arm 11 on the removal of a specific cargo 3 from the cell 23 of the mobile structure of the rack type 4 and moving it to the packing machine or directly to the outlet area of the distribution unit (I) in order to transfer it to the elevator platform 16 or place it in the cargo compartment of the ground robot-courier 20 in case if the warehousing and storage unit is connected to the floor compartment 18 through an opening with a door.

If the robot-manipulator 11 transfers cargo 3 to the elevator platform 16, the hardware module of the control subsystem 22 sends a command to the elevator platform 16 to move the cargo 3 to the transition section of the floor or ceiling compartments of the robotic unit (III) for ground delivery or for air delivery, respectively.

Ground robots-couriers 20, placed in their storage and recharging areas 36 in the floor compartment 18 of the robotic node III, move as they are activated by the hardware module of the control subsystem 22 inside the floor compartment 18 due to their own movement devices (legs-manipulators, wheel sets or caterpillar propellers) through passages specially allocated for this, move towards the elevator platform 16 or into the floor lock part 6.

Air robots-couriers 21 move inside the ceiling compartment 19 with the help of a small robot manipulator 25. The specified small robotic arm 25 is fixed in the upper part of the ceiling compartment 19 on the second horizontal jumper 33, the movement of which in the specified compartment is carried out by means of the second two-coordinate movable table 24 Structurally, the second two-coordinate working table 24 consists of working platforms 27, the movement of which along the guide beams along the ceiling compartment 19 is provided by a group of servo-driven elements 34.

The small robotic arm 25 is mounted on the second horizontal bridge 33 in such a way that it can be moved along said bridge by means of servomotors. Thus, it is possible for the small robotic arm 25 to operate in all parts of the ceiling compartment 19. The small robotic arm 25 is equipped with a gripping docking device 26 for holding air robots-couriers 21. The device 26 has a base, a telescopic part and the actual working part in the form of docking magnetic elements (clamps), the action of which is controlled by the control subsystem 22.

The small robotic arm 25, using a gripping device 26 (can be made in the form of a clamp with side gripping parts), picks up a specific air courier robot 21 activated by the control subsystem hardware module 22 from its storage and recharging area 35 and moves it to the transition area of the ceiling compartment robotic unit (III), where the cargo 3 to be delivered is delivered through the transport shaft 5 for the purpose of its subsequent attachment to the air robot-courier 21. After the gripping holding mechanism of the air robot-courier 21 itself attaches cargo 3 to it, the small robot arm 25 releases this aerial robot courier 21 and returns for the next one.

The transition section of the ceiling compartment of the robotic assembly (III) is the ceiling lock part 7. It is located in the ceiling compartment 19 of the robotic assembly (III) directly above the transport shaft 5 and contains two hatches. The first (inner) hatch 29, at the command of the hardware module of the control subsystem 22, is opened by sliding mechanisms, after which the elevator platform 16 lifts the air robot-courier 21 with the cargo 3 attached to it to the outer hatch 2. The corresponding command is sent to the hardware module of the control subsystem 22 about that the air courier robot 21 with cargo 3 is ready to be released from the vehicle 1, and then, at the command of the control subsystem 22, the external hatch 2 opens to release the air courier robot 21.

The elevator platform 16 is made of a non-magnetic material, such as impact-resistant plastic, under which electromagnets are equipped, which are activated immediately after the cargo 3 is fixed by the air robot courier 21 to be released from the mobile courier complex, or at the time of landing of the air robot courier 21 on the elevator platform 16 after delivery of cargo 3 (that is, during takeoff or landing). These electromagnets fix the air robot courier 21, the base or lower parts of which are equipped with similar electric magnets activated at the time of takeoff and landing. The outer hatch 2 of the ceiling lock part 7 is made on the principle of a roller blind. Air flow barriers 30 are installed on the roof of the mobile courier complex in front of the external hatch 2, which are structural elements of the mobile courier complex made of weather-resistant materials (metal, plastic, other polymer, etc.) in the form of air flow protection plates of possibly streamlined shape. These barriers are designed to protect the air robot courier 21 during takeoff and landing.

