CN108520376B - Intelligent logistics delivery system and delivery method based on unmanned aerial vehicle - Google Patents
Intelligent logistics delivery system and delivery method based on unmanned aerial vehicle Download PDFInfo
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Abstract
The invention discloses an intelligent logistics delivery system based on an unmanned aerial vehicle, which comprises a central control unit, a wireless communication unit, a logistics delivery unit and an automatic storage device, wherein the central control unit is respectively connected with the logistics delivery unit and the automatic storage device through the wireless communication unit; the invention can realize the daily unmanned operation of goods delivery, can accurately and quickly deliver goods, has high delivery accuracy, greatly reduces manpower, shortens delivery time, improves the overall efficiency and user experience of goods transportation, and simultaneously reduces the potential safety hazard in the distribution process.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle transportation equipment, and particularly relates to an intelligent logistics delivery system and a delivery method based on an unmanned aerial vehicle.
Background
Along with the vigorous development of electronic commerce, the demand of logistics distribution business is bigger and bigger, at present, domestic traditional goods distribution system including express delivery trade still relies on manpower to deliver in a large number, especially last end is sent the link and is needed to consume a large amount of manpowers, not only cause a large amount of manpower consumptions, raise the human cost, and send the occupation time long, the delivery of whole goods is long, and simultaneously, the goods delivery that relies on the manpower still can have many unstable factors, for example, in the poor period of field of vision such as night or haze weather, and when meeting the year, will cause the situation that the goods are not sent by others, cause very big inconvenience for daily life and production. In addition, in some remote mountain basin areas with poor traffic environments, when the goods are delivered for a longer time, severe transportation road conditions cause great potential safety hazards.
Disclosure of Invention
In view of the above, the invention aims to provide an intelligent logistics delivery system and a delivery method based on an unmanned aerial vehicle, which can realize unmanned operation of goods delivery all day long, can accurately and quickly deliver goods, has high delivery accuracy, greatly reduces manpower, shortens delivery time, improves overall efficiency and user experience of goods transportation, and reduces potential safety hazards in the distribution process.
In order to achieve the purpose, the invention adopts the following technical scheme:
an intelligent logistics delivery system based on an unmanned aerial vehicle comprises a central control unit, a wireless communication unit, a logistics delivery unit and an automatic storage device, wherein the central control unit is respectively connected with the logistics delivery unit and the automatic storage device through the wireless communication unit;
the logistics delivery unit comprises an unmanned aerial vehicle and a conveying mechanism, the unmanned aerial vehicle is provided with a micro-control machine, a mobile wireless communication module, a mobile power supply and a GPS navigation module, a support frame is arranged below the unmanned aerial vehicle, the conveying mechanism is arranged in the support frame, and goods to be conveyed are arranged on the conveying mechanism; the controlled end of the conveying mechanism is connected with the conveying control end of the micro-control machine, the first communication end of the micro-control machine is connected with the unmanned aerial vehicle control end of the central control unit through a mobile wireless communication module, the second communication end of the micro-control machine is connected with the communication end of the automatic storage device through a mobile wireless communication module, the positioning communication end of the micro-control machine is connected with the communication end of the GPS navigation module, and the mobile power supply supplies power to the micro-control machine, the mobile wireless communication module and the GPS navigation module;
the automatic storage device comprises a storage controller, a positioning wireless communication module, a storage cabinet and a cargo receiving mechanism arranged on the storage cabinet, wherein a plurality of storage lattices are arranged in the storage cabinet, the storage lattices are distributed in two rows at the left and right, the number of the storage lattices in each row is N, each storage lattice is provided with a cabinet door, the cabinet door of the storage lattice in the row at the left is opened towards the left, and the cabinet door of the storage lattice in the row at the right is opened towards the right; the goods receiving mechanism comprises a sliding rail, a sliding base for bearing the supporting frame and a driving mechanism for driving the sliding base, the sliding rail is arranged below the storage grid cabinet door, the sliding rails below the cabinet doors on the same side are mutually communicated, and the sliding base is driven by the driving mechanism to be in sliding connection with the sliding rail; the communication end of the storage controller is connected with the first communication end of the positioning wireless communication module, the second communication end of the positioning wireless communication module is connected with the second communication end of the mobile wireless communication module, and the first control end of the storage controller is connected with the controlled end of the driving mechanism.
