CN106458447B

CN106458447B - Link the autonomous ground station of air delivery

Info

Publication number: CN106458447B
Application number: CN201480077019.4A
Authority: CN
Inventors: 瓦斯菲·阿希达法特; 艾达·艾姆赫比; 法拉赫·阿弗拉夫·卡萨卜
Original assignee: Individual
Current assignee: Individual
Priority date: 2014-03-25
Filing date: 2014-03-25
Publication date: 2019-05-28
Anticipated expiration: 2034-03-25
Also published as: WO2014080389A2; WO2014080389A8; WO2014080389A3; CN106458447A

Abstract

It is that providing an autonomous ground station (20) comes and air delivery interface, it automatically handles the Intelligent Package case (21) for receiving and coming from a unmanned plane (22), then, content in each parcel is transmitted to a specified people, it followed by, then is that empty Intelligent Package case is transmitted back to unmanned plane (22).The work station (20) is by many empty, it and is that the entrance-outlet column (30) to link together are formed, these column (30) receive the Intelligent Package case (21) from unmanned plane, and it is moved within work station (20), wherein, each Intelligent Package case (21) is to be prepared through a mini door (25) and the interlayer (24) of the parcel of transmission is constituted by including, and mini door (25) is then to penetrate a data entry system (30) parcel code is input to work station (20) to be started later.Intelligent Package case is under the effect of gravity, it is moved down by the entrance of work station (20), then, then push outlet column (32) to according to the plate (40) (41) that hydraulic piston is supported, it later, then is to leave for unmanned plane (22) collection.

Description

Link the autonomous ground station of air delivery

Technical field

The present invention is primarily directed to a postal station, to submit the package received by unmanned aircraft (unmanned plane).

Background of invention

Unmanned aircraft, also commonly referred to as without the vehicles for driving aircraft or remote control guidance, whether not Come, or is just propagating its belief on a large scale on the market in different business and civil use.

It is now delivering package: present, books, public document for one of various demands of unmanned plane, and these It is also possible to extend to private or other is attached to the business shape that provided shipping Courier Service is provided by DHL, ARAMEX, TNT ... The package delivery of formula.

For one does not have the people of how many technology, package of a size suitable is delivered using unmanned plane is also One quite obvious thing the, even if route (road that a space is arranged in unmanned plane to carry and set according to one Diameter) to transfer a file to another destination is collected, be similarly for this skill or the not people of skill for ripe Obviously, but, as to how delivering package the problem of being then to be considered.

Up to now, the processing routine of all transmission and suggestiveness is all simple and is handled with manpower, and thing Be in reality it is unpractiaca, then enumerate several non-limiting reasons below:

1. wrapping up the party to be sent to, punctual arrival is needed to be sent to ground.

2. being not provided to mansion service, therefore, no matter weather conditions, party needs to wait outdoors.

3. each unmanned plane all needs have a special identification code identifying device, and one from unmanned plane to put Open the mechanism of package.

4. unmanned plane should drop to ground, courtyard in front of a usually villa or household, rather than in office or It is the plane that many people live in a high building, or any transfer station, is limited only because the individual reached by people is sent to It can carry out on the ground.

5. safety can not be known whether to the route of unmanned plane by setting, such as, it occupied by a vehicles, just have a court The vehicles that move ahead to unmanned plane, just having a fountain spray water droplet thereon or, have a child, small boy student, dog, Or one officious people Xiang Yaotian disturb its traveling.

6. the waiting time only limited when being transported due to unmanned plane, if because any normal reason of addressee is made At delay all mean that the delivering of this time is not reached, addressee should just pay a fine, without being to provide high-tech Service.

Therefore, solution is exactly by these package deliveries a to transfer station, and in this transfer station, unmanned plane can use one Chest is transmitted to stable and safety a work station to carry a series of package by chest, this work station is known to one Place, and have known to one, and the drop zone far from ground, and the work station then can provide a delivering etc. for being up to 7-10 days Wait the time.This transfer station can be in a recombination region, complex area, shopping plaza, government unit or the public affairs near any one Open ground ... etc..

