CN118490016A - Express cabinet based on unmanned aerial vehicle delivery, logistics system and logistics method - Google Patents
Express cabinet based on unmanned aerial vehicle delivery, logistics system and logistics method Download PDFInfo
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- CN118490016A CN118490016A CN202410698755.7A CN202410698755A CN118490016A CN 118490016 A CN118490016 A CN 118490016A CN 202410698755 A CN202410698755 A CN 202410698755A CN 118490016 A CN118490016 A CN 118490016A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B81/00—Cabinets or racks specially adapted for other particular purposes, e.g. for storing guns or skis
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B97/00—Furniture or accessories for furniture, not provided for in other groups of this subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/90—Launching from or landing on platforms
- B64U70/99—Means for retaining the UAV on the platform, e.g. dogs or magnets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/20—Transport or storage specially adapted for UAVs with arrangements for servicing the UAV
- B64U80/25—Transport or storage specially adapted for UAVs with arrangements for servicing the UAV for recharging batteries; for refuelling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/70—Transport or storage specially adapted for UAVs in containers
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F17/00—Coin-freed apparatus for hiring articles; Coin-freed facilities or services
- G07F17/10—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for means for safe-keeping of property, left temporarily, e.g. by fastening the property
- G07F17/12—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for means for safe-keeping of property, left temporarily, e.g. by fastening the property comprising lockable containers, e.g. for accepting clothes to be cleaned
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
- B64U2101/64—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons for parcel delivery or retrieval
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Abstract
The invention relates to an express cabinet based on unmanned aerial vehicle delivery, a logistics system and a logistics method, which comprises a storage room main body, wherein more than one cell for storing packages is arranged on the side wall of the storage room main body, a sliding hatch cover is arranged above the storage room main body, a liftable parking apron for the unmanned aerial vehicle to land is arranged below the sliding hatch cover, a battery groove, a first mechanical arm and a second mechanical arm are respectively arranged in the storage room main body, the first mechanical arm is used for taking out the packages in the logistics box on the unmanned aerial vehicle and placing the packages in the cell or taking out the packages in the cell and placing the packages in the logistics box on the unmanned aerial vehicle, the second mechanical arm is used for taking out the batteries on the unmanned aerial vehicle and placing the batteries fully charged in the battery groove and taking out and installing the batteries fully charged in the unmanned aerial vehicle, the packages do not need to be manually stored in the express cabinet, especially in a mountain area with inconvenient traffic, the whole process automatic management of sending the packages and delivering the packages is realized, and errors of manpower and factors are saved.
Description
Technical Field
The invention relates to the technical field of logistics, in particular to an express cabinet based on unmanned aerial vehicle delivery, a logistics system and a method.
Background
With the rapid development of electronic commerce, the requirements on logistics industry are increasing. Use traditional express delivery cabinet to need the express delivery person to go to each express delivery cabinet place and scan the waybill one by one and confirm that the receipt information carries out the dispatch, very extravagant manpower has influenced dispatch efficiency, especially to some express delivery cabinets of putting comparatively remote areas, perhaps some express delivery person inconvenient arrive the district.
At present, along with the progress of technology and the maturity of unmanned technology, unmanned aerial vehicle has successfully realized the application in the delivery field, and unmanned aerial vehicle is often applied to delivery fields such as takeaway, express delivery. The prior art provides an express delivery cabinet to unmanned aerial vehicle delivery, is put in the letter sorting dolly with the express mail by unmanned aerial vehicle on, but letter sorting dolly horizontal migration reaches the position of appointed cabinet check top, and the letter sorting dolly is with the express mail top drop and slide to the receiving flitch along the slide after the receiving flitch is stretched out to appointed cabinet check, takes the express mail back cabinet check by the receiving flitch again, has realized receiving unmanned aerial vehicle delivery express mail's process. In the prior art, a scenario that an unmanned aerial vehicle executes a delivery task is adopted, the unmanned aerial vehicle is generally configured in a delivery station for standby, when an order to be delivered is needed, the unmanned aerial vehicle conveys delivery objects corresponding to the order to a delivery site, and then the unmanned aerial vehicle returns to the delivery station for waiting for the next delivery. The staff at this delivery station can carry out the change of battery to unmanned aerial vehicle that returns to guarantee unmanned aerial vehicle can continue to carry out the delivery. The unmanned aerial vehicle is replaced generally based on experience of staff, namely whether the unmanned aerial vehicle needs to be replaced is judged manually, when a distribution station is busy, a large number of unmanned aerial vehicles return to the distribution station at any moment and a large number of unmanned aerial vehicles fly away from the distribution station, the manual power replacement pressure is high, and the situation of power replacement errors is unavoidable, for example, the unmanned aerial vehicle is forgotten to replace, or the unmanned aerial vehicle is replaced repeatedly, so that the unmanned aerial vehicle distribution efficiency is low.