The lower part of the air robot-courier 21 is equipped with a load-attracting device 3 (for example, a device with suction cups or a magnetic device) and automatic clamps that fix the load from below. According to one of the embodiments, in the lower part of the air robot-courier 21, a cargo compartment is equipped (made of metal or other impact-resistant material), inside which a load-attracting device (for example, a device with suction cups or a magnetic device) is installed, while the bottom of the cargo compartment is made in the form automatically sliding doors with a magnetic or other lock.

In the upper part of the ground robot-courier 20 is equipped with a cargo compartment, made in the form of a protected box (made of metal or other impact-resistant material), which can be divided into several compartments for the simultaneous delivery of several cargoes. Each of the compartments is separated from the other compartments and is closed by a special door with a lock (for example, magnetic). This lock can only be opened by the recipient of the cargo, by issuing a command from a mobile device through the installed software, or via such communication channels as Bluetooth, NFC and others with direct contact between the recipient of the cargo and the ground robot-courier 20.

Information exchange of air 21 or ground 20 robot courier with authorized users, as well as with the control subsystem 22 is carried out using a wireless communication module.

The load 3 from the elevator platform 16 is moved to the cargo compartment of the approached activated ground-based courier robot 20 by means of an actuator in the form of an electric drive equipped with a piston with a pusher and with a gripping device installed on the elevator platform 16. Or the ground-based courier robot 20 using its own movement devices enters the approached elevator platform 16, which, together with the ground courier robot 20, moves to the warehousing and storage unit (II), where the robot manipulator 11 places the cargo 3 in the cargo compartment of the arrived ground courier robot 20. After that, the ground courier robot 20 with cargo 3 returns on the elevator platform 16 to the floor compartment 18 and moves to the lock part 6 of the outlet zone.

The transition section of the floor compartment of the robotic assembly (III) is the floor lock part 6 of the outlet zone. It is located in the floor compartment 18 of the robotic unit (III) in the immediate vicinity of the transport shaft 5 and contains a loading and unloading hatch 39. The loading and unloading hatch 39 is opened using lifting mechanisms when this process is initiated by the user (to receive cargo 3 directly in the mobile courier complex) or a hardware module of the control subsystem 22 for the release of a ground-based courier robot 20 with a load 3.

Floor lock part 6 can be equipped with an additional internal hatch in order to prevent the penetration of foreign objects or persons into the mobile courier complex. After the ground robot courier 20, due to its own movement devices, approaches the floor lock part 6 to the loading and unloading hatch 39 or into the floor lock part 6 from the elevator platform 16 by means of an actuator in the form of an electric drive equipped with a piston with a pusher, the load 3 moves , to be issued directly from the mobile courier complex, an additional internal hatch is closed by lifting mechanisms, thereby cutting off the space of the floor compartment 18 with the robot courier 20 or cargo 3 in it from the floor airlock part 6. Thus, after opening the loading and unloading hatch 39, outsiders objects or third parties will not be able to enter the floor compartment 18 of the robotic node (III).

The floor gateway part 6 is equipped with a ladder 28 for the exit of ground delivery robots 20, which is a retractable platform that can be made of solid material with electromagnetic elements under its lower surface to control the entry/exit of ground delivery robots and can be extended under a slope.

The area for storing and recharging air robots-couriers 35 of the ceiling compartment 19 and the area for storing and recharging ground-based robots-couriers 36 of the floor compartment 18 of the robotic node (III) include at least one slot or docking station for charging the battery of the air or ground robot -courier during his stay in the compartment.

The complex can be equipped with an autonomous power supply system, made in the form of stationary electric batteries, solar panels or wind turbines, placed on the roof or on the outer walls of the container or vehicle body 1 and connected via a cable connection and a converter with a docking station for charging batteries courier robots. Cable connection of the complex with external chargers or power supply is possible.

The complex works as follows.

Loading of the complex, as a rule, takes place in sorting centers, warehouses of transport companies, specialized loading and unloading sites, sorting auto and railway stations.

Cells 23 filled with cargo are placed in a mobile rack-type unit 31, having previously scanned the code placed on the packaging of cargo 3, for subsequent transmission of the received data (weight, overall dimensions, data on the sender and recipient, the number of the cell in which the cargo is placed) to a remote server storage and transmission of data.

The loading of individual mobile units 31 into the complex is carried out mainly with the help of lifting machines 32, which can be used forklifts or robotic arms. To increase the level of automation during load-lifting and load-distributing works, a robotic manipulator with a gripping sleeve equipped with vacuum suction cups for gripping loads over a flat surface from the outside can be used.

