CN107203863A - Intelligent unattended machine express system - Google Patents
Intelligent unattended machine express system Download PDFInfo
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- CN107203863A CN107203863A CN201710376972.4A CN201710376972A CN107203863A CN 107203863 A CN107203863 A CN 107203863A CN 201710376972 A CN201710376972 A CN 201710376972A CN 107203863 A CN107203863 A CN 107203863A
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- G06Q10/083—Shipping
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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
- B60L53/30—Constructional details of charging stations
- B60L53/31—Charging columns specially adapted for electric vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
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Abstract
The invention belongs to unmanned air vehicle technique application field, and in particular to a kind of Intelligent unattended machine express system.Present invention seek to address that because the limitation of environmental factor arbitrarily ground station can not be set the problem of.For this purpose, the present invention includes express delivery base control centre, unmanned plane, express delivery reception and storage module and fills energy module, express delivery base control centre is used to control the unmanned plane, express delivery reception and storage module and fills the operation of energy module, the unmanned plane is used to transport express delivery, the express delivery reception is set to receive and deposits the express delivery of the unmanned plane transport with storage module, and the energy module of filling is used to supplement the energy to the unmanned plane.
Description
Technical field
The invention belongs to unmanned air vehicle technique application field, a kind of Intelligent unattended machine express system is specifically provided.
Background technology
Commonly used with shopping online, the competition between express transportation industry is more and more fierce, particularly will be common
After transportation trade is made rational planning for, the shipping time of express delivery is difficult significantly to reduce again, in addition, except express delivery on a vehicle
Transport outside, during the collecting of express delivery, transfer and sending with charge free, also easily there is the more courier's treatment effeciency of express delivery quantity
Low, processing progress is slow, so as to cause the whole Transporting time lengthening of express delivery.
At present, more large enterprise starts to carry out the transport or transfer of express delivery using unmanned plane, and unmanned plane at this stage is fast
Pass the transport for setting up ground station cooperation unmanned plane progress express delivery mostly and storage work, i.e. unmanned plane transports express delivery from starting point
Deliver to behind destination, the access and delivery work of express delivery are generally required and could carried out by ground station, so ground station
Design is also particularly significant.Usually, ground station is provided with express delivery cabinet, for receive and deliver express delivery, stop unmanned plane,
Being filled to unmanned plane to wait, although the degree of intelligence of express delivery cabinet is very high, but there is also some shortcomings, for example, due to store one
Point express delivery, therefore the installing space that express delivery cabinet takes is more, its installation site is compared with being restricted, and unmanned plane is needed in earth station
The quantity and height of building between point around contact transport express delivery, ground station can also make troubles to its transport, as living
The place of these highly desirable setting ground stations such as area, industrial park, pavement side, may be because of the system of the factors such as environment
About, it is not suitable for that express delivery cabinet is installed.In addition, the structure of express delivery cabinet is complex, the cost of manufacture of equipment is higher.
Correspondingly, this area needs a kind of new unmanned plane express system to solve the above problems.
The content of the invention
It has been to solve because the limitation of environmental factor can not be arbitrarily configured to solve above mentioned problem of the prior art
The problem of face website, the invention provides a kind of Intelligent unattended machine express system, the Intelligent unattended machine express system includes express delivery
Base control centre, unmanned plane, express delivery reception and storage module and fill can module, express delivery base control centre be used for control
The unmanned plane, express delivery reception and storage module and the operation for filling energy module, the unmanned plane are used to transport express delivery, the express delivery
Receive the express delivery that unmanned plane transport is set to receive and deposited with storage module, it is described fill can module be used for it is described nobody
Machine supplements the energy.
In the optimal technical scheme of above-mentioned Intelligent unattended machine express system, the express delivery reception includes fast with storage module
Stake is passed, the express delivery stake is used to place express delivery.
In the optimal technical scheme of above-mentioned Intelligent unattended machine express system, the express delivery reception also includes with storage module
Standard express delivery box, for containing express delivery so that the standard express delivery box is transported or the quilt in express delivery stake by the unmanned plane
Storage.
In the optimal technical scheme of above-mentioned Intelligent unattended machine express system, the energy module of filling includes filling energy stake, described
Energy charging device can be provided with stake by filling, and the energy charging device gives to stop dropping fills energy in the unmanned plane filled in energy stake, described
Fill can stake top portion be provided with and be connected and disconnected from mechanism with unmanned plane.
In the optimal technical scheme of above-mentioned Intelligent unattended machine express system, the express delivery reception and storage module and institute
State fill can module respectively further comprise unmanned plane landing photoelectricity and indicate system, unmanned plane landing photoelectricity indicates system with being arranged on
Unmanned plane landing sensing cameras on the unmanned plane coordinates, and guides unmanned plane to complete landing.