Any transmission via unmanned plane is not shown in existing technology and is sent to and handles the transfer station of package, phase Instead, it is shown for known to everybody, and the more other countries used in Germany are more package stations (Packstation)。

These work stations provide automatically work pavilion, to collect package and excessive mail self-servicely, while also having complete It 24 hours, package Courier Service one week seven days.By a people rather than unmanned plane opens the door of these chests, and maintains Package stays inside it, and through e-mail and real-time communication (SMS) Lai Tongzhi receiver, later, receiver penetrates a magnetic strips Card and personal identification number (PIN) Lai Zhiding and opening door, receiver can then obtain his package.

In existing skill, some relevant patents can be found, such as: in German patent A other package station of the one kind disclosed in DE102006025617A1 is exposed in European Union's patent No.: one kind of EP2639186A2 It storage, especially a kind of selection storage and storage management system and operates the intelligence and deposits the method for management system, is exposed in the U.S. Number of patent application number: the transmission of the unmanned aircraft network of the utilization of US 20140032034A1, wherein disclosing using earth station The assistance of guiding is provided, the transmission vehicles can be assisted to point out with higher precision the position of earth station, but, Not can designate that yet ground how come receive and send or retract one transport content.

Brief description

Mainly for can mention an independent ground station so as to air delivery interface, wherein, the ground Work station can be received independently and include the intelligent chest of the package from unmanned plane, the content of small packet is sent to specific manpower On, and the intelligent chest emptied is sent back into unmanned plane.

The reception of Intelligent Package case: for each mechanism, work station have many, preferably two, vacant, top It opens, the column composition towards roof；Chest is transmitted to by one unmanned plane can accommodate chest in the inner, and still have a little remaining space First of size column in, inner wall tool there are four rail bar (recessed track), therefore chest can be guided along the rail bar into Enter, then again because the state of half brake is presented in the side wheel that chest side wall is arranged in, chest is to enter at leisure wherein.

Parcel transmitting: since each chest is made of small interlayer, and being then to have preparation in each small interlayer To an equal parcel for determining people, therefore, when chest is mobile toward lower section, the work station of an Autonomy, which can scan, to be imprinted on The fluorescent bar code of each intelligent chest side, therefore when someone comes to get his small packet, having input password, machine Device can know that the position of chest, small packet and the mini door (wicket) in face of it can then unlock mini door later, and It points out go there in a conventional manner and gets small packet.

Chest is retracted: in addition to entrance (receiving) column of each chest, meanwhile, also there is one to retract (outlet) column, In, entrance column are open to (outlet) is retracted by lower section.Once the bottom that a chest reaches entrance column is sensed, one It by the chest that side plate can then push of hydraulic piston support towards outlet column, and once senses chest and reaches at outlet column, separately It is upward that the bottom plate of one hydraulic pressure support can then push chest, therefore, all can be with chest upper when chest gets there each time Mode and be pushed upwards, until chest reach outlet column opening, and be also here, unmanned plane can be received and be retracted These chests.

It should be noted that work station tracking chest at all times is in each interlayer in arranging at two when cycle operation Position, no matter so that it there, work station can point out the position where small packet to recipient.

Brief description of drawings:

Fig. 1: it is shown that the perspective view for the chest for filling package.

Fig. 2: it is shown that being coated with the perspective view of each step of the conveying container of the chest of package in the inner.

Fig. 3: it is shown that the perspective view contacted between package bin wheel and conveying container guide rail bar.

Fig. 4: it is shown that perspective view of the package bin completely in conveying container.

Fig. 5: it is shown that the perspective view of package bin bottom, wherein, which and be coated on as entrained by unmanned plane In conveying container.

Fig. 6: it is shown that the perspective view at utonomous working station.

Fig. 7: it is shown that the utonomous working station amplification stereogram with Personal Identity Number data input screen.

Fig. 8: it is shown that perspective view of the package bin position in utonomous working station one arranges, wherein, also show one-way lock.

Fig. 9 (A-I): display, which is package bin, to be sent to entrance opening after processing, is crossing transmission gate downwards, later again upwards It reaches at exit opening, for the perspective view got and (retracted).

