TWM594769U - Unmanned aerial vehicle alpine logistics system - Google Patents

Abstract

This creation provides a drone alpine logistics system, which is mainly composed of a drone, a drone self-detection system installed in the drone, and a flatland and alpine logistics flight control center. The flatland logistics flight control center transmits a Take the cargo signal to the drone. The drone will conduct a self-test before take-off. After the test is completed and there is no problem, it will take off to a production and sales team to pick up the cargo, and confirm the location of the cargo by the production and sales shift stop positioning device. After grabbing the goods, self-check again, and immediately go to the Alpine Logistics Flight Control Center when there is no problem, and then land on the apron by the guidance of the Alpine Logistics Flight Control Center's parking positioning device to complete the flight mission. , Wait for the instruction of the mountain or flat logistics flight control center to perform the next task.

Description

UAV Alpine Logistics System

This creation is about a UAV alpine logistics system, especially a UAV alpine logistics system that can be used for mountain cargo transportation.

Generally speaking, due to the large temperature difference between day and night on high mountains, many fruits and vegetables planted on high mountains or slopes are of better quality than on flat ground, but the transportation of vegetables and fruits on mountains takes a lot of time and a lot of transportation costs, and Because of restrictions on traffic, climate and other factors, the freshness of vegetables and fruits 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 the difficulty of transportation and many problems. For example, the Lala Mountain with an altitude of 2000m above sea level has about 300 fruit farmers on the Lala Mountain. Among them, the fruit farmers located at the highest point on the Lala Mountain, whether they are themselves or ask the freight company to collect freshly harvested fruits and vegetables The transportation to and from the mountain must pass through a drive of at least 50 kilometers, and a single trip of nearly 3-4 hours. When traveling between the flat land and the production of fruits and vegetables in the mountains, it often takes a day, but the people caused by the steep bends of the mountain Car safety is the most important thing to pay attention to, and due to the high freight rate formed between flat land and high mountains, it is also an expensive expense for fruit farmers. As shown in Figure 1, the rugged winding of the high mountain roads causes the transport vehicle (A) to lengthen the transportation time required during the transportation process, and the winding road is a test of driving spirit and technology. .

Under the various inconveniences of mountain transportation, how to provide a method that can effectively shorten the transportation time and transportation safety, and at the same time can save both manpower and transportation time is a problem that still needs to be overcome.

The main purpose of this creation is to solve the problem that the conventional method cannot effectively shorten the transportation time and transportation safety, and at the same time can save both manpower and transportation time.

In order to achieve the above purpose, this creation provides a drone alpine logistics system, which can effectively shorten the transportation time and transportation safety, and at the same time can save both manpower and transportation time, and can also solve the problem of lack of mountain materials .

An unmanned aerial vehicle logistics system mainly consists of an unmanned aerial vehicle, an unmanned aerial vehicle self-detection system installed in the unmanned aerial vehicle, and a logistics flight control center. The unmanned aerial vehicle includes an aircraft and a motor , A paddle wing, an aircraft speed control module and a motor drive device are electrically connected to each other, wherein the motor is connected to the paddle wing through the main shaft, and provides the power to rotate the paddle wing, so that the paddle wing can rotate Drive the drone to rise buoyancy, the aircraft speed control module can control the motor drive device to control the motor, and then change the rotation speed of the blade wing to adjust the flight speed; a fixed frame is used to grab and fix a cargo, and by A fixed frame drive servo motor, a fixed frame control device and a fixed frame processor, wherein the fixed frame drive servo motor can drive the fixed frame control device to grab the goods to determine whether the goods are fixed; a geomorphic radar The device is used to determine the distance between the UAV and the ground, and it consists of a directional antenna, a 雷dar wave receiver, a geomorphic radar processor and a geomorphic radar computing module, in which the directional antenna is able to transmit a雷Darbo, and receive the radar reflected wave reflected by the scene through the 雷Darbo receiver, and generate a geomorphic radar reflected wave signal, the geomorphic radar processor executes the geomorphic radar operation module to perform the geomorphic radar reflected wave signal Operation, to measure the intensity of the radar reflected wave and the time difference to achieve the measurement of the distance to the scene and the direction of flight detection; GPS positioning device is installed on the drone and detects the drone by positioning The location and the geographic location of a production and sales team can also determine the relative distance between the drone and the production and sales team, and generate a GPS positioning message for transmission to the logistics flight control center through a wireless transmission device; a camera , To obtain an 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 angle adjustment of the camera; a radio frequency identification device (Radio Frequency Identification, RFID) can scan and identify an RFID set on the cargo through the camera 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 required power of the UAV and a UAV 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 will transmit a charging signal to the power battery processor, the charging signal is transmitted to the logistics flight control center through the wireless transmission device, so that the logistics flight control center is informed of the The status of the drone; the self-detection system of the drone includes: a self-function detection processor that automatically detects the real-time status of the devices of the drone, and simultaneously generates a detection record and transmits the detection record to the Logistics flight control center; a flight path simulation detection unit, which accepts and confirms the flight path information provided by the logistics flight control center and the RFID tag installed on the cargo, wherein the flight path information includes a flight path and an estimated flight Speed, an estimated flight time, and an estimated total power consumption. When the drone does not accept or confirm the channel information, a channel simulation detection signal will be generated and sent to the logistics flight control center for confirmation; an endurance test The unit continuously detects the endurance of the drone for continuous flight through the power battery power detection module, and randomly generates an endurance detection signal, and the endurance detection signal 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 immediately provides 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 geomorphic radar device is operating normally, and immediately provides a geomorphic radar positioning and height detection signal when an abnormality occurs, and transmits it to the logistics flight control center through the wireless transmission device; a logistics detection The module includes a logistics detection processor, a carrier cargo tight detection unit and is electrically connected to each other, is to detect whether the fixing rack actually grabs the goods, and at the same time a fixed sensing is generated by the logistics detection processor The signal, and a cargo RFID detection unit, detect and confirm whether the RFID tag on the cargo has a product category information, a product weight information and a target channel position of the loaded cargo, and is generated immediately when an 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 uses the detection result as 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 a product weight information, and transmits the detection result as a cargo detection signal to the wireless transmission device to 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 its device, and connect the drone with The signal generated by the UAV self-detection 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-detection system; a central processing controller is To control the aircraft, and electrically connect the fixed frame, the geomorphic radar device, the GPS positioning device, the camera, the power battery device, the radio frequency RFID reader and the UAV self-detection The logistics flight control center is divided into a flat logistics flight control center located on a flat ground, and an alpine logistics flight control center located in a high mountain, and all can receive a plurality of meteorological data provided by a meteorological bureau. The center includes: a display to display the signals of the UAV and the UAV self-detection system, and to monitor the status of the aircraft in real time; a command input device to input control commands of the device to adjust the aircraft, The operation of the fixed frame, the geomorphic radar device, the GPS positioning device, the camera, the power battery device and the UAV self-detection system, and at the same time, it is possible to rewrite the flight path of the drone and the signal of carrying the cargo at any time; A logistics wireless transmission device is used to receive and transmit signals from the UAV and the UAV self-detection system and display them on the display; and a server to store the multiple meteorological data to form a meteorological database And store the signals transmitted between the logistics flight control center and the drone.