In the optimal technical scheme of above-mentioned Intelligent unattended machine express system, the unmanned plane also includes actively connection with dividing
, can stake for connecting or departing from described fill for connecting or discharging the standard express delivery box from device.
In the optimal technical scheme of above-mentioned Intelligent unattended machine express system, the express delivery stake is additionally provided with lowering or hoisting gear,
The lowering or hoisting gear can adjust the height of the standard express delivery box that is placed in express delivery stake apart from ground.
In the optimal technical scheme of above-mentioned Intelligent unattended machine express system, the standard express delivery box is shaped as hollow spinning
Capitate, i.e., the two ends of the shell of described standard express delivery box are cone shape, and center section is cylindrical shape；The standard is fast
Pass box upper cone body top and be provided with and be connected and disconnected from mechanism with unmanned plane；The standard express delivery box top can stake with described fill
The shape on top is identical with size.
In the optimal technical scheme of above-mentioned Intelligent unattended machine express system, the unmanned plane includes being used for shape-ordinatedly
Accommodate the top of the standard express delivery box or fill first accommodating chamber on energy stake top.
In the optimal technical scheme of above-mentioned Intelligent unattended machine express system, the express delivery stake includes being used for shape-ordinatedly
Accommodate the second accommodating chamber of the bottom of the standard express delivery box.
It will be appreciated to those of skill in the art that in the inventive solutions, Intelligent unattended machine of the invention is fast
Delivery system includes express delivery base control centre, unmanned plane, express delivery reception and storage module and fills energy module, and the express delivery base is adjusted
Degree center is used to control the unmanned plane, express delivery reception and storage module and fills the operation of energy module, and the unmanned plane is used to transport
Defeated express delivery, the express delivery reception is set to receive and deposits the express delivery of the unmanned plane transport with storage module, and described fill can mould
Block is used to supplement the energy to the unmanned plane.Specifically, sent in express delivery base control centre after express delivery allocation and transportation instruction, nothing
It is man-machine can be independently express delivery transported out of at express delivery reception and storage module or express delivery is transported to express delivery receive and storage
Module, in order to which user can send or receive express delivery at express delivery reception and storage module.In addition, the intelligent nothing of the present invention
What man-machine express system was set, which fills energy module, to fill energy to the unmanned plane of energy deficiency, eliminate manual recovery because lacking energy
Amount and the unmanned plane that can not work and for its fill can the step of so that sending and collecting for express delivery becomes intelligent, accelerates fast
The transport efficiency passed.
Brief description of the drawings
Fig. 1 is the schematic layout pattern of the Intelligent unattended machine express system of the present invention.
Fig. 2 is the connection signal of unmanned plane, standard express delivery box and the express delivery stake of the Intelligent unattended machine express system of the present invention
Figure.
Fig. 3 is the unmanned plane of the Intelligent unattended machine express system of the present invention and the connection diagram for filling energy stake.
Fig. 4 is the structural representation of the standard express delivery box of the Intelligent unattended machine express system of the present invention.
Fig. 5 is the partial sectional view of the express delivery stake of the Intelligent unattended machine express system of the present invention.
Fig. 6 is the partial sectional view of the unmanned plane of the Intelligent unattended machine express system of the present invention.
Fig. 7 is the partial sectional view for filling energy stake of the Intelligent unattended machine express system of the present invention.
Fig. 8 is the structural representation of the Intelligent unattended machine of the Intelligent unattended machine express system of the present invention.
Fig. 9 is the side sectional view of the Intelligent unattended machine of the Intelligent unattended machine express system of the present invention.
Figure 10 is the partial sectional view for filling energy stake of the Intelligent unattended machine express system of the present invention.
Schematic flow sheet when Figure 11 is the Intelligent unattended machine landing of the Intelligent unattended machine express system of the present invention.
Figure 12 is the communication process schematic diagram of the Intelligent unattended machine express system of the present invention.
Embodiment
The preferred embodiment of the present invention described with reference to the accompanying drawings.It will be apparent to a skilled person that this
A little embodiments are used only for explaining the technical principle of the present invention, it is not intended that limit the scope of the invention.This area skill
Art personnel can make adjustment to it as needed, to adapt to specific application scenario.
It should be noted that in the description of the invention, the direction or position of the instruction such as term " on ", " under ", " vertical "
The term of relation is to be based on direction shown in the drawings or position relationship, and this is intended merely to facilitate description, rather than indicates or dark
Show that described device or element there must be specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to this
The limitation of invention.
