WO2023138182A1 - 货物运输调度方法及调度设备、存储介质、货物运输系统 - Google Patents

货物运输调度方法及调度设备、存储介质、货物运输系统 Download PDF

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Publication number
WO2023138182A1
WO2023138182A1 PCT/CN2022/130986 CN2022130986W WO2023138182A1 WO 2023138182 A1 WO2023138182 A1 WO 2023138182A1 CN 2022130986 W CN2022130986 W CN 2022130986W WO 2023138182 A1 WO2023138182 A1 WO 2023138182A1
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WO
WIPO (PCT)
Prior art keywords
cargo
logistics robot
ground
automatic
transport vehicle
Prior art date
Application number
PCT/CN2022/130986
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English (en)
French (fr)
Inventor
胡华智
陈佳龙
Original Assignee
亿航智能设备（广州）有限公司
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Application filed by 亿航智能设备（广州）有限公司 filed Critical 亿航智能设备（广州）有限公司
Publication of WO2023138182A1 publication Critical patent/WO2023138182A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
    • B65G47/68—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices adapted to receive articles arriving in one layer from one conveyor lane and to transfer them in individual layers to more than one conveyor lane or to one broader conveyor lane, or vice versa, e.g. combining the flows of articles conveyed by more than one conveyor
    • B65G47/71—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices adapted to receive articles arriving in one layer from one conveyor lane and to transfer them in individual layers to more than one conveyor lane or to one broader conveyor lane, or vice versa, e.g. combining the flows of articles conveyed by more than one conveyor the articles being discharged or distributed to several distinct separate conveyors or to a broader conveyor lane

Definitions

  • the present application relates to the field of cargo transportation, in particular to a cargo transportation scheduling method, scheduling equipment, storage medium, and cargo transportation system.
  • UAVs When UAVs are used in general logistics transportation, they can be called aerial logistics robots.
  • the current air logistics robots still have a lot of work to rely on manual operation and assistance when performing logistics air transportation. For example, manual identification of goods and manual loading and unloading of goods are required, which is a waste of manpower; and there are no good technical means in terms of safety and reliability.
  • the embodiment of the present application is to provide a cargo transportation scheduling method, scheduling equipment, storage medium, and cargo transportation system, aiming to solve the problem that the current air logistics robot cannot realize automatic cargo handover with the ground truck during logistics air transportation.
  • an embodiment of the present application provides a cargo transportation dispatching method, including: the cargo transportation dispatching device controls the cargo handover and cargo transportation between the aerial logistics robot and the ground automatic transport vehicle by uniformly dispatching the aerial logistics robot and the ground automatic transport vehicle.
  • the cargo transportation dispatching equipment controls the cargo handover and cargo transportation between the air logistics robot and the ground automatic truck by uniformly dispatching the air logistics robot and the ground automatic truck, including:
  • the cargo transportation dispatching device communicates and interacts with the air logistics robot, issues task control instructions to dispatch the air logistics robot, and controls the air logistics robot to perform automatic flight and automatic delivery of goods with the ground automatic transport vehicle according to the task control instructions;
  • the cargo transport scheduling device communicates and interacts with the ground automatic transport vehicle, issues transport control instructions to dispatch the ground automatic transport vehicles, controls the ground automatic transport vehicles to perform automatic driving according to the transport control instructions, and automatically performs cargo delivery with the air logistics robot.
  • an embodiment of the present application is also a freight transportation dispatching device, including: a memory, a processor, and a computer program stored on the memory and operable on the processor.
  • the computer program is executed by the processor, the steps of a freight transportation dispatching method described in any embodiment of the present application are implemented.
  • the embodiment of the present application also provides a storage medium, on which a program of a cargo transportation scheduling method is stored, and when the program of the cargo transportation scheduling method is executed by a processor, the steps of a cargo transportation scheduling method described in any embodiment of the present application are implemented.
  • an embodiment of the present application is also a cargo transportation system
  • the cargo transportation system includes: an air logistics robot, at least one ground automatic transport vehicle, and the cargo transportation dispatching equipment described in any embodiment of the application; wherein:
  • the cargo transportation dispatching device is configured to control the cargo handover and cargo transportation between the aerial logistics robot and the ground automatic transport vehicle by uniformly dispatching the aerial logistics robot and the ground automatic transport vehicle.
  • the cargo transportation dispatching device is configured to control the delivery and transportation of goods between the aerial logistics robot and the ground automatic transport vehicle by uniformly dispatching the aerial logistics robot and the ground automatic transport vehicle; including:
  • the cargo transportation dispatching device communicates and interacts with the air logistics robot, issues task control instructions to dispatch the air logistics robot, and controls the air logistics robot to perform automatic flight and automatic delivery of goods with the ground automatic transport vehicle according to the task control instructions;
  • the cargo transportation scheduling device communicates and interacts with the ground automatic transport vehicle, issues transport control instructions to dispatch the ground automatic transport vehicles, controls the ground automatic transport vehicles to perform automatic driving according to the transport control instructions, and automatically performs cargo delivery with the air logistics robot.
  • the embodiment of the present application provides a cargo transportation scheduling method, scheduling equipment, storage medium, and cargo transportation system, through which the cargo transportation scheduling equipment uniformly dispatches the air logistics robot and the ground automatic transport vehicle to control the cargo handover and cargo transportation between the air logistics robot and the ground automatic transport vehicle. Therefore, the air logistics robot and the ground automatic handling vehicle are uniformly dispatched through the cargo transportation dispatching equipment, so that the air logistics robot can be unified with the ground handling vehicle through the cargo transportation dispatching equipment when performing logistics air transportation, and realize automatic cargo handover with the ground handling vehicle, which solves the current problem that the air logistics robot cannot realize automatic cargo handover with the ground handling vehicle during logistics air transportation.
  • Fig. 1 is a schematic flow chart of a cargo transportation scheduling method provided by the present application.
  • Fig. 2 is a schematic flow diagram of the cargo transportation dispatching equipment in a cargo transportation dispatching method provided by the present application controlling the delivery and transportation of goods between the aerial logistics robot and the ground automatic transport vehicle by uniformly dispatching the aerial logistics robot and the ground automatic transport vehicle.
  • Fig. 3 is a schematic structural diagram of a cargo transportation dispatching device provided by the present application.
  • Fig. 4 is a schematic structural diagram of a cargo transportation system provided by the present application.
  • Fig. 5 is a schematic structural diagram of an aerial logistics robot in a cargo transportation system provided by the present application.
  • Fig. 6 is a schematic diagram of an aerial logistics robot in a cargo transportation system provided by the present application.
  • FIG. 7 is a schematic structural view of an automatic ground transport vehicle in a cargo transportation system provided by the present application.
  • Fig. 8 is a schematic diagram of an automatic ground transfer vehicle in a cargo transportation system provided by the present application.
  • the present application provides a cargo transportation dispatching method, the method comprising:
  • the cargo transportation dispatching device controls the cargo handover and cargo transportation between the aerial logistics robot and the ground automatic transport vehicle by uniformly dispatching the aerial logistics robot and the ground automatic transport vehicle.
  • the cargo transportation dispatching equipment is used to uniformly dispatch the aerial logistics robot and the ground automatic transport vehicle to control the cargo handover and cargo transportation between the aerial logistics robot and the ground automatic transport vehicle. Therefore, the air logistics robot and the ground automatic handling vehicle are uniformly dispatched through the cargo transportation dispatching equipment, so that the air logistics robot can be unified with the ground handling vehicle through the cargo transportation dispatching equipment when performing logistics air transportation, and realize automatic cargo handover with the ground handling vehicle, which solves the current problem that the air logistics robot cannot realize automatic cargo handover with the ground handling vehicle during logistics air transportation.
  • the cargo transportation dispatching device controls the handover and cargo transportation of the air logistics robot and the ground automatic transport vehicle by uniformly dispatching the air logistics robot and the ground automatic transport vehicle; including:
  • the cargo transportation dispatching equipment communicates and interacts with the air logistics robot, issues a task control command to dispatch the air logistics robot, and controls the air logistics robot to perform automatic flight and automatic delivery of goods with the ground automatic transport vehicle according to the task control command;
  • the cargo transport dispatching equipment communicates with the ground automatic transport vehicle, issues a transport control command to dispatch the ground automatic transport vehicle, controls the ground automatic transport vehicle to perform automatic driving according to the transport control command, and automatically performs cargo delivery with the air logistics robot.
  • a task control instruction is issued to dispatch the air logistics robot, and the air logistics robot is controlled to perform automatic flight according to the task control instruction and automatically carry out cargo delivery with the ground automatic transport vehicle;
  • the cargo transportation dispatching device communicates with the ground automatic transport vehicle, issues a handling control instruction to dispatch the ground automatic transport vehicle, controls the ground automatic transport vehicle to perform automatic driving according to the transportation control instruction, and automatically performs cargo transfer with the air logistics robot.
  • the air logistics robot and the ground automatic handling vehicle are uniformly dispatched through the cargo transportation dispatching equipment, so that the air logistics robot can be unified with the ground handling vehicle through the cargo transportation dispatching equipment when performing logistics air transportation, and realize automatic cargo handover with the ground handling vehicle, which solves the current problem that the air logistics robot cannot realize automatic cargo handover with the ground handling vehicle during logistics air transportation.
  • the air logistics robot can automatically carry out cargo transfer with the ground automatic handling vehicle, so that the air logistics robot has a high degree of automation, automatic flight, no manual intervention, saving manpower, high reliability and safety.
  • the cargo transportation dispatching device communicates and interacts with the air logistics robot, and issues task control instructions to dispatch the air logistics robot.
  • the task control instruction at least includes: cargo serial number information, cargo loading location latitude and longitude information, cargo destination latitude and longitude information, cargo loading location routing information, and cargo destination routing information.
  • the cargo transportation dispatching device controls the air logistics robot to automatically fly according to the task control instruction and to automatically transfer cargo with the ground automatic transport vehicle.
  • the cargo transportation dispatching equipment controls the air logistics robot to automatically fly to the position indicated by the latitude and longitude information of the cargo loading place according to the latitude and longitude information of the cargo loading place and the route information of the cargo loading place in the mission control instruction, and prepare to load the cargo.
  • the cargo transportation dispatching equipment controls the air logistics robot to automatically feed back the arrival information of the cargo loading place to the cargo transportation system; after the cargo transportation dispatching device receives the information on the arrival of the cargo loading place automatically fed back by the air logistics robot, it sends the cargo number information and the latitude and longitude information of the cargo loading place to the ground automatic transport vehicle, and controls the ground automatic transport vehicle to carry the corresponding goods according to the cargo serial number information, and transport the goods to the cargo loading site according to the longitude and latitude information of the cargo loading place.
  • the cargo transportation dispatching equipment controls the ground automatic handling vehicle to automatically feed back the information of the arrival of the cargo loading place to the cargo transportation system; after the cargo transportation dispatching equipment receives the information on the arrival of the cargo loading place that is automatically fed back by the ground automatic handling vehicle, it controls the air logistics robot to automatically transfer the goods to the ground automatic handling vehicle, and automatically receives the goods from the ground automatic handling vehicle; The robot automatically sends the cargo handover success information, and then controls the air logistics robot to automatically fly the cargo to the destination indicated by the cargo destination latitude and longitude information according to the cargo destination airline information according to the cargo destination latitude and longitude information and cargo destination route information.
  • the cargo transportation scheduling equipment controls the air logistics robot to automatically feed back the destination information of the goods to the cargo transportation system; after receiving the destination information of the goods fed back by the air logistics robot, the cargo transportation dispatching equipment sends the cargo serial number information and the longitude and latitude information of the cargo destination to the ground automatic transport vehicle, and controls the ground automatic transport vehicle to reach the cargo destination according to the longitude and latitude information of the cargo destination.
  • the cargo transportation dispatching equipment controls the ground automatic handling vehicle to automatically feed back the destination information of the goods to the cargo transportation system; after the cargo transportation dispatching equipment receives the information on the destination of the goods that is fed back and transmitted by the ground automatic handling vehicle, it controls the air logistics robot to automatically release the goods to the ground automatic handling vehicle, and after the air logistics robot successfully transfers the goods, the cargo transportation dispatching equipment controls the air logistics robot to automatically feed back the successful delivery information to the cargo transportation system; Automatically fly to another designated location according to mission control instructions.
