CN106541880A - A kind of Intelligent transportation device - Google Patents
A kind of Intelligent transportation device Download PDFInfo
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- CN106541880A CN106541880A CN201610941835.6A CN201610941835A CN106541880A CN 106541880 A CN106541880 A CN 106541880A CN 201610941835 A CN201610941835 A CN 201610941835A CN 106541880 A CN106541880 A CN 106541880A
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- express delivery
- vehicle
- unmanned plane
- cabinet
- express
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/06—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles
- B60P3/11—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles for carrying aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The invention provides a kind of Intelligent transportation device for the dispensing of express delivery end, which includes intelligent transport car, in-car is provided with Vehicle Controller, car body is the carrier of the devices such as express delivery cabinet, piler, unmanned plane, by Vehicle Controller to express delivery cabinet, piler, unmanned plane control, carry out the distribution of express mail to be dispensed, operating, crawl and remote control and be sent to.The dispensing conveying arrangement that the intelligent automobile of present invention design is combined with express delivery cabinet and/or unmanned plane, can reduce the resource consumptions such as labour force, vehicle, fuel, improve the express mail dispensing efficiency of remote districts.
Description
Technical field
The present invention relates to express transportation field, more particularly to a kind of intelligent control technology of express delivery end dispensing.
Background technology
As the express delivery dispensing of the remote districts such as ecommerce and the fast development of shopping at network, rural area, suburban country and district is asked
Topic is increasingly highlighted.At present, the means of distribution in such area still with traditional people's back of the body pickaback based on, even if geographical environment is preferably
The dispensing person in area can be dispensed with driving maneuver/electronic distribution vehicle, but the delivery process time for being spent and the road for travelling
Journey is big more than dispensing in city, and so as to cause to dispense, efficiency is low, dispensing resource consumption is serious.
Existing express delivery end dispensing is dispensed with manpower dispensing and express delivery cabinet based on two kinds of ripe means of distribution, meanwhile, nothing
The advanced means of distribution such as man-machine dispensing also studying among Preliminary Applications.Manpower dispensing undoubtedly need substantial amounts of dispensing person and
Distribution vehicle, distribution cost are high, and situations such as often there is mispick in manpower delivery process, delivery error rate is high.Express delivery cabinet is matched somebody with somebody
Send mode needing to build express delivery cabinet hardware facility in fixed location, need special messenger to carry out express delivery cabinet management, early stage economic input compared with
Greatly, and for the express mail that cannot be asked for has no follow-up dispensing arrange, means of distribution underaction.Currently developing nothing
Man-machine means of distribution mostly need it is artificial participate in, fixed or no-manned machine distant control etc. with carrying out express mail, do not save human cost.
The technical problem to be solved is：First, traditional express delivery cabinet needs to move in fixed location construction, matches somebody with somebody
Send mode dumb；2nd, rural area, outer suburbs, villa quarter etc. are more remote or the sparser regional express mail dispensing of population is difficult.To understand
Certainly above-mentioned technical problem, of the invention to propose simultaneously to devise the express mail that a kind of intelligent automobile is combined with express delivery cabinet and/or unmanned plane
Dispenser, can reduce the resource consumptions such as labour force, vehicle, fuel, improve the express mail dispensing efficiency of remote districts.
The content of the invention
The present invention specifically takes following technical scheme to solve above-mentioned technical problem：Intelligent transportation device includes intelligence
Energy transport vehicle, in-car is provided with Vehicle Controller, and also including express delivery cabinet, the left and right sides in compartment and rear side are by multiple express delivery cabinets
Around composition, multiple express delivery cabinets are arranged in U-shape structure, and each express delivery cabinet includes the interior cabinet opened towards on the inside of vehicle body
Door and the outer cabinet door opened towards on the outside of vehicle body, each described express delivery cabinet are provided with for depositing multiple storings of express mail to be dispensed
Lattice, each described matter storage lattice bottom are provided with crawler type transporter, are provided with express delivery cabinet controller inside each described express delivery cabinet；
Small-sized piler, the small-sized piler are parked in multiple express delivery cabinets and are formed on the compartment bottom in middle vacancy, the small-sized heap
Stacking machine controller is provided with inside stack machine；The express delivery cabinet controller, the stacking machine controller with the Vehicle Controller
Communicate to connect and receive instruction and the information of Vehicle Controller.