In an embodiment of the present creation, the RFID tag on the goods has an antenna and a chip, and transmits a signal to the RFID tag through the RFID利 using high-frequency electromagnetic waves, and the antenna of the RFID tag receives the High-frequency electromagnetic waves will form a co-resonance inside the antenna, which generates electricity and activates the chip in the RFID tag. After receiving the transmitted signal, the chip will return the response signal back to the high frequency carrier of the same frequency 率The RFID.

In an embodiment of the present creation, the flatland logistics flight control center and the mountain logistics flight control center further include a logistics flight control center apron to provide parking, maintenance, grabbing and unloading of the drone A stop positioning device is used to provide a stop signal and transmit it to the drone through the stop wireless transmission device, so that the drone can accurately land on the apron of the logistics flight control center following the stop signal.

In an embodiment of the present creation, the geomorphic radar device is further provided with an automatic obstacle avoidance unit to automatically measure the distance around the drone to prevent the collision of the drone, wherein the automatic obstacle avoidance unit can be sensed through a distance The sensor detects the relative distance between the obstacle and the UAV, so that the automatic obstacle avoidance unit can immediately react to avoid obstacles in the flight path.

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

In one embodiment of this creation, the logistics flight control center is additionally equipped 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 creation, the battery is a hydrogenated fuel cell.

In one embodiment of the present creation, the fixing frame can be a hook, a four-legged support, and a carriage.

In an embodiment of the present invention, the meteorological data includes a temperature value and is compared with a preset temperature threshold. When the temperature value is lower than or greater than the temperature threshold, a temperature abnormality warning is generated and displayed On the display; a rainfall value is compared with a preset rainfall threshold. When the rainfall value is greater than the rainfall threshold, a rainfall abnormality warning is generated and displayed on the display; a po The value of the Fahrenheit wind power series is compared with a preset Powell's wind power level threshold. When the value of the Powell's wind power level is greater than the Powell's wind power level threshold, an abnormal warning of the Pooh power level is generated and displayed On the display.

In one embodiment of this creation, the meteorological data can be obtained from a public meteorological database provided by the government meteorological bureau. The meteorological data includes temperature changes, the maximum temperature and the number of days in summer, the minimum temperature and the number of days in winter , Rainfall, dominant wind direction, Pu's wind power level and typhoon frequency, and can also be corrected by the logistics flight control center to rewrite the flight path of the drone to its destination in real time.