Furthermore, a circular truncated cone is arranged below the supporting frame, the area of the upper bottom surface of the circular truncated cone is smaller than that of the lower bottom surface of the circular truncated cone, a positioning hole matched with the circular truncated cone is formed in the sliding base, and the aperture of the positioning hole is gradually reduced from top to bottom.
Furthermore, the conveying mechanism comprises a roller conveyor, the goods to be conveyed are arranged above the roller conveyor, and the controlled end of the roller conveyor is connected with the conveying control end of the micro-control machine.
Furthermore, hydraulic cylinders are arranged in the storage cabinets and are arranged at the upper ends of the storage lattices, cylinder bodies of the hydraulic cylinders are fixedly arranged on the inner walls of top plates of the storage lattices, and the end parts of telescopic rods of the hydraulic cylinders are hinged with corresponding cabinet doors; and the controlled end of the hydraulic cylinder is connected with the second control end of the storage controller.
A delivery method of an intelligent logistics delivery system based on an unmanned aerial vehicle comprises the following steps:
a: the storage controller drives the sliding base to move to the position below the idle storage lattice through the driving mechanism according to the storage condition of the storage lattice, and sends the position information of the sliding base serving as target address information to be selected to a central control unit of the logistics warehouse;
b: the central control unit controls the unmanned aerial vehicle to convey the goods to the target address; the method specifically comprises the following steps:
b1: the central control unit selects a target address in the target address information to be selected according to the destination of the goods to be transported, and sends the coordinates of the target address to a GPS navigation module of the unmanned aerial vehicle: inputting the target address information of the goods to be conveyed into a central control unit, and selecting the optimal target address information to be selected as a target address by the central control unit according to the target address;
b2, the unmanned aerial vehicle moves to the upper part of the storage cabinet according to the target address of the GPS navigation module;
b3, the unmanned aerial vehicle begins to descend, meanwhile, the unmanned aerial vehicle sends arrival information to the storage controller, and the hydraulic cylinder pushes the cabinet door to be opened;
c: conveying mechanism on the unmanned aerial vehicle removes the goods to in the matter storage lattice: after the unmanned aerial vehicle lands on the sliding base, the roller conveyor starts to rotate, and goods are driven by the rollers to move into the storage lattices;
d: unmanned aerial vehicle leaves the locker, and the cabinet door is closed: the method specifically comprises the following steps:
d1: after the goods are completely separated from the roller conveyor, the unmanned aerial vehicle starts to vertically ascend;
d2: the unmanned aerial vehicle starts horizontal flight after rising to the flight height, meanwhile, the unmanned aerial vehicle communicates with the storage controller, and the storage cabinet controller drives the hydraulic cylinder to drive the cabinet door to close;
d3: and D, the storage controller updates the storage information of the storage grids and repeats the step A.
The invention has the beneficial effects that:
1. through the intelligent logistics delivery system composed of the central control unit, the wireless communication unit, the logistics delivery unit and the automatic storage device, unmanned operation of goods is achieved, the influence of the environment and the time interval is small, the labor cost is greatly reduced, the transportation market is shortened, and the transportation efficiency and the user use experience are improved.