Disclosure of Invention
The invention aims to provide an express cabinet, a logistics method and a system for delivering goods by an unmanned aerial vehicle, which are convenient, quick and automatic in battery charging and changing, and aims to solve the technical problems that in the prior art, the unmanned aerial vehicle needs to manually change an electrician by logistics staff and packages need to be stored in the express cabinet manually.
In order to solve the technical problems, the invention adopts the following technical scheme: the utility model provides an express delivery cabinet based on unmanned aerial vehicle delivery, including the storing room main part, be equipped with the more than one cell that is used for storing the parcel on the main part lateral wall between the storing, main part top is equipped with the slip hatch cover between the storing, slip hatch cover below is equipped with the liftable air apron that is used for unmanned aerial vehicle landing, be equipped with battery jar in the storing room main part respectively, first arm and second arm, first arm is used for taking out and placing the parcel in the thing flow box on the unmanned aerial vehicle in the cell or take out the parcel in the cell and put into the thing flow box on the unmanned aerial vehicle, the second arm is used for taking out and put into battery jar in the battery jar and charge and take out the battery of battery jar full charge to install on the unmanned aerial vehicle.
Further, be equipped with the unmanned aerial vehicle mechanism of returning to the middle of being used for unmanned aerial vehicle to fall behind tight unmanned aerial vehicle base on the liftable air apron, unmanned aerial vehicle mechanism of returning to the middle of includes vertical clamping module, horizontal clamping module, and vertical clamping module vertical reciprocating motion is used for vertical clamping, loosens the unmanned aerial vehicle base, and horizontal clamping module horizontal reciprocating motion is pressed from both sides tightly, loosens the unmanned aerial vehicle base.
Further, a lifting module is arranged below the liftable parking apron and comprises a lifting rod, and the lifting rod moves under the pushing of a lifting mechanism motor, so that the liftable parking apron moves upwards and downwards.
Further, a base is arranged in the storage room main body, and the lifting module is fixed on the base.
Further, two battery grooves are symmetrically arranged in the storage room main body, and four rechargeable batteries are respectively arranged in each battery groove.
Further, an operation end is further arranged on the storage room main body and used for receiving user input of the express delivery taking code and the express delivery of the express delivery delivering code.
The invention also provides a logistics system based on unmanned aerial vehicle delivery, which comprises an unmanned aerial vehicle auxiliary system, a mechanical arm system and a logistics management system,
The unmanned aerial vehicle auxiliary system comprises a battery storage module, a parking apron lifting module and a hatch cover sliding module, wherein the battery storage module is used for storing batteries and intelligently charging the batteries; the parking apron lifting module is used for controlling lifting of the parking apron, when the unmanned aerial vehicle falls onto the parking apron, the unmanned aerial vehicle is driven to fall to a set position, and when the unmanned aerial vehicle is ready to take off, the unmanned aerial vehicle is driven to rise; the hatch cover sliding module is used for communicating with the unmanned aerial vehicle, when receiving the descending signal of the unmanned aerial vehicle, the hatch cover is opened, and when receiving the take-off signal of the unmanned aerial vehicle, the hatch cover is closed;
The mechanical arm system is used for transition from the unmanned aerial vehicle auxiliary system to the logistics management system and comprises a first clamping module and a second clamping module, wherein the first clamping module and the second clamping module are respectively responsible for loading and unloading packages and replacing unmanned aerial vehicle batteries;
The logistics management system comprises a logistics monitoring module and a communication module, wherein the logistics monitoring module is used for being in charge of signal processing interaction and butt joint with a user, an express cabinet and an unmanned aerial vehicle, and the communication module is used for signal transmission communication among the user, the express cabinet and the unmanned aerial vehicle.
Further, the unmanned aerial vehicle parking system further comprises an unmanned aerial vehicle parking module, wherein the unmanned aerial vehicle parking module is used for driving the unmanned aerial vehicle parking mechanism to move so as to push the unmanned aerial vehicle to the center of the parking apron after the unmanned aerial vehicle is parked to the parking apron.