After loading the complex and starting to move, the central controller, using information from the cloud storage and data transfer server, determines the duration of the route as a whole and its individual sections, the estimated time of arrival at each point, taking into account weather conditions and terrain, the duration of the stop at each point, taking into account time , necessary for the implementation of courier delivery for the current settlement, due to which the estimated delivery time of the cargo for each user can be determined.

The central controller sends settlement information via wireless communication to the cloud data storage and transmission server, from where, in turn, by accessing the cloud database, it sends notification to users from the list of consignees in the form of messages in the installed software, push messages, messages in various instant messengers, SMS messages or other means of informing about the estimated time of arrival of the cargo 3 and the chosen method of its delivery.

The advantage of the claimed mobile courier complex is that it does not need to be unloaded in strictly designated places, as is required for traditional delivery of goods by road, rail or other means of transport. In this case, it is enough to stop at one of the parking points allowed for parking on the route along the route as close as possible to the settlement in order to carry out delivery using ground and air courier robots. At the same time, the movement of the complex inside the settlement is possible in the case when the consignee has chosen self-pickup from a certain point as a delivery method, or in the case when it is technically necessary and justified. For example, the issuance of especially valuable goods can be carried out through the floor lock part 6, equipped with user identification systems, with the personal presence of the recipient.

Also, the issuance of cargo directly through the floor lock part 6 in the mobile complex is carried out if it is impossible to deliver cargo 3 to a specific recipient using courier robots.

Ground 20 and air 21 courier robots are equipped with a processor for control and data processing, a wireless communication module, a global satellite positioning and navigation module, an all-round camera that allows you to study routes and identify recipients, lidars and other positioning tools.

After the courier complex is delivered to the cargo delivery zone 3, the hardware module of the control subsystem 22 gives sequential commands to the robot-manipulator 11 to remove a specific cargo 3 from the cell of the rack-type mobile structure 4 in which it is stored and transfer it to the automatic packaging machine cargo 3 (in case of its installation in the courier complex and the need for packaging), located in the warehousing and storage node II in the immediate vicinity of the transportation shaft 5 of the distribution node (I), where, after packaging is completed, the packaged cargo 3 captured and held by the robot-manipulator 11 , can be moved from the warehouse and storage node II to the distribution node I, in particular, to its outlet zone - to the elevator platform 16 of the transport shaft 5. Either the hardware module of the control subsystem 22 gives sequential commands to the robotic arm 11 to remove a specific load 3 from mobile structure cells rack type 4 in which it is stored, and transferring it directly from the warehouse and storage node II to the distribution node I, excluding the packaging of cargo 3. Next, the hardware module of the control subsystem 22 instructs each corresponding ground courier robot 20 to activate it and direct it to elevator platform 16.

The ground robot courier 20, after activation with the help of its own movement devices and actuators, moves from its location in the floor compartment 18 of the mobile courier complex (from a specific area for storing and recharging ground robots courier 36) to the elevator platform 16. The routes of movement of robots inside the mobile of the courier complex are preliminarily entered into the control subsystem 22 and into the processors of the courier robots. The route is selected by the hardware module of the control subsystem 22 of the mobile courier complex and reported to the courier robot depending on the storage point of the latter.

In the warehousing and storage node II, in the immediate vicinity of the transportation shaft 5 of the distribution node (I), depending on the option: delivery of cargo 3 or delivery of cargo 3 to the recipient on the spot - the robot-manipulator 11 installs the cargo 3 in the cargo compartment of the arrival on the elevator platform 16 ground courier robot 20 or places the load 3 on the elevator platform 16 for subsequent transfer of the latter to the floor lock part 6.