  • the cargo transport dispatching device communicates and interacts with the automatic ground transport vehicle, and issues a transport control instruction to dispatch the automatic ground transport vehicle.
  • the handling control instruction at least includes: cargo serial number information, cargo loading location latitude and longitude information, cargo destination latitude and longitude information, cargo loading location navigation information, and cargo destination navigation information.
  • the cargo transport dispatching device controls the ground automatic transport vehicle to perform automatic driving and automatic delivery of cargo with the air logistics robot according to the transport control instruction.
  • the ground automatic transport vehicle includes a first ground automatic transport vehicle and a second ground automatic transport vehicle; wherein, the first ground automatic transport vehicle and the second ground automatic transport vehicle have the same structure and are both ground automatic transport vehicles.
  • the cargo transportation dispatching equipment After the cargo transportation dispatching equipment receives the information of the cargo loading place automatically fed back by the air logistics robot, it sends a handling control command to the first ground automatic transport vehicle, controls the first ground automatic transport vehicle to carry the corresponding goods according to the cargo number information in the handling control command, and automatically drives to the position indicated by the longitude and latitude information of the cargo loading place according to the cargo loading place latitude and longitude information and the cargo loading place navigation information in the handling control command.
  • the cargo transport dispatching device controls the first automatic ground transport vehicle to automatically feed back information on the arrival of the cargo loading site to the cargo transport system, and controls the first automatic ground transport vehicle to automatically transfer goods with the air logistics robot, and releases the goods to the air logistics robot.
  • Transport control instructions to automatically drive to another designated location.
  • the cargo transportation dispatching equipment After receiving the destination information of the goods fed back by the air logistics robot, the cargo transportation dispatching equipment sends a handling control command to the second ground automatic transport vehicle, and controls the second ground automatic transport vehicle to automatically drive to the location indicated by the cargo destination latitude and longitude information according to the cargo destination latitude and longitude information and cargo destination navigation information in the handling control command.
  • the cargo transportation scheduling device controls the second automatic ground transport vehicle to automatically feed back the destination information of the goods to the cargo transportation system; controls the second automatic ground transport vehicle to automatically transfer goods with the air logistics robot, and receives the goods released by the air logistics robot. , Carrying goods and driving to another designated location automatically.
  • the present application provides a cargo transportation scheduling device.
  • the cargo transportation scheduling device 20 includes: a memory 22, a processor 21, and one or more computer programs stored in the memory 22 and operable on the processor 21.
  • the memory 22 and the processor 21 are coupled together through a bus system 23.
  • the one or more computer programs are executed by the processor 21, the following steps of a cargo transportation scheduling method provided in the embodiment of the present application are implemented:
  • the cargo transportation dispatching device controls the cargo handover and cargo transportation between the aerial logistics robot and the ground automatic transport vehicle by uniformly dispatching the aerial logistics robot and the ground automatic transport vehicle.
  • the methods disclosed in the foregoing embodiments of the present application may be applied to the processor 21 or implemented by the processor 21 .
  • the processor 21 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method may be completed by an integrated logic circuit of hardware in the processor 21 or instructions in the form of software.
  • the processor 21 may be a general-purpose processor, DSP, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like.
  • the processor 21 may implement or execute various methods, steps, and logic block diagrams disclosed in the embodiments of the present application.
  • a general purpose processor may be a microprocessor or any conventional processor or the like.
  • the steps of the method disclosed in the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor.
  • the software module may be located in a storage medium, and the storage medium is located in the memory 22, and the processor 21 reads the information in the memory 22, and completes the steps of the foregoing method in combination with its hardware.
  • the memory 22 in the embodiment of the present application may be a volatile memory or a non-volatile memory, and may also include both volatile and non-volatile memories.
  • the non-volatile memory can be a read-only memory (ROM, Read-Only Memory), Programmable Read-Only Memory (PROM, Programmable Read-Only Memory), Erasable Programmable Read-Only Memory (EPROM, Erasable Read-Only Memory), Electrically Erasable Read-Only Memory (EEPROM, Electrically Erasable Programmable Read-Only Memory) Memory), Magnetic Random Access Memory (FRAM, Ferromagnetic Random Access Memory), flash memory (Flash Memory) or other memory technology, CD-ROM (Compact Disk Read-Only Memory), digital versatile disk (DVD, Digital Video Disk) or other optical disk storage, magnetic cartridges, tapes, magnetic disk storage or other magnetic storage devices; volatile memory can be random access memory (RAM, Random Access Memory), by way of illustration but not limitation, many forms of RAM are available such as
  • the embodiment of the present application also provides a computer storage medium, specifically a computer-readable storage medium, for example, including a memory 22 storing a computer program.
  • a computer storage medium specifically a computer-readable storage medium, for example, including a memory 22 storing a computer program.
  • One or more programs of a cargo transportation scheduling method are stored on the computer storage medium.
  • the cargo transportation dispatching device controls the cargo handover and cargo transportation between the aerial logistics robot and the ground automatic transport vehicle by uniformly dispatching the aerial logistics robot and the ground automatic transport vehicle.
  • the present application provides a cargo transportation system, which includes: an aerial logistics robot 10, a cargo transportation scheduling device 20 as described in any of the above-mentioned embodiments, and at least one ground automatic transport vehicle 30; wherein:
  • the cargo transportation dispatching device 20 is configured to control the cargo handover and cargo transportation between the aerial logistics robot 10 and the ground automatic transport vehicle 30 by uniformly dispatching the aerial logistics robot 10 and the ground automatic transport vehicle 30 .
  • the cargo transportation system includes an aerial logistics robot, cargo transportation dispatching equipment and at least one ground automatic transport vehicle, through which the cargo transportation dispatching equipment uniformly dispatches the aerial logistics robot and the ground automatic transport vehicle to control the cargo handover and cargo transportation between the aerial logistics robot and the ground automatic transport vehicle. Therefore, the air logistics robot and the ground automatic handling vehicle are uniformly dispatched through the cargo transportation dispatching equipment, so that the air logistics robot can be unified with the ground handling vehicle through the cargo transportation dispatching equipment when performing logistics air transportation, and realize automatic cargo handover with the ground handling vehicle, which solves the current problem that the air logistics robot cannot realize automatic cargo handover with the ground handling vehicle during logistics air transportation.
  • the cargo transportation dispatching device 20 is configured to control the delivery and transportation of goods between the aerial logistics robot 10 and the ground automatic transport vehicle 30 by uniformly dispatching the aerial logistics robot 10 and the ground automatic transport vehicle 30; including:
  • the cargo transport dispatching device 20 communicates and interacts with the aerial logistics robot 10, issues task control instructions to dispatch the aerial logistics robot 10, controls the aerial logistics robot 10 to perform automatic flight according to the task control instructions, and automatically transfers goods to the ground automatic transport vehicle 30;
  • the cargo transportation dispatching device 10 communicates and interacts with the ground automatic transport vehicle 30 , issues transport control instructions to dispatch the ground automatic transport vehicles 30 , and controls the ground automatic transport vehicles 30 to perform automatic driving and automatically transfer goods with the aerial logistics robot 10 according to the transport control instructions.
  • the air logistics robot through the communication and interaction between the cargo transportation scheduling equipment and the air logistics robot, task control instructions are issued to dispatch the air logistics robot; the air logistics robot performs automatic flight and automatically carries out cargo transfer with the ground automatic carrier according to the task control instruction of the cargo transportation scheduling device; the cargo transportation scheduling device communicates and interacts with the ground automatic carrier, and issues handling control instructions to dispatch the ground automatic carrier; In this way, the air logistics robot can automatically transfer goods with the ground automatic carrier, making the air logistics robot have a high degree of automation, automatic flight, no manual intervention, saving manpower, high reliability and safety. Thereby solving the problem that the current air logistics robot still has a large amount of work relying on manual operation and assistance when performing logistics air transportation, resulting in a low degree of automation.
  • the cargo transportation scheduling device 20 communicates and interacts with the air logistics robot 10 , and is configured to issue task control instructions to dispatch the air logistics robot 10 .
  • the task control instruction at least includes: cargo serial number information, cargo loading location latitude and longitude information, cargo destination latitude and longitude information, cargo loading location routing information, and cargo destination routing information.
  • the air logistics robot 10 is configured to perform automatic flight according to the task control instruction of the cargo transportation scheduling device 20, and automatically perform cargo handover with the ground automatic transfer vehicle 30, and transmit cargo handover success information to the cargo transportation scheduling equipment 20.
  • the air logistics robot 10 automatically flies to the position indicated by the latitude and longitude information of the cargo loading place according to the latitude and longitude information of the cargo loading place and the route information of the cargo loading place in the received mission control instructions, and prepares to load the cargo.
  • the air logistics robot 10 After arriving at the cargo loading place, the air logistics robot 10 will feed back the information of the arrival of the cargo loading place to the cargo transportation dispatching device 20; after receiving the information that the air logistics robot 10 has arrived at the cargo loading place, the cargo transportation dispatching device 20 will send a handling control command to the ground automatic transport vehicle, and control the ground automatic transport vehicle 30 to carry the corresponding goods according to the cargo serial number information of the transport control command, and transport the goods to the cargo loading site according to the latitude and longitude information of the cargo loading place in the transport control command.
  • the air logistics robot 10 After the air logistics robot 10 receives the message sent by the cargo transportation dispatching equipment 20 that the ground automatic transport vehicle 30 has arrived at the cargo loading place, it automatically performs cargo transfer with the ground automatic transport vehicle 30, and automatically receives the cargo from the ground automatic transport vehicle 30; after the cargo transfer is successful, it automatically sends the cargo transfer success information and feeds it back to the cargo transportation dispatching device 20, and then according to the cargo destination longitude and latitude information and cargo destination route information in the received task control instructions, according to the cargo destination route information Carry the cargo and automatically fly to the destination indicated by the cargo destination latitude and longitude information.
  • the air logistics robot 10 feeds back the cargo destination information to the cargo transportation scheduling device 20; after receiving the cargo destination information from the air logistics robot 10, the cargo transportation scheduling equipment 20 sends the cargo serial number information and the cargo destination latitude and longitude information to the ground automatic transport vehicle 30, and controls the ground automatic transport vehicle 30 to arrive at the cargo destination according to the cargo destination latitude and longitude information.
  • the air logistics robot 10 After the air logistics robot 10 receives the message sent by the cargo transportation dispatching device 20 that the ground automatic transfer vehicle 30 has arrived at the destination of the cargo, it automatically releases the cargo to the ground automatic transfer vehicle 30. After the cargo is handed over successfully, it automatically sends a message of successful delivery of the cargo to the cargo transportation dispatching device 20, and then automatically flies to another designated location according to the task control instruction of the cargo transportation dispatching device 20.
  • the cargo transportation dispatching device 20 communicates with the automatic ground transport vehicle 30 , and is configured to issue a transport control command to dispatch the automatic ground transport vehicle 30 .
  • the handling control instruction at least includes: cargo serial number information, cargo loading location latitude and longitude information, cargo destination latitude and longitude information, cargo loading location navigation information, and cargo destination navigation information.
  • the ground automatic transfer vehicle 30 is configured to perform automatic driving according to the handling control instruction of the cargo transportation dispatching device 20, and automatically perform cargo transfer with the air logistics robot 10, and feed back the successful cargo transfer information to the cargo transportation dispatching device 20.
  • the cargo transportation system includes a first automatic ground transport vehicle and a second automatic ground transport vehicle; wherein, the first automatic ground transport vehicle and the second automatic ground transport vehicle have the same structure, and both are automatic ground transport vehicles 30 .
  • the cargo transportation dispatching device 20 After receiving the cargo arrival information sent by the aerial logistics robot 10, the cargo transportation dispatching device 20 sends a handling control command to the first ground automatic transport vehicle.
  • the first ground automatic transport vehicle transports the cargo corresponding to the cargo serial number information according to the cargo serial number information received in the transport control instruction.
  • the first automatic ground transport vehicle automatically drives to the position indicated by the latitude and longitude information of the cargo loading location according to the cargo loading location navigation information and the cargo loading location navigation information in the received transport control instruction.
  • the first ground automatic transport vehicle After arriving at the cargo loading place, the first ground automatic transport vehicle will feed back the information on the arrival of the cargo loading place to the cargo transportation dispatching device 20; after receiving the information that the first ground automatic transport vehicle has arrived at the cargo loading place, the cargo transportation dispatching device 20 will send the information on the arrival of the first ground automatic transport vehicle to the cargo loading place to the air logistics robot 10.