The invention also provides a logistics method based on unmanned aerial vehicle delivery, which comprises the following steps of:
S10, inputting express information at an operation end by a user, opening a cabinet door of a compartment between storage, and closing the cabinet door after the user loads packages into the compartment;
s11, carrying out delivery inspection by the logistics monitoring center, and opening a rear cabinet door corresponding to the box after the inspection is passed; if the inspection fails, notifying a ground express personnel to deliver the information in a traditional mode;
S12, if an unmanned aerial vehicle exists in the express cabinet, the express is loaded into an unmanned aerial vehicle logistics box through a first mechanical arm; if no unmanned aerial vehicle exists in the express cabinet, the logistics monitoring center informs the nearby express cabinet, and the nearby unmanned aerial vehicle is free to take express; if no idle unmanned aerial vehicle exists nearby, waiting, estimating waiting time by a logistics monitoring center, and feeding back to a user;
S13, the logistics monitoring center performs electric quantity diagnosis on the unmanned aerial vehicle, if the electric quantity is insufficient, the second mechanical arm of the express cabinet performs work, the battery on the unmanned aerial vehicle is taken out and placed in the charging groove, the fully charged battery is loaded on the unmanned aerial vehicle, and the step of replacing the battery is completed;
s14, after the first mechanical arm loads the express into a logistics box on the unmanned aerial vehicle, the lifting parking apron in the express cabinet ascends, and the unmanned aerial vehicle takes off to send the package to the nearest logistics distribution point.
The invention provides a logistics method for delivering goods by an unmanned aerial vehicle, which further comprises the following steps of:
S20, loading packages to be transported into a logistics box of the unmanned aerial vehicle at a logistics distribution point;
S21, the unmanned aerial vehicle flies to an express cabinet with the nearest delivery address, and after the express cabinet receives a message that the unmanned aerial vehicle is about to land, a sliding hatch cover is opened to lift an apron; after the unmanned aerial vehicle drops stably, the parking apron descends to a designated position;
s22, taking out the packages in the unmanned aerial vehicle logistics boxes by the first mechanical arm of the express cabinet, and placing the packages in the corresponding boxes;
s23, the logistics monitoring center performs electric quantity diagnosis on the unmanned aerial vehicle, if the electric quantity is insufficient, the second mechanical arm of the express cabinet performs work, the battery on the unmanned aerial vehicle is taken out and placed in the charging groove, the fully charged battery is loaded on the unmanned aerial vehicle, and the step of replacing the battery is completed;
s24, the logistics monitoring center acquires storage information of the package, sends the picking code to the user side, and the user picks up the package by the picking code to the express cabinet.
The invention has the beneficial effects that: the invention provides an express cabinet based on unmanned aerial vehicle delivery, which is characterized in that a sliding hatch cover is arranged above a storage room main body, a lifting apron for unmanned aerial vehicle landing is arranged below the sliding hatch cover, and a first mechanical arm and a second mechanical arm are respectively arranged on the storage room main body and used for taking packages and replacing batteries of the unmanned aerial vehicle. The battery is not required to be manually replaced by a workflow worker, the package is not required to be manually stored in the express cabinet, and labor is saved, particularly in mountain areas with inconvenient traffic. The invention also provides a logistics system for delivering the goods of the unmanned aerial vehicle, which comprises an unmanned aerial vehicle auxiliary system, a mechanical arm system and a logistics management system, wherein the unmanned aerial vehicle auxiliary system comprises a battery storage module, a parking apron lifting module and a hatch cover sliding module, the battery storage module is used for storing batteries and intelligently charging the batteries, the mechanical arm system is used for transferring the unmanned aerial vehicle system to the logistics management system and comprises a clamping module of a first mechanical arm and a clamping module of a second mechanical arm, and the first clamping module and the second clamping module are respectively responsible for loading, unloading, wrapping and replacing the unmanned aerial vehicle batteries; express delivery is got through the clamp of arm and the module dress is got and is changed the battery for unmanned aerial vehicle, realizes sending the parcel and delivering the full flow automated management of parcel, uses manpower sparingly and reduces the error of human factor.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of the overall structure of an unmanned aerial vehicle express cabinet;
Fig. 2 is a schematic diagram of the internal structure of the main body of the unmanned aerial vehicle express cabinet;
fig. 3 is a schematic view of another view angle structure inside the main body of the unmanned aerial vehicle express cabinet according to the present invention;
FIG. 4 is a block diagram of a logistics system for delivering cargo by an unmanned aerial vehicle according to the present invention;
FIG. 5 is a flow chart of a logistics method for delivering goods by an unmanned aerial vehicle according to the present invention;
FIG. 6 is a flow chart of delivery of an express delivery by the logistic method for delivering goods by the unmanned aerial vehicle of the invention;
Fig. 7 is a schematic diagram of a principle of a moving track of a mechanical arm in the delivery express cabinet of the unmanned aerial vehicle.