Preferably, airplane parking area, the airplane parking area are arranged on car body top, and airplane parking area mid portion is provided with a rectangle and opens
Mouthful；Unmanned plane, its bottom are provided with mechanical gripper, and the unmanned plane is parked on airplane parking area, is provided with nobody inside the unmanned plane
Machine controller；The unmanned aerial vehicle (UAV) control device communicates to connect and receives instruction and the letter of Vehicle Controller with the Vehicle Controller
Breath.
Preferably, the express delivery cabinet controller is used for the opening and closing for controlling the interior cabinet door and the outer cabinet door, and described
The opening and closing of crawler type transporter；The stacking machine controller is taken out from the matter storage lattice for controlling the small-sized piler
Express mail to be dispensed simultaneously delivers to the underface at the rectangular aperture；The unmanned aerial vehicle (UAV) control device is worn for controlling the mechanical gripper
Cross the rectangular aperture and capture express mail to be dispensed.
Preferably, the interior cabinet door is plug-type cabinet door, and the outer cabinet door is hinge-type cabinet door.
Preferably, small-sized piler includes article carrying platform, base plate, pole, and article carrying platform is arranged with floor level, and pole is hung down
Directly it is arranged on base plate, base plate has wheel to driving means, to rotation, small-sized piler realizes that level is moved by wheel with wheel
Dynamic, pole is provided with guide rail and fluid pressure drive device, and fluid pressure drive device can drive article carrying platform vertical movement on guide rail.
Preferably, the airplane parking area quantity is two, and unmanned plane quantity is two.
Preferably, the mechanical gripper includes motor, linkage, gripper.
The present invention has the advantages that：
(1) overall delivery process is capable of achieving Unmanned operation, significantly reduces human cost；
(2) express delivery cabinet and automobile are combined, realizes packaged type express delivery cabinet, compared to the fixed bit for commonly using at present
Put express delivery cabinet, it is possible to decrease the hardware input of express delivery cabinet and management cost, improve the service efficiency of express delivery cabinet；
(3) can realize that the dispensing of express delivery cabinet and unmanned plane dispense two kinds of means of distribution simultaneously, and will be two kinds of means of distribution organic
With reference to, for pickup people cannot ask for and have to door dispense demand in the case of, unmanned plane can be arranged in real time to be dispensed, than common
Express delivery cabinet and the dispensing efficiency high of single unmanned plane dispensing.
Description of the drawings
Fig. 1 is conveying arrangement structure schematic side view of the present invention.
Fig. 2 is conveying arrangement structure schematic top plan view of the present invention.
Fig. 3 is conveying arrangement structure schematic rear view of the present invention.
Fig. 4 is express delivery cabinet general arrangement schematic.
Fig. 5 is matter storage lattice structural representation.
Fig. 6 is small-sized stacker structure schematic diagram.
Fig. 7 is unmanned plane structural representation.
Fig. 8 is the airplane parking area identification icon of the present invention.
Specific embodiment
1st, system hardware composition (device)
The hardware of total system is made up of 4 major parts such as intelligent transport car, express delivery cabinet, piler, unmanned planes.
(1) intelligent transport car
Intelligent transport car is the carrier of the devices such as express delivery cabinet, piler, unmanned plane.As Figure 1-3, automobile head have compared with
Little driving space, is available for 1 driver or operator's activity；Automobile postmedian is the U-shaped express delivery cabinet in three faces, i.e. automobile rear car
The left and right sides in railway carriage or compartment and rear side are constituted by the closing of express delivery cabinet, and small-sized automatic piler is placed in the middle vacancy of the U-shaped express delivery cabinet in three faces；
Automobile top has 2 pieces of aircraft gates for parking 2 frame unmanned planes, and the mid portion of every piece of aircraft gate has a rectangle outlet, is used for
Unmanned plane captures express mail.
Type of drive：Driven by power, course continuation mileage are not less than 150km.
Size：Long 3.70m, wide 1.60m, high 1.90m (referring to minivan size)
(2) the two-door express delivery cabinet in U-shaped interior outside
Express delivery cabinet is mainly used in depositing express mail to be dispensed, and completes what is cannot asked for automatic piler and unmanned plane cooperation
The dispensing of express mail.Express delivery cabinet is located at the car position of automobile postmedian, has left side, three face of right side and rear side, three face express delivery cabinets
U-shaped combination is constituted, as shown in Figure 4.
