TWI721649B - UAV alpine logistics system and method - Google Patents

Abstract

The present invention provides an unmanned aerial vehicle mountain logistics system and method, which are mainly composed of an unmanned aerial vehicle, an unmanned aerial vehicle self-detection system arranged in the unmanned aerial vehicle, a flat ground and an alpine logistics flight control center, the flat ground logistics flight control center Send a cargo signal to the drone, and the drone will perform self-test before taking off. After the test is completed and there are no problems, it will take off to a production and sales shift to pick up the goods, and use the production and sales shift stop positioning device to confirm the location of the goods , When the cargo is actually picked up, self-check again, and immediately go to the Alpine Logistics Flight Control Center when there is no problem, and then land on the apron under the guidance of the Alpine Logistics Flight Control Center's parking positioning device to ensure completion For flight missions, perform the next mission after the instructions of the high mountain or flatland logistics flight control center.

Description

UAV alpine logistics system and method

The present invention relates to an unmanned aerial vehicle mountain logistics system and method, in particular to an unmanned aerial vehicle mountain logistics system and method that can be used for mountain cargo transportation.

Generally speaking, due to the large difference in temperature between day and night on high mountains, the quality of fruits and vegetables grown on high mountains or on mountain slopes is better than that on flat ground, but because the transportation of fruits and vegetables on mountains takes a lot of time and costs a lot of transportation, and Due to the many restrictions on transportation and climate, the freshness of fruits and vegetables is likely to be greatly reduced during long-term transportation. At the same time, the existing mountain environment is prone to lack of materials due to difficult transportation and many problems. For example, Lala Mountain, which has an altitude of 2000m, has about 300 fruit growers on Lala Mountain. Among them, the fruit growers at the highest point on Lala Mountain, either by themselves or by a freight company, will collect freshly harvested fruits and vegetables. It takes a drive of at least 50 kilometers and a single trip of nearly 3-4 hours to drive down the mountain. It often takes a day to travel between the flat land and the high mountain producing areas of vegetables and fruits. However, the mountain roads are curved and steep. Vehicle safety is the most important thing to pay attention to, and the high freight between flat land and mountains is also an expensive expense for fruit farmers. As shown in Figure 1, because of the rugged and winding mountain roads, the transportation vehicle (A) needs to extend the required transportation time during the transportation process, and the winding road is a test of driving spirit and technology. .

Given the various inconveniences caused by transportation in mountainous areas, how to provide a solution that can effectively shorten transportation time and transportation safety, and at the same time save labor and time spent on transportation, is a technical problem that still needs to be overcome and solved.

The main purpose of the present invention is to solve the problem that the conventional method cannot effectively shorten the transportation time and transportation safety, and at the same time, it can save manpower and time spent on transportation.

To achieve the above objective, the present invention provides an unmanned aerial vehicle mountain logistics system and method, which can effectively shorten the transportation time and transportation safety, and at the same time can save labor and transportation time, and can solve the shortage of mountain materials at the same time. The problem.

An unmanned aerial vehicle mountain logistics system is mainly composed of an unmanned aerial vehicle, an unmanned aerial vehicle self-detection system set in the unmanned aerial vehicle, and a logistics flight control center. The unmanned aerial vehicle includes an aircraft and is composed of a motor. , A propeller, an aircraft speed control module, and a motor drive device are electrically connected to each other, wherein the motor is connected to the propeller through the main shaft to provide power for the propeller to rotate, so that the propeller can rotate Drive the drone to increase buoyancy, the aircraft speed control module can control the motor drive device to control the motor, and then change the rotation speed of the propellers to adjust the flight speed; a fixed frame is used to grab and fix a cargo, and A fixed frame drive servo motor, a fixed frame control device, and a fixed frame processor, wherein the fixed frame drive servo motor drives the fixed frame control device to grab the goods to determine whether the goods are fixed; a landform radar The device is used to determine the distance between the UAV and the ground. It consists of a directional antenna, a radar wave receiver, a geomorphic radar processor and a geomorphic radar computing module. The directional antenna can transmit a radar to a scene. Radar wave, and receive the radar reflection wave reflected by the scene through the radar wave receiver, and generate a landform radar reflection wave signal. The landform radar processor executes the landform radar operation module to perform the landform radar reflection wave signal Calculate to measure the intensity and time difference of the radar reflected wave, so as to measure the distance to the scene and the direction of flight; GPS positioning device is installed on the drone, and the drone is detected by positioning At the same time, it is possible to determine the relative distance between the drone and the production and sales team, and generate a GPS positioning message to transmit to the logistics flight control center through a wireless transmission device; a camera , Is to obtain the image of the scene, and includes a camera control device, a camera processor, and a camera drive servo motor and are electrically connected to each other, the image can be transmitted to the logistics flight control center through the wireless transmission device, The logistics flight control center can transmit a command signal to the camera to control the camera to adjust the angle; a radio frequency identification device (Radio Frequency Identification, RFID) can be scanned and identified by the camera to identify an RFID set on the cargo Label; a power battery device, including a power battery power detection module, a power battery processor and a battery, the battery is to provide the power required by the drone and a drone self-test system, the power battery power detection The module monitors the voltage of the battery and generates a voltage monitoring signal at the same time, and compares the data of the voltage monitoring signal with a preset voltage threshold. When the data of the voltage monitoring signal is lower than the voltage threshold , The power battery power detection module transmits a charging signal to the power battery processor, and the charging signal is transmitted to the logistics flight control center through the wireless transmission device, so that the logistics flight control center knows the The status of the drone; the drone self-detection system includes: a self-function detection processor to automatically detect the real-time status of the various devices of the drone, and at the same time generate a detection record, and transmit the detection record to the Logistics flight control center; a channel simulation detection unit that accepts and confirms the channel information provided by the logistics flight control center and the RFID tag set on the cargo, where the channel information includes a flight path and an estimated flight Speed, an estimated flight time, and an estimated total power consumption. When the UAV does not accept or confirm the channel information, a channel simulation test signal will be generated and sent to the logistics flight control center for confirmation; an endurance test The unit continuously detects the endurance capability of the UAV to continue flying through the power battery power detection module, and randomly generates an endurance detection signal, which is transmitted to the logistics flight control center through the wireless transmission device; An image recognition detection unit detects whether the camera is operating normally, and can immediately provide an image recognition detection signal when an abnormality occurs, the image recognition detection signal is transmitted to the logistics flight control center through the wireless transmission device; a landform radar The positioning and height detection unit detects whether the geomorphology radar device is operating normally, and can provide a geomorphology radar positioning and height detection signal immediately when an abnormality occurs, and transmit it to the logistics flight control center through the wireless transmission device; a logistics detection The module includes a logistics detection processor and a carrier cargo tightening detection unit, which are electrically connected to each other, and are used to detect whether the fixed rack actually grabs the goods, and at the same time, the logistics detection processor generates a fixed sensor The signal and a cargo RFID detection unit are used to detect and confirm whether the RFID tag on the cargo has a commodity category information, a commodity weight information and a target channel location of the cargo contained, and will be generated immediately when abnormality is detected A cargo RFID detection signal is transmitted to the logistics flight control center through the wireless transmission device; a channel detection unit detects whether the RFID tag on the cargo has a target channel position and transfers the detection result to a channel The detection signal is sent to the logistics flight control center; a cargo detection unit detects whether the RFID tag on the cargo has commodity weight information, and transmits the detection result to a cargo detection signal through the wireless transmission device The logistics flight control center; the wireless transmission device is to receive a device control command of the logistics flight control center, and use the device control command to control the flight of the aircraft and the operation and setting of the device, and connect the drone with The signal generated by the UAV self-inspection system is sent to the logistics flight control center; a memory unit is used to record and store the signals transmitted by the UAV and the UAV self-inspection system; a central processing controller is To control the aircraft, and electrically connect the fixing frame, the landform radar device, the GPS positioning device, the camera, the power battery device, the radio frequency RFID identifier, and the drone self-detection System; The logistics flight control center is divided into a flat land logistics flight control center located on a flat ground, and a high mountain logistics flight control center located in a high mountain, and both are able to receive multiple meteorological data provided by a meteorological bureau. Among them, the logistics flight control center The center includes: a display to display the signals of the UAV and the UAV self-test system, and to monitor the status of the aircraft in real time; a command input device to input the control commands of the device to adjust the aircraft, The operation of the fixed frame, the landform radar device, the GPS positioning device, the camera, the power battery device and the UAV self-test system, and at the same time can rewrite the UAV's flight path and the signal of the cargo carried at any time; The logistics wireless transmission device is used to receive and transmit various signals of the drone and the drone self-detection system, and display them on the display; and a server to store the plural meteorological data to form a meteorological database , And store the signal transmitted between the logistics flight control center and the drone.