In addition it is also necessary to explanation, in the description of the invention, unless otherwise clearly defined and limited, term " peace
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary,
It can be the connection of two element internals.To those skilled in the art, it can understand that above-mentioned term exists as the case may be
Concrete meaning in the present invention.
Referring initially to Fig. 1, Fig. 2 and Fig. 3, Fig. 1 is the schematic layout pattern of the Intelligent unattended machine express system of the present invention, Fig. 2
It is the connection diagram of unmanned plane, standard express delivery box and the express delivery stake of the Intelligent unattended machine express system of the present invention, Fig. 3 is this hair
The unmanned plane of bright Intelligent unattended machine express system and the connection diagram for filling energy stake.As illustrated in fig. 1, it is preferred that Intelligent unattended
8 express delivery base stations 2 are provided with around the express delivery base control centre 1 of machine express system, wherein, express delivery base station 2 is received by express delivery
With storage module, fill can stake 4 (fill can module) and unmanned plane 6 constitute, and express delivery reception includes express delivery stake 3 with storage module, marked
Quasi- express delivery box 5.And specifically, it is preferable to set 4 express deliveries stake 3 in ground, each express delivery base station 2,2 fill can the frame unmanned plane 6 of stake 4 and 2.
It is no less than filling energy for the quantity set that meets the unmanned plane 6 in stop and the charge requirement of unmanned plane 6, each express delivery base station 2
The quantity of stake 4 (special circumstances are that the quantity of unmanned plane 6 might be less that the quantity for filling energy stake 4).Further, since express delivery base station 2
In addition to express delivery is received, express delivery to be posted also temporarily is deposited, therefore to meet the functional requirement that express delivery is received and dispatched in express delivery base station 2, typically
The quantity of express delivery stake 3 in ground, express delivery base station 2 need to be more than the quantity of standard express delivery box 5 (the two quantity can also be equal).Specifically
The Intelligent unattended machine express system includes 1 express delivery base command scheduling center 1 in ground, the present embodiment, and express delivery base commander adjusts
The surrounding of degree center 1 is additionally provided with 8 express delivery base stations 2, and each express delivery base station 2 includes 4 express deliveries stakes 3,2 fill can the frame of stake 4 and 2
Unmanned plane 6, wherein 3 express delivery stakes are configured with standard express delivery box.According to Fig. 2 orientation, standard express delivery box 5 is transported to by unmanned plane 6
In express delivery stake 3 when (or transporting standard express delivery box 5 from express delivery stake 3), the lower section of unmanned plane 6 and the upper end of standard express delivery box 5
It is connected, and the top that the box body of its lower end is placed on into express delivery stake 3 is stored in the structure of standard express delivery box 5 (or makes standard express delivery
The structure for the standard express delivery box 5 that the box body of the lower end of box 5 is stored with the top of express delivery stake 3 is separated)；According to Fig. 3 orientation, when unmanned plane 6
When energy is not enough, unmanned plane 6 can drop to fill can filling for the top of stake 4 can supplement energy in structure.On this, it is necessary to explanation
It is, although the position of express delivery base station 2 surround around express delivery base command scheduling center 1 to describe in the present embodiment,
It is that this is merely exemplary, its specific layout is not limited to Q-RING around for example, express delivery base station 2 can also be according to express delivery
Flow is non-homogeneous must to be distributed in around express delivery base command scheduling center 1, and its specific layout needs according to lineament, often
The factors such as individual regional express delivery flow carry out reasonable set, as long as disclosure satisfy that the express transportation demand in each region and be easy to make
User receives, takes express delivery.In addition, express delivery base station 2, express delivery stake 3, the quantity for filling energy stake 4, standard express delivery box 5 and unmanned plane 6
It is not restricted, its particular number (express delivery flow etc.) can be set according to actual needs.