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

This creation also provides a drone alpine logistics method using the drone alpine logistics system, which includes: Step 1: A flat-land logistics flight control center sends a cargo-carrying signal to one of the drones parked on the apron of the flat-land logistics flight control center; Step 2: The unmanned aerial vehicle will carry out a self-inspection by a self-inspection system of the unmanned aerial vehicle before takeoff, and after the inspection is completed without any problems, it will take off to a production and sales team to pick up the goods; Step 3: Locate the location of the goods by the stop positioning device of the production and sales team; Step 4: When the drone is ready to receive the cargo, it recognizes an RFID tag of the cargo by a radio frequency identification device to check whether the cargo is correct; Step 5: If it is correct, it will receive the task, and after self-testing, immediately grab the goods and go to a mountain logistics flight control center; Step 6: If it is not correct, it will be automatically notified back to the flatland logistics flight control center, and again check whether the goods are correct; Step 7: After arriving at the Alpine Logistics Flight Control Center, the drone will land on the apron of the Alpine Logistics Flight Control Center under the guidance of the parking positioning device located at the Alpine Logistics Flight Control Center Flight mission Step 8: After self-checking, the UAV can perform 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 creation, the self-detection is that when the drone is located in the flatland logistics flight control center or the mountain logistics flight control center, the drone will perform a drone self-test system, which includes Channel simulation test, endurance test, image recognition test, geomorphic radar positioning and altitude test, and generate a self-function test result, and immediately return it to the current flat or mountain logistics flight control center for storage.

In one embodiment of the present creation, the self-detection is that when the drone is in the production and sales shift, the drone will perform a drone self-test system, which includes vehicle cargo tight detection, cargo RFID detection, Channel and cargo inspection, and produce a self-function inspection result, and immediately back to the flat logistics control center for storage.

In one embodiment of this creation, in step two, the self-test result of the drone is synchronously detected and compared with the self-function test result originally preset by the flatland logistics flight control center, including If there is no problem, the drone can take off to carry out the mission; if the self-function test result does not meet the preset self-function test result, it is necessary to manually correct the process and eliminate the error message, and re-execute the self-test. The self-function detection result of the drone and the flat-land logistics flight control center conforms to the originally preset self-function detection result, and then the drone can take off for a mission.

In an embodiment of this creation, in step 6, the self-test result of the drone is synchronously detected and compared with the self-function test result originally preset by the Alpine Logistics Flight Control Center, including If there is no problem, the drone can take off to carry out the mission; if the self-function test result does not meet the preset self-function test result, it is necessary to manually correct the process and eliminate the error message, and re-execute the self-test. The self-function detection result of the UAV and the Alpine Logistics Flight Control Center conforms to the originally preset self-function detection result, then the UAV can take off to perform a mission.

In order to facilitate the examiner to understand the technical characteristics, content and advantages of this creation and the effects it can achieve, I hereby combine this creation with the drawings and explain in detail in the form of expressions of the embodiments, and the drawings used therein, which The main purpose is only for illustration and auxiliary instructions, and may not be the true proportion and precise configuration after the implementation of the creation, so it should not be interpreted and limited to the relationship between the proportion and configuration of the attached drawings, and the scope of the rights of the creation in the actual implementation. He Xianming.

First of all, please refer to Figures 2 to 7 for the block diagram of the UAV high-altitude logistics system, UAV architecture diagram, logistics flight control center architecture diagram, UAV grabbing cargo schematic diagram, UAV grabbing cargo action diagram The schematic diagram of a drone with six-axis paddle wings is mainly composed of a drone (10), a drone self-detection system (20) installed in the drone, and a logistics flight control center (30).

The drone (10) includes an aircraft (110), which is composed of a motor (111), a paddle (112), an aircraft speed control module (113), and a motor drive device (114) connected to each other Aircraft (110) electrically connected to each other, wherein the motor (111) is connected to the propeller wing (112) through the main shaft, and provides the power for the propeller wing (112) to rotate, so that the propeller wing (112) can rotate and drive The unmanned aerial vehicle (10) ascends buoyancy, wherein in one embodiment, the paddle wing (112) can be a four-axis, six-axis or eight-axis, to greatly improve flight performance and flight balance, to move flexibly, and To enhance the maneuverability in the face of natural disasters in mountainous areas, in another embodiment, the motor (111) may be a brushless motor. With the brushless characteristics of the motor (111), the friction force during operation is greatly reduced , Which can extend the service life and at the same time reduce maintenance costs, the aircraft speed control module (113) can control the motor drive device (114) to control the motor (111), and thereby change the rotation speed of each blade (112), To adjust the flight speed; a fixed frame (120) is used to catch and fix a cargo (40) with a hook, a four-leg bracket, or a carriage, and a fixed frame drives a 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) ), in one embodiment, the cargo (40) is a closed storage box, which can prevent vegetables and fruits from falling during the flight of the drone (10) to increase transportation safety. In another embodiment, the The servo motor (121) of the fixed frame drive can be a brushless motor. With the brushless characteristics of the servo motor (121) of the fixed frame, the friction force during operation is greatly reduced, the service life can be prolonged, and at the same time Maintenance cost; a geomorphic radar device (130) to determine the distance between the drone (10) and the ground, including a directional antenna (131), a 雷darbo receiver (132), and a geomorphic radar processor (133) ) And a geomorphic radar computing module (134) and are electrically connected to each other, wherein the directional antenna (131) is able to transmit a 雷 wave to a scene, and receive the reflected light from the scene through the 雷 wave receiver (132) The radar reflected wave generates a geomorphic radar reflected wave signal. The geomorphic radar processor (133) executes the geomorphic radar computing module (134) to calculate the geomorphic radar reflected wave signal to measure the radar reflected wave Strong 度 and time difference to measure the distance to the scene and detect the direction of flight. At the same time, it can also determine the flying height of the distance between the drone (10) and the ground, and continuously maintain the flight with a fixed altitude on the ground. Height, which is also equipped with an automatic obstacle avoidance unit (not shown in the figure) to automatically measure the distance around the drone (10) to prevent this The collision of the UAV (10), in which the automatic obstacle avoidance unit can pass through a distance sensor to sense the relative distance between the obstacle and the UAV (10), so that the automatic obstacle avoidance unit can react to avoid in real time Obstacles in the flight path; a GPS positioning device (140) is installed on the drone (10) and detects the location of the drone (10) by positioning, and the geographic location corresponding to a production and sales team, At the same time, the relative distance between the drone (10) and the production and sales team can be judged, and a GPS positioning message can be generated for transmission to the logistics flight control center via a wireless transmission device (290); a camera (150) can be obtained The image of the scene is captured, and includes a camera control device (151), a camera processor (152), and a camera drive servo motor (153), wherein, in an embodiment, the camera drive servo motor (153) is the most The best system can be a brushless motor. The brushless characteristics of the camera-driven servo motor (153) greatly reduce the friction during operation, extend the service life, and at the same time reduce maintenance costs and electrically connect 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) to control the camera (150) Lens adjustment angle; a radio frequency identification device (Radio Frequency Identification, RFID) (160), which can scan and identify an RFID tag (410) provided on the cargo (40) through the camera (150); a power battery device (170), which includes a battery (171), which is a hydrogenated fuel cell or lithium battery (171), a power battery power detection module (172), and a power battery processor (173) They are electrically connected to each other. The battery (171) is used to provide the power required by the drone (10) and a drone self-test system (20). The power battery power detection module (172) is used to monitor the battery (171) voltage, and simultaneously generate a voltage monitoring signal, 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). The drone is also equipped with a light device (180) to provide lighting and warning.