In an embodiment of the present invention, the RFID tag on the goods has an antenna and a chip, and the RFID uses high-frequency electromagnetic waves to transmit a signal to the RFID tag, and the antenna of the RFID tag receives the High-frequency electromagnetic waves will form a resonance inside the antenna to generate a current to activate the chip in the RFID tag. After the chip receives the transmitted signal, the response signal is transmitted back to the high-frequency carrier of the same frequency. The RFID.

In an embodiment of the present invention, the level logistics flight control center and the alpine logistics flight control center further include a logistics flight control center apron to provide parking, maintenance, grabbing, and unloading of the UAV ; A stop positioning device to provide a stop signal and transmit it to the drone through a stop wireless transmission device, so that the drone can follow the stop signal to accurately land on the logistics flight control center apron when landing.

In one embodiment of the present invention, the geomorphology radar device is additionally provided with an automatic obstacle avoidance unit to automatically measure the distance around the drone to prevent collisions of the drone, wherein the automatic obstacle avoidance unit can sense through a distance The device senses the relative distance between the obstacle and the UAV, so that the automatic obstacle avoidance unit can react to avoid obstacles in the flight path in real time.

In an embodiment of the present invention, the drone is additionally provided with a lighting device to provide illumination and warning.

In an embodiment of the present invention, the logistics flight control center is additionally provided with a push broadcast device to transmit the arrival time of the drone, the current location, and the cargo to the destination through the Internet through the logistics wireless transmission device. The recipient.

In an embodiment of the present invention, the battery is a hydrogenated fuel cell.

In an embodiment of the present invention, the fixing frame can also be a hook, a four-leg bracket, and a carriage frame.

In an embodiment of the present invention, the meteorological data includes a temperature value, which is compared with a preset temperature threshold value. When the temperature value is lower than or greater than the temperature threshold value, an abnormal temperature warning is generated and displayed On the display; a rainfall value is compared with a preset rainfall threshold value, when the rainfall value is greater than the rainfall threshold value, an abnormal rainfall warning is generated and displayed on the display; The value of the Beaufort wind level is compared with a preset Beaufort wind level threshold. When the value of the Beaufort wind level is greater than the Beaufort wind level threshold, an exception warning of the Beaufort wind level will be generated and displayed On the display.

In an embodiment of the present invention, the meteorological data is separately obtained from a public meteorological database provided by the Government Meteorological Bureau. The meteorological data includes temperature changes, the maximum temperature and duration of summer, and the minimum temperature and duration of winter. , Rainfall, prevailing wind direction, Pu's wind level, and typhoon frequency can also be corrected by the logistics flight control center to instantly rewrite the flight path of the drone to the destination.

In an embodiment of the present invention, the motor, the fixed frame drive servo motor, or the camera drive servo motor is a brushless motor.

An unmanned aerial vehicle mountain logistics method, which includes: Step 1: A level logistics flight control center transmits a cargo signal to a drone parked on the apron of the level logistics flight control center; Step 2: The drone will conduct a self-test of a drone self-test system before taking off, and after the testing is completed and there are no problems, it will take off to a production and sales team to pick up the goods; Step 3: Use the stop positioning device of the production and sales shift to locate the position of the goods; Step 4: When the drone is ready to receive the goods, it uses a radio frequency identification device to identify one of the RFID tags of the goods to verify whether the goods are correct; Step 5: If it is correct, accept the task, and after self-inspection, immediately grab the cargo and go to a high mountain logistics flight control center; Step 6: If it is not correct, it will automatically report back to the level logistics flight control center, and check whether the cargo is correct or not; Step 7: After arriving at the Alpine Logistics Flight Control Center, the UAV will be guided by the parking positioning device located in the Alpine Logistics Flight Control Center to land on the apron of the Alpine Logistics Flight Control Center and complete Flight mission Step 8: After the UAV has been self-tested, it can execute the next task according to the instructions of the Alpine Logistics Flight Control Center or the Flatland Logistics Flight Control Center.