Referring next to Fig. 4, Fig. 4 is the structural representation of the standard express delivery box of the present invention, before the transport express delivery of unmanned plane 6,
Need that express delivery first is loaded into standard express delivery box 5, the transport of express delivery is carried out by the standard express delivery box 5 that is connected of unmanned plane 6.As schemed
Shown in 2, it is preferable that overall standard express delivery box 5 is in the spindle bodily form, its cylindrical downside of middle casing 7 is connected with hypocentrum 8,
Upper centrum 9 is connected with the upside of middle casing 7.Preferably, the upper surface of the middle casing 7 of standard express delivery box is provided with cover plate 10,
It is provided with express delivery access hole 11 on centrum 9 thereon, when sending express delivery, express delivery can be put into by standard express delivery by express delivery access hole 11
In box 5 (or taking out express delivery from standard express delivery box 5).The top of the upper cone 9 of standard express delivery box 5 is additionally provided with connection dress
12 are put, attachment means 12 are integrally formed on centrum 9, or be fixedly connected with upper centrum 9.Preferably, in attachment means 12
Locking ring structure (top of the instruction line of attachment means 12 in Fig. 4) is provided with, the retaining ring is used for and the lock on unmanned plane 6
Tight device (being described below in conjunction with Fig. 9) coordinates so that be able to will be marked by attachment means 12 during the transport express delivery of unmanned plane 6
Quasi- express delivery box 5 is fixed on fuselage.On this example, it should be pointed out that mounting means of the cover plate 10 inside standard express delivery box 5
It is not limitation with installation site, as long as cover plate 10 is that activity is openable in the inside of standard express delivery 5, and cover plate 10 is being closed
An end face of hypocentrum 8 (or middle casing 7) can be covered during closed state, moreover, those skilled in the art are also
, it is understood that upper centrum 9, hypocentrum 8 and middle casing 7 can be integrally formed or individually part connection
Together, as long as and standard express delivery box 5 selection meet transport express delivery strength demand and weight demands.In addition, this reality
Apply a lower cone 8 for Plays express delivery box 5 and use turbination, express mail center of gravity can be made close proximity to the axis of standard express delivery box 5
Line, adds the stability during transport standard express delivery box 5 of unmanned plane 6, furthermore, it is accurate in the hanging standard express delivery of Intelligent unattended machine 6 box 5
Make preparation for dropping when falling in express delivery stake 3, the shape of the inverted cone of hypocentrum 8 can also omit the bottom of standard express delivery box 5 with being held in express delivery 3
Connect the accurate docking operation at the position of standard express delivery box 5 so that standard express delivery box 5 can quickly fall in express delivery stake 3.
Referring next to Fig. 5, Fig. 6 and Fig. 7, Fig. 5 is the part of the express delivery stake of the Intelligent unattended machine express system of the present invention
Sectional view, Fig. 6 is the partial enlarged drawing of part A in Fig. 5, and Fig. 7 is the partial enlarged drawing of part B in Fig. 5.Such as Fig. 5, Fig. 6 and Fig. 7
Shown, the express delivery stake of Intelligent unattended machine express system of the invention includes base 13, overcoat 16, screw mandrel 17, screw 20 and lifting
Bar 21.Wherein, the upper surface of base 13 and the lower surface of cylindric overcoat 16 are fixedly linked (the two is coaxially connected), overcoat 16
Inside be also coaxially installed with the assembly of screw mandrel 17 and screw 21.Preferably, the global shape of base 13 is cylindric, and round
Cylinder top is provided with circular end face, and bottom of cylinder is provided with flange arrangement.Correspondingly, the lower end of overcoat 16 is provided with and base
13 external diameter identical annular end faces, i.e. the upper surface of base 13 and the lower surface of overcoat 16 is fixedly linked.The top of overcoat 16
Elevating lever 21 is installed, and elevating lever 21 is fixedly connected with the screw 20 installed on screw mandrel 17.Preferably, screw 20 and elevating lever
21 bottom carries flange arrangement, that is to say, that when the two is connected, and is lower surface and the screw 20 of the flange arrangement of elevating lever 21
The upper surface of flange arrangement be fixedly connected；In addition, the express delivery stake of the Intelligent unattended machine express system of the present invention also includes motor
15th, screw mandrel fixation kit 18, lower anticollison block 19, elevating lever fixture 22, upper anticollison block 23 and express delivery box storehouse 24 and it is arranged on fast
The unmanned plane landing photoelectricity for passing the top of box storehouse 24 indicates system 25.Specifically, the inside of base 13 is provided with motor 15, and motor
15 export structure is connected with the bottom of screw mandrel 17.Preferably, motor 15 is torque motor.Screw mandrel 17 passes through screw mandrel fixation kit
18 inside that are coaxial and not being arranged on base 13 and overcoat 16 axially displaceably, and the upper surface of screw mandrel fixation kit 18 with
Lower anticollison block 19 is fixedly connected.On the other hand, the elevating lever fixture 22 that elevating lever 21 is installed at the top of overcoat 16 is limited, only
The elevating movement on vertical direction can be done.End face of the top of elevating lever 21 also with express delivery box storehouse 24 is fixedly connected.It is preferred that, soon
Pass the cone that is shaped as in box storehouse 24, and its conical contained structure is identical with the hypocentrum shape of standard express delivery box 5 (or slightly
More than the hypocentrum of standard express delivery box 5) so that express delivery box storehouse can accommodate standard express delivery box.