2. The circular truncated cone is arranged below the support frame, the area of the upper bottom surface of the circular truncated cone is smaller than that of the lower bottom surface of the circular truncated cone, meanwhile, the positioning holes matched with the circular truncated cone are formed in the sliding base, the aperture of the positioning holes is gradually reduced from top to bottom, and the circular truncated cone can slide down along the gradient of the positioning holes when the support frame is descended onto the sliding base, so that the unmanned aerial vehicle can be accurately positioned on the sliding platform, the stability and the accuracy of goods moving to the storage lattices are ensured, and the reliability of the unmanned aerial vehicle is improved.
3. Through the mutual communication between central control unit, unmanned aerial vehicle and the locker, realized that the goods is accurate to be delivered, and whole process operation is simple, and intelligence is reliable, has effectively solved the inefficiency that present manpower was delivered and has been brought, the potential safety hazard drawbacks such as big.
4. The control cabinet door is automatically opened when the unmanned aerial vehicle reaches the upper part of the storage cabinet and is automatically closed after the unmanned aerial vehicle leaves the storage cabinet, so that the unmanned aerial vehicle is prevented from interfering with the cabinet door in the vertical landing or lifting process, the danger of damage of the unmanned aerial vehicle is further avoided, and the overall safety performance and reliability of the unmanned aerial vehicle are improved.
Drawings
FIG. 1 is a schematic structural diagram of a cabinet according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of FIG. 1 in a state where the cabinet door is opened;
FIG. 3 is a schematic structural view of the slide base in FIG. 1;
FIG. 4 is a schematic diagram of the structure of a logistics delivery unit of the present invention;
fig. 5 is a schematic block diagram of the circuit of the present invention.
Reference numbers in the figures: 1-a storage cabinet, 2-a sliding base, 3-a sliding rail, 4-a cabinet door, 5-a hydraulic cylinder, 6-a mobile power supply, 7-a support frame, 8-a roller conveyor, 9-a circular table, 10-an unmanned aerial vehicle, 11-a sliding block and 12-a positioning hole.
Detailed Description
The invention is further described below with reference to the figures and examples.
As shown in fig. 1 and fig. 2, the invention discloses an intelligent logistics delivery system based on an unmanned aerial vehicle 10, which comprises a central control unit, a wireless communication unit, a logistics delivery unit and an automatic storage device, wherein the central control unit is respectively connected with the logistics delivery unit and the automatic storage device through the wireless communication unit; the central control unit is arranged in a management and control center such as a logistics warehouse and preferably adopts a PLC;
the logistics delivery unit comprises an unmanned aerial vehicle 10 and a conveying mechanism, wherein the unmanned aerial vehicle 10 is provided with a micro-control machine, a mobile wireless communication module, a mobile power supply 6 and a GPS navigation module (not shown in the figure), and the conveying mechanism adopts a roller conveyor 8; as shown in fig. 4, a support frame 7 is arranged below the unmanned aerial vehicle 10, the roller conveyor 8 is arranged in the support frame 7, and the goods to be transported are arranged on the rollers of the roller conveyor 8.
The automatic storage device comprises a storage controller, a positioning wireless communication module, a storage cabinet 1 and a cargo receiving mechanism arranged on the storage cabinet 1; a plurality of storage lattices are arranged in the storage cabinet 1, the storage lattices are distributed in two rows at the left and right, the number of the storage lattices in each row is four, each storage lattice is provided with a cabinet door 4, the cabinet doors 4 of the storage lattices in the row at the left side are opened towards the left side, and the cabinet doors 4 of the storage lattices in the row at the right side are opened towards the right side; the hydraulic cylinders 5 are arranged in the storage cabinets, the hydraulic cylinders 5 are arranged at the upper ends of the storage lattices, the cylinder bodies of the hydraulic cylinders 5 are fixedly arranged on the inner walls of the top plates of the storage lattices, and the end parts of the telescopic rods of the hydraulic cylinders 5 are hinged with the corresponding cabinet doors 4;
the goods receiving mechanism comprises a slide rail 3, a sliding base 2 for bearing a supporting frame 7 and a driving mechanism for driving the sliding base 2, the slide rail 3 is arranged below a storage grid cabinet door 4, the slide rails 3 below the cabinet door 4 on the same side are mutually communicated, the slide rail 3 communicated with each side is provided with one sliding base 2, and the sliding base 2 is in sliding connection with the slide rail 3 under the driving of the driving mechanism; as shown in fig. 3, a plurality of sliders 11 are fixed on one side edge of the sliding base 2, and the sliding base 2 is slidably connected to the sliding rail 3 through the sliders 11.