Option to deliver the goods to the recipient. The cargo 3 is installed by the robot-manipulator 11 into the cargo compartment of the ground courier robot 20 arrived on the elevator platform 16, the cover of the cargo compartment of the ground courier robot 20 is closed at the command of the hardware module of the control subsystem 22, and a completion signal is transmitted to the processor of the ground courier robot 20 loading process 3. The elevator platform 16 returns the ground robot courier 20 to the floor compartment 18 of the robotic node II, and the ground robot courier 20 moves to the floor airlock 6 of the outlet zone. Or the load 3, placed by the robot-manipulator 11 on the elevator platform 16, moves to the floor compartment 18 and is transferred from the elevator platform 16 to the cargo compartment of the ground courier robot 20, which has approached the floor gateway part 6, by means of the actuator of the elevator platform 16 in the form of an electric drive equipped with a piston with a pusher. The lid of the cargo compartment of the ground robot-courier 20 is closed at the command of the hardware module, and a signal is transmitted to the processor of the ground robot-courier 20 about the completion of the cargo loading process 3.

Next, the control subsystem 22 checks for the absence of foreign objects in the floor airlock part 6, then activates the loading and unloading hatch 39 for opening, if necessary, activates the ladder 28 for the exit of ground robots-couriers to the extension and gives the command to the ground robot-courier 20 to go outside . Inside the gateway part 6 is installed monitoring tool (digital camera). In addition, sensors/scales can be installed in the floor part of the gateway part 6, which signal the hardware module of the control subsystem 22 about the presence of foreign objects in the gateway area.

The option of issuing the goods to the recipient on the spot. The user approaches the mobile courier complex and, using a mobile application or scanning a special code or another verification method, sends a command to the control subsystem 22 to issue the corresponding cargo 3. The robot-manipulator 11 activated by the control subsystem 22 picks up the cargo in the warehousing and storage unit (II) 3 from the cell 23 and places it on the elevator platform 16. The elevator platform 16 moves the load 3 along the transport shaft 5 to the floor compartment 18 of the robotic node II. The load 3 is transferred from the elevator platform 16 to the floor lock part 6 by means of the actuator of the elevator platform 16 in the form of an electric drive equipped with a piston with a pusher. The specified movement of the load 3 can be performed in a different way, for example, along the guides, located at an incline to the floor lock part 6.

The control subsystem 22 checks for the absence of foreign objects in the floor airlock part 6, then activates the loading and unloading hatch 39 for opening, and the recipient of the cargo takes the cargo 3 from the floor airlock part 6.

After the ground robot-courier 20 exits or after receiving the cargo 3 by the recipient from the floor airlock part 6, the loading and unloading hatch 39 closes at the command of the control subsystem 22. And the procedure for releasing each ground robot-courier 20 with cargo 3 is repeated as many times as in the zone delivery of goods must be delivered by ground robots-couriers 20.

After the last ground robot courier 20 of a specific delivery area is released, the hardware module of the control subsystem 22 activates the ladder 28 to move inside the mobile courier complex (to the gate valve 28).

Upon the return of each ground robot courier 20 after delivery of cargo 3, similar procedures are repeated in reverse order at the command of the control subsystem 22 to receive each ground robot courier 20 to the mobile courier complex and move it to the storage and recharging area of ground robot courier 36.

Issuance of cargo directly through the ceiling sluice part 7 is carried out as follows.

After the mobile courier complex is delivered to the cargo delivery area, the control subsystem 22 gives sequential commands to the small robotic arm 25 and the corresponding air robotic courier 21 about their activation and direction to the ceiling airlock part 7. The small robotic arm 25 using the gripping device 26 picks up a specific air robot courier 21 activated by the control subsystem 22 hardware module from its storage and recharging area 35 and then moves the air courier robot 21, holding it from above, from its storage and recharging area 35 in the mobile courier complex to the ceiling airlock part 7. The robot-manipulator 11 picks up the cargo 3 to be delivered according to its queue and delivery route from the corresponding cell 23 of the mobile rack-type structure 4. The hardware module of the control subsystem 22 instructs the robot-manipulator 11 to transfer the specified cargo 3 to the automatic packing machine 3 (in case e th installation in the courier complex and the need for packaging) located in the warehouse and storage node II in the immediate vicinity of the transport shaft 5 of the distribution node (I), where, after packaging is completed, the packaged cargo 3 captured and held by the robot-manipulator 11 can be moved from storage and storage unit II to the distribution unit I, in particular, to its outlet zone - to the elevator platform 16 of the transport shaft 5. Or the hardware module of the control subsystem 22 gives sequential commands to the robotic arm 11 to remove a specific load 3 from the cell 23 of the mobile rack structure type 4 and its transfer directly from the warehousing and storage unit II to the distribution unit I, excluding the packaging of cargo 3.