Figure 10: it is shown that the perspective view of the identical another embodiment in utonomous working station, wherein, dependence is horizontal mechanical Belt to transport package bin, be not gravity and hydraulic coupling.

The best mode embodiment of the present invention:

In order to implementing the present invention easily, it is combined with schema herein, provides portion for part of the present invention specifically It is bright, wherein, main part is to arrange serially according to its importance, in order to which each feature for making reading of the invention is more held Easily, number can be added in this paper that part illustrates, and in parts list, the sequence of this part feature be with 20 start and Sequential then can directly give the number of a sequence when appearing in this paper the feature of a part.

Since autonomous ground station 20 is to directly interface to air delivery, at the utonomous working station that the present invention will be described in detail Before 20, the operation of air delivery should leading brief description herein.

1- package bin (Fig. 1-5): preparing one will be by 22 band of unmanned plane, and is later handled by a utonomous working station 20 For package bin 21, it must be corrected, and can meet the requirement at utonomous working station 20 and unmanned plane 22, this is also meaned , if package bin 21 will be descended by the entrance of the top of work station 21 and downhill race, in one embodiment, it should have one kind The side wheel 23 of half brake, can decline it slowly.

For another level, many is carried for standard, e.g., for mail is to the package bin 21 of different people, it is answered This is separated into many different compartments 24, and due to having in each compartment 24 in this chest 21 one facing to work station 20 Mini 25 parcel of door of interior one, this also calls package bin 21 and should maintain out forever facing to the side of the compartment 24 of mini door 25 It puts.

Prepare the package bin 21 carried by a unmanned plane 22 to amount in requisition for four side wheels 23 and an open sides, it is also answered It can be accommodated in another conveying container 26 for being fixed on 22 bottom of unmanned plane, therefore, the bottom surface of this conveying container 26 should maintain open It puts, with can be by receiving the portion in the inner of package bin 21 on a conveyer belt or conveying table, in addition, this conveying container 26 should have Four vertical lateral grooves 27, and there is the guide rail 28 in face of side wheel 23, the side wheel 23 of package bin 21 can be allowed to transport on it It is dynamic, package bin 21 is guided in conveying container 26, and locks package bin according to any traditional locking mechanism by lock 29 21。

2- utonomous working station 20 (Fig. 6,7): utonomous working station 20 can be located in indoor or outdoors, but side on it There should be a protective device, to prevent (rain, dirt), preferably rely on a kind of roof being disposed over, and one kind can be The automatically-controlled door (not shown) for the traditional type that can be just opened when handling or receive package bin 21.

Work station is separated into the column 30 of many connections, and entrance column 31 export column 32.Each column are opened by its upper side Mouthful, it to collect package bin 21, or retracts, exits, transported so that new package can be handled, therefore, there is entrance (processing) Opening 34 is retracted in opening 33 and outlet.

These column 30,31 be it is hollow, with can allow package bin 21 by they, these column 30,31 can fill package Case 21.Each column 30,31 from top to bottom, are separated into the compartment 35 of many skies, wherein, other than the bottom in column, not Upper or lower section partition.Each its side that is listed in all has four vertical grooves 36, with the side wheel 23 for package bin 21 Portion's movement (Fig. 8) in the inner.The size of each compartment 35 is at least and 21 size of package bin is similar, and each compartment 35 has Have several in face of coming from extraneous user, and position in the mini door 25 of the interlayer 24 of 21 inside parcel of package bin, due to package Case 21 is eternal opening for the one side in face of those mini doors 25, therefore each mini door 25 is forever facing to small Interlayer 24.

There is 37 (not shown) of scanner at utonomous working station 20 in each compartment 35.The scanner 37 is scanning Printing, and is arranged in the fluorescence code of 21 proper position of package bin, and therefore, this bar coded sticker is facing to referring at each Determine the scanner 37 in compartment 35.Through this bar code, scanner 37 is known that an interlayer in a specific package case 21 The address of parcel is previously mentioned in 24.