The communication end of the central control unit is connected with the first communication end of the wireless communication unit, the second communication end of the wireless communication unit is connected with the first communication end of the micro-control machine through the mobile wireless communication module, and the third communication end of the wireless communication unit is connected with the first communication end of the storage controller through the positioning wireless communication module;
the second communication end of little control computer is through removing wireless communication module and the second communication end that location wireless communication module connected storage controller, the communication end of GPS navigation module is connected to the location communication end of little control computer, the controlled end of running roller conveyer 8 is connected to the transport control end of little control computer, portable power source 6 is to little control computer, remove wireless communication module and GPS navigation module power supply, actuating mechanism's controlled end is connected to storage controller's first control end, hydraulic cylinder 5's controlled end is connected respectively in storage controller's second control end and each matter storage lattice.
In order to ensure that the unmanned aerial vehicle 10 is more accurately positioned when landing on the sliding base 2, the circular truncated cone 9 is arranged below the supporting frame 7, the area of the upper bottom surface of the circular truncated cone 9 is smaller than that of the lower bottom surface, the sliding base 2 is provided with a positioning hole 12 matched with the circular truncated cone 9, and the aperture of the positioning hole 12 is gradually reduced from top to bottom.
According to the intelligent logistics delivery system, the intelligent logistics delivery system is composed of the central control unit, the wireless communication unit, the logistics delivery unit and the automatic storage device, unmanned operation of goods is achieved, influences of the environment and the time period are small, labor cost is greatly reduced, the transportation market is shortened, and transportation efficiency and user experience are improved.
The invention also discloses an intelligent logistics delivery method based on the unmanned aerial vehicle 10, which comprises the following steps:
A. the storage controller drives the sliding base 2 to move to the position below the idle storage lattice through the driving mechanism according to the storage condition of the storage lattice, and sends the position information of the sliding base 2 serving as target address information to be selected to a central control unit of the logistics warehouse;
B. the central control unit controls the unmanned aerial vehicle 10 to transport the goods to the target address; the method specifically comprises the following steps:
b1: the central control unit selects a target address in the target address information to be selected according to the destination of the goods to be transported, and sends the coordinates of the target address to the GPS navigation module of the unmanned aerial vehicle 10: inputting the target address information of the goods to be transported into a central control unit, and selecting the optimal target address information to be selected as a target address by the central control unit according to the target address;
b2, the unmanned aerial vehicle 10 moves to the upper part of the storage cabinet 1 according to the target address of the GPS navigation module;
b3, the unmanned aerial vehicle 10 begins to descend, meanwhile, the unmanned aerial vehicle 10 sends arrival information to the storage controller, and the hydraulic cylinder 5 pushes the cabinet door 4 to be opened;
C. conveying mechanism on unmanned aerial vehicle 10 removes the goods to in the matter storage lattice:
when the unmanned aerial vehicle 10 lands on the sliding base 2, due to the conical design of the circular truncated cone 9 at the bottom of the support frame 7 and the conical hole design of the positioning hole 12, when the unmanned aerial vehicle 10 lands in an area with a certain deviation from the positioning hole 12, the lower end face of the lower part of the circular truncated cone 9 slides downwards along the conical surface of the positioning hole 12, and finally the circular truncated cone 9 is completely attached to the positioning hole 12, so that the unmanned aerial vehicle 10 lands accurately, the goods can be aligned with the entrance of the storage lattice, and the integral reliability of the unmanned aerial vehicle is improved;
after the unmanned aerial vehicle 10 lands on the sliding base 2, the storage controller judges that the unmanned aerial vehicle 10 lands through an in-place detection mechanism such as an in-place sensor, namely the roller conveyor 8 can be controlled to rotate, and goods are driven by rollers to move into the storage lattices; in order to ensure that the driving performance is more reliable, a rubber anti-skid layer can be arranged on the surface of the roller;