  • the first ground automatic transfer vehicle automatically transfers goods to the air logistics robot 10, and releases the goods to the air logistics robot 10. After the goods are handed over successfully, it automatically sends the information of the success of the goods handover to the goods transportation dispatching device 20, and then automatically drives to another designated location according to the handling control instruction of the goods transportation dispatching device 20.
  • the cargo transportation dispatching device 20 After receiving the cargo destination information sent by the aerial logistics robot 10, the cargo transportation dispatching device 20 sends a handling control instruction to the second ground automatic transport vehicle.
  • the second ground automatic transport vehicle automatically drives to the position indicated by the cargo destination latitude and longitude information according to the cargo destination navigation information according to the cargo destination latitude and longitude information in the received transport control instruction.
  • the second ground automatic transport vehicle After arriving at the destination of the goods, the second ground automatic transport vehicle will feed back the information of the arrival of the goods destination to the cargo transportation dispatching device 20;
  • the second ground automatic transfer vehicle automatically transfers goods with the air logistics robot 10, automatically receives the goods released by the air logistics robot 10, and automatically sends the information of the success of the goods handover to the cargo transportation scheduling device 20 after the cargo delivery is successful, and then automatically drives the cargo to another designated location according to the handling control instructions of the cargo transportation scheduling device 20.
  • the air logistics robot 10 includes a first control module 11, a first communication module 12, and an automatic cargo grabbing module 13; wherein:
  • the first control module 11 and the first communication module 12 are arranged inside the air logistics robot 10 .
  • the first communication module 12 is configured to enable the first control module 11 to communicate with the cargo transportation scheduling device 20 .
  • the first control module 11 is respectively connected to the first communication module 12 and the automatic cargo grabbing module 13.
  • the first control module 11 communicates and interacts with the cargo transportation dispatching device 20 through the first communication module 12, processes and receives the task control command issued by the cargo transport dispatching device 20, and sends a control command to the cargo automatic grabbing module 13 according to the task control command, and controls the air logistics robot 10 to automatically fly according to the route information according to the task control command.
  • the first control module 11 feeds back the information of the arrival of the cargo loading place to the cargo transportation scheduling device 20 through the first communication module 12; after receiving the information sent by the cargo transportation scheduling device 20 that the ground automatic transport vehicle 30 has arrived at the cargo loading place, the first control module 11 sends a control command to the cargo automatic grasping module 13, so that the cargo automatic grasping module 13 automatically grasps the goods on the ground automatic transport vehicle 30.
  • the first control module 11 feeds back the information of the arrival of the goods to the cargo transportation dispatching device 20 through the first communication module 12;
  • the cargo automatic grabbing module 13 is arranged at the bottom of the aerial logistics robot 10, and is configured to automatically transfer the cargo to the ground automatic transport vehicle 30 according to the control command of the first control module 11, and transmit the successful cargo transfer information to the first control module 11.
  • the cargo automatic grabbing module 13 is arranged in the middle of the bottom of the aerial logistics robot 10 .
  • the cargo automatic grab module 13 automatically grabs the cargo on the ground automatic transport vehicle 30 according to the control instruction of the first control module 11 .
  • the automatic goods grabbing module 13 automatically releases the goods to the ground automatic transport vehicle 30 according to the control instruction of the first control module 11 .
  • the cargo automatic grabbing module 13 includes a vacuum adsorption module or an electromagnet adsorption module.
  • the vacuum adsorption module is configured to grab or release the cargo by vacuum adsorption to realize the load loading of the aerial logistics robot 10 , and transmit the success information of the successful adsorption or release of the cargo to the first control module 11 .
  • the electromagnet adsorption module is configured to grab or release the goods by means of electromagnet adsorption, so as to realize the load loading of the air logistics robot 10, and transmit the success information of the successful adsorption or release of the goods to the first control module 11.
  • the first control module 11 is also configured to send the received cargo delivery information to the cargo transportation dispatching device 20 through the first communication module 12, so that the cargo transportation dispatching device 20 transmits the cargo transfer information to the cargo transportation dispatching device 20, and the cargo transportation dispatching device 20 transmits the cargo delivery information to the automatic ground truck 30.
  • the automatic goods grabbing module automatically grabs goods from the ground automatic transport vehicle according to the control instructions of the first control module, and after the air logistics robot arrives at the destination of the goods, it automatically releases the goods to the ground automatic transport vehicle according to the control instructions of the first control module, so that the air logistics robot has a high degree of automation and can automatically grab and release goods without manual intervention, saving manpower, and has high reliability and safety.
  • the air logistics robot still has a large amount of work relying on manual operation and assistance when performing logistics air transportation, resulting in a low degree of automation.
  • the aerial logistics robot 10 further includes a first position sensor 14, the first position sensor 14 is arranged at the bottom of the aerial logistics robot 10, is connected with the first control module 11, is configured to sense the cargo position of the automatic ground truck 30, and transmits the sensing information to the first control module 11.
  • the first control module 11 sends a control command to the cargo automatic grabbing module 13 according to the sensing information transmitted by the first position sensor 14, and controls the cargo automatic grabbing module 13 to automatically grab the cargo of the ground automatic truck 30.
  • the first control module 11 sends the cargo delivery success information to the cargo transport dispatching device 20 through the first communication module 12, and the cargo transport dispatching device 20 sends the cargo transfer success information to the cargo transport dispatching device 20, and then the cargo transport dispatching device 20 forwards it to the ground automatic truck 30.
  • the first position sensor senses the position of the cargo on the ground automatic transport vehicle, so that the automatic identification of the cargo position can be realized without manual intervention, and the automation degree of the aerial logistics robot can be improved.
  • the aerial logistics robot 10 also includes a supporting device 15, which is arranged around the bottom of the aerial logistics robot 10, and is configured to support the aerial logistics robot 10 to stay on the ground, and when the aerial logistics robot 10 stays on the ground, a passageway for the ground automatic transport vehicle 30 is formed at the bottom of the aerial logistics robot 10.
  • an entry and exit channel for the ground automatic transport vehicle can also be formed at the bottom of the aerial logistics robot, so that the ground automatic transport vehicle can automatically drive into the channel and stop at the bottom of the aerial logistics robot.
  • the air logistics robot 10 also includes a visual recognition module 16, which is connected to the first control module 11 and configured to recognize the serial number on the top of the goods on the ground automatic transport vehicle 30 according to the control instructions of the first control module 11, so as to assist the automatic goods grabbing module 13 to accurately grab the goods.
  • a visual recognition module 16 which is connected to the first control module 11 and configured to recognize the serial number on the top of the goods on the ground automatic transport vehicle 30 according to the control instructions of the first control module 11, so as to assist the automatic goods grabbing module 13 to accurately grab the goods.
  • the visual recognition module recognizes the serial number mark on the top of the cargo on the ground automatic transfer vehicle, which can automatically identify the location of the cargo without manual intervention, improve the automation of the air logistics robot, and can assist the cargo automatic grabbing module to accurately grab the cargo.
  • the aerial logistics robot 10 also includes an obstacle avoidance device 17, which is arranged on the front end of the aerial logistics robot 10, connected with the first control module 11, and configured to detect and avoid obstacles of the aerial logistics robot 10 during flight, so as to ensure the safety of the aerial logistics robot 10 during flight.
  • an obstacle avoidance device 17 which is arranged on the front end of the aerial logistics robot 10, connected with the first control module 11, and configured to detect and avoid obstacles of the aerial logistics robot 10 during flight, so as to ensure the safety of the aerial logistics robot 10 during flight.
  • the obstacle avoidance device 17 can use ultrasonic and visual means to ensure safety during flight.
  • the obstacle avoidance device detects and avoids the obstacles of the air logistics robot during flight to ensure the safety of the air logistics robot during flight, so that the air logistics robot can realize automatic flight and improve the reliability and safety of the air logistics robot.
  • the ground automatic transport vehicle 30 is configured to perform automatic driving according to the handling control instructions and automatically carry out cargo transfer with the air logistics robot 10; wherein, the ground automatic transport vehicle 30 includes a second control module 31, a second communication module 32, a cargo placement platform 33 and a clamping mechanism 34; wherein:
  • the goods placing platform 33 is arranged on the ground automatic transport vehicle 30, and is set to place goods.
  • the second control module 31 and the second communication module 32 are arranged inside the ground automatic transport vehicle 30 .
  • the second communication module 32 is configured to enable the second control module 31 to communicate with the cargo transportation scheduling device 20 .
  • the second control module 31 is respectively connected to the second communication module 32 and the clamping mechanism 34.
  • the second control module 31 communicates and interacts with the cargo transport dispatching device 20 through the second communication module 32, processes and receives the transport control command issued by the cargo transport dispatching device 20, and sends a control command to the clamping mechanism 34 according to the transport control command, and controls the automatic driving of the ground automatic transport vehicle 30 according to the transport control command.
  • the clamping mechanism 34 is arranged on the top or side of the ground automatic transport vehicle 30, and is configured to automatically clamp or release the goods according to the control command of the second control module 31, so as to transfer the goods with the aerial logistics robot 10, and transmit the successful delivery information to the second control module 31.
  • the ground automatic transport vehicle 30 also includes a lifting mechanism 35, which is fixedly arranged under the cargo placement platform 33, connected to the second control module 31, and configured to lift the goods placed on the cargo placement platform 33 according to the control command of the second control module 31, so that when the ground automatic transport vehicle 30 arrives below the aerial logistics robot 10, the goods are lifted below the aerial logistics robot 10, so that the first position sensor 14 of the aerial logistics robot 10 can sense the goods. location.
  • a lifting mechanism 35 which is fixedly arranged under the cargo placement platform 33, connected to the second control module 31, and configured to lift the goods placed on the cargo placement platform 33 according to the control command of the second control module 31, so that when the ground automatic transport vehicle 30 arrives below the aerial logistics robot 10, the goods are lifted below the aerial logistics robot 10, so that the first position sensor 14 of the aerial logistics robot 10 can sense the goods. location.
  • the ground automatic transport vehicle 30 further includes a second position sensor 36, which is arranged on the lifting mechanism 35 and connected to the second control module 31, and is configured to sense the position of the cargo on the aerial logistics robot 10 when the lifting mechanism 35 is in no-load lifting, and transmit the sensing information to the second control module 31 after sensing the position of the cargo.
  • a second position sensor 36 which is arranged on the lifting mechanism 35 and connected to the second control module 31, and is configured to sense the position of the cargo on the aerial logistics robot 10 when the lifting mechanism 35 is in no-load lifting, and transmit the sensing information to the second control module 31 after sensing the position of the cargo.
  • the second control module 31 sends a control command to the lifting mechanism 35 according to the sensing information transmitted by the second position sensor 36, so that the lifting mechanism 35 stops lifting.
  • a cargo transport system includes: an air logistics robot 10, a cargo transport scheduling device 20, a first automatic ground transport vehicle and a second automatic ground transport vehicle.
  • the automatic cargo grabbing module 13 in the air logistics robot 10 is described by taking the vacuum adsorption module 13 as an example.
  • the cargo transportation scheduling device 20 communicates and interacts with the air logistics robot 10, and issues task control instructions to dispatch the air logistics robot 10; wherein, the task control instructions include: cargo serial number information, cargo loading location latitude and longitude information, cargo destination latitude and longitude information, cargo loading location route information, and cargo destination route information.
  • the air logistics robot 10 automatically flies to the location indicated by the latitude and longitude information of the cargo loading place according to the cargo loading location latitude and longitude information and cargo loading route information in the received mission control instructions.
  • the aerial logistics robot 10 uses the obstacle avoidance device 17 to detect and avoid obstacles encountered during the flight, so as to ensure the safety of the aerial logistics robot 10 during the flight.
  • the aerial logistics robot 10 After arriving at the cargo loading place, the aerial logistics robot 10 descends to the cargo loading place, stays on the ground with the support device 15, and forms an access channel for ground automatic transport vehicles at the bottom of the aerial logistics robot 10, ready to load the cargo.
  • the first control module 11 of the air logistics robot 10 feeds back the information of the arrival of the cargo to the cargo transportation dispatching device 20 through the first communication module 12 .
  • the cargo transportation scheduling device 20 After receiving the information that the aerial logistics robot 10 has arrived at the cargo loading place, the cargo transportation scheduling device 20 sends a handling control command to the first ground automatic transport vehicle, and dispatches the first ground automatic transport vehicle to automatically carry the goods and automatically drive under the aerial logistics robot 10 .