Description of the reference numerals:
100. Unmanned plane; 101. A logistics box;
200. Express delivery cabinet; 201. A storage compartment main body; 202. Sliding the hatch;
203. a cell; 204. A display screen; 205. An operation end;
206. a first mechanical arm; 207. A second mechanical arm; 208. The unmanned aerial vehicle is returned to the middle mechanism;
209. a base; 210. A battery case; 211. Lifting the parking apron;
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
As shown in fig. 1-3, an embodiment of the present invention provides an express cabinet 200 based on unmanned aerial vehicle delivery, which includes a storage room main body 201, wherein a sidewall of the storage room main body 201 is provided with more than one compartment 203 for storing packages, a sliding hatch 202 is arranged above the storage room main body 201, a liftable parking apron 211 for landing the unmanned aerial vehicle 100 is arranged below the sliding hatch 202, a battery slot 210, a first mechanical arm 206 and a second mechanical arm 207 are respectively arranged in the storage room main body 201, the first mechanical arm 206 is used for taking out and placing packages in a logistics box 101 on the unmanned aerial vehicle 100 into the compartment or taking out packages in the compartment into the logistics box on the unmanned aerial vehicle, and the second mechanical arm 207 is used for taking out and placing batteries on the unmanned aerial vehicle 100 into the battery slot 210 for charging and taking out and installing the batteries fully charged in the battery slot 210 on the unmanned aerial vehicle 100.
Specifically, the principle of hosting the express is as follows: the three-dimensional space positions of the boxes on the main body of each storage room and the logistics box below the unmanned aerial vehicle are relatively fixed. Assuming that the three-dimensional space position of the center of the cabinet door behind the ith cell is (x i,yi,zi), and establishing a one-to-one mapping relation between the cell labels and the three-dimensional space position, and the three-dimensional space position of the logistics box below the unmanned aerial vehicle is (x d,yd,zd). The logistics management system in the express cabinet sends the target cell label i to the first mechanical arm 206 control unit, and the first mechanical arm 206 control unit receives the storage compartment label i and searches for a corresponding three-dimensional space position (x i,yi,zi). The first mechanical arm 206 control unit controls the motor to rotate through operation, so that the mechanical arm reaches the target three-dimensional space position (x i,yi,zi). The camera above the first robotic arm 206 will identify the package and send a more accurate grasp location (x' i,y′i,z′i) to the first robotic arm 206 control module. The first mechanical arm 206 control module controls the end of the first mechanical arm 206 to move to a designated position, controls the finger motor at the end of the first mechanical arm 206 to rotate, and performs a grabbing action. After the grabbing, the tail end of the first mechanical arm 206 is confirmed to exit from the storage room and move to the three-dimensional space position (x d,yd,zd) of the unmanned aerial vehicle logistics box. After reaching (x d,yd,zd), the finger motor reversely rotates to confirm that the package is released, the first mechanical arm 206 returns to the original position, an express in-place signal is sent to the unmanned aerial vehicle, and after the unmanned aerial vehicle receives the express in-place signal, the logistics box is closed to execute take-off. The delivery of the package is the reverse of the mailing of the package, and is not cumbersome here.
Specifically, the principle of battery replacement of the unmanned aerial vehicle is as follows: since the three-dimensional space position of each battery compartment 210 and the unmanned aerial vehicle battery compartment is relatively fixed. Assuming that the three-dimensional space position of the center of the rear cabinet door of the jth battery jar is (x j,yj,zj), and establishing a one-to-one mapping relation between the battery jar labels and the three-dimensional space position, the three-dimensional space position of the unmanned aerial vehicle Chi Cang is (x b,yb,zb). The logistics management system in the express cabinet sends the target battery slot label j to the second mechanical arm 207 control unit, and the second mechanical arm 207 control unit receives the battery slot label j and searches for a corresponding three-dimensional space position (x j,yj,zj). The second mechanical arm 207 control unit controls the motor to rotate through calculation, so that the mechanical arm reaches the target three-dimensional space position (x j,yj,zj). The camera above the second robot arm 207 sends the battery to the second robot arm 207 control module at a more accurate gripping location (x' j,y′j,z′j). The second mechanical arm 207 control module controls the tail end of the second mechanical arm 207 to move to a designated position, controls the finger motor at the tail end of the second mechanical arm 207 to rotate, and executes the grabbing action. And (3) confirming that the tail end of the second mechanical arm 207 withdraws from the battery groove after grabbing, and moving to the three-dimensional space position (x b,yb,zb) of the unmanned aerial vehicle battery compartment. After (x b,yb,zb) is reached, the elbow joint motor of the second mechanical arm 207 rotates, the battery is pushed into the battery groove, after the pushing is confirmed, the second mechanical arm 207 returns to the original position, a battery in-place signal is sent to the unmanned aerial vehicle, the unmanned aerial vehicle battery indicator lamp is turned on, and the battery replacement is completed.
The most critical concept of the invention is that the first mechanical arm is used for taking out the package in the logistics box on the unmanned aerial vehicle and placing the package in the box or taking out the package in the box and placing the package in the logistics box on the unmanned aerial vehicle, and the second mechanical arm is used for carrying out power exchanging operation on the unmanned aerial vehicle; the whole process is managed automatically, manual operation is not needed, and labor and errors caused by human factors are saved.