In an embodiment of the present invention, the self-test is when the drone is located in the flatland logistics flight control center or the alpine logistics flight control center, the drone will perform a drone self-test system, including Channel simulation detection, endurance detection, image recognition detection, geomorphological radar positioning and altitude detection, and produce a self-function detection result, which is immediately returned to the current location of the flat or mountain logistics flight control center for storage.

In an embodiment of the present invention, the self-detection means that when the drone is in the production and sales shift, the drone will perform a drone self-detection system, which includes fixed detection of vehicle cargo, cargo RFID detection, The channel and cargo are inspected, and a self-function test result is generated, which is immediately returned to the level logistics flight control center for storage.

In one embodiment of the present invention, in the second step, the self-test result of the UAV is synchronously tested and compared with the originally preset self-function test result of the level logistics flight control center, including Ruojun If there is no problem, the drone can take off for mission; if the self-function test result does not meet the original preset self-function test result, it needs to be corrected manually and the error message is eliminated, and the self-test is performed again. If the self-function test results of the drone and the level logistics flight control center meet the original preset self-function test results, the drone can take off for missions.

In an embodiment of the present invention, in step 6, the self-test result of the UAV is synchronously tested and compared with the originally preset self-function test result of the Alpine Logistics Flight Control Center, including Ruojun If there is no problem, the drone can take off for mission; if the self-function test result does not meet the original preset self-function test result, it needs to be corrected manually and the error message is eliminated, and the self-test is performed again. If the self-function test results of the drone and the Alpine Logistics Flight Control Center meet the original preset self-function test results, the drone can take off for missions.

In order to help your examiners understand the technical features, content and advantages of the present invention and the effects that can be achieved, the present invention is described in detail with the accompanying drawings and in the form of embodiment expressions. The drawings used therein are as follows: The subject matter is only for the purpose of illustration and auxiliary description, and may not be the true proportions and precise configuration after the implementation of the invention. Therefore, it should not be interpreted in terms of the proportions and configuration relationships of the accompanying drawings, and should not limit the scope of rights of the invention in actual implementation. Hexian stated.

First of all, please refer to Figures 2 to 7, which are the block diagram of the UAV mountain logistics system and method, the UAV architecture diagram, the logistics flight control center architecture diagram, the UAV grabbing goods schematic diagram, the UAV grabbing goods The action diagram and the schematic diagram of a drone with six-axis propellers are mainly composed of a drone (10), a drone self-detection system (20) and a logistics flight control center (30) installed in the drone .

The UAV (10) includes an aircraft (110), which is composed of a motor (111), a propeller (112), an aircraft speed control module (113), and a motor drive device (114). The aircraft (110) electrically connected to each other, wherein the motor (111) is connected to the propeller (112) through the main shaft, and provides the power for the propeller (112) to rotate, so that the propeller (112) can be rotated and driven The UAV (10) has rising buoyancy. In one embodiment, the propeller (112) can be four-axis, six-axis or eight-axis to greatly improve flight performance and flight balance, so as to move flexibly, and To enhance the maneuverability in the face of natural disasters in mountainous areas, in another embodiment, the motor (111) is preferably a brushless motor. By virtue of the brushless characteristics of the motor (111), the friction force during operation is greatly reduced , Which can extend the service life and reduce maintenance costs at the same time. The aircraft speed control module (113) can control the motor drive device (114) to control the motor (111), thereby changing the rotation speed of each propeller (112). In order to adjust the flight speed; a fixed frame (120), which uses a hook, a four-leg bracket, or a carriage frame to grab and fix a cargo (40), and a fixed frame drives the servo motor (121), a The fixing frame control device (122) and a fixing frame processor (123) are electrically connected to each other, wherein the fixing frame driving servo motor (121) can drive the fixing frame control device (122) to grab the goods (40) ), wherein, in one embodiment, the cargo (40) is a closed storage box, which can prevent fruits and vegetables from falling during the flight of the drone (10) to increase transportation safety. In another embodiment, the The best system for the fixed frame drive servo motor (121) can be a brushless motor. With the brushless characteristics of the fixed frame drive servo motor (121), the friction force during operation is greatly reduced, which can prolong the service life and reduce at the same time Maintenance cost; a geomorphic radar device (130) to determine the distance between the UAV (10) and the ground, including a directional antenna (131), a radar wave receiver (132), and a geomorphic radar processor (133) ) And a landform radar computing module (134) and are electrically connected to each other, wherein the directional antenna (131) is capable of transmitting a radar wave to a scene, and receiving the reflection of the scene through the radar wave receiver (132) Radar reflection wave and generate a landform radar reflection wave signal. The landform radar processor (133) executes the landform radar operation module (134) to calculate the landform radar reflection wave signal to measure the radar reflection wave The intensity and time difference can be used to measure the distance from the scene and the direction of flight. At the same time, it can also determine the flying height of the UAV (10) from the ground, and continuously maintain the flight at a fixed height above the ground. Height, and an automatic obstacle avoidance unit (not shown in the figure) is also provided to automatically measure the distance around the drone (10) to prevent the The collision of the UAV (10), in which the automatic obstacle avoidance unit can sense the relative distance between the obstacle and the UAV (10) through a distance sensor, so that the automatic obstacle avoidance unit can respond to avoidance in real time Obstacles in the flight path; a GPS positioning device (140) is set on the UAV (10) and detects the location of the UAV (10) and the geographic location corresponding to a production and sales team. At the same time, the relative distance between the UAV (10) and the production and sales team can be determined, and a GPS positioning message can be generated to transmit to the logistics flight control center through a wireless transmission device (290); a camera (150) is used to obtain Takes an image of the scene, and includes a camera control device (151), a camera processor (152), and a camera driving servo motor (153). In one embodiment, the camera driving servo motor (153) is the most The best series can be a brushless motor. With the brushless characteristics of the camera drive servo motor (153), the friction force during operation is greatly reduced, the service life can be prolonged, and the maintenance cost is reduced, and the electrical connection is mutually connected. The image can be transmitted to the logistics flight control center (30) through the wireless transmission device (290), and the logistics flight control center (30) can transmit a command signal to the camera (150) to control the camera (150). Lens adjustment angle; a radio frequency identification device (Radio Frequency Identification, RFID) (160), through the camera (150) to scan and identify an RFID tag (410) placed on the goods (40); a power battery device (170), which includes a battery (171), the battery (171) is a hydrogenated fuel cell or a lithium battery (171), a power battery power detection module (172), and a power battery processor (173) And are electrically connected to each other. The battery (171) is used to provide the power required by the drone (10) and a drone self-detection system (20), and the power battery power detection module (172) is used to monitor the battery (171) voltage, and generate a voltage monitoring signal at the same time, and compare the data of the voltage monitoring signal with a preset voltage threshold. When the data of the voltage monitoring signal is lower than the voltage threshold, the power battery The power detection module (172) transmits a charging signal to the power battery processor (173), and the charging signal is transmitted to the logistics flight control center (30) through the wireless transmission device (290), so that the logistics flight control The center (30) immediately knows the status of the drone (10), and the drone is additionally equipped with a lighting device (180) to provide lighting and warnings.