  • the first ground automatic transport vehicle transports the goods corresponding to the goods number information according to the goods number information received in the handling control instruction, and according to the goods loading place latitude and longitude information and the goods loading place navigation information in the goods handling control instruction received, the loaded goods automatically drives to the position indicated by the goods loading place latitude and longitude information according to the goods loading place navigation information, and then automatically drives into the access channel formed at the bottom of the aerial logistics robot 10, and stops under the bottom of the air logistics robot 10.
  • the second control module 31 of the first automatic ground truck sends a control command for releasing goods to the clamping mechanism 34 .
  • the clamping mechanism 34 automatically releases the goods according to the control instruction of the second control module 31 .
  • the second control module 31 issues a control command to the lifting mechanism 35 .
  • the lifting mechanism 35 slowly lifts the goods placed on the goods placement platform 33 according to the control instruction of the second control module 31, and lifts the goods below the aerial logistics robot 10, so that the first position sensor 14 of the aerial logistics robot 10 can sense the position of the goods.
  • the second control module 31 of the first ground automatic transport vehicle feeds back the information of arrival at the loading place of the goods to the goods transportation dispatching device 20 .
  • the cargo transport dispatching device 20 After receiving the information that the first automatic ground transport vehicle has arrived at the cargo loading place, the cargo transport dispatching device 20 sends the information that the first automatic ground transport vehicle has arrived at the cargo loading place to the air logistics robot 10 .
  • the first position sensor 14 of the aerial logistics robot 10 senses the position of the goods of the first ground automatic transport vehicle at any time during the stay of the aerial logistics robot 10 , and transmits the sensing information to the first control module 11 after sensing the position of the goods.
  • the first control module 11 of the air logistics robot 10 After the first control module 11 of the air logistics robot 10 receives the information sent by the cargo transportation scheduling device 20 that the first automatic ground transport vehicle has arrived at the cargo loading place through the first communication module 12, it sends a control command to the vacuum adsorption module 13 according to the sensing information transmitted by the first position sensor 14, and controls the vacuum adsorption module 13 to automatically grab the goods of the first automatic ground transport vehicle. At the same time, the first control module 11 sends the sensing information of the sensed goods to the goods transport dispatching device 20, and the goods transport dispatching device 20 sends the sensing information of the sensed goods to the first automatic ground truck. After the second control module 31 of the first ground automatic transport vehicle receives the sensing information of the goods, it sends a control command to the lifting mechanism 35, so that the lifting mechanism 35 stops lifting.
  • the vacuum adsorption module 13 absorbs the goods according to the control instructions of the first control module.
  • the first control module 11 controls the visual identification module 16 to recognize the serial number on the top of the goods on the first ground automatic transport vehicle, so as to assist the vacuum adsorption module 13 to accurately grab the goods.
  • the first control module 11 sends the cargo delivery success information to the cargo transportation scheduling device 20 through the first communication module 12, and the cargo transportation scheduling equipment 20 sends the cargo delivery success information to the first automatic ground truck.
  • the second control module 31 of the first ground automatic transport vehicle After the second control module 31 of the first ground automatic transport vehicle receives the successful delivery message, it sends a control command to the clamping mechanism 34 and the lifting mechanism 35, so that the clamping mechanism 34 and the lifting mechanism 35 return to their original positions. After the first automatic ground transport vehicle has successfully handed over the goods, it automatically drives away to another designated location according to the handling control instruction of the goods transport dispatching device 20 .
  • the air logistics robot 10 After successfully receiving the goods, the air logistics robot 10 will automatically fly to the destination indicated by the longitude and latitude information of the cargo destination according to the cargo destination route information according to the cargo destination latitude and longitude information and cargo destination route information in the received mission control instruction.
  • the aerial logistics robot 10 uses the obstacle avoidance device 17 to detect and avoid obstacles encountered during the flight, so as to ensure the safety of the aerial logistics robot 10 during the flight.
  • the aerial logistics robot 10 After arriving at the destination of the goods, the aerial logistics robot 10 lands at the destination of the goods, stays on the ground with the support device 15, and forms an access channel for the ground automatic transport vehicle at the bottom of the aerial logistics robot 10, waiting to release the goods.
  • the first control module 11 feeds back the destination information of the cargo to the cargo transportation scheduling device 20 through the first communication module 12 .
  • the cargo transport dispatching device 20 After receiving the cargo destination information sent by the aerial logistics robot 10 , the cargo transport dispatching device 20 sends a handling control command to the second ground automatic transport vehicle, and dispatches the second ground automatic transport vehicle to automatically drive under the aerial logistics robot 10 .
  • the second ground automatic transport vehicle automatically drives to the position indicated by the cargo destination latitude and longitude information according to the cargo destination latitude and longitude information and cargo destination navigation information in the received handling control command, then automatically drives into the access channel formed at the bottom of the aerial logistics robot 10, and stops under the bottom of the aerial logistics robot 10.
  • the second control module 31 of the second ground automatic transport vehicle feeds back the destination information of the cargo to the cargo transportation dispatching device 20 .
  • the second control module 31 issues a control command to the lifting mechanism 35 .
  • the lifting mechanism 35 slowly lifts the goods placing platform 33 according to the control instruction of the second control module 31 .
  • the second position sensor 36 senses the position of the goods on the aerial logistics robot 10 at any time when the lifting mechanism 35 is lifted, and transmits the sensing information to the second control module 31 when sensing the position of the goods.
  • the second control module 31 sends a control command to the lifting mechanism 35 according to the sensing information transmitted by the second position sensor 36, so that the lifting mechanism 35 stops lifting.
  • the second control module 31 sends the sensing information of the sensed goods to the goods transport dispatching device 20
  • the goods transport dispatching device 20 sends the sensing information of the sensed goods to the air logistics robot 10 .
  • the first control module 11 of the air logistics robot 10 receives the sensing information of sensing the goods, it sends a control command to the vacuum adsorption module 13 to let the vacuum adsorption module 13 release the goods.
  • the vacuum adsorption module 13 releases the cargo according to the control instruction of the first control module 11. After the vacuum adsorption module 13 successfully releases the cargo, the first control module 11 sends the cargo delivery success information to the cargo transport dispatching device 20 through the first communication module 12, and the cargo transport dispatching device 20 sends the cargo transfer success information to the second automatic ground truck.
  • the second control module 31 of the second automatic ground transport vehicle sends a control command to the lifting mechanism 35 after receiving the cargo delivery success message, so that the lifting mechanism 35 starts a descending action.
  • the lifting mechanism 35 slowly lowers the goods placement platform 33 according to the control instruction of the second control module 31.
  • the second control module 31 sends a control instruction to the clamping mechanism 34 to allow the clamping mechanism 34 to perform a clamping action.
  • the clamping mechanism 34 clamps the goods placed on the goods placing platform 33 according to the control command of the second control module 31 .
  • the second ground automatic transfer vehicle sends a message of successful delivery of the cargo to the cargo transportation scheduling device 20, and then automatically drives the cargo to another designated location according to the handling control instruction of the cargo transportation scheduling device 20.
  • the cargo transport dispatching device 20 sends the cargo delivery success information to the air logistics robot 10 .
  • the air logistics robot 10 automatically flies to another designated place according to the task control instruction of the cargo transportation dispatching device 20 after receiving the cargo delivery success information sent by the cargo transportation dispatching device 20 .
  • the embodiment of the present application provides a cargo transportation scheduling method, scheduling equipment, storage medium, and cargo transportation system.
  • the cargo transportation scheduling equipment uniformly schedules the air logistics robot and the ground automatic transport vehicle, so that the air logistics robot can perform unified connection with the ground transport vehicle through the cargo transportation dispatching equipment and realize automatic cargo transfer with the ground transport vehicle when performing logistics air transport, thereby solving the current problem that the air logistics robot cannot realize automatic cargo transfer with the ground transport vehicle during logistics air transport.
  • the ground automatic transport vehicle automatically loads the goods to be transported according to the handling control instructions of the cargo transportation dispatching equipment, and automatically drives to the bottom of the aerial logistics robot;
  • the aerial logistics robot automatically recognizes the goods on the ground automatic transport vehicle according to the task control instructions of the cargo transportation dispatching equipment, and automatically grabs the goods on the ground automatic transport vehicle, so that the aerial logistics robot automatically performs cargo transfer with the ground automatic transport vehicle, and automatically transports the goods by flight to the designated destination according to the route information of the task control instruction, automatically releases the goods to the ground automatic transport vehicle, and automatically connects with the ground automatic transport vehicle.
  • the delivery vehicle performs cargo transfer, so that the air logistics robot has a high degree of automation, which can realize automatic identification of cargo, automatic grabbing and releasing of cargo, automatic flight, no need for manual intervention, saving manpower, and high reliability and safety.
  • the current air logistics robot still has a large amount of work relying on manual operation and assistance when performing logistics air transportation, resulting in a low degree of automation. Therefore, it has industrial applicability.