Further, the unmanned aerial vehicle centering mechanism 208 for clamping the unmanned aerial vehicle base after the unmanned aerial vehicle falls is arranged on the liftable parking apron 211, and the unmanned aerial vehicle centering mechanism 208 comprises a longitudinal clamping module and a transverse clamping module, wherein the longitudinal clamping module longitudinally reciprocates to longitudinally clamp and loosen the unmanned aerial vehicle base, and the transverse clamping module transversely reciprocates to clamp and loosen the unmanned aerial vehicle base. The relative position of the unmanned aerial vehicle is more prepared, the manipulator is convenient to operate, and the relative position error is reduced.
Further, a lifting module is arranged below the liftable parking apron 211, and comprises a lifting rod which moves under the pushing of a lifting mechanism motor, so that the liftable parking apron moves upwards and downwards. The lifting rod drives the lifting apron to move up and down, so that the lifting apron is simple in structure, low in manufacturing cost and cost-saving.
Further, a base 209 is disposed in the storage compartment main body 201, and the lifting module is fixed on the base. Fix lifting module on the base for liftable apron is more firm and steady operation, reduces the error in the motion process, makes unmanned aerial vehicle's relative position more accurate.
Further, two battery slots 210 are symmetrically arranged in the storage compartment main body 201, and four rechargeable batteries are respectively arranged in each battery slot 210. The first robotic arm 206 may operate between the two battery slots 210 such that the unmanned aerial vehicle battery supply is sufficient, increasing the frequency with which the unmanned aerial vehicle performs flight tasks.
Further, the storage room main body 201 is further provided with an operation end 205 for receiving user input of a picking code to pick up an express and input of a mailing code to send the express. Preferably, a display screen 204 is further provided on the storage room main body 201, so that advertisements and the like can be put in, and the popularization income is increased. The unmanned aerial vehicle express cabinet is simple to operate and quick in man-machine interaction through the operation end.
As shown in fig. 4, the invention further provides a logistics system 10 based on unmanned aerial vehicle delivery, which comprises an unmanned aerial vehicle auxiliary system 11, a mechanical arm system 12 and a logistics management system 13, wherein the unmanned aerial vehicle auxiliary system 11 comprises a battery storage module, a parking apron lifting module and a hatch cover sliding module, and the battery storage module is used for storing a battery and intelligently charging the battery; the parking apron lifting module is used for controlling lifting of the parking apron, when the unmanned aerial vehicle falls onto the parking apron, the unmanned aerial vehicle is driven to fall to a set position, and when the unmanned aerial vehicle is ready to take off, the unmanned aerial vehicle is driven to rise; the hatch cover sliding module is used for communicating with the unmanned aerial vehicle, when receiving the descending signal of the unmanned aerial vehicle, the hatch cover is opened, and when receiving the take-off signal of the unmanned aerial vehicle, the hatch cover is closed;
the mechanical arm system 12 is used for transferring the unmanned aerial vehicle auxiliary system to the logistics management system, and comprises a first clamping module and a second clamping module which are respectively responsible for loading and unloading packages and replacing unmanned aerial vehicle batteries;
The logistics management system 13 comprises a logistics monitoring module and a communication module, wherein the logistics monitoring module is used for being in charge of signal interaction and butt joint with a user, an express cabinet and an unmanned aerial vehicle, and the communication module is used for receiving express and mail sending of the user and sending signals to a logistics monitoring center.
Further, the unmanned aerial vehicle centering system is further included, and the unmanned aerial vehicle centering system is used for driving the unmanned aerial vehicle centering mechanism to move so as to push the unmanned aerial vehicle to the center of the parking apron after the unmanned aerial vehicle is stopped at the parking apron.
As shown in fig. 5, the invention further provides a logistics method based on unmanned aerial vehicle delivery, which comprises the following steps of:
S10, inputting express information at an operation end by a user, opening a cabinet door of a compartment between storage, and closing the cabinet door after the user loads packages into the compartment;
s11, carrying out delivery inspection by the logistics monitoring center, and opening a rear cabinet door corresponding to the box after the inspection is passed; if the inspection fails, notifying a ground express personnel to deliver the information in a traditional mode;
s12, if an unmanned aerial vehicle exists in the express cabinet, the express is loaded into an unmanned aerial vehicle logistics box through a first mechanical arm; if no unmanned aerial vehicle exists in the express cabinet, the logistics monitoring center informs the nearby express cabinet, and the nearby unmanned aerial vehicle is free to take express; if no idle unmanned aerial vehicle exists nearby, waiting, estimating waiting time by a logistics monitoring center, and feeding back to a user;
S13, after the first mechanical arm loads the package into a logistics box on the unmanned aerial vehicle, the lifting parking apron in the express cabinet ascends, and the unmanned aerial vehicle takes off and sends the package to the nearest logistics distribution point.