Every one side of U-shaped express delivery cabinet has multiple matter storage lattices, places 1 express mail to be dispensed, inside and outside which in each matter storage lattice
There is cabinet door both sides.Outside cabinet door is the hinge-type cabinet door of the conventional outside unlatching of existing express delivery cabinet, and in pickup, people correctly enters
Automatically open up after pickup checking information, closed by pickup people after taking express mail.Inner side cabinet door is laterally (left and right to) plug-type cabinet
Door (picking out wherein express mail for ease of automatic piler), automatically opens up when automatic piler comes pickup.Matter storage lattice bottom belt
Have it is small-sized automatically deliver crawler attachment, as shown in figure 5, the conveyor-belt apparatus automatic when automatic piler comes pickup, will
Internal express mail is sent.
Single matter storage lattice size：Generally depth 0.45m, wide 0.32m is high variable.
(3) small-sized automatic piler
Automatic piler is mainly used in the transmission of the express mail for needing unmanned plane dispensing, and its effect is to take out to wait to match somebody with somebody from express delivery cabinet
Send the unmanned plane access section of express mail delivery to automobile top.The work space of automatic piler is only limitted in U-shaped express delivery cabinet
Empty position, as shown in Figure 6.The automatic piler without pallet fork, only one article carrying platform of band, article carrying platform can level, move up and down,
The driven by pulley drive device by stacking motor spindle is moved horizontally, hydraulic pressure or tracked drive by middle part is moved up and down
(similar single-column laneway type automatic piler).
Automatic piler to express delivery cabinet matter storage lattice pickup when, article carrying platform is automatically moved into the inner door of corresponding matter storage lattice
Doorway position, article carrying platform height are consistent with matter storage lattice bottom level, and express mail is passed out to load by the conveyer belt in matter storage lattice
On thing platform, article carrying platform again by the unmanned plane access section of express mail pop-up to roof, after express mail is sent to access section, in express delivery cabinet
Cabinet door is closed, and the conveyor-belt apparatus of matter storage lattice are automatically stopped.
(4) unmanned plane with mechanical gripper
Unmanned plane is mainly used in dispensing and cannot ask for express mail (as the inconvenience dispensing of landform reason, or addressee have from express delivery cabinet
It is dispensed into the demand of door).The unmanned plane is four wing SUAVs, and bottom is equipped with small-sized machine handgrip, as shown in fig. 7, mechanical
Handgrip includes motor, linkage, gripper.The express mail that need to be dispensed is delivered to after access section by automatic piler, bottom
Small-sized machine handgrip is captured and fixed express mail automatically, and during place of receipt to be achieved, mechanical gripper unclamps and can unload automatically goods.
In specific place of receipt, need to reserve smooth airplane parking area position in advance, on airplane parking area, have special symbol table
Show, so that unmanned plane accurately lands after image recognition confirms airplane parking area position.
Performance：Max-endurance is not less than 60 minutes, and maximum load is not less than 5Kg, flies during performance requirement load-carrying 3Kg
Time is not less than 30 minutes, and flying radius is not less than 10km.
2nd, control system (communication and software)
Overall system control is divided into vehicle-mounted turn-key system, express delivery cabinet control system, automatic piler control system, unmanned plane
Control system etc. four is most of, and each of which part can be considered that one independent carries storage, communication, analytical calculation function
Industrial control system, introduces the functional module and its concrete function of each several part individually below.
2.1 vehicle-mounted master control subsystems
(1) integrated communication module：It is responsible for the communication with the comprehensively monitoring center of dispensing site, using the nothing of 4G mobile networks
Line communicates
The dispensing task that dispatcher is assigned by comprehensively monitoring center is received, and express delivery is put into into express delivery cabinet in dispensing person
During, import information (express delivery odd numbers, consignee, consignee cell-phone number, ship-to, the express delivery cabinet storing of express mail to be dispensed
Lattice are numbered)；
The overall execution situation and each equipment state information of the current dispensing task of transmission is in the comprehensively monitoring of dispensing site
The heart, mainly includes：Express mail dispensing situation (express mail for having dispensed, the express mail for not dispensing and dispensing), intelligent transport car are certainly
(unmanned plane numbers, is for body status information (Vehicular battery, course continuation mileage, vehicle-mounted camera real time imaging), unmanned plane status information
It is no to be carrying out task, battery electric quantity, course continuation mileage, dispensed the express mail odd numbers for completing), automatic piler status information (work
Whether normal make state), express delivery cabinet status information (matter storage lattice empty full situation), all kinds of exceptions in delivery process and error message
Deng.