Preferably, screw mandrel fixation kit 18 includes bearing block 26, the bearing 27 inside bearing block 26 and bearing pressure
Lid 29.Specifically, shaft shoulder structure (not shown) is provided with screw mandrel 17, (the spacer of spacer 28 is equipped with its shaft shoulder structure
28 are only used for the installation site of bearing 27).According to Fig. 6 orientation, the inner ring upper surface of bearing 27 is resisted against the lower end of spacer 28, and
Bearing 27 is arranged on the inside of bearing block 26, i.e. the inner ring of bearing 27 coordinates with screw mandrel 17, its outer ring and the lower end of bearing block 26
Inner surface coordinates.Bearing block 26 and the coaxial assembling of overcoat 16 (can also be that gap coordinates).It is fixing bearing 27 in screw mandrel 17
On installation site, the lower end of bearing 26 is also equipped with a spacer 28, and (quantity of spacer 28 is 2, and in spacer figure herein
It is not shown), the lateral surface of spacer 28 is coaxially equipped with bearing gland 29, and by locking nut 30 by whole screw mandrel fixation kit
18 are fixed on screw mandrel 17.
According to Fig. 6 orientation, it is preferable that elevating lever fixture 22 is circular rotating prevention sleeve 31.Specifically, elevating lever 21
Outside is provided with circumferential anti-rotation keyway 32, and rotating prevention sleeve 31 is assemblied in anti-rotation keyway 32, and its lower surface and overcoat 16 is upper
End face is fixedly connected so that elevating lever 21 more can stably be run in lifting process, prevents it from the feelings such as rock, rotate occur
Condition.Preferably, the top of screw mandrel 17 is also equipped with anticollison block 23, and is fixed by anticreep locknut 33, to prevent screw
20 in lifting process occur with the inwall of elevating lever 21 collision, screw 20 come off from the top of screw mandrel 17 situations such as.
When elevating lever 21 works, i.e., when drive express delivery box storehouse 24 rises or declined, motor 15 rotates forward or inverted output
Power, drive screw 17 is rotated, and the screw 20 coordinated with screw mandrel 17 is moved up or declined along its axial direction on screw mandrel 17, and then band
The dynamic elevating lever 21 being fixedly connected with screw 20 and it is fixed on the express delivery box storehouse 24 on the top of elevating lever 21 and rises or decline.On
This example, although it will be appreciated to those of skill in the art that the lowering or hoisting gear of express delivery stake is to combine screw mandrel to lift knot in embodiment
Structure is come what is described, and still, the structure of its lowering or hoisting gear is not restricted, for example, it is also possible to using hydraulic lifting device,
As long as set lowering or hoisting gear meets part (the i.e. express delivery box storehouse 24) lifting that can make that express delivery is accommodated in express delivery stake.Separately
Outside, the adjustable height in express delivery box storehouse is nor limited, and its specific height (highest and minimum altitude) should be according to express delivery stake week
The combined factors such as collarette border, the average height of people, the stability of express delivery stake consider to be set.
Referring again to Fig. 8 and Fig. 9, Fig. 8 is the structural representation of the Intelligent unattended machine of the Intelligent unattended machine express system of the present invention
Figure, Fig. 9 is the side sectional view that is connected with standard express delivery box of Intelligent unattended machine of the Intelligent unattended machine express system of the present invention.Such as
Shown in Fig. 8 and Fig. 9, the body 34 of Intelligent unattended machine includes being additionally provided with intelligence system in the structures, and body 34 such as fuselage, wing
(not shown in Fig. 8), enables Intelligent unattended machine to coordinate with express delivery base control centre, completes express transportation process.According to Fig. 8
Orientation, the lower section of the body 34 of Intelligent unattended machine is provided with express delivery box accommodating chamber 35, locking device 37 and energy storage device 38.Specifically
Ground, express delivery box accommodating chamber 35 is arranged on the center position of the downside of body 34, and its top is provided with locking device 37, and express delivery box
The lateral surface of accommodating chamber 35 is also connected with energy storage device 38, and energy storage device 38 is used to provide energy to Intelligent unattended machine, such as electric
Energy.For the shape adaptation with standard express delivery box, it is preferable that express delivery box accommodating chamber 35 is shaped as regular conical.In addition, body 34
Downside (wing below) in Fig. 8 be provided with unmanned plane landing sensing cameras 36, for aiding in the unmanned plane photoelectricity that lands to indicate
System 25, operates the accurate landing for completing Intelligent unattended machine.