After the user finishes operating on the platform, the package is put into the express cabinet. If unmanned aerial vehicle exists in the express delivery cabinet, the package is loaded into a logistics box of the unmanned aerial vehicle through the first mechanical arm. If no unmanned aerial vehicle exists in the express cabinet, the logistics monitoring center informs the nearby express cabinet, and the nearby idle unmanned aerial vehicle is used for taking the express. If no idle unmanned aerial vehicle exists nearby, waiting is performed, and the logistics monitoring center estimates waiting time and feeds back the waiting time to the user. The operation steps are as follows:
the user inputs express information (sender information, receiver information, article content, package size, weight and the like) on the platform or the operation end, and the front cabinet door of the storage room is opened.
After the user finishes loading the package, the logistics monitoring center executes delivery inspection, and after the inspection passes, the cabinet door corresponding to the compartment of the storage room is opened. If the inspection fails, notifying the ground express personnel to deliver the information in a traditional mode.
Wherein, logistics monitoring center carries out the delivery inspection, includes:
1) Checking whether the unmanned aerial vehicle has a take-off condition, such as weather conditions;
2) Whether the delivery distance exceeds the range of the unmanned aerial vehicle;
3) Whether the mechanical arm works normally or not;
4) Whether the package size meets the delivery condition;
5) Whether the appearance of the package can be clamped by the mechanical arm or not;
6) Whether the package is overweight.
The conditions for the first mechanical arm to confirm grabbing are as follows:
1) The value of the force feedback sensor is more than 10N;
2) The distance between two fingers of the mechanical arm is more than 3cm;
the conditions for confirming the release of the package by the first mechanical arm are as follows:
1) The force feedback sensor value is less than 1N.
2) And the distance between two fingers at the tail end of the first mechanical arm is more than 20cm.
As shown in fig. 6, the present invention provides a logistic method based on unmanned plane delivery, further comprising delivering a package, wherein the delivering of the package comprises the following steps:
S20, loading packages to be transported into a logistics box of the unmanned aerial vehicle at a logistics distribution point;
S21, the unmanned aerial vehicle flies to an express cabinet with the nearest delivery address, and after the express cabinet receives a message that the unmanned aerial vehicle is about to land, a sliding hatch cover is opened to lift an apron; after the unmanned aerial vehicle drops stably, the parking apron descends to a designated position;
s22, taking out the packages in the unmanned aerial vehicle logistics boxes by the first mechanical arm of the express cabinet, and placing the packages in the corresponding boxes;
s23, the logistics monitoring center performs electric quantity diagnosis on the unmanned aerial vehicle, if the electric quantity is insufficient, the second mechanical arm of the express cabinet performs work, the battery on the unmanned aerial vehicle is taken out and placed in the charging groove, the fully charged battery is loaded on the unmanned aerial vehicle, and the step of replacing the battery is completed;
s24, the logistics monitoring center acquires storage information of the package, sends the picking code to the user side, and the user picks up the package by the picking code to the express cabinet.
Specifically, after the express cabinet receives the message that the unmanned aerial vehicle is about to land, the parking apron is lifted. After the unmanned aerial vehicle lands stably, the unmanned aerial vehicle centering mechanism positions and clamps the unmanned aerial vehicle base, and the position of the unmanned aerial vehicle is fixed at the center of the parking apron.
After the unmanned aerial vehicle is fixed in the center of the parking apron, the parking apron descends into the interior of the express cabinet, the first mechanical arm stretches out, packages in the logistics box are taken out, and the packages are placed in boxes between corresponding storage rooms. Then, unmanned aerial vehicle diagnosis is carried out, and if the electric quantity is insufficient, the battery is replaced; if other parts such as the blade are damaged, the fault is reported to the logistics monitoring center.
The first mechanical arm and the second mechanical arm are free degree mechanical arms, and a connecting rod coordinate system is established by using a D-H (Denavit-Hartenberg) method. As shown in fig. 7, where BC// DE/FG, CD/EF, AB// GH establish a linkage coordinate system o ixiyizi (i=0, 1,2,3,4,5, 6). Origin o i (i=0, 1,2,3,4,5, 6) is located at a to H, o 0x0y0z0 represents the base coordinate system, and o 6x6y6z6 represents the arm end coordinate system, respectively. As can be seen from fig. 7: o i-1xi-1yi-1zi-1 goes through two rotations and two translations to o ixiyizi, which are: first, o ixiyizi rotates by a distance of i about J i, o i-1xi-1yi-1zi-1 requires rotation of gamma i about the z i-1 axis to cause the new x i-1 axis to be co-directional with the x i axis; Second, translate l i along the new z i-1 axis, so that new o i-1 moves to J i, at the intersection with the common perpendicular to J i+1 and J i; Third, translate d i along the x i axis so that the new o i-1 coincides with o i; Fourth, the α i is rotated about the new x i axis such that the new z i-1 axis is co-directional with the z i axis. The four transforms described above may be implemented using four homogeneous transform matrices:
wherein,
Since the link coordinate systems of the joints of the mechanical arm have conjuncted relations, the transformation matrix of o 6x6y6z6 to o 0x0y0z0 is:
formula (2) is referred to as a mechanical arm positive motion model, in which Respectively representing the direction vectors of the three coordinate axes of o 6x6y6z6 in the base coordinate system. Vector quantityThe position in the coordinate origin (arm end point H) base coordinate system of o 6x6y6z6 is indicated.