When parcel of the people to get him, he inputs the password number with news in brief or e-mail to him through keyboard 38 According to, later, processor is connected with the memory of work station 20, come confirm in that compartment 35 have package bin 21, that Interlayer is with parcel, and that mini door 25 should give unlock, to obtain parcel.

Note 1: a plate can be set in the remote side within each interlayer 24, therefore, by any traditional mechanism Under electromagnetic force the plate is moved forward, and when mini door is opened, it can be by the outside push of parcel slightly, to facilitate neck Take parcel.

Note 2:, can be in 21 entrance of package bin when sender position (government, express delivery center ...) obtains file to package bin Place setting one scanning system, if therefore receiver avenge a grievance the file in parcel lose when, scanning system can return therefrom Complex data.

Note 3: in package bin 21 by a compartment 35 to another compartment when, new compartment 35 can rescan the bar shaped of new package bin Code paster data, and can be i.e. in the memory refreshing of work station 20 in relation to the transformation of package bin position.

The transmission of 3- package bin 21: follow the unmanned plane 22 that one sets GPS route can reach one it is special autonomous Work station 20, as commonly used described in background, work station penetrate come from laser beam transmitter 39, Fig. 9 A, different laser beams It is specifically open to assist unmanned plane 22 to reach one, later, then follows these steps to handle package bin 21:

A- for it is any once 21 opening of package bin it is incorrect delivery will be unable to guarantee that it can be entered in column 31. In order to which 100% confirmation package bin 21 can put into the entrance openings 33 of column 31, unmanned plane 22 each corner then again Provided with there are four laser beam 39, according to the feedback data by range sensor, obliquity sensor and gradient sensor Lai Itself is adjusted for the position of opening 33.

Note: when unmanned plane 22 is when remote away from many decimetres that are open, which can include a biggish hatch region, And when unmanned plane 22 close to be open 33 when, cross-sectional area that laser beam 39 includes contracting, so that unmanned plane 22 can constantly foundation Laser beam 30 adjusts own, finally then can correctly be located on opening, Fig. 9 B-C.

B- package bin 21 is gently gone, Fig. 9-D towards the gliding of opening 31 bottom of column.

When package bin 21 is located in entrance column 31, traditional a loading sensor or infrared sensor can be visited c- Know whether package bin 21 is ready for, later, one then will push package bin by the hydraulic piston that side plate (HPS side plate) is supported 21 is mobile towards outlet column 32, Fig. 9 E, F.

D-. identical sensor is used to find out down, position is in the bottom of outlet column 32 once case 21 is wrapped up in perception, separately One group then will push package bin 21 upwards to next top compartment 35 by the hydraulic piston 41 that bottom plate (HPS bottom plate) is supported Go, a traditional unidirectional mechanical lock 42, Fig. 9, then can when HPS bottom plate is returned to lower section, can prevent package bin 21 to Under fall.(note: a hydraulic circuit 43 is for operating each HPS plate 40,41)

For e- each time when there is a new package bin 21 to reach 31 bottom of entrance column, it can be pushed to outlet column 32 Bottom is just up moved again later；In this program, two column 31,32 will all be filled with package bin 21, at this time, even if Package bin 21 is just on the move, and the transmission of parcel is also carrying out.It is noted that there is a bottom compartment 35 to be to maintain forever Free time, so, package bin 21 can just move between the compartments.Once package bin 21 is communicated off exit opening 34, nobody Machine is picked up (should be empty van), and is played back to original source collecting and distributing place, and so as to overline filling, then, this program is repeated Generation, Fig. 9 H-I.

4- needs confirm that disclosed autonomous ground station 20 is to rely on gravity and hydraulic coupling to move herein Dynamic package bin 21, this mode be only that the present invention is many simple and Yi Yusi and embodiment in a preferred embodiment. And these different embodiments can then design according to the present invention, wherein, after unmanned plane 22 can be by utonomous working station Side assigns package to a conveyer belt, can will package be assigned to the package bin opened forever towards conveyer belt side or Compartment.Whether it is assigned to package bin or compartment, all can push or move these packages by any traditional mechanism And enter in vacant package bin or compartment, meanwhile, it can also be drawn off.