Furthermore, the UAV self-detection system (20) includes a self-function detection processor (210) to automatically detect the real-time status of the various devices of the UAV (10), and at the same time generate a detection record, and combine the The inspection record is transmitted to the logistics flight control center (30); a channel simulation inspection unit (220) is used to receive and confirm the logistics flight control center (30) and the RFID tag (410) installed on the cargo (40) The channel information provided in ), where the channel information includes a flight path, an estimated flight speed, an estimated flight time, and an estimated total power consumption. When the UAV (10) does not accept or confirm the channel information At the same time, it will generate a channel simulation detection signal and send it to the logistics flight control center (30) for confirmation. The RFID tag (410) has an antenna and a chip, and uses the radio frequency identification device (160 ) Using high-frequency electromagnetic waves to transmit a signal to the RFID tag (410), the antenna of the RFID tag (410) receives the high-frequency electromagnetic wave and will form a resonance inside the antenna, generating a current to activate the RFID tag ( The chip in 410), after receiving the signal, the chip returns the response signal to the radio frequency identification device (160) via a high-frequency carrier of the same frequency; a battery life detection unit (230) is transmitted through The power battery power detection module (172) continuously detects the endurance capability of the UAV (10) that can continue to fly, and randomly generates an endurance detection signal, which is transmitted to the endurance detection signal through the wireless transmission device (290) Logistics flight control center (30); an image recognition detection unit (240) that detects whether the camera (150) is operating normally, and can immediately provide an image recognition detection signal when an abnormality occurs, and the image recognition detection signal passes through the The wireless transmission device (290) is transmitted to the logistics flight control center (30); a geomorphic radar positioning and height detection unit (250) detects whether the geomorphic radar device (130) is operating normally, and can immediately Provides a terrain radar positioning and height detection signal, and transmits it to the logistics flight control center (30) through the wireless transmission device (290); a logistics detection module (260), which includes a logistics detection processor, and a carrier cargo The tightening detection unit is electrically connected to each other. The carrier cargo tightening detection unit detects whether the fixed rack (120) actually grabs the goods (40), and at the same time, the logistics detection processor generates a fixed sensing signal , And a cargo RFID detection unit, which detects and confirms whether the RFID tag (410) on the cargo (40) has a product category information, a product weight information and a target channel location of the cargo (40) carried , And when the abnormality is detected, a cargo RFID detection signal is immediately generated and transmitted to the logistics flight control center (30) through the wireless transmission device (290); a channel detection unit (270) is Detect whether the RFID tag (410) on the cargo (40) has a target channel position, and transmit the detection result to the logistics flight control center (30) with a channel detection signal; a cargo detection unit (280) , Is to detect whether the RFID tag (410) on the cargo (40) has a commodity weight information, and to transmit the detection result to the logistics flight control center through the wireless transmission device (290) with a cargo detection signal (30); The wireless transmission device (290) is to receive a device control instruction of the logistics flight control center (30), and use the device control instruction to control the UAV (10) and the UAV self-detection system ( 20) And control the flight of the aircraft (110) and the operation and settings of its devices, and transmit various signals generated by the drone (10) and the drone self-detection system (20) to the logistics flight control center (30); A memory unit (2110) to record and store various signals transmitted by the drone (10) and the drone self-detection system (20); a central processing controller (2120), To control the aircraft (110), and electrically connect the fixing frame (120), the geomorphology radar device (130), the GPS positioning device (140), the camera (150), and the radio frequency identifier (160) , The power battery device (170) and the UAV self-detection system (20).

Then, the logistics flight control center (30) is divided into the flat ground logistics flight control center (31) located on the flat ground, and the alpine logistics flight control center (32) located in the high mountains, and they are all able to receive a plural number provided by the Meteorological Bureau Meteorological data, where the logistics flight control center (30) includes a display (310) to display the contents of various signals transmitted by the drone (10) and the drone self-detection system (20), as well as real-time monitoring The status of the UAV (10); a command input device (320) is used to input the device control commands to adjust the aircraft (110), the fixed frame (120), the landform radar device (130), the GPS The operation of the positioning device (140), the camera (150), the power battery device (170) and the UAV self-test system (20), and at the same time, the flight path of the UAV (10) and the cargo carried can be rewritten at any time The signal; a logistics wireless transmission device (330) to receive and transmit various signals of the drone (10) and the drone self-detection system (20); and a server (340) to store the A plurality of meteorological data is used to form a meteorological database, and the signals transmitted between the logistics flight control center (30) and the drone (10) are stored; a logistics flight control center apron (350) is to provide the The parking, maintenance, grabbing, and unloading of the UAV (10); a shutdown positioning device (360) is used to provide a shutdown signal, which is transmitted to the UAV (10) through a shutdown wireless transmission device, so that the When the drone (10) is landing, it can follow the stop signal to accurately land on the apron (350) of the logistics flight control center. In addition, a push broadcast device (370) is provided to use the logistics wireless transmission device (330) to connect to the Internet. The network transmits the arrival time of the UAV (10), the current location, and the receiver carrying the goods to the destination.