d: unmanned aerial vehicle 10 leaves locker 1, and cabinet door 4 closes: the method specifically comprises the following steps:
d1: after the goods are completely separated from the roller conveyor 8, the unmanned aerial vehicle 10 starts to vertically ascend;
d2: after the unmanned aerial vehicle 10 rises to the flight height, the unmanned aerial vehicle 10 starts to fly horizontally, meanwhile, the unmanned aerial vehicle 10 communicates with the storage controller, and the controller of the storage cabinet 1 drives the hydraulic cylinder 5 to drive the cabinet door 4 to close;
when the cabinet door 4 is closed, the unmanned aerial vehicle 10 leaves in advance, so that the interference between the unmanned aerial vehicle 10 and the cabinet door 4 is avoided, and in addition, if the situation that the goods potential can completely enter the cabinet body exists, the cabinet door 4 can push the goods to enter while being closed, so that the delivery reliability is ensured;
d3: and D, the storage controller updates the storage information of the storage grids and repeats the step A.
According to the invention, the control cabinet door 4 is automatically opened when the unmanned aerial vehicle 10 reaches the upper part of the storage cabinet 1, and is automatically closed after the unmanned aerial vehicle 10 leaves the storage cabinet 1, so that the unmanned aerial vehicle 10 is prevented from interfering with the cabinet door 4 in the vertical landing or ascending process, the damage risk of the unmanned aerial vehicle 10 is further avoided, and the overall safety performance and reliability of the unmanned aerial vehicle are improved.
Finally, the above embodiments are only used for illustrating the technical solutions of the present invention and are not limited, and other modifications or equivalent substitutions made by the technical solutions of the present invention by the persons skilled in the art should be covered within the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solutions of the present invention.
Claims (5)
1. The utility model provides an intelligence commodity circulation delivery system based on unmanned aerial vehicle which characterized in that: the system comprises a central control unit, a wireless communication unit, a logistics delivery unit and an automatic storage device, wherein the central control unit is respectively connected with the logistics delivery unit and the automatic storage device through the wireless communication unit;
the logistics delivery unit comprises an unmanned aerial vehicle and a conveying mechanism, the unmanned aerial vehicle is provided with a micro-control machine, a mobile wireless communication module, a mobile power supply and a GPS navigation module, a support frame is arranged below the unmanned aerial vehicle, the conveying mechanism is arranged in the support frame, and goods to be conveyed are arranged on the conveying mechanism; the controlled end of the conveying mechanism is connected with the conveying control end of the micro-control machine, the first communication end of the micro-control machine is connected with the unmanned aerial vehicle control end of the central control unit through a mobile wireless communication module, the second communication end of the micro-control machine is connected with the communication end of the automatic storage device through a mobile wireless communication module, the positioning communication end of the micro-control machine is connected with the communication end of the GPS navigation module, and the mobile power supply supplies power to the micro-control machine, the mobile wireless communication module and the GPS navigation module;
the automatic storage device comprises a storage controller, a positioning wireless communication module, a storage cabinet and a cargo receiving mechanism arranged on the storage cabinet, wherein a plurality of storage lattices are arranged in the storage cabinet, the storage lattices are distributed in two rows at the left and right, the number of the storage lattices in each row is N, each storage lattice is provided with a cabinet door, the cabinet door of the storage lattice in the row at the left is opened towards the left, and the cabinet door of the storage lattice in the row at the right is opened towards the right; the goods receiving mechanism comprises a sliding rail, a sliding base for bearing the supporting frame and a driving mechanism for driving the sliding base, the sliding rail is arranged below the storage grid cabinet door, the sliding rails below the cabinet doors on the same side are mutually communicated, and the sliding base is driven by the driving mechanism to be in sliding connection with the sliding rail; the communication end of the storage controller is connected with the first communication end of the positioning wireless communication module, the second communication end of the positioning wireless communication module is connected with the second communication end of the mobile wireless communication module, and the first control end of the storage controller is connected with the controlled end of the driving mechanism.