Furthermore, the UAV self-detection system (20), including a self-function detection processor (210), is used to automatically detect the real-time status of various devices of the UAV (10), and at the same time generate a detection record and convert the The inspection record is transferred 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 the RFID tag (410) installed on the cargo (40) ) The channel information provided in ), where the channel information includes a flight channel, an estimated flight speed, an estimated flight time, and an estimated total power consumption, when the drone (10) has not accepted or confirmed the channel information At this time, a channel simulation detection signal will be generated and sent to the logistics flight control center (30) for confirmation. The RFID tag (410) has an antenna and a chip, and the radio frequency identification device (160) ) 利 transmits a signal to the RFID tag (410) with high-frequency electromagnetic waves, the antenna of the RFID tag (410) receives the high-frequency electromagnetic waves and forms a resonance within the antenna, generating an electric power 流 and activates the RFID tag ( 410) the chip, after receiving the transmitted signal, the chip returns the response signal back to the radio frequency identification device (160) through the high frequency carrier of the same frequency 率; a endurance detection unit (230), through The power battery power detection module (172) continuously detects the endurance of the drone (10) for continuous flight, and randomly generates an endurance detection signal, which is transmitted to the endurance through the wireless transmission device (290) Logistics flight control center (30); an image recognition detection unit (240), which detects whether the camera (150) is operating normally, and can immediately provide an image recognition detection signal when an abnormality occurs, the image recognition detection signal passes through the The wireless transmission device (290) transmits to the logistics flight control center (30); a geomorphic radar positioning and altitude detection unit (250) is used to detect whether the geomorphic radar device (130) is operating normally and immediately when an anomaly occurs Provide a geomorphic radar positioning and height detection signal, and transmit 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 tightness detection units are electrically connected to each other, the carrier cargo tightness detection unit detects whether the fixing frame (120) actually grabs the cargo (40), and at the same time a fixed sensing signal is generated by the logistics detection processor , 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 position of the cargo (40) contained therein , And when detecting abnormality, immediately generate a cargo RFID detection signal and send it to the logistics flight control center (30) through the wireless transmission device (290); a channel detection unit (270), Detect whether the RFID tag (410) on the cargo (40) has a target channel position, and transmit the detection result with a channel detection signal to the logistics flight control center (30); a cargo detection unit (280) , It is to detect whether the RFID tag (410) on the cargo (40) has a product weight information, and to transmit the detection result as a cargo detection signal to the logistics flight control center through the wireless transmission device (290) (30); The wireless transmission device (290) is to receive a device control command of the logistics flight control center (30), and control the drone (10) and the drone self-detection system by the device control command ( 20) and control the flight of the aircraft (110) and the operation and settings of its devices, and transmit the signals generated by the drone (10) and the drone self-detection system (20) to the logistics flight control center (30); a memory unit (2110) is used to record and store the signals transmitted by the drone (10) and the drone self-detection system (20); a central processing controller (2120) is To control the aircraft (110), and electrically connect the fixing frame (120), the geomorphic radar device (130), the GPS positioning device (140), the camera (150), and the wireless radio frequency identification device (160) , The power battery device (170) and the UAV self-detection system (20).