Each component of the vector p in the formula (2) is a function of theta 1、θ2、θ3、θ4、θ5、θ6, and the complex coupling relation between joint angles can be calculated by using matlab software. Since the rotation angle θ 6 of H around the end joint GH has no effect on the position of H in the base coordinate system, the expression of each component of vector p is related to θ 1、θ2、θ3、θ4、θ5 only, and the joint variable combination (θ 1、θ2、θ3、θ4、θ5) has a certain mapping relation with the position of H in the base coordinate system, and this mapping is f(θ1,θ2,θ3,θ4,θ5)＝(px,py,pz)T,, so that the arm end point H can be moved to the position determined by o 0x0y0z0 only by giving a set of joint variable combinations.
From equation (2), when the vector f (θ 1,θ2,θ3,θ4,θ5)-Xo is zero vector), the corresponding joint variable (θ 1,θ2,θ3,θ4,θ5) is the optimal solution to be determined for the inverse motion of the mechanical arm, so as to obtain the inverse motion model of the mechanical arm
In order to make the instruction angle of the motor rotation as small as possible, after adding the constraint, the total instruction angle expression is:
and the theta i is the instruction angle of rotation of each motor, so that the first mechanical arm and the second mechanical arm are utilized to take packages and replace batteries of the unmanned aerial vehicle.
In summary, the invention provides an express cabinet, a logistics system and a logistics method based on unmanned aerial vehicle delivery, wherein a sliding hatch cover is arranged above a storage room main body, a lifting parking apron for unmanned aerial vehicle landing is arranged below the sliding hatch cover, and a first mechanical arm and a second mechanical arm are arranged in the storage room main body and are respectively used for taking packages and replacing batteries of the unmanned aerial vehicle. The battery is not required to be manually replaced by a workflow worker, the package is not required to be manually stored in the express cabinet, and labor is saved, particularly in mountain areas with inconvenient traffic. Preferably, the unmanned aerial vehicle centering mechanism is arranged on the liftable parking apron, so that the relative position of the unmanned aerial vehicle is more ready, the mechanical arm is convenient to operate, and the relative position error is reduced. Express delivery is got through the clamp of arm and the module dress is got and is changed the battery for unmanned aerial vehicle, realizes sending the parcel and delivering the full flow automated management of parcel, uses manpower sparingly and reduces the error of human factor.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent changes made by the specification and drawings of the present invention, or direct or indirect application in the relevant art, are included in the scope of the present invention.
Claims (10)
1. The utility model provides an express delivery cabinet based on unmanned aerial vehicle delivery, its characterized in that, including the storing room main part, be equipped with the more than one cell that is used for storing the parcel on the storing room main part lateral wall, the storing room main part top is equipped with the slip hatch cover, slip hatch cover below is equipped with the liftable air apron that is used for unmanned aerial vehicle to descend, be equipped with battery jar, first arm and second arm respectively in the storing room main part, first arm is used for taking out and placing the parcel in the unmanned aerial vehicle on the commodity circulation case in the cell or take out the parcel in the cell and put into the commodity circulation case on the unmanned aerial vehicle, the second arm is used for taking out and putting into battery on the unmanned aerial vehicle battery jar in charge and take out the battery of battery jar full charge install unmanned aerial vehicle on.
2. The unmanned aerial vehicle delivery-based express delivery cabinet of claim 1, wherein the liftable apron is provided with an unmanned aerial vehicle centering mechanism for clamping an unmanned aerial vehicle base after the unmanned aerial vehicle falls down, the unmanned aerial vehicle centering mechanism comprises a longitudinal clamping module and a transverse clamping module, the longitudinal clamping module longitudinally reciprocates to longitudinally clamp and unclamp the unmanned aerial vehicle base, and the transverse clamping module transversely reciprocates to clamp and unclamp the unmanned aerial vehicle base.
3. The unmanned aerial vehicle delivery-based express delivery cabinet of claim 1, wherein a lifting module is arranged below the liftable parking apron, the lifting module comprises a lifting rod, and the lifting rod moves under the pushing of a lifting mechanism motor, so that the liftable parking apron moves upwards and downwards.
4. The unmanned aerial vehicle delivery-based express delivery cabinet of claim 3, wherein a base is arranged in the storage room main body, and the lifting module is fixed on the base.