For another embodiment at identical utonomous working station 20 of the present invention shown in Figure 10, wherein not being Gravity and hydraulic coupling are used, but uses horizontal mechanical conveyer belt 44 to move package bin 21, wherein embedded The conveyer belt 44 of arrangement in a row refines item or any horizontal, vertical reception ... unmanned plane 22 and is, for example, in work station 20 The package bin 21 of right entrance side 45, and the mini door 25 that package bin 21 is moved in face of transmitting all will be apparent and easy Full of beard and.It is moving forward to the outlet of work station 20 or is leaving side (left) 46, in one week or 10 days time, nobody Machine again obtain empty package bin 21, it should be noted that, machine (work station) 20 by this period had the ability with Above-mentioned mode obtains parcel, and main package in face of specifying the mini door 25 of transmitting.

Note 1: unmanned plane 22 itself or conveyer belt 44 can be returned to work station 20, but still there is many not got Package bin 21 can not then return to work station 20, as long as paying an extra-pay to be used as delay.

Note 2: main from work station 20 in others, mini door 25 can change into biggish door, and this relies on packet entirely The form of the size, work station wrapped up in determines, therefore, for each differently sized package, may all be provided with it is small, In, large-scale door.

Note 3: a others cannot be introduced into Figure 10 20 entrance 45 of work station shown and outlet side 46, usually In the case of, they are all to hinder others' viewing.

Industry applications:

1- connection air delivery autonomous ground station have itself tool, mechanism, made of existing tool Part, mechanism, and there is enforceable corrective.

2- has many different purposes: Courier Service, government unit ... etc. to different groups.

3- reaches the fastest service since the dawn of human civilization by unmanned plane and can will be reached with the delivering of unmanned plane to receiver It is practical, safely, securely reliable and time saving.

4- small-sized work station can be located in many different places, to provide the service simply obtained.

Entire industry can integrally be promoted major step by a kind of revolutionary development in mail service of 5-.

6- is based on this work station, many business appearances towards such as processing, transmission and the feedback of data all may be used The material of different shape and size, package, file, food ... are waited to be implemented.

Part subordinate list:

20 autonomous ground stations

21 package bins

22 unmanned planes

23 half brake side wheels

24 interlayers

25 mini doors

26 transport accommodating body

27 lateral grooves

28 guide rails

29 hammerlocks

30 connection column

31 entrances column

32 outlet column

33 entrance openings

34 exit openings

35 compartments

36 perpendicular grooves

37 scanners

38 keyboards (data entry system)

39 laser beam transmitters

40HPS side plate

41HPS bottom plate

42 one-way locks

43 hydraulic circuits

44 mechanical conveyer belts

45 work station entrance sides

46 work stations export (leaving) side

Claims

1. a kind of autonomous ground station (20) for linking air delivery, it is characterised in that, be to include:

One package bin (21), including four side wheels (23) and an open sides；

One unmanned plane (22)；

A series of column (30) of connections, each column are made of entrance column (31) and outlet column (32), the top of each column Opening is all had, to collect the package bin (21), or the package bin is retracted and is transported with that can reuse in package, Therefore there is entrance opening (33) and exit opening (34)；The column (30) and entrance column (31) may be partitioned into it is many sky every Between (35), wherein there is no above or below partition, only have partition in the bottom of column；The column (30) and entrance column (31) prolong There are four perpendicular grooves (36) for its side tool, and in the groove (36), then there are four side wheels (23) of the package bin (21) It slides on wherein；

The mini door of one dynamical type (25)；

Scanner (37)；

One keyboard (38)；

One laser beam transmitter (39)；

One HPS side plate (40)；

One HPS bottom plate (41)；

One one-way locking 42)；

One hydraulic circuit (43)；

The lasting promotion package bin (21) of the HPS side plate (40), HPS bottom plate (41) arranges (32) to outlet by entrance column (31), so Xiang Shangyi again afterwards, until the package bin (21) has left exit opening (34), it be empty institute which, which slings, It states package bin (21), then the package bin (21) is returned to original source center, to be refilled with, this program repeat Repeat.