Then, the logistics flight control center (30) is divided into a flat logistics flight control center (31) located in the flat ground, and an alpine logistics flight control center (32) located in the high mountain, and all can receive the plural provided by a meteorological bureau. Meteorological data, where the logistics flight control center (30) includes a display (310) to display the contents of the signals transmitted by the drone (10) and the drone self-detection system (20), as well as real-time monitoring The status of the drone (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-detection system (20), and at the same time it is possible to rewrite the flight path of the UAV (10) and carry cargo at any time Signals; a logistics wireless transmission device (330) to receive and transmit signals from the drone (10) and the drone self-test system (20); and a server (340) to store the A plurality of meteorological data to form a meteorological database, and store the signals transmitted between the logistics flight control center (30) and the drone (10); a logistics flight control center apron (350), to provide the The parking, maintenance, grabbing and unloading of the UAV (10); a stop positioning device (360) is used to provide a stop signal, and is transmitted to the UAV (10) through a stop wireless transmission device, so that the The drone (10) can accurately follow the stop signal to land on the apron (350) of the logistics flight control center when landing. 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 drone (10), the current location, and the cargo to the destination receiver.

The meteorological data includes a temperature value and is compared with a preset temperature threshold. When the temperature value is lower than or greater than the temperature threshold, a temperature abnormality warning is generated and displayed 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 abnormality warning is generated and displayed on the display (310); The value of the series is compared with a preset Puddle wind level threshold. When the Puddle wind level value is greater than the Puddle wind level threshold, a Puddle wind level abnormality warning is generated and displayed on the On the display (310), which can also be obtained from the public meteorological database provided by the government meteorological bureau, the meteorological data includes temperature changes, the maximum temperature and duration of summer, the minimum temperature and duration of winter, rainfall, dominant wind direction, Pu's wind power series and typhoon frequency.

Next, please refer to Figure 8 for the flow chart of the implementation of the UAV mountain logistics system, which includes the process. Step one (S610): A level ground logistics flight control center transmits a cargo loading signal to a drone parked on the apron of the level ground logistics flight control center; Step 2 (S620): The drone will carry out a self-test by a self-checking system of the drone before take-off, and after the test is completed without problems, it will take off to a production and sales team 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 cargo, it recognizes an RFID tag of the cargo by a radio frequency identification device to check whether the cargo is correct; Step 5 (S641): If it is correct, it will receive the task, and after self-testing, immediately grab the goods and go to a mountain logistics flight control center; Step 6 (S642): If it is not correct, it will be automatically notified back to the flatland logistics flight control center, and again check whether the goods are correct; Step 7 (S650): After arriving at the Alpine Logistics Flight Control Center, the drone will land on the Alpine Logistics Flight Control Center apron under the guidance of the parking positioning device located at the Alpine Logistics Flight Control Center, and Indeed complete the flight mission; Step 8 (S660): After self-detection, the UAV can perform the next task according to the instructions of the Alpine Logistics Flight Control Center or the Flatland Logistics Flight Control Center.

The step 2 (S620) and step 8 (S660) self-detection is that when the drone is located in the flat logistics flight control center or the mountain logistics flight control center, the drone will perform a drone self-test system , Which includes conducting channel simulation detection, endurance detection, image recognition detection, geomorphic radar positioning and altitude detection, and generating a self-function detection result, which is immediately returned to the current flat or alpine logistics flight control center for storage. This step Five (S641) The self-checking is that when the drone is in the production and sales shift, the drone will carry out a self-checking system for the drone, which includes vehicle cargo tight detection, cargo RFID detection, waterway and cargo detection, And generate a self-function test result, and immediately send it back to the flat logistics flight control center for storage.

In the second step (S620), the self-test result of the drone is synchronously detected and compared with the self-function test result originally preset by the flatland logistics flight control center, including the self-test of the drone The result is no problem with the detection of the flat logistics flight control center, the drone can take off to the production and sales squad for tasks; if the self-function test result does not meet the originally preset self-function test result, manual labor is required Correct the processing and eliminate the error message, and re-perform the self-test. After the self-function test results of the drone and the flat logistics flight control center match the previously preset self-function test results, the drone can take off The production and sales team conducts tasks.

In step 8 (S660), the self-test result of the drone is synchronously detected and compared with the self-function test result originally preset by the Alpine Logistics Flight Control Center, including the self-test of the drone The result is no problem with the detection of the Alpine Logistics Flight Control Center, then the drone can take off for the next mission; if the self-function test result does not meet the originally preset self-function test result, it needs to be performed manually Correct the processing and eliminate the error message, and re-perform the self-test. When the self-function test results of the drone and the Alpine Logistics Flight Control Center match the original preset self-function test results, the drone can take off. A mission.