Abstract

一种货物运输调度方法及调度设备、存储介质、货物运输系统，方法包括：货物运输调度设备（20）通过统一调度空中物流机器人（10）与地面自动搬运车（30），控制空中物流机器人（10）与地面自动搬运车（30）的货物交接及货物运输。从而通过货物运输调度设备（20）与地面自动搬运车（30）进行统一衔接，与地面自动搬运车（30）实现自动货物交接，解决目前空中物流机器人（10）在进行物流空中运输时无法与地面自动搬运车（30）实现自动货物交接的问题。

Description

货物运输调度方法及调度设备、存储介质、货物运输系统 技术领域
本申请涉及货物运输领域，尤其涉及一种货物运输调度方法及调度设备、存储介质、货物运输系统。
 背景技术
目前，无人机的应用日益广泛，可以应用于空中拍照、摄像以及一般的物流运输。
在无人机应用于一般物流运输时，可以称为空中物流机器人。目前的空中物流机器人在进行物流空中运输时，仍然有大量工作依赖人工的操作和协助，例如：需要人工对货物识别和人工装卸货物，浪费人力；并且在安全性和可靠性方面没有很好的技术手段实现，例如：识别技术可靠性差，成功率低，导致配送出错；不具备追踪和避障功能，安全性较差；并且，由于缺乏统一调度，空中物流机器人在进行物流空中运输时，无法与地面搬运车进行统一衔接，无法与地面搬运车实现自动货物交接。
 技术问题
本申请实施例在于提供一种货物运输调度方法及调度设备、存储介质、货物运输系统，旨在解决目前空中物流机器人在进行物流空中运输时无法与地面搬运车实现自动货物交接的问题。
 技术解决方案
为解决上述技术问题，本申请实施例提供一种货物运输调度方法，包括：货物运输调度设备通过统一调度空中物流机器人与地面自动搬运车，控制所述空中物流机器人与地面自动搬运车的货物交接及货物运输。
其中，所述货物运输调度设备通过统一调度空中物流机器人与地面自动搬运车，控制所述空中物流机器人与地面自动搬运车的货物交接及货物运输包括：
所述货物运输调度设备与所述空中物流机器人通信交互，发布任务控制指令调度所述空中物流机器人，控制所述空中物流机器人根据所述任务控制指令进行自动飞行以及自动与地面自动搬运车进行货物交接；
所述货物运输调度设备与所述地面自动搬运车通信交互，发布搬运控制指令调度所述地面自动搬运车，控制所述地面自动搬运车根据所述搬运控制指令进行自动驾驶以及自动与所述空中物流机器人进行货物交接。
为解决上述技术问题，本申请实施例还一种货物运输调度设备，包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述计算机程序被所述处理器执行时实现本申请任一实施例所述的一种货物运输调度方法的步骤。
为解决上述技术问题，本申请实施例还提供一种存储介质，所述存储介质上存储有一种货物运输调度方法的程序，所述一种货物运输调度方法的程序被处理器执行时实现本申请任一实施例所述的一种货物运输调度方法的步骤。
为解决上述技术问题，本申请实施例还一种货物运输系统，所述货物运输系统包括：空中物流机器人、至少一台地面自动搬运车和本申请任一实施例所述的货物运输调度设备；其中：
所述货物运输调度设备，设置为通过统一调度所述空中物流机器人与所述地面自动搬运车，控制所述空中物流机器人与所述地面自动搬运车的货物交接及货物运输。
其中，所述货物运输调度设备设置为通过统一调度所述空中物流机器人与所述地面自动搬运车，控制所述空中物流机器人与所述地面自动搬运车的货物交接及货物运输；包括：
所述货物运输调度设备与所述空中物流机器人通信交互，发布任务控制指令调度所述空中物流机器人，控制所述空中物流机器人根据所述任务控制指令进行自动飞行以及自动与地面自动搬运车进行货物交接；
所述货物运输调度设备与所述地面自动搬运车通信交互，发布搬运控制指令调度所述地面自动搬运车，控制所述地面自动搬运车根据所述搬运控制指令进行自动驾驶以及自动与空中物流机器人进行货物交接。
 有益效果
与现有技术相比较，本申请实施例提供的一种货物运输调度方法及调度设备、存储介质、货物运输系统，通过货物运输调度设备通过统一调度空中物流机器人与地面自动搬运车，控制所述空中物流机器人与地面自动搬运车的货物交接及货物运输。从而通过货物运输调度设备统一调度空中物流机器人和地面自动搬运车，使得空中物流机器人在进行物流空中运输时，可以通过货物运输调度设备与地面搬运车进行统一衔接，与地面搬运车实现自动货物交接，解决目前空中物流机器人在进行物流空中运输时无法与地面搬运车实现自动货物交接的问题。
 附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1是本申请提供的一种货物运输调度方法的流程示意图。
图2是本申请提供的一种货物运输调度方法中的货物运输调度设备通过统一调度空中物流机器人与地面自动搬运车，控制所述空中物流机器人与地面自动搬运车的货物交接及货物运输的流程示意图。
图3是本申请提供的一种货物运输调度设备的结构示意图。
图4是本申请提供的一种货物运输系统的结构示意图。
图5是本申请提供的一种货物运输系统中空中物流机器人的结构示意图。
图6是本申请提供的一种货物运输系统中空中物流机器人的示意图。
图7是本申请提供的一种货物运输系统中地面自动搬运车的结构示意图。
图8是本申请提供的一种货物运输系统中地面自动搬运车的示意图。
[根据细则26改正 05.12.2022]
附图标记：
空中物流机器人 10 第一控制模块 11
第一通信模块 12 货物自动抓取模块 13
第一位置传感器 14 支撑装置 15
视觉识别模块 16 避障装置 17
地面自动搬运车 30 第二控制模块 31
第二通信模块 32 货物放置平台 33
夹紧机构 34 举升机构 35
第二位置传感器 36 货物运输调度设备 20
处理器 21 存储器 22
总线系统 23
 本发明的实施方式
为了便于理解本申请，下面结合附图和具体实施例，对本申请进行更详细的说明。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本说明书中在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的，不是用于限制本申请。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
此外，下面所描述的本申请不同实施例中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
在一个实施例中，如图1所示，本申请提供一种货物运输调度方法，该方法包括：
S1、货物运输调度设备通过统一调度空中物流机器人与地面自动搬运车，控制所述空中物流机器人与地面自动搬运车的货物交接及货物运输。
在本实施例中，通过货物运输调度设备通过统一调度空中物流机器人与地面自动搬运车，控制所述空中物流机器人与地面自动搬运车的货物交接及货物运输。从而通过货物运输调度设备统一调度空中物流机器人和地面自动搬运车，使得空中物流机器人在进行物流空中运输时，可以通过货物运输调度设备与地面搬运车进行统一衔接，与地面搬运车实现自动货物交接，解决目前空中物流机器人在进行物流空中运输时无法与地面搬运车实现自动货物交接的问题。
在一个实施例中，如图2所示，所述步骤S1中，所述货物运输调度设备通过统一调度空中物流机器人与地面自动搬运车，控制所述空中物流机器人与地面自动搬运车的货物交接及货物运输；包括：
S11、货物运输调度设备与空中物流机器人通信交互，发布任务控制指令调度空中物流机器人，控制该空中物流机器人根据该任务控制指令进行自动飞行以及自动与地面自动搬运车进行货物交接；
S12、货物运输调度设备与地面自动搬运车通信交互，发布搬运控制指令调度地面自动搬运车，控制该地面自动搬运车根据该搬运控制指令进行自动驾驶以及自动与空中物流机器人进行货物交接。
在本实施例中，通过货物运输调度设备与空中物流机器人通信交互，发布任务控制指令调度空中物流机器人，控制该空中物流机器人根据该任务控制指令进行自动飞行以及自动与地面自动搬运车进行货物交接；货物运输调度设备与地面自动搬运车通信交互，发布搬运控制指令调度地面自动搬运车，控制该地面自动搬运车根据该搬运控制指令进行自动驾驶以及自动与空中物流机器人进行货物交接。从而通过货物运输调度设备统一调度空中物流机器人和地面自动搬运车，使得空中物流机器人在进行物流空中运输时，可以通过货物运输调度设备与地面搬运车进行统一衔接，与地面搬运车实现自动货物交接，解决目前空中物流机器人在进行物流空中运输时无法与地面搬运车实现自动货物交接的问题。并且，通过货物运输调度设备的任务控制指令，使空中物流机器人可以自动与地面自动搬运车进行货物交接，使得空中物流机器人自动化程度较高，自动飞行，无需人工干预，节省人力，可靠性和安全性高。从而解决目前空中物流机器人在进行物流空中运输时仍然存在大量工作依赖人工操作和协助造成自动化程度不高的问题。
在一个实施例中，所述步骤S11中，所述货物运输调度设备与空中物流机器人通信交互，发布任务控制指令调度空中物流机器人。
其中，该任务控制指令至少包括：货物编号信息、货物装载地经纬度信息、货物目的地经纬度信息、货物装载地航线信息和货物目的地航线信息。
在一个实施例中，所述步骤S11中，所述货物运输调度设备控制该空中物流机器人根据该任务控制指令进行自动飞行以及自动与地面自动搬运车进行货物交接。
具体地，货物运输调度设备控制空中物流机器人根据任务控制指令中的货物装载地经纬度信息和货物装载地航线信息，按照货物装载地航线信息自动飞行到货物装载地经纬度信息指示的位置，准备装载货物。
该空中物流机器人到达货物装载地后，货物运输调度设备控制空中物流机器人自动反馈到达货物装载地信息给货物运输系统；货物运输调度设备接收到该空中物流机器人自动反馈回来的到达货物装载地信息后，将货物编号信息和货物装载地经纬度信息发送给地面自动搬运车，控制地面自动搬运车根据货物编号信息搬运对应的货物，并根据货物装载地经纬度信息运输货物到货物装载地。
该地面自动搬运车到达货物装载地后，货物运输调度设备控制地面自动搬运车自动反馈到达货物装载地信息给货物运输系统；货物运输调度设备接收到地面自动搬运车自动反馈回来的到达货物装载地信息后，控制空中物流机器人自动与地面自动搬运车进行货物交接，从地面自动搬运车上自动接收货物；并在空中物流机器人在货物交接成功后，货物运输调度设备控制空中物流机器人自动反馈货物交接成功信息给货物运输系统；货物运输调度设备接收空中物流机器人自动发送货物交接成功信息，然后控制空中物流机器人根据任务控制指令中的货物目的地经纬度信息和货物目的地航线信息，按照货物目的地航线信息携带货物自动飞行到货物目的地经纬度信息指示的目的地。
该空中物流机器人到达货物目的地后，货物运输调度设备控制空中物流机器人自动反馈到达货物目的地信息给货物运输系统；货物运输调度设备接收到该空中物流机器人反馈回来的到达货物目的地信息后，将货物编号信息和货物目的地经纬度信息发送给地面自动搬运车，控制地面自动搬运车根据货物目的地经纬度信息到达货物目的地。
该地面自动搬运车到达货物目的地后，货物运输调度设备控制地面自动搬运车自动反馈到达货物目的地信息给货物运输系统；货物运输调度设备接收到地面自动搬运车反馈传输回来的到达货物目的地信息后，控制空中物流机器人自动释放货物给地面自动搬运车，并在空中物流机器人在货物交接成功后，货物运输调度设备控制空中物流机器人自动反馈货物交接成功信息给货物运输系统；货物运输系统在接收到空中物流机器人自动发送的货物交接成功信息后，控制空中物流机器人根据任务控制指令，自动飞行到另一指定地点。
在一个实施例中，所述步骤S12中，所述货物运输调度设备与地面自动搬运车通信交互，发布搬运控制指令调度地面自动搬运车。
其中，该搬运控制指令至少包括：货物编号信息、货物装载地经纬度信息、货物目的地经纬度信息、货物装载地导航信息和货物目的地导航信息。
在一个实施例中，所述步骤S12中，所述货物运输调度设备控制该地面自动搬运车根据该搬运控制指令进行自动驾驶以及自动与空中物流机器人进行货物交接。
具体地，该地面自动搬运车包括第一地面自动搬运车和第二地面自动搬运车；其中，该第一地面自动搬运车和第二地面自动搬运车的结构相同，均为地面自动搬运车。
货物运输调度设备接收到该空中物流机器人自动反馈回来的到达货物装载地信息后，发送搬运控制指令到第一地面自动搬运车，控制第一地面自动搬运车根据搬运控制指令中的货物编号信息搬运对应的货物，并根据搬运控制指令中的货物装载地经纬度信息和货物装载地导航信息，自动驾驶到货物装载地经纬度信息指示的位置。
该第一地面自动搬运车到达货物装载地后，货物运输调度设备控制该第一地面自动搬运车自动反馈到达货物装载地信息给货物运输系统，并控制该第一地面自动搬运车自动与空中物流机器人进行货物交接，将货物释放给空中物流机器人，在货物交接成功后，控制第一地面自动搬运车自动发送货物交接成功信息反馈给货物运输系统，货物运输系统接收到第一地面自动搬运车自动发送的货物交接成功信息后，控制该第一地面自动搬运车根据搬运控制指令，自动驾驶到另一指定地点。