When Intelligent unattended machine needs transport express delivery, Intelligent unattended machine is in unmanned plane landing sensing cameras 36 and unmanned plane drop
Fall photoelectricity indicate system 25 instruction under drop on standard express delivery box 5, now, the express delivery box accommodating chamber 35 of Intelligent unattended machine with
The upper centrum 9 of standard express delivery box 5 is fitted, and the locking device 37 of Intelligent unattended machine is aligned with the attachment means 12 of standard express delivery box 5
(i.e. in the insertion of attachment means 12 locking device 37).After landing, locking device 37 works, by the attachment means of standard express delivery box 5
12 lockings, standard express delivery box 5 is fixed on Intelligent unattended machine.The express delivery box accommodating chamber 35 of regular conical can prevent standard fast
Box 5 is passed to shake in transportation.Preferably, locking device 37 includes electromagnetic lock 39 and the lock pin being arranged on electromagnetic lock
40.Specifically, when locking device 37 works, electromagnetic lock 39 is moved with pendulum lock pin 40 into the spacing ring in attachment means 12, is made
The spacing ring that the end of lock pin 40 is stuck in attachment means 12 is interior and locks.When Intelligent unattended machine is separated with standard express delivery box 5,
Electromagnetic lock 39 is moved with pendulum lock pin 40 to outside the spacing ring in attachment means 12, the end of lock pin 40 is exited attachment means 12
In spacing ring, standard express delivery box 5 and Intelligent unattended machine are separated.It should be noted that the locking mode of locking device 37 not office
It is limited to the electromagnetic lock structure with lock pin, correspondingly, the structure coordinated in attachment means 12 with it is also not limited to spacing ring, only
Standard express delivery box 5 can be fixed on Intelligent unattended machine by locking device that will be set.
Next referring again to Figure 10, Figure 10 is the broken section for filling energy stake of the Intelligent unattended machine express system of the present invention
Figure.As shown in Figure 10, the energy stake of filling of Intelligent unattended machine express system of the invention includes filling energy stake base 41, housing 42 and landing
Platform 45.Specifically, according to Figure 12 orientation, the upper surface for filling energy stake base 41 is connected with the lower end of housing 42, the top of housing 42
Also it is connected with landing stage 45.Preferably, mounting hole 47 can be provided with stake base 41 by filling, wherein can will fill energy after assembling fastener
Stake is fixed on the ground.Preferably, landing stage 45 is the hollow shell of regular conical, and is shaped to and Intelligent unattended machine
Express delivery box accommodating chamber 35 coordinates (matching surface both during cooperation is just fitted).In addition, housing 42 is internally provided with the energy
Energy conveying device 44 is provided with device 43, landing stage 45, and the top of energy source device 43 is connected with energy conveying device 44.
Furthermore, the bottom outer-edge of landing stage 45 is provided with unmanned plane landing photoelectricity and indicates system 25, and is additionally provided with fixing device thereon
46 (fixing device 46 is identical with the structure and shape of attachment means 12).The unmanned plane landing photoelectricity indicates that system 25 is used
In the unmanned plane landing sensing cameras 36 on auxiliary unmanned plane, Intelligent unattended machine 6 is accurately dropped to and fill in energy stake.It is described
Fixing device 46 is used for the fixed Intelligent unattended machine for dropping to and filling in energy stake.When express delivery base command scheduling center 1 detects intelligence
During the energy deficiency of energy unmanned plane 6, express delivery base command scheduling center 1 is sent to Intelligent unattended machine 6 to be filled and can instruct, Intelligent unattended
Intelligence system on machine 6 receives the instruction and commands Intelligent unattended machine to drop to can be filled with minimum the filling of its distance in stake
Energy.Intelligent unattended machine 6 indicates to drop under the commander of system 25 and unmanned plane landing sensing cameras 36 in unmanned plane landing photoelectricity
On landing stage 45, the locking device 37 on Intelligent unattended machine 6, with locking is merged, prevents Intelligent unattended machine from filling with fixing device 46
From filling and can drop in stake during energy.The energy source device 43 for filling energy stake sends energy, and is passed to by energy conveying device 44
In the energy storage device 38 of Intelligent unattended machine, until the energy storage device of Intelligent unattended machine is full of energy.After the energy charging, energy source device
43 stop sending energy, and Intelligent unattended machine, which is rested on, fills the first-class express delivery transport order to be received of energy stake.