The meteorological data includes a temperature value, which is compared with a preset temperature threshold value. When the temperature value is lower than or greater than the temperature threshold value, an abnormal temperature warning is generated and displayed on the display (310); A rainfall value is compared with a preset rainfall threshold value. When the rainfall value is greater than the rainfall threshold value, an abnormal rainfall warning is generated and displayed on the display (310); The value of the series is compared with a preset Pu's wind pressure threshold. When the value of the Pu's wind pressure is greater than the threshold of the Pu's wind pressure, an abnormal warning of the Pu's wind pressure is generated and displayed on the threshold. On the display (310), the other can be obtained from the public weather database provided by the Government Meteorological Bureau. The weather data includes temperature changes, the highest temperature in summer and the number of continuous days, the lowest temperature and the number of continuous days in winter, rainfall, prevailing wind direction, Pu's wind series and typhoon frequency.

Next, please refer to Figure 8, which is an execution flow chart of the UAV mountain logistics system and method, where the process includes. Step 1 (S610): A level logistics flight control center transmits a cargo signal to a drone parked on the apron of the level logistics flight control center; Step 2 (S620): The drone will perform a self-test of the drone self-test system before taking off, and after the testing is completed and there are no problems, it will take off to a production and sales shift to pick up the goods; Step three (S630): locate the position of the goods by the stop positioning device of the production and sales shift; Step 4 (S640): When the drone is ready to receive the goods, it uses a radio frequency identification device to identify one of the RFID tags of the goods to verify whether the goods are correct; Step 5 (S641): If it is correct, accept the task, and after self-inspection, immediately grab the cargo and go to a high mountain logistics flight control center; Step 6 (S642): If it is not correct, automatically report back to the level logistics flight control center, and check again whether the cargo is correct; Step 7 (S650): After arriving at the Alpine Logistics Flight Control Center, the UAV will be guided by the parking positioning device located in the Alpine Logistics Flight Control Center to land on the Alpine Logistics Flight Control Center's apron. Really complete the mission; Step 8 (S660): After the UAV has been self-tested, it can execute the next task under the instructions of the Alpine Logistics Flight Control Center or the Flatland Logistics Flight Control Center.

Among them, the step two (S620) and step eight (S660) of the self-checking are when the drone is located in the flatland logistics flight control center or the alpine logistics flight control center, the drone will perform a drone self-checking system , Which includes carrying out channel simulation detection, endurance detection, image recognition detection, geomorphological radar positioning and height detection, and generating a self-function detection result, which is immediately returned to the current location of the flat or mountain logistics flight control center for storage. This step Five (S641) The self-testing means that when the UAV is in the production and marketing shift, the UAV will perform a UAV self-testing system, which includes the tight inspection of the vehicle cargo, the RFID inspection of the cargo, and the inspection of the waterway and cargo. And generate a self-function test result, and immediately return it to the level logistics flight control center for storage.

In step two (S620), the self-test result of the drone is synchronously tested and compared with the original self-function test result of the level logistics flight control center, including if the self-test result of the drone The result is that there is no problem with the detection of the level logistics flight control center, then the drone can take off to the production and sales team for tasks; if the self-function test result does not meet the original preset self-function test result, it needs to be manually Perform correction processing and eliminate the error message, and perform the self-test again. Once the self-function test results of the drone and the level logistics flight control center meet the original preset self-function test results, the drone can take off. The production and marketing team performs tasks.

Among them, in step eight (S660), the self-test result of the UAV is synchronously tested and compared with the original self-function test result of the Alpine Logistics Flight Control Center, including if the self-test of the UAV The result is that there is no problem with the test of the Alpine Logistics Flight Control Center, the UAV can take off for the next mission; if the self-function test result does not meet the original preset self-function test result, it needs to be performed manually Correct the processing and eliminate the error message, and perform the self-test again. Once the self-function test results of the drone and the Alpine Logistics Flight Control Center meet the original default self-function test results, the drone can take off and proceed to the next step. A trip to the mission.

Next, please refer to Figure 9 and Figure 10, which are the UAV flight schematic diagram of the UAV mountain logistics system and method, and the UAV avoiding obstacle schematic diagram. In summary, the Yipingdi Logistics Flight Control Center formulates a cargo list. The cargo list is converted into a cargo signal and sent to a drone (10) parked on the apron of the flat logistics flight control center (31). The drone (10) will conduct self-test before taking off, including when it takes off. Channel simulation detection of secondary flight path, endurance detection of flight power prediction, camera image recognition detection, air-to-ground geomorphic radar positioning and altitude detection, and generate a self-function detection result, which is immediately returned to the current location of the flat logistics The flight control center (31) performs storage. If there is a problem, the level logistics flight control center (31) will receive an error message and can immediately send someone to manually perform the error inspection. The error inspection includes the drone The replacement of the power battery of the UAV, the replacement of the lighting device (180), the maintenance of the replacement machine of the fixed frame and other hardware repairs. After the error is eliminated, the UAV (10) re-tests itself again, and after the test is completed, there is no After the problem and report it to the level logistics flight control center (31) again, take off to a production and sales shift to pick up the goods. Please also refer to Figure 10, when the UAV (10) is flying in the sky, it is guided by orientation The antenna (131) transmits a radar wave to the ground and surroundings of the mountainous area, and receives the reflected radar reflection wave to generate a landform radar reflection wave signal to measure the intensity and time difference of the radar reflection wave to achieve the measurement and the scene At the same time, the geomorphology radar device (130) can also determine the flying height of the drone (10) from the ground, and continuously maintain a fixed altitude with the ground, and pass a distance The sensor senses the relative distance between the obstacle and the UAV (10), so that it can react instantly to avoid obstacles in the flight path. When the UAV (10) is close to the production and sales shift, the production and sales shift The stop positioning device will locate the location of the cargo and guide the drone (10) to descend above the cargo. When the drone (10) is ready to receive the cargo, it uses a radio frequency identification device to identify the cargo. An RFID tag to verify the correctness of the cargo, including the fixed inspection of the carrier for whether the fixed rack actually grabs the cargo, the RFID inspection of the cargo to confirm whether the cargo is correct, the reconfirmation of the flight path and the inspection of the cargo, and Generate a self-function test result and immediately return it to the flatland logistics flight control center (31) for storage. If it is correct, it will accept the task, and after the self-test, immediately grab the cargo and go to a high mountain logistics flight control center (32) ), but if any one of them is incorrect, it will automatically report back to the level logistics flight control center (31), the level logistics flight control center (31) will confirm whether the cargo is matched with the drone (10) correctly , And correct the error problem, and then send the correct message back to the drone (10), and the drone (10) again Check whether the cargo is correct or not, until it is correct, the task will be accepted, and the cargo will be immediately picked up to go to a high mountain logistics flight control center (32). When it arrives at the high mountain logistics flight control center (32), the drone (10) will borrow Guided by a stop positioning device located in the high mountain logistics flight control center (32), land on the logistics flight control center apron of the high mountain logistics flight control center (32), and complete the flight mission automatically, and proceed automatically Self-test, and wait for the instruction of the high mountain logistics flight control center (32) or the flatland logistics flight control center (31) to perform the next task, and repeat the self-test to ensure safety during flight.