货物运输调度设备接收到该空中物流机器人反馈回来的到达货物目的地信息后，发送搬运控制指令到第二地面自动搬运车，控制该第二地面自动搬运车根据搬运控制指令中的货物目的地经纬度信息和货物目的地导航信息，自动驾驶到货物目的地经纬度信息指示的位置。
该第二地面自动搬运车到达货物目的地后，货物运输调度设备控制该第二地面自动搬运车自动反馈到达货物目的地信息给货物运输系统；控制该第二地面自动搬运车自动与空中物流机器人进行货物交接，接收空中物流机器人释放的货物，在货物交接成功后，控制第二地面自动搬运车自动发送货物交接成功信息反馈给货物运输系统，货物运输系统接收到第二地面自动搬运车自动发送的货物交接成功信息后，控制该第二地面自动搬运车根据搬运控制指令，搬运货物自动驾驶到另一指定地点。
基于同一构思，在一个实施例中，如图3所示，本申请提供一种货物运输调度设备，所述货物运输调度设备20包括：存储器22、处理器21及存储在所述存储器22中并可在所述处理器21上运行的一个或者多个计算机程序，所述存储器22和所述处理器21通过总线系统23耦合在一起，所述一个或者多个计算机程序被所述处理器21执行时以实现本申请实施例提供的一种货物运输调度方法的以下步骤：
S1、货物运输调度设备通过统一调度空中物流机器人与地面自动搬运车，控制所述空中物流机器人与地面自动搬运车的货物交接及货物运输。
上述本申请实施例揭示的方法可以应用于所述处理器21中，或者由所述处理器21实现。所述处理器21可能是一种集成电路芯片，具有信号处理能力。在实现过程中，上述方法的各步骤可以通过所述处理器21中的硬件的集成逻辑电路或软件形式的指令完成。所述处理器21可以是通用处理器、DSP、或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。所述处理器21可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者任何常规的处理器等。结合本申请实施例所公开的方法的步骤，可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于存储介质中，该存储介质位于存储器22，所述处理器21读取存储器22中的信息，结合其硬件完成前述方法的步骤。
可以理解，本申请实施例的存储器22可以是易失性存储器或非易失性存储器，也可以包括易失性和非易失性存储器两者。其中，非易失性存储器可以是只读存储器（ROM,Read-Only Memory）、可编程只读存储器（PROM,Programmable Read-Only Memory）、可擦除可编程只读存储器（EPROM,Erasable Read-Only Memory）、电可擦除只读存储器（EEPROM,Electrically Erasable Programmable Read-Only Memory）、磁性随机存取存储器（FRAM,Ferromagnetic Random Access Memory）、闪存（Flash Memory）或其他存储器技术、光盘只读存储器（CD-ROM,Compact Disk Read-Only Memory）、数字多功能盘（DVD,Digital Video Disk）或其他光盘存储、磁盒、磁带、磁盘存储或其他磁存储装置；易失性存储器可以是随机存取存储器（RAM,Random Access Memory），通过示例性但不是限制性说明，许多形式的RAM可用，例如静态随机存取存储器（SRAM,  Static Random Access Memory）、静态随机存取存储器（SSRAM，Synchronous Static Random Access Memory）、 动态随机存取存储器（DRAM，Dynamic Random Access Memory）、 同步动态随机存取存储器(SDRAM，Synchronous Dynamic Random Access Memory）、  双倍数据速率同步动态  随机存取存储器（DDRSDRAM，Double Data Rate Synchronous Dynamic Random Access Memory）、增强型同步动态随机存取存储器（ESDRAM,Enhanced Synchronous Dynamic Random Access Memory）、同步连接动态随机存取存储器(SLDRAM，SyncLink Dynamic Random Access Memory）、 直接内存总线随机存取存储器（DRRAM，Direct   Rambus Random Access Memory）。本申请实施例描述的存储器旨在包括但不限于这些和任意其它适合类型的存储器。
需要说明的是，上述货物运输调度设备实施例与方法实施例属于同一构思，其具体实现过程详见方法实施例，且方法实施例中的技术特征在所述货物运输调度设备实施例中均对应适用，这里不再赘述。
另外，在示例性实施例中，本申请实施例还提供一种计算机存储介质，具体为计算机可读存储介质，例如包括存储计算机程序的存储器22，所述计算机存储介质上存储有一种货物运输调度方法的一个或者多个程序，所述一种货物运输调度方法的一个或者多个程序被处理器21执行时以实现本申请实施例提供的一种货物运输调度方法的以下步骤：
S1、货物运输调度设备通过统一调度空中物流机器人与地面自动搬运车，控制所述空中物流机器人与地面自动搬运车的货物交接及货物运输。
需要说明的是，上述计算机可读存储介质上的一种货物运输调度方法程序实施例与方法实施例属于同一构思，其具体实现过程详见方法实施例，且方法实施例中的技术特征在上述计算机可读存储介质的实施例中均对应适用，这里不再赘述。
基于同一构思，在一个实施例中，如图4所示，本申请提供一种货物运输系统，该货物运输系统包括：空中物流机器人10、如上述任一个实施例所述的货物运输调度设备20和至少一台地面自动搬运车30；其中：
所述货物运输调度设备20，设置为通过统一调度所述空中物流机器人10与所述地面自动搬运车30，控制所述空中物流机器人10与所述地面自动搬运车30的货物交接及货物运输。
在本实施例中，该货物运输系统包括空中物流机器人、货物运输调度设备和至少一台地面自动搬运车，通过货物运输调度设备通过统一调度空中物流机器人与地面自动搬运车，控制所述空中物流机器人与地面自动搬运车的货物交接及货物运输。从而通过货物运输调度设备统一调度空中物流机器人和地面自动搬运车，使得空中物流机器人在进行物流空中运输时，可以通过货物运输调度设备与地面搬运车进行统一衔接，与地面搬运车实现自动货物交接，解决目前空中物流机器人在进行物流空中运输时无法与地面搬运车实现自动货物交接的问题。
在一个实施例中，所述货物运输调度设备20，设置为通过统一调度所述空中物流机器人10与所述地面自动搬运车30，控制所述空中物流机器人10与所述地面自动搬运车30的货物交接及货物运输；包括：
所述货物运输调度设备20与所述空中物流机器人10通信交互，发布任务控制指令调度所述空中物流机器人10，控制所述空中物流机器人10根据所述任务控制指令进行自动飞行以及自动与地面自动搬运车30进行货物交接；
所述货物运输调度设备10与所述地面自动搬运车30通信交互，发布搬运控制指令调度所述地面自动搬运车30，控制所述地面自动搬运车30根据所述搬运控制指令进行自动驾驶以及自动与空中物流机器人10进行货物交接。
在本实施例中，通过货物运输调度设备与空中物流机器人通信交互，发布任务控制指令调度空中物流机器人；该空中物流机器人根据该货物运输调度设备的任务控制指令进行自动飞行以及自动与地面自动搬运车进行货物交接；该货物运输调度设备与地面自动搬运车通信交互，发布搬运控制指令调度地面自动搬运车；该地面自动搬运车根据该货物运输调度设备的搬运控制指令进行自动驾驶以及自动与空中物流机器人进行货物交接。从而使空中物流机器人可以自动与地面自动搬运车进行货物交接，使得空中物流机器人自动化程度较高，自动飞行，无需人工干预，节省人力，可靠性和安全性高。从而解决目前空中物流机器人在进行物流空中运输时仍然存在大量工作依赖人工操作和协助造成自动化程度不高的问题。
在一个实施例中，该货物运输调度设备20与空中物流机器人10通信交互，设置为发布任务控制指令调度空中物流机器人10。
其中，该任务控制指令至少包括：货物编号信息、货物装载地经纬度信息、货物目的地经纬度信息、货物装载地航线信息和货物目的地航线信息。
在一个实施例中，该空中物流机器人10，设置为根据该货物运输调度设备20的任务控制指令，进行自动飞行，以及自动与地面自动搬运车30进行货物交接，并将货物交接成功信息传输给货物运输调度设备20。
具体地，该空中物流机器人10根据接收到的任务控制指令中的货物装载地经纬度信息和货物装载地航线信息，按照货物装载地航线信息自动飞行到货物装载地经纬度信息指示的位置，准备装载货物。
到达货物装载地后，该空中物流机器人10将到达货物装载地信息反馈给货物运输调度设备20；货物运输调度设备20在收到空中物流机器人10到达货物装载地信息后，发送搬运控制指令给地面自动搬运车，控制地面自动搬运车30根据搬运控制指令的货物编号信息搬运对应的货物，并根据搬运控制指令的货物装载地经纬度信息运输货物到货物装载地。
该空中物流机器人10接收到货物运输调度设备20发送的地面自动搬运车30到达货物装载地消息后，自动与地面自动搬运车30进行货物交接，从地面自动搬运车30上自动接收货物；货物交接成功后，自动发送货物交接成功信息反馈给货物运输调度设备20，然后根据接收到的任务控制指令中的货物目的地经纬度信息和货物目的地航线信息，按照货物目的地航线信息携带货物自动飞行到货物目的地经纬度信息指示的目的地。
到达货物目的地后，该空中物流机器人10将到达货物目的地信息反馈给货物运输调度设备20；货物运输调度设备20在收到空中物流机器人10到达货物目的地信息后，将货物编号信息和货物目的地经纬度信息发送给地面自动搬运车30，控制地面自动搬运车30根据货物目的地经纬度信息到达货物目的地。
该空中物流机器人10接收到货物运输调度设备20发送的地面自动搬运车30到达货物目的地消息后，自动释放货物给地面自动搬运车30，货物交接成功后，自动发送货物交接成功信息反馈给货物运输调度设备20，然后根据货物运输调度设备20的任务控制指令，自动飞行到另一指定地点。
在一个实施例中，该货物运输调度设备20与地面自动搬运车30进行通信交互，设置为发布搬运控制指令调度地面自动搬运车30。
其中，该搬运控制指令至少包括：货物编号信息、货物装载地经纬度信息、货物目的地经纬度信息、货物装载地导航信息和货物目的地导航信息。
在一个实施例中，该地面自动搬运车30，设置为根据该货物运输调度设备20的搬运控制指令，进行自动驾驶，以及自动与空中物流机器人10进行货物交接，并将货物交接成功信息反馈给货物运输调度设备20。
具体地，该货物运输系统包括第一地面自动搬运车和第二地面自动搬运车；其中，该第一地面自动搬运车和第二地面自动搬运车的结构相同，均为地面自动搬运车30。
该货物运输调度设备20在收到空中物流机器人10发送的到达货物装载地信息后，发送搬运控制指令到第一地面自动搬运车。
该第一地面自动搬运车根据接收到搬运控制指令中的货物编号信息，搬运与货物编号信息对应的货物。
该第一地面自动搬运车根据接收到的搬运控制指令中的货物装载地经纬度信息和货物装载地导航信息，按照货物装载地导航信息自动驾驶到货物装载地经纬度信息指示的位置。
到达货物装载地后，该第一地面自动搬运车将到达货物装载地信息反馈给货物运输调度设备20；货物运输调度设备20在收到第一地面自动搬运车到达货物装载地信息后，将第一地面自动搬运车到达货物装载地信息发送给空中物流机器人10。
该第一地面自动搬运车自动与空中物流机器人10进行货物交接，将货物释放给空中物流机器人10，货物交接成功后，自动发送货物交接成功信息反馈给货物运输调度设备20，然后根据货物运输调度设备20的搬运控制指令，自动驾驶到另一指定地点。
该货物运输调度设备20在收到空中物流机器人10发送的到达货物目的地信息后，发送搬运控制指令到第二地面自动搬运车。
该第二地面自动搬运车根据接收到的搬运控制指令中的货物目的地经纬度信息和货物目的地导航信息，按照货物目的地导航信息自动驾驶到货物目的地经纬度信息指示的位置。
到达货物目的地后，该第二地面自动搬运车将到达货物目的地信息反馈给货物运输调度设备20；货物运输调度设备20在收到第二地面自动搬运车到达货物目的地信息后，将第二地面自动搬运车到达货物目的地信息发送给空中物流机器人10。
该第二地面自动搬运车自动与空中物流机器人10进行货物交接，自动接收空中物流机器人10释放的货物，货物交接成功后，自动发送货物交接成功信息反馈给货物运输调度设备20，然后根据货物运输调度设备20的搬运控制指令，搬运货物自动驾驶到另一指定地点。
在一个实施例中，如图5和图6所示，该空中物流机器人10包括第一控制模块11、第一通信模块12、货物自动抓取模块13；其中：
该第一控制模块11和第一通信模块12设置在该空中物流机器人10的内部。
该第一通信模块12，设置为使第一控制模块11与货物运输调度设备20进行通信交互。