Next, please refer to Figure 9 and Figure 10, which is a schematic diagram of the drone flight of the UAV alpine logistics system, and a schematic diagram of the drone avoiding obstacles. In summary, a flat logistics flight control center develops a cargo list, and will The cargo list is converted into a cargo-carrying signal and sent to a drone (10) parked at the apron of the flat logistics flight control center (31). The drone (10) will perform self-test before take-off, including the current flight Path simulation test of flight path, endurance test of flight power prediction, image recognition detection of camera, air-to-ground geomorphic radar positioning and altitude detection, and a self-function detection result is generated, and it is immediately returned to the current flat logistics flight control The center (31) stores, if there is a problem, the flat logistics flight control center (31) will receive an error message and can immediately send someone to manually perform error repair, where the error repair includes the power of the drone Battery replacement, replacement of the lighting device (180), repair of the replacement machine of the fixing frame and other hardware repairs, and after the error is eliminated, the drone (10) performs self-test again, and after the test is completed and there is no problem And return to the flat logistics flight control center (31) again, take off to a production and sales squad to pick up the goods, please also refer to Figure 10, when the drone (10) is flying in the sky, the directional antenna ( 131) Transmit a 雷dar wave to the mountainous ground and surroundings, and receive the reflected radar reflected wave to generate a landform radar reflected wave signal, to measure the intensity of the radar reflected wave 度 and the time difference, so as to measure the distance to the scene As well as the direction of flight detection, at the same time, the landform radar device (130) can determine the flying height of the UAV (10) from the ground, and continuously maintain the flying height at a fixed height from the ground, and through a distance sensing Device, sensing the relative distance between the obstacle and the drone (10), enabling immediate reaction to avoid obstacles in the flight path, when the drone (10) is close to the production and sales shift, the production and sales shift is shut down The positioning device will locate the position of the cargo and guide the drone (10) to descend above the cargo. When the drone (10) is ready to receive the cargo, it recognizes one of the cargo's RFID by a radio frequency identification device Label to verify the correctness of the cargo, including whether the fixing rack actually grabs the cargo of the carrier, the tightness detection of the cargo, the RFID inspection of the cargo to confirm whether the cargo is correct, the reconfirmation of the flight path and cargo inspection of the flight path, and a The results of self-function testing are immediately returned to the flat logistics flight control center (31) for storage. If it is correct, the task is accepted, and after self-testing, the goods are immediately grabbed and sent to a mountain logistics flight control center (32), However, if any of them is incorrect, it will be automatically reported back to the flatland logistics flight control center (31). The flatland logistics flight control center (31) will confirm whether the cargo matches the drone (10) correctly, and Fix the error problem and send the correct message back to the drone (10), the drone (10) will check again Whether the cargo is correct, until it is correct, it will receive the task, immediately grab the cargo and go to a high mountain logistics flight control center (32). When arriving at the high mountain logistics flight control center (32), the drone (10) will be located by The guidance of one of the shutdown positioning devices of the Alpine Logistics Flight Control Center (32) landed on the apron of the Logistics Flight Control Center of the Alpine Logistics Flight Control Center (32), and the flight mission was confirmed to be completed, and the self-detection was performed automatically. And wait for the next task to be executed by the instructions of the Alpine Logistics Flight Control Center (32) or the Flatland Logistics Flight Control Center (31), and repeat self-tests to ensure the safety of the flight.

It can be seen from the above implementation description that this creation has the following advantages compared with existing technologies and products:

1. The unmanned aerial vehicle logistics system created by this project can be transported by air from the drone to shorten the time and cost of goods transportation, to ensure the freshness of the goods, vegetables and fruits, and to avoid the danger of transportation.

2. The UAV high-altitude logistics system of this creation can reduce the cost of inspection personnel through the self-detection of drones, and can more effectively spend time on transporting goods.

Specifically, this creative system can effectively transport goods by drone in the mountainous area to shorten transportation time and transportation safety, and at the same time can save both manpower and transportation time, and can solve mountainous areas at the same time. The problem of lack of materials.

In summary, the UAV mountain logistics system of this creation can indeed achieve the expected use effect through the embodiments disclosed above, and this creation has not been disclosed before the application, and it has fully complied with the provisions of the Patent Law With requirements. I filed an application for a new type of patent in accordance with the law, and pleaded for the review and granted the patent.

However, the illustrations and descriptions disclosed above are only preferred embodiments of this creation, and are not intended to limit the scope of protection of this creation; most people who are familiar with this skill, according to the characteristic scope of this creation, do other things Equivalent changes or modifications should be regarded as not departing from the scope of this creative design.

(10): Drone (110): Aircraft (111): Motor (112): paddle wing (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): Geomorphic radar device (131): Directional antenna (132):Darbo receiver (133): Landform radar processor (134): Geomorphic radar computing module (140): GPS positioning device (150): Camera (151): Camera control device (152): Camera processor (153): Camera drive servo motor (160): Wireless radio frequency identification device (170): Power battery device (171): Battery (172): Power battery power detection module (173): Power battery processor (180): Lighting device (20): UAV self-detection system (210): Self-function detection processor (220): Channel simulation detection unit (230): Endurance detection unit (240): Image recognition detection unit (250): Geomorphic radar positioning and height detection unit (260): Logistics inspection module (270): Channel detection unit (280): Cargo detection unit (290): Wireless transmission device (2110): Memory unit (2120): Central Processing Controller (30): Logistics Flight Control Center (31): Flatland Logistics Flight Control Center (32): Alpine Logistics Flight Control Center (310): display (320): Command input device (330): Logistics wireless transmission device (340): Server (350): Helipad of logistics flight control center (360): Stop positioning device (370): Push broadcast device (40): Goods (410): RFID tag (A): Transport vehicle (S610): Step one (S620): Step two (S630): Step three (S640): Step 4 (S641): Step 5 (S642): Step 6 (S650): Step 7 (S660): Step 8

Figure 1: Schematic diagram of mountain transportation in Xizhi. Figure 2: The block diagram of the UAV mountain logistics system. Figure 3: UAV architecture diagram of the UAV mountain logistics system. Figure 4: Architectural drawing of the logistics flight control center of the UAV mountain logistics system. Figure 5: Schematic diagram of the UAV grabbing cargo of the UAV Alpine Logistics System. Figure 6: The action diagram of the drone grabbing the cargo of the UAV mountain logistics system. Figure 7: This is a schematic diagram of a UAV with six-axis paddle wings created by the UAV Alpine Logistics System. Figure 8: The flow chart of the creation of the UAV mountain logistics system. Figure 9: Schematic diagram of the drone flight of this creative drone alpine logistics system. Figure 10: Schematic diagram of the UAV avoiding obstacles created by the UAV Alpine Logistics System.