(2) automatic Pilot module：Responsible intelligent transport car is automatically controlled
Automatic identification destination；
It is automatically performed path planning：When intelligent automobile only has 1 destination, direct basis GPS navigation carries out point-to-point
Traveling, when destination's number is more than 1, need to carry out path planning to determine that intelligent automobile needs the purpose for reaching
The sequencing on ground.The present invention is using path planning algorithm based on genetic algorithm, i.e. by each destination be numbered and by this
Numbering carries out individual UVR exposure with real coding mode, then generates multiple destination's sequencing schemes at random, calculates each destination
The path distance passed by needed for sequencing schemes, it is most short as object function with distance, through selecting, intersecting, making a variation scheduling algorithm flow process,
The most short sequencing schemes of path distance are determined, as final route programming result；
Automatic GPS navigation system；
Automatically turn on engine to travel to destination；
Automatic identification dispenses the fixed parking stall in place；
Automatic stopping enters position；
Automatically send real time status information and give integrated communication module.
(3) dispense task management module：It is responsible for asking for the short message sending and unmanned plane dispensing task distribution of express mail；
It is automatic to inquire about and classify needing unmanned plane to dispense and be not required to the express mail that unmanned plane is dispensed, and be to need nothing by distances travelled
The express mail arrangement dispensing sequence of man-machine dispensing；
Automatically send pickup note (being not required to the information such as the pickup address of unmanned plane dispensing express mail, pickup code, effective time)；
Automatically the relevant information such as status information and express mail to be dispensed of unmanned plane of awaiting orders in reading UAV Communication module (is received
The distance of goods address, weather condition), whether automatic decision unmanned plane of awaiting orders can complete dispensing task, and be express mail to be dispensed
Distribution can complete the unmanned plane of dispensing task；
Automatically record unmanned plane dispenses the real-time pickup situation of the real-time performance and express mail of asking for of task；
(4) express delivery cabinet communication module：It is responsible for the communication with express delivery cabinet control system, using USB wire communications；
Automatically the match information for sending express delivery cabinet and express mail in integrated communication module (is easy to certainly to express delivery cabinet control system
The dispensing of pickup)；
Express mail dispensing situation and express delivery cabinet status information (matter storage lattice sky that automatic reception express delivery cabinet control system is sent in real time
It is full)；
Automatically the odd numbers for sending the express mail for needing unmanned plane dispensing (is easy to express delivery cabinet control system to express delivery cabinet control system
Open cabinet door on the inside of corresponding matter storage lattice).
(5) automatic piler communication module：It is responsible for the communication with automatic piler control system, using ZigBee channel radios
Letter
Automatically unmanned plane dispensing mission bit stream (the matter storage lattice position of express mail storage, unmanned plane numbering) is sent to automatic piling
Machine control system is (so as to automatic piler can be automatically moved at corresponding matter storage lattice and be taken out express mail and is delivered to corresponding at roof
Unmanned plane access section)；
The automatic piler status information that automatic reception automatic piler control system is sent.
(6) UAV Communication module：It is responsible for the communication with unmanned aerial vehicle control system, using 2.4GHz microwave radio commus
Automatically the express mail information for needing unmanned plane to dispense is sent to unmanned aerial vehicle control system；
The real time status information of automatic reception unmanned plane, status information (position, the flying height including in-flight unmanned plane
And image) and unmanned plane of awaiting orders status information (battery electric quantity, course continuation mileage).