该第一控制模块11分别与第一通信模块12、货物自动抓取模块13连接，该第一控制模块11通过该第一通信模块12与货物运输调度设备20进行通信交互，处理接收货物运输调度设备20下发的任务控制指令，并根据该任务控制指令下发控制指令给货物自动抓取模块13，以及根据该任务控制指令控制该空中物流机器人10按照航线信息自动飞行。
具体地，在该空中物流机器人10到达货物装载地后，该第一控制模块11通过第一通信模块12将到达货物装载地的信息反馈给货物运输调度设备20；第一控制模块11接收到货物运输调度设备20发送的地面自动搬运车30到达货物装载地的信息后，下发控制指令给货物自动抓取模块13，以使货物自动抓取模块13自动抓取地面自动搬运车30上的货物。
在该空中物流机器人10到达货物目的地后，该第一控制模块11通过第一通信模块12将到达货物目的地的信息反馈给货物运输调度设备20；第一控制模块11接收到货物运输调度设备20发送的地面自动搬运车30到达货物目的地的信息后，下发控制指令给货物自动抓取模块13，以使货物自动抓取模块13自动释放货物到地面自动搬运车30上。
该货物自动抓取模块13设置在该空中物流机器人10的底部，设置为根据第一控制模块11的控制指令自动与地面自动搬运车30进行货物交接，并将货物交接成功信息传输给该第一控制模块11。在本实施例中，该货物自动抓取模块13设置在该空中物流机器人10底部的中间位置。
具体地，在该空中物流机器人10到达货物装载地后，该货物自动抓取模块13据第一控制模块11的控制指令，自动抓取地面自动搬运车30上的货物。
在该空中物流机器人10到达货物目的地后，该货物自动抓取模块13据第一控制模块11的控制指令，自动释放货物到地面自动搬运车30上。
在本实施例中，该货物自动抓取模块13包括真空吸附模块，或者电磁铁吸附模块。
该真空吸附模块，设置为通过真空吸附方式抓取货物或释放货物，以实现空中物流机器人10载荷装载，并将吸附成功或释放成功的货物交接成功信息传输给第一控制模块11。
该电磁铁吸附模块，设置为通于电磁铁吸附方式抓取货物或释放货物，以实现空中物流机器人10载荷装载，并将吸附成功或释放成功的货物交接成功信息传输给第一控制模块11。
进一步地，该第一控制模块11还设置为将接收到的货物交接信息通过第一通信模块12发送给货物运输调度设备20，以便货物运输调度设备20将货物交接信息传输给该货物运输调度设备20，通过该货物运输调度设备20传递给地面自动搬运车30。
在本实施例中，该货物自动抓取模块根据第一控制模块的控制指令自动从地面自动搬运车抓取货物，并在空中物流机器人到达货物目的地后，再根据第一控制模块的控制指令自动释放货物到地面自动搬运车上，从而使空中物流机器人自动化程度较高，可以实现自动抓取货物和释放货物，无需人工干预，节省人力，可靠性和安全性高。从而解决目前空中物流机器人在进行物流空中运输时仍然存在大量工作依赖人工操作和协助造成自动化程度不高的问题。
在一个实施例中，如图5所示，该空中物流机器人10还包括第一位置传感器14，该第一位置传感器14设置在空中物流机器人10的底部，与第一控制模块11连接，设置为感应地面自动搬运车30的货物位置，并将感应信息传输给第一控制模块11。
第一控制模块11根据该第一位置传感器14传输的感应信息，下发控制指令给货物自动抓取模块13，控制该货物自动抓取模块13自动抓取地面自动搬运车30的货物。
在该货物自动抓取模块13成功抓取货物后，第一控制模块11通过第一通信模块12将货物交接成功信息发送给货物运输调度设备20，由货物运输调度设备20将该货物交接成功信息发送给货物运输调度设备20，再由货物运输调度设备20转发给地面自动搬运车30。
在本实施例中，通过第一位置传感器感应地面自动搬运车的货物位置，可以实现自动识别货物位置，无需人工干预，提高空中物流机器人自动化程度。
在一个实施例中，如图6所示，该空中物流机器人10还包括支撑装置15，该支撑装置15设置在空中物流机器人10的底部的四周，设置为支撑空中物流机器人10停留在地面上，并在空中物流机器人10停留地面时，在空中物流机器人10的底部形成一可供地面自动搬运车30的进出通道。
在本实施例中，通过在空中物流机器人的底部设置支撑装置，除可以支撑空中物流机器人之外，还可以在空中物流机器人的底部形成一可供地面自动搬运车的进出通道，使地面自动搬运车可以自动驶入到该通道中，停在空中物流机器人的底部。
在一个实施例中，如图5所示，该空中物流机器人10还包括视觉识别模块16，该视觉识别模块16与第一控制模块11连接，设置为根据第一控制模块11的控制指令识别地面自动搬运车30上货物顶部上的编号标识，以辅助货物自动抓取模块13准确地抓取到货物。
在本实施例中，通过视觉识别模块识别地面自动搬运车上货物顶部上的编号标识，可以实现自动识别货物位置，无需人工干预，提高空中物流机器人自动化程度，并且可以辅助货物自动抓取模块准确地抓取到货物。
在一个实施例中，如图5所示，该空中物流机器人10还包括避障装置17，该避障装置17设置在空中物流机器人10的前端，与第一控制模块11连接，设置为探测和规避空中物流机器人10在飞行过程中的障碍物，以保证空中物流机器人10在飞行过程中的安全。
在本实施例中，该避障装置17可以通过超声波和视觉的方式来进行保证飞行过程中的安全。
在本实施例中，通过避障装置探测和规避空中物流机器人在飞行过程中的障碍物，以保证空中物流机器人在飞行过程中的安全，从而使空中物流机器人可以实现自动飞行，提高空中物流机器人的可靠性和安全性。
在一个实施例中，如图7和图8所示，所述地面自动搬运车30，设置为根据所述搬运控制指令进行自动驾驶以及自动与空中物流机器人10进行货物交接；其中，该地面自动搬运车30包括第二控制模块31、第二通信模块32、货物放置平台33和夹紧机构34；其中：
该货物放置平台33设置在地面自动搬运车30上，设置为放置货物。
该第二控制模块31和第二通信模块32设置在该地面自动搬运车30的内部。
该第二通信模块32，设置为使第二控制模块31与货物运输调度设备20进行通信交互。
该第二控制模块31分别与第二通信模块32、夹紧机构34连接，该第二控制模块31通过该第二通信模块32与货物运输调度设备20进行通信交互，处理接收货物运输调度设备20下发的搬运控制指令，并根据该搬运控制指令下发控制指令给夹紧机构34，以及根据该搬运控制指令控制该地面自动搬运车30自动驾驶。
该夹紧机构34设置在该地面自动搬运车30的顶部或侧部，设置为根据第二控制模块31的控制指令自动夹紧货物或释放货物，以与空中物流机器人10进行货物交接，并将货物交接成功信息传输给该第二控制模块31。
在一个实施例中，如图7所示，该地面自动搬运车30还包括举升机构35，该举升机构35固定设置在该货物放置平台33下方，与第二控制模块31连接，设置为根据第二控制模块31的控制指令举升放置在货物放置平台33上的货物，以使在该地面自动搬运车30到达空中物流机器人10下方时，将货物举升到空中物流机器人10下方，使空中物流机器人10的第一位置传感器14可以感应到货物的位置。
在一个实施例中，如图7所示，该地面自动搬运车30还包括第二位置传感器36，该第二位置传感器36设置在该举升机构35上，与第二控制模块31连接，设置为在该举升机构35处于空载举升时感知空中物流机器人10上货物位置，在感应到货物位置后，将感应信息传输给第二控制模块31。
该第二控制模块31根据该第二位置传感器36传输的感应信息，下发控制指令给举升机构35，以使举升机构35停止举升。
为了便于理解本申请的以上申请构思，下面结合具体实施例，对本申请的以上申请构思进行更详细的说明。
一种货物运输系统，包括：空中物流机器人10、货物运输调度设备20、第一地面自动搬运车和第二地面自动搬运车。
在本实施例中，空中物流机器人10中的货物自动抓取模块13以真空吸附模块13为例进行说明。
该货物运输调度设备20与空中物流机器人10进行通信交互，发布任务控制指令调度空中物流机器人10；其中，任务控制指令包括：货物编号信息、货物装载地经纬度信息、货物目的地经纬度信息、货物装载地航线信息和货物目的地航线信息。
该空中物流机器人10根据接收到的任务控制指令中的货物装载地经纬度信息和货物装载地航线信息，按照货物装载地航线信息自动飞行到货物装载地经纬度信息指示的位置。在飞行过程中，该空中物流机器人10利用避障装置17探测和规避飞行过程中遇到的障碍物，以保证空中物流机器人10在飞行过程中的安全。
到达货物装载地后，该空中物流机器人10降落到货物装载地，利用支撑装置15停留在地面上，并在空中物流机器人10的底部形成一可供地面自动搬运车的进出通道，准备装载货物。同时，该空中物流机器人10的第一控制模块11通过第一通信模块12将到达货物装载地信息反馈给货物运输调度设备20。货物运输调度设备20在收到空中物流机器人10到达货物装载地信息后，发送搬运控制指令给第一地面自动搬运车，调度第一地面自动搬运车自动携带货物并自动驾驶到空中物流机器人10下方。
该第一地面自动搬运车根据接收到搬运控制指令中的货物编号信息，搬运与货物编号信息对应的货物，并根据接收到的搬运控制指令中的货物装载地经纬度信息和货物装载地导航信息，装载货物按照货物装载地导航信息自动驾驶到货物装载地经纬度信息指示的位置，然后自动驶入到空中物流机器人10的底部形成的进出通道，停在该空中物流机器人10的底部下方。
该第一地面自动搬运车的第二控制模块31下发释放货物的控制指令给夹紧机构34。该夹紧机构34根据第二控制模块31的控制指令自动释放货物。释放货物结束后，第二控制模块31下发控制指令给举升机构35。该举升机构35根据第二控制模块31的控制指令缓慢举升放置在货物放置平台33上的货物，将货物举升到空中物流机器人10下方，使空中物流机器人10的第一位置传感器14可以感应到货物的位置。同时，该第一地面自动搬运车的第二控制模块31将到达货物装载地信息反馈给货物运输调度设备20。
该货物运输调度设备20在接收到第一地面自动搬运车到达货物装载地信息后，将第一地面自动搬运车到达货物装载地信息发送给该空中物流机器人10。
该空中物流机器人10的第一位置传感器14在空中物流机器人10停留期间，随时感应第一地面自动搬运车的货物位置，在感应到货物位置后，将感应信息传输给第一控制模块11。
该空中物流机器人10的第一控制模块11通过第一通信模块12接收到货物运输调度设备20发送的第一地面自动搬运车到达货物装载地信息后，根据该第一位置传感器14传输的感应信息，下发控制指令给真空吸附模块13，控制该真空吸附模块13自动抓取第一地面自动搬运车的货物。同时，第一控制模块11将感应到货物的感应信息发送给货物运输调度设备20，由货物运输调度设备20将该感应到货物的感应信息发送给第一地面自动搬运车。第一地面自动搬运车的第二控制模块31接收到感应到货物的感应信息后，下发控制指令给举升机构35，让举升机构35停止举升。
该真空吸附模块13根据第一控制模块的控制指令吸附货物，同时，第一控制模块11控制视觉识别模块16识别第一地面自动搬运车上货物顶部上的编号标识，以辅助真空吸附模块13准确地抓取到货物。
在该真空吸附模块13成功吸附货物后，第一控制模块11通过第一通信模块12将货物交接成功信息发送给货物运输调度设备20，由货物运输调度设备20将该货物交接成功信息发送给第一地面自动搬运车。
第一地面自动搬运车的第二控制模块31接收到货物交接成功信息后，下发控制指令给夹紧机构34和举升机构35，让夹紧机构34和举升机构35还原回初始位置。该第一地面自动搬运车在货物交接成功后，根据货物运输调度设备20的搬运控制指令，自动驾驶驶离到另一指定地点。
该空中物流机器人10在成功接收到货物后，根据接收到的任务控制指令中的货物目的地经纬度信息和货物目的地航线信息，按照货物目的地航线信息携带货物自动飞行到货物目的地经纬度信息指示的目的地。在飞行过程中，该空中物流机器人10利用避障装置17探测和规避飞行过程中遇到的障碍物，以保证空中物流机器人10在飞行过程中的安全。
在到达货物目的地后，该空中物流机器人10降落到货物目的地，利用支撑装置15停留在地面上，并在空中物流机器人10的底部形成一可供地面自动搬运车的进出通道，等待释放货物。同时，该第一控制模块11通过第一通信模块12将到达货物目的地信息反馈给货物运输调度设备20。
该货物运输调度设备20在接收到空中物流机器人10发送的到达货物目的地信息后，发送搬运控制指令到第二地面自动搬运车，调度第二地面自动搬运车自动驾驶到空中物流机器人10下方。
该第二地面自动搬运车根据接收到的搬运控制指令中的货物目的地经纬度信息和货物目的地导航信息，按照货物目的地导航信息自动驾驶到货物目的地经纬度信息指示的位置，然后自动驶入到空中物流机器人10的底部形成的进出通道，停在该空中物流机器人10的底部下方。
该第二地面自动搬运车的第二控制模块31将到达货物目的地信息反馈给货物运输调度设备20。同时，该第二控制模块31下发控制指令给举升机构35。该举升机构35根据第二控制模块31的控制指令缓慢举升货物放置平台33。同时，该第二位置传感器36在该举升机构35举升时随时感知空中物流机器人10上货物位置，当感应到货物位置时，将感应信息传输给第二控制模块31。