(10): Drone

(110): Aircraft

(120): fixed frame

(130): Geomorphic radar device

(140): GPS positioning device

(150): Camera

(160): Wireless radio frequency identification device

(170): Power battery device

(180): Lighting device

(20): UAV self-detection system

(210): Self-function detection processor

(220): Channel simulation detection unit

(230): Endurance detection unit

(240): Image recognition detection unit

(250): Geomorphic radar positioning and height detection unit

(260): Logistics inspection module

(270): Channel detection unit

(280): Cargo detection unit

(290): Wireless transmission device

(2110): Memory unit

(2120): Central Processing Controller

(30): Logistics Flight Control Center

(310): display

(320): Command input device

(330): Logistics wireless transmission device

(340): Server

(350): Helipad of logistics flight control center

(360): Stop positioning device

(370): Push broadcast device

Claims (11)

An unmanned aerial vehicle logistics system is mainly composed of an unmanned aerial vehicle (10), an unmanned aerial vehicle self-detection system (20) installed in the unmanned aerial vehicle (10), and a logistics flight control center (30), in which: The UAV (10) includes: An aircraft (110) includes a motor (111), a paddle wing (112), an aircraft speed control module (113) and a motor drive device (114) and is electrically connected to each other, wherein the motor (111) ) Is connected to the propeller wing (112) through the main shaft, the aircraft speed control module (113) can control the motor driving device (114) to control the motor (111); A fixing frame (120) is used to grab and fix a cargo (40), and includes a fixing frame driving servo motor (121), a fixing frame control device (122) and a fixing frame processor (123) and mutually Electrically connected, wherein the fixing frame driving servo motor (121) can drive the fixing frame control device (122) to grab the goods (40); A geomorphic radar device (130), which includes a directional antenna (131), a 雷dar wave receiver (132), a geomorphic radar processor (133), and a geomorphic radar computing module (134), and are mutually electrically Connection, in which the directional antenna (131) is able to transmit 雷wave to a scene, and receive the radar reflected wave reflected by the scene through the 雷wave receiver (132), and generate a geomorphic radar reflected wave signal, which is processed by the geomorphic radar The device (133) is used to perform the operation of the landform radar calculation module (134) to calculate the signal of the landform radar reflected wave to measure the intensity of the radar reflected wave 度 and the time difference, so as to measure the distance from the scene and the flight Direction detection A GPS positioning device (140) is installed on the drone (10), and detects the location of the drone (10) by positioning, and the geographical position corresponding to a production and sales squad, and at the same time can judge the drone ( 10) Relative distance from the production and sales team, and generate a GPS positioning message for transmission to the logistics flight control center (30) through a wireless transmission device (290); A camera (150) is used to obtain 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) is able to scan and identify an RFID tag (410) provided on the cargo (40) through the camera (150); A power battery device (170) includes a battery (171), a power battery power detection module (172), and a power battery processor (173) and is electrically connected to each other. The battery (171) is Provides the power required by 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 simultaneously generates a voltage monitoring signal 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 power detection module (172) will transmit a charging signal To the power battery processor (173), the charging signal is transmitted to the logistics flight control center (30) through the wireless transmission device (290); The UAV self-detection system (20) includes: A self-function detection processor (210) detects the real-time status of each device of the drone (10), and simultaneously generates a detection record, and transmits the detection record to the logistics flight control center (30); A channel simulation detection unit (220) is used to accept and confirm the channel information provided by the logistics flight control center (30) and the RFID tag (410) installed on the cargo (40), wherein the channel information includes A flight path, an estimated flight speed, an estimated flight time, and an estimated total power consumption, when the drone (10) does not accept or confirm the channel information, it will generate a channel simulation detection signal, the channel The analog 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 of the drone (10) for continuous flight through the power battery power detection module (172), and randomly generates an endurance detection signal. The endurance detection signal passes through 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 immediately provides an image recognition detection signal when an abnormality occurs, the image recognition detection signal is transmitted to the wireless transmission device (290) 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 provide a geomorphic radar positioning and height detection signal when an anomaly occurs, and through the wireless transmission device ( 290) Transfer to the logistics flight control center (30); A logistics detection module (260), which includes a logistics detection processor, a carrier cargo tightness detection unit and is electrically connected to each other, the carrier cargo tightness detection unit detects whether the fixing frame (120) is actually grasped Take the goods (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 the load A product category information, a product weight information, and a target channel position of the cargo (40), and upon detection of an abnormality, immediately generate a cargo RFID detection signal and send it to the logistics flight through the wireless transmission device (290) Control Center (30); A channel detection unit (270) detects whether the RFID tag (410) on the cargo (40) has a target channel position, and uses the channel detection signal to pass the detection result through the wireless transmission device (290) Transfer to the logistics flight control center (30); A cargo detection unit (280) detects whether the RFID tag (410) on the cargo (40) has a commodity weight information, and uses the cargo detection signal to pass the detection result through the wireless transmission device (290) Transfer to the logistics flight control center (30); The wireless transmission device (290) receives a device control command from the logistics flight control center (30), and controls the drone (10) and the drone self-detection system (20) with the device control command, and Send all signals generated by the drone (10) and the drone self-detection system (20) to the logistics flight control center (30); A memory unit (2110) records and stores the signals transmitted by the drone (10) and the drone self-detection system (20); A central processing controller (2120) is used to control the aircraft (110), and is electrically connected to the fixing frame (120), the landform radar device (130), the GPS positioning device (140), and the camera (150) ), the wireless radio frequency identification device (160), the power battery device (170) and the UAV self-detection system (20); The logistics flight control center (30) is divided into a flat logistics flight control center (31) located in a flat area, and an alpine logistics flight control center (32) located in a high mountain, and both can receive the plural provided by a meteorological bureau Meteorological data, of which the logistics flight control center (30) includes: A display (310) is used to display the signals of the drone (10) and the drone self-detection system (20), and to monitor the status of the drone (10) in real time; A command input device (320) is used to input the device control command to adjust the aircraft (110), the fixing frame (120), the geomorphic radar device (130), the GPS positioning device (140), the camera ( 150), the operation of the power battery device (170) and the drone self-detection system (20), and at the same time, it can rewrite the flight path of the drone (10) and the signal of carrying the cargo at any time; A logistics wireless transmission device (330) for receiving and transmitting signals from the drone (10) and the drone self-detection system (20); and A server (340) is capable of storing the plurality of meteorological data to form a meteorological database and storing various signals transmitted between the logistics flight control center (30) and the drone (10). The UAV mountain logistics system as described in item 1 of the patent application scope, wherein the RFID tag (410) on the cargo (40) has an antenna and a chip, and the radio frequency identification device (160)利 Transmit a signal to the RFID tag (410) with high-frequency electromagnetic waves, the antenna of the RFID tag (410) receives the high-frequency electromagnetic waves and will form a resonance within the antenna, generating electricity 流 and activate the RFID tag (410) ), after receiving the transmitted signal, the chip returns the response signal back to the radio frequency identification device (160) via the high frequency carrier of the same frequency 率. The UAV high-altitude logistics system as described in item 1 of the patent application scope, wherein the flat-land logistics flight control center (31) and the high-altitude logistics flight control center (32) further include: A logistics flight control center apron (350) is used to provide parking, maintenance, grabbing and unloading of the drone (10); A shutdown positioning device (360) is used to provide a shutdown signal and transmit it to the drone (10) through a shutdown wireless transmission device, so that the drone (10) can accurately land on the logistics following the shutdown signal Flight Control Center Apron (350). The UAV high-altitude logistics system as described in item 1 of the patent application scope, wherein the geomorphic radar device (130) is also provided with an automatic obstacle avoidance unit to automatically measure the distance around the drone (10) to prevent the unmanned person Collision of the aircraft (10), wherein the automatic obstacle avoidance unit can sense the relative distance between the obstacle and the drone (10) through a distance sensor, so that the automatic obstacle avoidance unit can react to avoid in real time Obstacles in the flight path. As described in item 1 of the patent application scope, the UAV mountain logistics system, wherein the drone (10) is additionally provided with a light device (180) to provide lighting and warning. The UAV high-altitude logistics system as described in item 1 of the patent application scope, 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 use the Internet Route the arrival time of the drone (10), the current location, and the cargo to the destination receiver. The UAV mountain logistics system as described in item 1 of the patent scope, wherein the battery (171) is a hydrogenated fuel cell. As described in item 1 of the patent application scope, the UAV high-altitude logistics system, wherein the fixing frame (120) can be a hook, a four-leg bracket, and a carriage. The UAV mountain logistics system as described in item 1 of the patent application scope, wherein the meteorological data includes: A temperature value is compared with a preset temperature threshold. When the temperature value is lower than or greater than the temperature threshold, a temperature abnormality warning is generated and displayed 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 abnormality warning is generated and displayed on the display (310); A bushel wind series value is compared with a preset bushel wind level threshold. When the bushel wind series value is greater than the bushel wind series threshold, a bushel wind series abnormal warning is generated. And displayed on the display (310). For the UAV high-altitude logistics system as described in item 1 of the patent application scope, the meteorological data can be obtained from the public meteorological database provided by the government meteorological bureau. The meteorological data include temperature changes, summer maximum temperature and continuous The number of days, the minimum temperature in winter and the number of continuous days, rainfall, prevailing wind direction, Pu's wind power series and the frequency of typhoons. The UAV mountain logistics system as described in item 1 of the patent application scope, wherein the motor (111), the fixed frame driving servo motor (121) or the camera driving servo motor (153) are brushless motors.

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