Next referring again to Figure 11, when Figure 11 is the Intelligent unattended machine landing of the Intelligent unattended machine express system of the present invention
Schematic flow sheet.As illustrated, the optical register flow of Intelligent unattended machine landing is as follows：
1, Intelligent unattended machine is positioned in flight way by GPS or inertial navigation set, determines unmanned plane in geocentric coordinates
Position under system or guide pile (unmanned plane express delivery stake or unmanned plane fill energy stake) coordinate system (is expressed as under geocentric coordinate system：Longitude and latitude
Degree and height above sea level；It is expressed as under guide pile coordinate system：X, y, z value under three-dimensional orthogonal coordinate system).
2, by inertial navigation set (herein for：Gyro) carry out determining appearance, determine unmanned plane pitching, driftage, rolling 3 passages
Angle.
3, by GPS and inertial navigation set (herein for：Accelerometer) determine unmanned plane speed.
4, guide pile is determined whether in camera sighting distance according to unmanned plane positional information, if it is camera is started shooting, and is otherwise continued
Navigation flight.
5, meet compressor start up condition, open before camera, it is necessary to adjust camera body system with respect to unmanned plane body series posture so that phase
Machine optical axis direction is directed at guide pile position, and the position now existed, attitude error etc. is difficult to ensure that guide pile in viewing field of camera
Or center, it is follow-up to need to carry out pose adjustment according to image registration results.
6, camera start captured in real-time image is pre-processed, pretreatment content includes to image：To motion caused by obscure into
Row compensation, removes noise, improves contrast etc..
7, the information such as characteristic point, edge, profile and color in realtime graphic is extracted, and carry out coordinate system conversion, amendment circle
Tapered cross-section projects to the ellipse deformation that camera imaging planar band is come at a certain angle.
8, by the image after processing and the guide pile optical signature bound in advance (unmanned plane landing photoelectricity indicates system) reference number
According to being compared, the content compared is characterized the information such as point, edge, profile and color gray scale.
9, if image after processing and with reference to figure matching, according to real-time attitude information and the information solution such as alignment error bound
Unmanned plane course deviation (or attitude misalignment) is calculated, course is adjusted and circulates carry out above step；If it does not match, adjustment camera
Posture (or optical axis sensing) is scanned searching guide pile in certain angle, until repeating above step after images match.
10, unmanned plane, which is met, implements landing after drop conditions.
Referring again to Figure 12, Figure 12 is the communication process schematic diagram of the Intelligent unattended machine express system of the present invention.Such as Figure 12 institutes
Show, the Principle of Communication of Intelligent unattended machine express system and communication terminal is as follows：
1, unmanned plane, communication terminal and communication base station (express delivery base control centre) three are located at same communication network.
2, unmanned plane carries out duplex communication with communication base station；Communication terminal carries out duplex communication with communication base station；Unmanned plane is with leading to
Letter terminal is not directly communicated；It is meant that unmanned plane is all controlled by communication base station, but communication terminal can lead to
The interface for crossing communication base station opening indirectly uploads legal information or checks unmanned plane status information.
3, the function of communication terminal includes：Check unmanned plane armed state (no loading express mail -- free time is available, loaded express mail --
Await orders to set off, send in part way, making a return voyage medium on the way)；Idle available unmanned plane is selected to set up communication connection, the unmanned plane will receive
The legal information turned in communication base station；Upload express mail information (address, weight, express mail quantity etc.)；Unmanned aerial vehicle flight path is set
(it may be selected automatic or upload artificial setting flight path, if automatic then plan flight path by communication base station and unmanned plane, if uploading then
Flight path legitimacy is checked by communication base station, it is legal, be transmitted to unmanned plane)；Loading is completed, and informs that unmanned plane can take off；It can check and work as
Before send the flight condition (flight position, posture etc.) of part unmanned plane；It was found that express mail information errors may be notified that unmanned plane changes course
Or directly make a return voyage.Wherein, the communication terminal is the intelligent communication devices such as mobile phone or computer.
In the above-described embodiment, the express delivery reception of Intelligent unattended machine express system of the invention and storage module and energy is filled
Module is arranged respectively to express delivery stake and fills the form of energy stake, not only saves installing space, additionally it is possible to according to the fast of different zones
Pass flow optimization its placement scheme, this express delivery stake and fill can the rationally decentralized set-up mode of stake not only greatly ensure that respectively
Efficiency is transported in express delivery in region, additionally it is possible to taken for user, sent express delivery to offer convenience.
So far, combined preferred embodiment shown in the drawings describes technical scheme, still, this area
Technical staff is it is easily understood that protection scope of the present invention is expressly not limited to these embodiments.Without departing from this
On the premise of the principle of invention, those skilled in the art can make equivalent change or replacement to correlation technique feature, these
Technical scheme after changing or replacing it is fallen within protection scope of the present invention.