2. the autonomous ground station (20) of connection air delivery as claimed in claim 1, it is characterised in that, unmanned plane (22) bottom is fixed with conveying container (26), and the package bin (21) is accommodated in the conveying container of unmanned plane (22) bottom (26) in, the bottom surface of the conveying container (26) should remain open, and the conveying container (26) should have there are four vertical side Groove (27), and there is the guide rail (28) in face of side wheel (23) to be led so that the side wheel (23) of package bin (21) can be allowed to move over Draw package bin (21) in the conveying container (26), and locks packet according to any traditional locking mechanism by lock (29) Wrap up in (21).

3. the autonomous ground station (20) of connection air delivery as claimed in claim 1, it is characterised in that, the package bin (21) it is carried by the unmanned plane (22), then takes work station (20) to, then, according to the side wheel (23) in package bin (21), Package bin is slowly moving in work station (20), and adjusts to the transport accommodating body (26) of unmanned plane (22).

4. the autonomous ground station (20) of connection air delivery as claimed in claim 1, it is characterised in that, the package bin (21) many interlayers (24) are separated into, so that each interlayer (24) is containing one facing to autonomous work in package bin (21) The parcel for the mini door (25) stood in (20).

5. the autonomous ground station (20) of connection air delivery as claimed in claim 1, it is characterised in that, the column (30) And entrance column (31) be it is hollow, package bin (21) can be allowed to pass through, so that the column (30), entrance column (31) can be full of Package bin (21).

6. the autonomous ground station (20) of connection air delivery as claimed in claim 1, it is characterised in that, each compartment (35) there is at least identical shape and size with package bin (21), and each compartment (35) is with several outer facing to coming from Boundary user, and facing to position the interlayer (24) of package bin (21) interior parcel mini door (25), by package bin (21) face Side to mini door (25) is eternal opening, thus each mini door (25) be forevermore facing to a parcel every Layer (24).

7. the autonomous ground station (20) of connection air delivery as claimed in claim 1, it is characterised in that, each compartment (35) scanner (37) is all had to scan printing, and the fluorescence bar code being attached on package bin (21), therefore, phosphor strip Shape code is the facing scanner (37) in each specific compartment (35), and by this fluorescence bar code, the scanning Instrument (37) is known that the address of the parcel in specified package bin (21) internal portioning layer (24).

8. the autonomous ground station (20) of connection air delivery as claimed in claim 4, it is characterised in that, data input The keyboard (38) be in the memory that the data of input code are transformed into work station (20), this can then find out that compartment (35) there is the package bin (21), and that interlayer (24) has the parcel, while it is also known that mini door in (25) it should give unlatching to obtain the parcel.

9. the autonomous ground station (20) of connection air delivery as claimed in claim 1, it is characterised in that, the laser light The light beam of beam transmitter (39) transmitting is to be received by each corner of unmanned plane (22), therefore unmanned plane (22) can be by distance The feedback data of sensor, upper and lower obliquity sensor and the sensor that tilts adjusts oneself to opening (33), (34) Position.

10. the autonomous ground station (20) of connection air delivery as claimed in claim 1, it is characterised in that, the side HPS Plate (40) is by hydraulic circuit (43) Lai Qidong, is position in entrance column (31) or outlet column (32) in perception package bin (21) Bottom compartment (35) when, which pushes the package bin (21) laterally, and mobile towards outlet column (32).

11. the autonomous ground station (20) of connection air delivery as claimed in claim 1, it is characterised in that, the bottom HPS Plate (41) be by hydraulic circuit (43) Lai Qidong, come push the package bin (21) by position outlet column (32) bottom bottom every Between (35) be moved up to next neighbouring upper layer compartment (35), the HPS bottom plate (41) reply position after, a traditional mechanical lock (42) it can prevent the package bin (21) from falling.

12. the autonomous ground station (20) of connection air delivery as claimed in claim 1, it is characterised in that, autonomous work Stand (20) be rely on a horizontal automated conveyer belt (44) to move the package bin (21), rather than against gravity or Hydraulic coupling.