该第二控制模块31根据该第二位置传感器36传输的感应信息，下发控制指令给举升机构35，使举升机构35停止举升。同时，该第二控制模块31将感应到货物的感应信息发送给货物运输调度设备20，由货物运输调度设备20将该感应到货物的感应信息发送给空中物流机器人10。空中物流机器人10的第一控制模块11接收到感应到货物的感应信息后，下发控制指令给真空吸附模块13，让真空吸附模块13释放货物。
该真空吸附模块13根据第一控制模块11的控制指令释放货物，在该真空吸附模块13成功释放货物后，第一控制模块11通过第一通信模块12将货物交接成功信息发送给货物运输调度设备20，由货物运输调度设备20将该货物交接成功信息发送给第二地面自动搬运车。
该第二地面自动搬运车的第二控制模块31接收到货物交接成功信息后，下发控制指令给举升机构35，以使举升机构35启动下降动作。该举升机构35根据第二控制模块31的控制指令缓慢下降货物放置平台33，在举升机构35降回到初始位置后，该第二控制模块31下发控制指令给夹紧机构34，让夹紧机构34进行夹紧动作。该夹紧机构34根据第二控制模块31的控制指令夹紧放置在货物放置平台33上的货物。在夹紧机构34夹紧货物后，该第二地面自动搬运车发送货物交接成功信息反馈给货物运输调度设备20，然后根据货物运输调度设备20的搬运控制指令，搬运货物自动驾驶到另一指定地点。
货物运输调度设备20将该货物交接成功信息发送给空中物流机器人10。
该空中物流机器人10在接收到货物运输调度设备20发送的货物交接成功信息后，根据货物运输调度设备20的任务控制指令，自动飞行到另一指定地点。
需要说明的是，上述货物运输系统实施例与方法实施例属于同一构思，其具体实现过程详见方法实施例，且方法实施例中的技术特征在上述货物运输系统实施例中均对应适用，这里不再赘述。
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；在本申请的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上该的本申请的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。
 工业实用性
本申请实施例提供的一种货物运输调度方法及调度设备、存储介质、货物运输系统，通过货物运输调度设备统一调度空中物流机器人和地面自动搬运车，使得空中物流机器人在进行物流空中运输时，可以通过货物运输调度设备与地面搬运车进行统一衔接，与地面搬运车实现自动货物交接，从而解决目前空中物流机器人在进行物流空中运输时无法与地面搬运车实现自动货物交接的问题。并且，地面自动搬运车根据货物运输调度设备的搬运控制指令自动装载需要运输的货物，自动驾驶到空中物流机器人的下方；空中物流机器人根据货物运输调度设备的任务控制指令，自动识别地面自动搬运车上的货物，自动抓取地面自动搬运车上的货物，从而使空中物流机器人自动与地面自动搬运车进行货物交接，并根据任务控制指令的航线信息，自动将所述货物飞行运输到指定目的地，自动释放所述货物到地面自动搬运车上，自动与地面自动搬运车进行货物交接，从而使空中物流机器人自动化程度较高，可以实现自动识别货物，自动抓取释放货物，自动飞行，无需人工干预，节省人力，可靠性和安全性高。从而解决目前空中物流机器人在进行物流空中运输时仍然存在大量工作依赖人工操作和协助造成自动化程度不高的问题。因此，具有工业实用性。

Claims (19)

  1. 一种货物运输调度方法，所述方法包括：
    货物运输调度设备通过统一调度空中物流机器人与地面自动搬运车，控制所述空中物流机器人与地面自动搬运车的货物交接及货物运输。
  2. 根据权利要求1所述的方法，其中，所述货物运输调度系统货物运输调度设备通过统一调度空中物流机器人与地面自动搬运车，控制所述空中物流机器人与地面自动搬运车的货物交接及货物运输包括：
    所述货物运输调度设备与所述空中物流机器人通信交互，发布任务控制指令调度所述空中物流机器人，控制所述空中物流机器人根据所述任务控制指令进行自动飞行以及自动与地面自动搬运车进行货物交接；
    所述货物运输调度设备与所述地面自动搬运车通信交互，发布搬运控制指令调度所述地面自动搬运车，控制所述地面自动搬运车根据所述搬运控制指令进行自动驾驶以及自动与空中物流机器人进行货物交接。
  3. 根据权利要求2所述的方法，其中，所述任务控制指令至少包括：货物编号信息、货物装载地经纬度信息、货物目的地经纬度信息、货物装载地航线信息和货物目的地航线信息。
  4. 根据权利要求3所述的方法，其中，所述货物运输调度设备与空中物流机器人通信交互，发布任务控制指令调度空中物流机器人，控制所述空中物流机器人根据所述任务控制指令进行自动飞行以及自动与地面自动搬运车进行货物交接；包括：
    货物运输调度设备控制空中物流机器人根据任务控制指令中的货物装载地经纬度信息和货物装载地航线信息，按照货物装载地航线信息自动飞行到货物装载地经纬度信息指示的位置；
    货物运输调度设备接收到地面自动搬运车自动反馈的到达货物装载地信息后，控制空中物流机器人自动接收地面自动搬运车上的货物；
    货物运输调度设备控制空中物流机器人根据任务控制指令中的货物目的地经纬度信息和货物目的地航线信息，按照货物目的地航线信息携带货物自动飞行到货物目的地经纬度信息指示的目的地；
    货物运输调度设备接收到地面自动搬运车自动反馈的到达货物目的地信息后，控制空中物流机器人自动释放货物给地面自动搬运车上，并在货物交接成功后，根据任务控制指令，自动飞行到另一指定地点。
  5. 根据权利要求2至4任一项所述的方法，其中，所述搬运控制指令至少包括：货物编号信息、货物装载地经纬度信息、货物目的地经纬度信息、货物装载地导航信息和货物目的地导航信息。
  6. 根据权利要求5所述的方法，其中，所述地面自动搬运车包括第一地面自动搬运车和第二地面自动搬运车；
    所述货物运输调度设备与地面自动搬运车通信交互，发布搬运控制指令调度地面自动搬运车，控制所述地面自动搬运车根据所述搬运控制指令进行自动驾驶以及自动与空中物流机器人进行货物交接；包括：
    货物运输调度设备接收到空中物流机器人自动反馈回来的到达货物装载地信息后，发送搬运控制指令到第一地面自动搬运车，控制第一地面自动搬运车根据搬运控制指令中的货物编号信息搬运对应的货物，并根据搬运控制指令中的货物装载地经纬度信息和货物装载地导航信息，自动携带货物并自动驾驶到货物装载地经纬度信息指示的位置；
    在第一地面自动搬运车到达货物装载地后，控制第一地面自动搬运车自动与空中物流机器人进行货物交接，自动释放货物给空中物流机器人，并在货物交接成功后，根据搬运控制指令自动驾驶到另一指定地点；
    货物运输调度设备接收到所述空中物流机器人反馈回来的到达货物目的地信息后，发送搬运控制指令到第二地面自动搬运车，控制所述第二地面自动搬运车根据搬运控制指令中的货物目的地经纬度信息和货物目的地导航信息，自动驾驶到货物目的地经纬度信息指示的位置；
    在第二地面自动搬运车到达货物目的地后，控制第二地面自动搬运车自动与空中物流机器人进行货物交接，接收空中物流机器人释放的货物，在货物交接成功后，控制第二地面自动搬运车自动搬运货物并自动驾驶到另一指定地点。
  7. 一种货物运输调度设备，包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述计算机程序被所述处理器执行时实现如权利要求1至6中任一项所述的一种货物运输调度方法的步骤。
  8. 一种存储介质，所述存储介质上设置为存储一种货物运输调度方法的程序，所述一种货物运输调度方法的程序被处理器执行时实现如权利要求1至6中任一项所述的一种货物运输调度方法的步骤。
  9. 一种货物运输系统，包括：空中物流机器人、至少一台地面自动搬运车和如权利要求7所述的货物运输调度设备；其中：
    所述货物运输调度设备，设置为通过统一调度所述空中物流机器人与所述地面自动搬运车，控制所述空中物流机器人与所述地面自动搬运车的货物交接及货物运输。
  10. 根据权利要求9所述的货物运输系统，其中，所述货物运输调度设备设置为通过统一调度所述空中物流机器人与所述地面自动搬运车，控制所述空中物流机器人与所述地面自动搬运车的货物交接及货物运输；包括：
    所述货物运输调度设备与所述空中物流机器人通信交互，发布任务控制指令调度所述空中物流机器人，控制所述空中物流机器人根据所述任务控制指令进行自动飞行以及自动与地面自动搬运车进行货物交接；
    所述货物运输调度设备与所述地面自动搬运车通信交互，发布搬运控制指令调度所述地面自动搬运车，控制所述地面自动搬运车根据所述搬运控制指令进行自动驾驶以及自动与空中物流机器人进行货物交接。
  11. 根据权利要求10所述的货物运输系统，其中，所述空中物流机器人，设置为根据所述任务控制指令进行自动飞行以及自动与地面自动搬运车进行货物交接；所述空中物流机器人包括第一控制模块、第一通信模块和货物自动抓取模块；其中：
    所述第一控制模块和第一通信模块设置在所述空中物流机器人的内部；
    所述第一控制模块分别与第一通信模块、货物自动抓取模块连接，所述第一控制模块通过第一通信模块与货物运输调度设备进行通信交互，处理接收货物运输调度设备下发的任务控制指令，并根据所述任务控制指令下发控制指令给货物自动抓取模块，以及根据所述任务控制指令控制空中物流机器人按照航线信息自动飞行；
    所述货物自动抓取模块设置在所述空中物流机器人的底部，设置为根据第一控制模块的控制指令自动与地面自动搬运车进行货物交接。
  12. 根据权利要求11所述的货物运输系统，其中，所述第一控制模块具体设置为：
    在所述空中物流机器人到达货物装载地后，所述第一控制模块通过第一通信模块将到达货物装载地的信息反馈给货物运输调度设备；第一控制模块接收到货物运输调度设备发送的地面自动搬运车到达货物装载地的信息后，下发控制指令给货物自动抓取模块，以使货物自动抓取模块自动抓取地面自动搬运车上的货物；
    在所述空中物流机器人到达货物目的地后，所述第一控制模块通过第一通信模块将到达货物目的地的信息反馈给货物运输调度设备；第一控制模块接收到货物运输调度设备发送的地面自动搬运车到达货物目的地的信息后，下发控制指令给货物自动抓取模块，以使货物自动抓取模块自动释放货物到地面自动搬运车上。
  13. 根据权利要求11至12任一项所述的货物运输系统，其中，所述空中物流机器人还包括第一位置传感器，所述第一位置传感器设置在空中物流机器人的底部，与第一控制模块连接，设置为感应地面自动搬运车的货物位置，将感应信息传输给第一控制模块。
  14. 根据权利要求13所述的货物运输系统，其中，所述第一控制模块根据所述第一位置传感器传输的感应信息，下发控制指令给货物自动抓取模块，以使货物自动抓取模块自动抓取地面自动搬运车的货物。
  15. 根据权利要求11至14任一项所述的货物运输系统，其中，所述空中物流机器人还包括支撑装置，所述支撑装置设置在空中物流机器人的底部的四周，设置为支撑空中物流机器人停留在地面上，并在空中物流机器人的底部形成一可供地面自动搬运车的进出通道。
  16. 根据权利要求11至15任一项所述的货物运输系统，其中，所述空中物流机器人还包括避障装置，所述避障装置设置在空中物流机器人的前端，与第一控制模块连接，设置为探测和规避空中物流机器人在飞行过程中的障碍物，保证空中物流机器人在飞行过程中的安全。
  17. 根据权利要求9至16任一项所述的货物运输系统，其中，所述地面自动搬运车，设置为根据所述搬运控制指令进行自动驾驶以及自动与空中物流机器人进行货物交接；其中，所述地面自动搬运车包括第二控制模块、第二通信模块、货物放置平台和夹紧机构；其中：
    所述货物放置平台设置在地面自动搬运车上，设置为放置货物；
    所述第二控制模块和第二通信模块设置在所述地面自动搬运车的内部；
    所述第二控制模块分别与第二通信模块、夹紧机构连接，所述第二控制模块通过所述第二通信模块与货物运输调度设备通信交互，处理接收货物运输调度设备下发的搬运控制指令，并根据所述搬运控制指令下发控制指令给夹紧机构，以及根据所述搬运控制指令控制所述地面自动搬运车自动驾驶；
    所述夹紧机构设置在所述地面自动搬运车上，设置为根据第二控制模块的控制指令自动夹紧货物或释放货物。
  18. 根据权利要求17所述的货物运输系统，其中，所述地面自动搬运车还包括举升机构，所述举升机构固定设置在所述货物放置平台下方，与第二控制模块连接，设置为根据第二控制模块的控制指令举升放置在货物放置平台上的货物。
  19. 根据权利要求18所述的货物运输系统，其中，所述地面自动搬运车还包括第二位置传感器，所述第二位置传感器设置在所述举升机构上，与第二控制模块连接，设置为在所述举升机构处于空载举升时感知空中物流机器人上货物位置，在感应到货物位置后，将感应信息传输给第二控制模块，以使第二控制模块根据该第二位置传感器传输的感应信息，下发控制指令给举升机构停止举升。
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