Next, the hardware module of the control subsystem 22 instructs the elevator platform 16 to move to the transition section of the warehousing and storage unit (II). The robot-manipulator 11 installs the load 3 on the elevator platform 16 and, at the command of the control subsystem 22, the elevator platform 16 moves the load 3 to the ceiling compartment 19 of the robotic node III in the ceiling airlock part 7 to attach the load to the air courier robot 21 waiting there. as the load 3 is attached and held by the air carrier robot 21, the small robot manipulator 25 releases the air carrier robot 21 and sends a command to complete the process of attaching the load 3. Next, the control subsystem 22 checks for foreign objects on the inner hatch 29 (in the case if the inner hatch 29 is equipped with sensors/weights that signal the control subsystem 22 about the presence of foreign objects on the inner hatch 29) and, at the command of the hardware module of the control subsystem 22, the inner hatch 29 is opened by sliding mechanisms. After that, the elevator platform 16 lifts the air robot courier 21 with the load 3 attached to it to the external hatch 2. The corresponding command is sent to the control subsystem 22 that the air robot courier 21 with the load 3 is ready to be released from the vehicle 1. Next the hardware module of the control subsystem 22 checks the absence of foreign objects on the outer hatch 2 and activates the outer hatch 2 to open. Surveillance devices (digital cameras) are installed inside the gateway part 6 and directly on the outer part of the vehicle 1, receiving data from which the control subsystem 22 analyzes the absence or presence of foreign objects using software tools.

Next, the hardware module of the control subsystem 22 activates the movement of the elevator platform 16 to the roof level of the mobile courier complex. After checking the weather conditions, the hardware module of the control subsystem 22 gives a command to deactivate the electromagnetic attachment of the air courier robot 21 to the elevator platform 16 and activates the air courier robot 21 to take off. After the departure of the air robot-courier 21, the elevator platform 16 is lowered from the ceiling airlock part 7, the outer hatch 2 and the inner hatch 29, as the elevator platform 16 is lowered, are sequentially closed at the command of the hardware module of the control subsystem 22. The corresponding algorithm of actions is repeated until the required number of air robots - 21 couriers with cargo will not be released from the mobile courier complex.

Upon the return of each air robot courier 21 after delivery, when directly approaching the mobile courier complex, the air courier robot 21 sends signals to the hardware module of the control subsystem 22 about its readiness to land and move to the mobile courier complex. At the command of the hardware module of the control subsystem 22, the outer hatch 2 and the inner hatch 29 are sequentially opened. Using the monitoring means, the hardware module of the control subsystem 22 checks the absence of foreign objects on the elevator platform 16, instructs the elevator platform 16 to move to the level with the roof of the mobile courier complex and sends a signal to the air courier robot 21 to return to the mobile courier complex. Next, the air robot-courier 21 descends onto the elevator platform 16, the specified robot-courier is magnetically fixed to the elevator platform 16. After that, the hardware module of the control subsystem 22 instructs the elevator platform 16 to descend into the ceiling airlock part 7, and sequentially closing the external hatch 2 and an internal hatch 29. The air courier robot 21 is picked up by a small robotic arm 25 and moved to its storage and recharging area 35. The process is repeated to receive each air courier robot 21 returning after delivery into the mobile courier complex.

In the event that the delivery of cargo 3 for some reason was not carried out to the recipient, upon returning to the mobile courier complex of the ground or air courier robot with the cargo, the control subsystem 22 based on information received from the central controller and the cloud server for storing and transmitting data , performs the procedure for detaching the cargo 3 from the ground or air robot-courier and returning it to the cell 23 of the mobile structure of the rack type 4 according to the algorithm for sending the cargo 3 only carried out in the reverse order.

In particular, the ground-based courier robot 20 returns via the ramp 28 to the floor lock part 6, the control subsystem closes the loading and unloading hatch 39 and directs the elevator platform 16 to the floor compartment 18. Next, the ground-based courier robot 20 enters the elevator platform 16 and along the transport mine 5 moves to the warehousing and storage unit (II). The robot-manipulator picks up the cargo 3 from the cargo compartment of the ground-based courier robot 20 and returns the unreceived cargo 3 to the corresponding cell 23 of the mobile rack-type structure 4.