2. The unmanned aerial vehicle-based intelligent logistics delivery system of claim 1, wherein: the sliding base is provided with a positioning hole matched with the circular truncated cone, and the aperture of the positioning hole is gradually reduced from top to bottom.
3. The unmanned aerial vehicle-based intelligent logistics delivery system of claim 2, wherein: the conveying mechanism comprises a roller conveyor, the goods to be conveyed are arranged above the roller conveyor, and the controlled end of the roller conveyor is connected with the conveying control end of the micro-control machine.
4. The intelligent logistics delivery system based on unmanned aerial vehicle of claim 3, characterized in that: the cabinet is characterized in that hydraulic cylinders are arranged in the storage cabinets and are arranged at the upper ends of the storage lattices, cylinder bodies of the hydraulic cylinders are fixedly arranged on the inner walls of top plates of the storage lattices, and the end parts of telescopic rods of the hydraulic cylinders are hinged with corresponding cabinet doors; and the controlled end of the hydraulic cylinder is connected with the second control end of the storage controller.
5. The delivery method of the intelligent logistics delivery system based on unmanned aerial vehicle as claimed in claim 4, characterized in that: the method comprises the following steps:
a: the storage controller drives the sliding base to move to the position below the idle storage lattice through the driving mechanism according to the storage condition of the storage lattice, and sends the position information of the sliding base serving as target address information to be selected to a central control unit of the logistics warehouse;
b: the central control unit controls the unmanned aerial vehicle to convey the goods to the target address; the method specifically comprises the following steps:
b1: the central control unit selects a target address in the target address information to be selected according to the destination of the goods to be transported, and sends the coordinates of the target address to a GPS navigation module of the unmanned aerial vehicle: inputting the target address information of the goods to be conveyed into a central control unit, and selecting the optimal target address information to be selected as a target address by the central control unit according to the target address;
b2, the unmanned aerial vehicle moves to the upper part of the storage cabinet according to the target address of the GPS navigation module;
b3, the unmanned aerial vehicle begins to descend, meanwhile, the unmanned aerial vehicle sends arrival information to the storage controller, and the hydraulic cylinder pushes the cabinet door to be opened;
c: conveying mechanism on the unmanned aerial vehicle removes the goods to in the matter storage lattice: after the unmanned aerial vehicle lands on the sliding base, the roller conveyor starts to rotate, and goods are driven by the rollers to move into the storage lattices;
d: unmanned aerial vehicle leaves the locker, and the cabinet door is closed: the method specifically comprises the following steps:
d1: after the goods are completely separated from the roller conveyor, the unmanned aerial vehicle starts to vertically ascend;
d2: the unmanned aerial vehicle starts horizontal flight after rising to the flight height, meanwhile, the unmanned aerial vehicle communicates with the storage controller, and the storage cabinet controller drives the hydraulic cylinder to drive the cabinet door to close;
d3: and D, the storage controller updates the storage information of the storage grids and repeats the step A.
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| CN109377129B (en) * | 2018-10-25 | 2020-10-09 | 苏州云首软件科技有限公司 | Intelligent food transportation system based on big data |
| CN112758330A (en) * | 2020-12-25 | 2021-05-07 | 安徽翼讯飞行安全技术有限公司 | Unmanned aerial vehicle commodity circulation goods linkage of high group spare |
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