From the above implementation description, it can be seen that compared with the prior art and products, the present invention has the following advantages:

1. The unmanned aerial vehicle mountain logistics system and method of the present invention can shorten the transportation time and transportation cost of the goods by air transportation by the unmanned aerial vehicle, so as to ensure the freshness of the goods and fruits, and to avoid the danger during transportation.

2. The unmanned aerial vehicle mountain logistics system and method of the present invention can reduce the cost of inspection personnel through the self-inspection of the unmanned aerial vehicle, and can more effectively spend time on transporting goods.

Specifically, the present invention can effectively reduce transportation time and transportation safety by using drones to transport goods in mountainous areas. At the same time, it can save manpower and time spent in transportation, and can solve mountainous areas at the same time. The problem of lack of supplies.

In summary, the unmanned aerial vehicle mountain logistics system and method of the present invention can indeed achieve the expected use effect through the above-disclosed embodiments, and the present invention has not been disclosed before application. It is in full compliance with the patent law. The regulations and requirements. If you file an application for a patent for invention in accordance with the law, you are kindly requested to review and grant a quasi-patent.

However, the above-mentioned illustrations and descriptions are only preferred embodiments of the present invention, and are not intended to limit the scope of protection of the present invention. Anyone familiar with the art will do other things based on the characteristic scope of the present invention. Equivalent changes or modifications should be regarded as not departing from the design scope of the present invention.

(10): Drone (110): Aircraft (111): Motor (112): Propeller (113): Aircraft speed control module (114): Motor drive (120): fixed frame (121): Fixed frame drive servo motor (122): Fixed frame control device (123): fixed frame processor (130): Geomorphology radar device (131): Directional antenna (132): Radar wave receiver (133): Geomorphology radar processor (134): Geomorphology Radar Operation Module (140): GPS positioning device (150): Camera (151): Camera control device (152): Camera processor (153): Camera drive servo motor (160): Radio Frequency Identification Device (170): Power battery device (171): Battery (172): Power battery power detection module (173): Power battery processor (180): Lighting installation (20): UAV self-detection system (210): Self-function detection processor (220): Channel simulation detection unit (230): Endurance detection unit (240): Image recognition and detection unit (250): Geomorphology radar positioning and height detection unit (260): Logistics testing module (270): Channel detection unit (280): Cargo Inspection Unit (290): Wireless transmission device (2110): Memory unit (2120): Central Processing Controller (30): Logistics Flight Control Center (31): Pingdi Logistics Flight Control Center (32): Gaoshan Logistics Flight Control Center (310): display (320): Command Input (330): Logistics wireless transmission device (340): server (350): Logistics flight control center apron (360): Stop positioning device (370): Push Broadcast Device (40): Cargo (410): RFID tag (A): Transporter (S610): Step one (S620): Step two (S630): Step Three (S640): Step Four (S641): Step 5 (S642): Step 6 (S650): Step 7 (S660): Step 8

Figure 1: Schematic diagram of Xizhi mountain transportation. Figure 2: Block diagram of the unmanned aerial vehicle mountain logistics system and method of the present invention. Figure 3: UAV architecture diagram of the UAV alpine logistics system and method of the present invention. Figure 4: The architecture diagram of the logistics flight control center of the unmanned aerial vehicle mountain logistics system and method of the present invention. Figure 5: A schematic diagram of the unmanned aerial vehicle grabbing goods of the unmanned aerial vehicle mountain logistics system and method of the present invention. Figure 6: The action diagram of the unmanned aerial vehicle's high mountain logistics system and method according to the present invention when the unmanned aerial vehicle grabs goods. Figure 7: A schematic diagram of an unmanned aerial vehicle with six-axis propellers in the unmanned aerial vehicle mountain logistics system and method of the present invention. Figure 8: The execution flow chart of the UAV mountain logistics system and method of the present invention. Figure 9: A schematic diagram of the drone flight of the unmanned aerial vehicle mountain logistics system and method of the present invention. Figure 10: A schematic diagram of the drone avoiding obstacles in the drone mountain logistics system and method of the present invention.

(10): Drone

(110): Aircraft

(120): fixed frame

(130): Geomorphology radar device

(140): GPS positioning device

(150): Camera

(160): Radio Frequency Identification Device

(170): Power battery device

(180): Lighting installation

(20): UAV self-detection system

(210): Self-function detection processor

(220): Channel simulation detection unit

(230): Endurance detection unit

(240): Image recognition and detection unit

(250): Geomorphology radar positioning and height detection unit

(260): Logistics testing module

(270): Channel detection unit

(280): Cargo Inspection Unit

(290): Wireless transmission device

(2110): Memory unit

(2120): Central Processing Controller

(30): Logistics Flight Control Center

(310): display

(320): Command Input

(330): Logistics wireless transmission device

(340): server

(350): Logistics flight control center apron

(360): Stop positioning device

(370): Push Broadcast Device

Claims (16)