In the same way, the air courier robot 21 with unreceived cargo 3 descends onto the elevator platform 16, the specified courier robot is magnetically fixed to the elevator platform 16. After that, the hardware module of the control subsystem 22 instructs the elevator platform 16 to descend into the ceiling airlock part 7, and about the sequential closing of the outer hatch 2 and the inner hatch 29. The hardware module of the control subsystem 22 sends a command to the air robot-courier 21 to disconnect the load 3. Next, the air robot-courier 21 is taken by a small robot-manipulator 25 and moves to the site of its storage and recharging 35. Elevator platform 16 transports the cargo 3 along the transport shaft 5 to the warehousing and storage unit (II). The robot-manipulator picks up the load 3 from the elevator platform 16 and returns the unreceived load 3 to the corresponding cell 23 of the mobile rack-type structure 4.

As mentioned earlier, outside the complex can be equipped with at least one video surveillance camera synchronized with the hardware module of the control subsystem 22. The data coming from the camera is processed by the hardware module of the control subsystem 22 and allows the safe launch of air robots-couriers 21, making sure that there are no natural and artificial barriers in the form of wires, tree branches, etc., as well as to process data coming from the camera to form and store on a remote server a map of the area, taking into account the relief, which can be used when forming the next route and determining the estimated time of arrival at each from its points.

In addition, the video recording camera and the wireless communication module allow video recording of the cargo transmission 3, which is sent to a remote server to be stored for a predetermined amount of time.

Among other things, the camera can be used to videotape an attempted theft of an air or ground courier robot and transmit real-time broadcast data to law enforcement.

Air or ground courier robots deliver cargo to specified addresses, while an external data storage and transmission server sends notifications to users from the list of consignees in the form of messages in installed software, push messages, messages in various instant messengers, SMS messages or other ways of informing about the expected time of arrival of the goods and the chosen method of delivery, and after receiving the goods - notification of the completion of delivery.

As an option, the complex can be equipped with an additional external robotic arm for collecting disabled unmanned vehicles.

The proposed invention can be widely used in industry, in particular in the field of delivery of goods and correspondence to areas remote from civilization.

Claims (8)

1. A robotic mobile courier complex, which includes a distribution unit (I) located in a container or a body of a vehicle, structurally divided into functional ones in accordance with the purpose and connected in the course of the technological process with a receiving-loading and outlet zones, a warehousing and storage unit (II) and robotic unit (III), forming an automated courier structure, which is controlled and controlled by a control subsystem consisting of a hardware module with a processor connected via a wireless communication module to a central controller and a cloud storage and data transmission server, while: - the receiving-loading area of the distribution unit (I) contains a loading board, and the outlet area of the distribution unit (I) contains an elevator platform moving along the transport shaft, which has interfaces with the transitional sections of the floor and ceiling compartments of the robotic assembly (III), as well as with the transitional section of the warehousing and storage unit (II), and at least one hatch, - the warehousing and storage unit (II) includes at least one mobile rack-type structure with cells and a movable two-coordinate table equipped in the ceiling part, connected by means of a vertically oriented rack with a movable spherical support located in the floor part, while on the specified vertical rack is installed a mobile robotic arm configured to grab a cargo object for the purpose of its subsequent positional contact with fixed equipment and/or air and ground courier robots, - said floor and ceiling compartments of the robotic unit (III) are equipped with landing service areas for basing the indicated ground and air robots-couriers, each of which has an intelligent positioning system interacting with the specified control subsystem and determining the navigation route to the destination, providing for the possibility of mutual information exchange with authorized users. 2. Robotic mobile courier complex according to claim 1, characterized in that the distribution unit (I) is equipped with an apparatus for automatic packaging of goods. 3. Robotic mobile courier complex according to claim 1, characterized in that the elevator platform of the distribution unit (I) is equipped with an actuator in the form of an electric drive, equipped with a piston with a pusher and with a gripping device. 4. Robotic mobile courier complex according to claim 1, characterized in that the elevator platform of the distribution unit (I) is equipped with a video surveillance or photographic device. 5. Robotic mobile courier complex according to claim 1, characterized in that the warehousing and storage unit (II) is connected to the floor compartment of the robotic unit (III) with ground courier robots through an opening with a door with an automatic locking mechanism.

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