Claims (10)
1. a kind of Intelligent unattended machine express system,
Characterized in that, the Intelligent unattended machine express system includes express delivery base control centre, unmanned plane, express delivery reception with depositing
Amplification module and fill can module, express delivery base control centre be used for control the unmanned plane, express delivery reception and storage module and
The operation of energy module is filled, the unmanned plane is used to transport express delivery, and the express delivery reception is set to receive and deposited with storage module
The express delivery of the unmanned plane transport, the energy module of filling is used to supplement the energy to the unmanned plane.
2. Intelligent unattended machine express system according to claim 1, it is characterised in that the express delivery reception and storage module
Including express delivery stake, the express delivery stake is used to place express delivery.
3. Intelligent unattended machine express system according to claim 2, it is characterised in that the express delivery reception and storage module
Also include standard express delivery box, for containing express delivery so that the express delivery is transported or the quilt in express delivery stake by the unmanned plane
Storage.
4. Intelligent unattended machine express system according to claim 1, it is characterised in that the energy module of filling includes filling energy
Stake, described fill can be provided with energy charging device in stake, and the energy charging device gives to stop dropping fills in the unmanned plane filled in energy stake
Can, the energy stake top portion of filling is provided with the mechanism being connected and disconnected from unmanned plane.
5. Intelligent unattended machine express system according to claim 4, it is characterised in that the express delivery reception and storage module
And it is described fill can module respectively further comprise unmanned plane landing photoelectricity and indicate system, unmanned plane landing photoelectricity indicate system with
The unmanned plane landing sensing cameras being arranged on the unmanned plane coordinates, and guides unmanned plane to complete landing.
6. Intelligent unattended machine express system according to claim 3, it is characterised in that the unmanned plane also includes actively connecting
Connect and separator, for connecting or discharging the standard express delivery box, energy stake is filled for connecting or departing from.
7. Intelligent unattended machine express system according to claim 2, it is characterised in that the express delivery stake is additionally provided with lifting
Device, the lowering or hoisting gear can adjust the height of the standard express delivery box that is placed in express delivery stake apart from ground.
8. Intelligent unattended machine express system according to claim 3, it is characterised in that the standard express delivery box is shaped as
Hollow spindle, i.e., the two ends of the shell of described standard express delivery box are cone shape, and center section is cylindrical shape, described
Standard express delivery box upper cone body top is provided with is connected and disconnected from mechanism with unmanned plane；The standard express delivery box top with it is described
The shape for filling energy stake top is identical with size.
9. Intelligent unattended machine express system according to claim 3, it is characterised in that the unmanned plane includes being used for shape
Ordinatedly accommodate the top of the standard express delivery box or fill first accommodating chamber on energy stake top.
10. Intelligent unattended machine express system according to claim 3, it is characterised in that the express delivery stake includes being used for shape
Shape ordinatedly accommodates the second accommodating chamber of the bottom of the standard express delivery box.
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| CN107977817A (en) * | 2017-12-03 | 2018-05-01 | 中国直升机设计研究所 | A kind of goods delivery system and allocator based on unmanned plane |
| CN108309008A (en) * | 2018-02-07 | 2018-07-24 | 上海壹佰米网络科技有限公司 | A kind of storage tank and its match mechanism |
| CN108455147A (en) * | 2018-03-12 | 2018-08-28 | 王丽萍 | A kind of automation transmitting-receiving counter |
| CN108898327A (en) * | 2018-08-15 | 2018-11-27 | 华南理工大学 | A kind of full-automatic Express Logistics system in science and technology/industrial park and its operation method |
| CN109583802A (en) * | 2017-09-29 | 2019-04-05 | 北京京东尚科信息技术有限公司 | Unmanned distribution network system and dispatching method |
| CN110550199A (en) * | 2019-09-03 | 2019-12-10 | 南京唐壹信息科技有限公司 | Cantilever type agricultural transportation unmanned aerial vehicle |
| CN111445176A (en) * | 2019-01-17 | 2020-07-24 | 顺丰科技有限公司 | Operation method, device, equipment, storage medium and system of logistics unmanned aerial vehicle |
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| CN111445176A (en) * | 2019-01-17 | 2020-07-24 | 顺丰科技有限公司 | Operation method, device, equipment, storage medium and system of logistics unmanned aerial vehicle |
| CN110550199A (en) * | 2019-09-03 | 2019-12-10 | 南京唐壹信息科技有限公司 | Cantilever type agricultural transportation unmanned aerial vehicle |
| CN112668793A (en) * | 2020-12-31 | 2021-04-16 | 广州极飞科技有限公司 | Supply point location determining method, operation planning method and related device |
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