An unmanned aerial vehicle mountain logistics system is mainly composed of an unmanned aerial vehicle (10), an unmanned aerial vehicle self-detection system (20) arranged in the unmanned aerial vehicle (10), and a logistics flight control center (30), in which: The UAV (10) includes: an aircraft (110), which includes a motor (111), a propeller (112), an aircraft speed control module (113), and a motor drive device (114). Are electrically connected to each other, wherein the motor (111) is connected to the propeller (112) through the main shaft, the aircraft speed control module (113) can control the motor driving device (114) to control the motor (111); a fixed The rack (120) is used for grabbing and fixing a cargo (40). It includes a fixed rack drive servo motor (121), a fixed rack control device (122), and a fixed rack processor (123). Connected, wherein the fixed frame drive servo motor (121) can drive the fixed frame control device (122) to grab the goods (40); a geomorphological radar device (130), including a directional antenna (131), a The radar wave receiver (132), a geomorphic radar processor (133), and a geomorphic radar computing module (134) are electrically connected to each other, wherein the directional antenna (131) is capable of transmitting radar waves to a scene, and The radar wave receiver (132) receives the radar reflection wave reflected by the scene and generates a landform radar reflection wave signal. The landform radar processor (133) executes the landform radar operation module (134) for the landform The radar reflected wave signal is calculated to measure the intensity and time difference of the radar reflected wave, so as to measure the distance to the scene and the detection of the flight direction; a GPS positioning device (140) is installed on the UAV ( 10), and use positioning to detect the location of the drone (10) and the geographic location corresponding to a production and sales team, and at the same time, it can determine the relative distance between the drone (10) and the production and sales team, and generate a GPS location The message is transmitted to the logistics flight control center (30) through a wireless transmission device (290); A camera (150) is used to capture an image of the scene, and includes a camera control device (151), a camera processor (152), and a camera drive servo motor (153) and are electrically connected to each other. The image can be transmitted to the logistics flight control center (30) through the wireless transmission device (290), and the logistics flight control center (30) can transmit a command signal to the camera (150); a radio frequency identification device (Radio Frequency Identification) , RFID) (160), can scan and recognize an RFID tag (410) set on the goods (40) through the camera (150); a power battery device (170), including a battery (171), a A power battery power detection module (172) and a power battery processor (173) are electrically connected to each other, and the battery (171) is used to provide the drone (10) and the drone self-detection system (20) The power battery power detection module (172) monitors the voltage of the battery (171) and generates a voltage monitoring signal at the same time, and compares the data of the voltage monitoring signal with a preset voltage threshold. By comparison, when the voltage monitoring signal data is lower than the voltage threshold, the power battery power detection module (172) transmits a charging signal to the power battery processor (173), and the charging signal is transmitted through the wireless The device (290) is transmitted to the logistics flight control center (30); the drone self-detection system (20) includes: a self-function detection processor (210), which detects one of the various devices of the drone (10) In real-time status, a test record is generated at the same time, and the test record is transmitted to the logistics flight control center (30); a channel simulation detection unit (220) is used to accept and confirm the logistics flight control center (30) and set it at The channel information provided in the RFID tag (410) on the cargo (40), where the channel information includes a flight path, an estimated flight speed, an estimated flight time, and an estimated total power consumption. When the UAV (10) does not accept or confirm the channel information, it will generate a channel simulation detection signal, and the channel simulation detection signal is transmitted to the logistics flight control center (30) through the wireless transmission device (290); An endurance detection unit (230) continuously detects the endurance capability of the UAV (10) that can continue flying through the power battery power detection module (172), and randomly generates an endurance detection signal through which the endurance detection signal passes The wireless transmission device (290) transmits to the logistics flight control center (30); an image recognition detection unit (240) detects whether the camera (150) is operating normally, and provides an image recognition immediately when an abnormality occurs The detection signal, the image recognition detection signal is transmitted to the logistics flight control center (30) through the wireless transmission device (290); a geomorphic radar positioning and height detection unit (250) is used to detect whether the geomorphic radar device (130) can It operates normally, and can immediately provide a terrain radar positioning and height detection signal when an abnormality occurs, which is transmitted to the logistics flight control center (30) through the wireless transmission device (290); a logistics detection module (260) is It includes a logistics detection processor and a carrier cargo securing detection unit, which are electrically connected to each other. The carrier cargo securing detection unit detects whether the fixed rack (120) actually grabs the cargo (40), and at the same time The logistics detection processor generates a fixed sensing signal and a goods RFID detection unit, which detects and confirms whether the RFID tag (410) on the goods (40) has a commodity category of the goods (40) carried Information, a product weight information, and a target channel location, and when an abnormality is detected, a cargo RFID detection signal is immediately generated and transmitted to the logistics flight control center (30) through the wireless transmission device (290); a channel detection unit (270), which detects whether the RFID tag (410) on the cargo (40) has a target channel position, and transmits the detection result to the logistics through the wireless transmission device (290) using a channel detection signal Flight control center (30); a cargo inspection unit (280), which detects whether the RFID tag (410) on the cargo (40) has a commodity weight information, and uses a cargo detection signal to transmit the detection result to The wireless transmission device (290) is transmitted to the logistics flight control center (30); the wireless transmission device (290) is used to receive a device control instruction of the logistics flight control center (30) and control it with the device control instruction The UAV (10) and the UAV self-detection system (20), and The signals generated by the drone (10) and the drone self-detection system (20) are sent to the logistics flight control center (30); a memory unit (2110) is used to record and store the drone ( 10) Various signals transmitted by the UAV self-detection system (20); a central processing controller (2120) to control the aircraft (110) and electrically connect the fixed frame (120), the The geomorphology radar device (130), the GPS positioning device (140), the camera (150), the radio frequency identifier (160), the power battery device (170), and the UAV self-detection system (20); the logistics The flight control center (30) is divided into a flat logistics flight control center (31) located on a flat ground, and a high mountain logistics flight control center (32) located in a high mountain, and both are able to receive multiple meteorological data provided by a meteorological bureau. Data, where the logistics flight control center (30) includes: a display (310) to display various signals of the drone (10) and the drone self-detection system (20), and to monitor the drone ( 10) the status; a command input device (320) is used to input the device control commands, so as to adjust the aircraft (110), the fixed frame (120), the terrain radar device (130), the GPS positioning device (140) ), the operation of the camera (150), the power battery device (170), and the UAV self-test system (20), and at the same time can rewrite the flight path of the UAV (10) and the signal of the cargo carried at any time; A logistics wireless transmission device (330) to receive and transmit various signals of the drone (10) and the drone self-detection system (20); and a server (340) to store the plurality of weather The data is used to form a meteorological database and