5. The unmanned aerial vehicle-based delivery express cabinet of claim 1, wherein two battery slots are symmetrically arranged in the storage room main body, and four rechargeable batteries are respectively arranged in each battery slot.
6. The express delivery cabinet based on unmanned aerial vehicle delivery of claim 1, wherein the storage room main body is further provided with an operation end for receiving user input of a picking-up code for picking up express and input of a sending code for sending express.
7. A logistics system based on unmanned aerial vehicle delivery is characterized by comprising an unmanned aerial vehicle auxiliary system, a mechanical arm system and a logistics management system,
The unmanned aerial vehicle auxiliary system comprises a battery storage module, a parking apron lifting module and a hatch cover sliding module, wherein the battery storage module is used for storing batteries and intelligently charging the batteries; the parking apron lifting module is used for controlling lifting of the parking apron, when the unmanned aerial vehicle falls onto the parking apron, the unmanned aerial vehicle is driven to fall to a set position, and when the unmanned aerial vehicle is ready to take off, the unmanned aerial vehicle is driven to rise; the hatch cover sliding module is used for communicating with the unmanned aerial vehicle, when receiving the descending signal of the unmanned aerial vehicle, the hatch cover is opened, and when receiving the take-off signal of the unmanned aerial vehicle, the hatch cover is closed;
the mechanical arm system is used for transition from the unmanned aerial vehicle auxiliary system to the logistics management system and comprises a first clamping module and a second clamping module, wherein the first clamping module and the second clamping module are respectively responsible for loading and unloading packages and replacing unmanned aerial vehicle batteries;
The logistics management system comprises a logistics monitoring module and a communication module, wherein the logistics monitoring module is used for being in charge of signal processing interaction and butt joint with a user, an express cabinet and an unmanned aerial vehicle, and the communication module is used for signal transmission communication among the user, the express cabinet and the unmanned aerial vehicle.
8. The unmanned aerial vehicle delivery-based logistics system of claim 7, further comprising an unmanned aerial vehicle centering module for driving the unmanned aerial vehicle centering mechanism to move the unmanned aerial vehicle to the center of the tarmac after the unmanned aerial vehicle is parked at the tarmac.
9. The logistics method based on unmanned aerial vehicle delivery is characterized by comprising the following steps of:
S10, inputting express information at an operation end by a user, opening a cabinet door of a compartment between storage, and closing the cabinet door after the user loads packages into the compartment;
s11, carrying out delivery inspection by the logistics monitoring center, and opening a rear cabinet door corresponding to the box after the inspection is passed; if the inspection fails, notifying a ground express personnel to deliver the information in a traditional mode;
S12, if an unmanned aerial vehicle exists in the express cabinet, the express is loaded into an unmanned aerial vehicle logistics box through a first mechanical arm; if no unmanned aerial vehicle exists in the express cabinet, the logistics monitoring center informs the nearby express cabinet, and the nearby unmanned aerial vehicle is free to take express; if no idle unmanned aerial vehicle exists nearby, waiting, estimating waiting time by a logistics monitoring center, and feeding back to a user;
S13, the logistics monitoring center performs electric quantity diagnosis on the unmanned aerial vehicle, if the electric quantity is insufficient, the second mechanical arm of the express cabinet performs work, the battery on the unmanned aerial vehicle is taken out and placed in the charging groove, the fully charged battery is loaded on the unmanned aerial vehicle, and the step of replacing the battery is completed;
S14, after the first mechanical arm loads the package into a logistics box on the unmanned aerial vehicle, the lifting parking apron in the express cabinet ascends, and the unmanned aerial vehicle takes off and sends the package to the nearest logistics distribution point.
10. The drone-based delivery logistics method of claim 9 further comprising delivering the package, the delivering the package comprising the steps of:
S20, loading packages to be transported into a logistics box of the unmanned aerial vehicle at a logistics distribution point;
S21, the unmanned aerial vehicle flies to an express cabinet with the nearest delivery address, and after the express cabinet receives a message that the unmanned aerial vehicle is about to land, a sliding hatch cover is opened to lift an apron; after the unmanned aerial vehicle drops stably, the parking apron descends to a designated position;
s22, taking out the packages in the unmanned aerial vehicle logistics boxes by the first mechanical arm of the express cabinet, and placing the packages in the corresponding boxes;
s23, the logistics monitoring center performs electric quantity diagnosis on the unmanned aerial vehicle, if the electric quantity is insufficient, the second mechanical arm of the express cabinet performs work, the battery on the unmanned aerial vehicle is taken out and placed in the charging groove, the fully charged battery is loaded on the unmanned aerial vehicle, and the step of replacing the battery is completed;
s24, the logistics monitoring center acquires storage information of the package, sends the picking code to the user side, and the user picks up the package by the picking code to the express cabinet.
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