store various signals transmitted between the logistics flight control center (30) and the unmanned aerial vehicle (10). Such as the UAV mountain logistics system described in the first item of the scope of patent application, wherein the RFID tag (410) on the cargo (40) has an antenna and a chip, and uses the radio frequency identification device (160) Use high-frequency electromagnetic waves to transmit a signal to the RFID tag (410). When the antenna of the RFID tag (410) receives the high-frequency electromagnetic wave, it will form a resonance inside the antenna, generate a current and start the The chip in the RFID tag (410), after receiving the signal, transmits the response signal back to the radio frequency identification device (160) via a high-frequency carrier of the same frequency. For example, the unmanned aerial vehicle alpine logistics system described in item 1 of the scope of patent application, wherein the flatland logistics flight control center (31) and the alpine logistics flight control center (32) further include: a logistics flight control center apron (350) , Is to provide parking, maintenance, grabbing, and unloading of the UAV (10); a shutdown positioning device (360) is to provide a shutdown signal, which is transmitted to the UAV through a shutdown wireless transmission device ( 10), so that the drone (10) can accurately land on the apron (350) of the logistics flight control center following the stop signal when landing. For example, the unmanned aerial vehicle mountain logistics system described in item 1 of the scope of patent application, wherein the geomorphology radar device (130) is additionally provided with an automatic obstacle avoidance unit to automatically measure the distance around the unmanned aerial vehicle (10) to prevent the unmanned The collision of the aircraft (10), in which the automatic obstacle avoidance unit can sense the relative distance between the obstacle and the UAV (10) through a distance sensor, so that the automatic obstacle avoidance unit can react immediately to avoid Obstacles in the flight path. Such as the unmanned aerial vehicle mountain logistics system described in the first item of the scope of patent application, wherein the unmanned aerial vehicle (10) is additionally provided with a lighting device (180) to provide lighting and warnings. For example, the unmanned aerial vehicle mountain logistics system described in the first item of the scope of patent application, wherein the logistics flight control center (30) is additionally provided with a push broadcast device (370) to use the logistics wireless transmission device (330) to connect to the Internet It transmits the UAV (10) arrival time, current location, and cargo to the recipient of the destination. Such as the UAV alpine logistics system described in item 1 of the scope of patent application, wherein the battery (171) is a hydrogenated fuel cell. For example, the unmanned aerial vehicle mountain logistics system described in item 1 of the scope of patent application, wherein the fixing frame (120) is additionally formed by a hook, a four-legged bracket, and a carriage frame. Such as the unmanned aerial vehicle mountain logistics system described in item 1 of the scope of patent application, wherein the meteorological data includes: a temperature value, which is compared with a preset temperature threshold value, when the temperature value is lower than or greater than the temperature threshold value , Generate an abnormal temperature warning and display it on the display (310); a rainfall value is compared with a preset rainfall threshold, when the rainfall value is greater than the rainfall threshold, a rainfall is generated An abnormality warning is displayed on the display (310); a value of the Pu's wind level is compared with a preset Pu's wind level threshold, when the value of the Pu's wind level is greater than the value of the Pu's wind level When the threshold value is set, an abnormal warning of the Beaufort wind level is generated and displayed on the display (310). For example, the unmanned aerial vehicle mountain logistics system described in item 1 of the scope of patent application, in which the meteorological data is separately obtained from the public meteorological database provided by the Government Meteorological Bureau. The meteorological data includes temperature changes, summer maximum temperature and continuous The number of days, the lowest winter temperature and duration, rainfall, dominant wind direction, Pu's wind rating and typhoon frequency. According to the unmanned aerial vehicle mountain logistics system described in item 1 of the scope of patent application, the motor (111), the fixed frame drive servo motor (121) or the camera drive servo motor (153) are brushless motors. An unmanned aerial vehicle mountain logistics method, including: step one (S610): a level logistics flight control center transmits a cargo signal to a drone parked on the apron of the level logistics flight control center; step two (S620): The drone will conduct a self-test of the drone self-test system before taking off, and after the testing is completed and there are no problems, it will take off to a production and sales shift to pick up a cargo; Step three (S630): stop by the production and sales shift The positioning device locates the location of the goods; Step 4 (S640): When the drone is ready to receive the goods, it uses a radio frequency identification device to identify one of the RFID tags of the goods to verify whether the goods are correct; Step 5 (S641): If it is correct, accept the task, and after self-test, grab the cargo and go to a high mountain logistics flight control center; Step 6 (S642): If it is not correct, automatically report back to the flat logistics flight control center Step 7 (S650): After arriving at the Alpine Logistics Flight Control Center, the UAV will be guided by the shutdown positioning device located in the Alpine Logistics Flight Control Center to land on the cargo. The alpine logistics flight control center apron, and the flight mission is completed; Step 8 (S660): After the drone is self-tested, the next task can be executed by the instructions of the alpine logistics flight control center or the flat logistics flight control center . For example, the UAV alpine logistics method described in item 12 of the scope of patent application, wherein the self-checking is when the UAV is located in the flatland logistics flight control center or the alpine logistics flight control center, the UAV will perform an unmanned Aircraft self-detection system, which includes channel simulation detection, endurance detection, image recognition detection, geomorphological radar positioning and altitude detection, and generates a self-function detection result, which is immediately returned to the current location of the flat or mountain logistics flight control center. store. For example, the UAV mountain logistics method described in item 12 of the scope of patent application, wherein the self-checking is when the UAV is in the production and sales shift, the UAV will perform a UAV self-checking system, which includes the cargo of the vehicle Tighten inspection, cargo RFID inspection, waterway and cargo inspection, and generate a self-function inspection result, which will be immediately sent back to the flatland logistics flight control center for storage. Such as the unmanned aerial vehicle mountain logistics method described in item 13 or 14 of the scope of the patent application, wherein in step 2 (S620), the self-function test result is the same as the original self-function test of the level logistics flight control center Synchronous detection and comparison of the results, including: if there is no problem, the drone can take off for mission; if the self-function test result does not meet the original preset self-function test result, it needs to be corrected manually And eliminate the error message, and perform the self-test again, wait until the drone and the flat ground If the self-function test result of the logistics flight control center meets the original preset self-function test result, the drone can take off for missions. Such as the unmanned aerial vehicle mountain logistics method described in item 13 or 14 of the scope of patent application, wherein in step 8 (S660), the self-function test result is the same as the original self-function test of the mountain logistics flight control center Synchronous detection and comparison of the results, including: if there is no problem, the drone can take off for mission; if the self-function test result does not meet the original preset self-function test result, it needs to be corrected manually Eliminate the error message and perform the self-test again. Once the self-function test results of the drone and the Alpine Logistics Flight Control Center meet the original preset self-function test results, the drone can take off for missions.

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