(7) emergency processing module
Exception that automatic reception express delivery cabinet control system, automatic piler control system, unmanned aerial vehicle control system are sent and
Error information；
The automatic exception sent in delivery process and error message are to total communication module；
Automatically emergency processing action is performed by existing emergency preplan；
* part emergency preplan is as follows：
Fortuitous event (such as vehicle accident, fixed parking stall is occupied cannot stop) is met in * 1 intelligent transport car traveling way：
Real time status information is sent into the comprehensively monitoring center of dispensing site, the further instruction at comprehensively monitoring center is waited；
Fortuitous event is met in * 2 unmanned plane during flyings way (such as wrong place of in-flight dropping, land)：Whether automatic decision loses
Connection, such as lost contact, then dispensing mission bit stream report unmanned plane numbered and its performed dispense the comprehensively monitoring center of site；As not
Lost contact, sends to unmanned aerial vehicle control system and instructs so as to which passback is currently without man-machine state's information (position, height, electricity, image)
Deng；
* 3 express delivery cabinet control systems report an error (cannot open such as cabinet door, cannot locking, matter storage lattice bottom conveyor cannot work
Make)：Send to express delivery cabinet control system and instruct, restart and perform related command, if problem is not still solved, by error information
Total communication module is sent to, and reports the comprehensively monitoring center for dispensing site, meanwhile, performed required by next dispensing task automatically
(citing when front cabinet door cannot be opened, then while error message is reported, skips over this task, opens next cabinet door, hold for action
Row next one dispensing task).
2.2 express delivery cabinet control subsystems
(1) communication module：Dock for the express delivery cabinet communication module with vehicle-mounted turn-key system
Receive instruction and information that vehicle-mounted turn-key system is sent；
Express delivery dispensing situation and express delivery cabinet status information are sent to vehicle-mounted turn-key system；
Receive the pickup information of pickup people input；
(2) express delivery cabinet door action control module：Responsible storing especially inner side cabinet door is automatically turned on and locking
Whether in transport condition, (during traveling, all cabinet door automatic blockings are released after reaching stop automatic identification automobile
Locking)；
Automatically the pickup information for reading and examining pickup people input (is examined cabinet door on the outside of correctly then automatically opening up to be easy to take
Part)；
Automatically turn on cabinet door on the outside of matter storage lattice；
Automatically read the express mail information for needing unmanned plane to dispense express mail；
Open and close automatically cabinet door on the inside of matter storage lattice.
(3) conveyer belt control module：It is responsible for for the express mail inside matter storage lattice sending (to give automatic piler)
Control instruction is received, whether cabinet door is opened on the inside of automatic detection matter storage lattice；
Automatic running conveyor-belt apparatus, send article in matter storage lattice.
2.3 automatic piler control subsystems
(1) communication module：Dock for the automatic piler communication module with vehicle-mounted turn-key system
Receive instruction and information that vehicle-mounted turn-key system is sent；
Automatic piler real time status information is sent to vehicle-mounted turn-key system；
(2) fetch and deliver part control module：For taking out the express mail of matter storage lattice and delivering to the access section of unmanned plane
Automatically the matter storage lattice position of express mail to be taken and the numbering of unmanned plane to be set out are read；
Automatically move at the matter storage lattice of article carrying platform to express mail to be taken, and according to matter storage lattice bottom position adjust automatically loading
Podium level；
Automatic identification unmanned plane access section, and express mail is delivered to unmanned plane access section by rising article carrying platform automatically.
2.4 unmanned aerial vehicle (UAV) control subsystems
(1) communication module：Dock for the UAV Communication module with vehicle-mounted turn-key system
Receive instruction and information that vehicle-mounted turn-key system is sent；
Unmanned plane real time status information is sent to vehicle-mounted turn-key system；
(2) mechanical gripper control module：Capture for control machinery handgrip and fixation express mail to be dispensed
Whether automatic identification access section has express mail；
Automatically confirm that and capture whether or throw in express mail；
Automatically mechanical action, crawl or input express mail are performed；
(3) automatic flight module：Automatically controlling during responsible unmanned plane during flying
Automatically read the distribution information (express delivery odd numbers, ship-to etc.) of express mail to be dispensed；
It is automatically performed flight path planning；
Automatically turn on GPS navigation system；
Automatically turn on engine to fly to destination；
The pattern of the specific airplane parking area of automatic identification or roof stop position：Airplane parking area adopts characteristic circle as shown in Figure 8
The special pattern constituted with characteristic character " mouth ".Characteristics of image recognizer during shutdown in two steps, justify first, so by identification feature
Identification feature character " mouth " afterwards.The identification of characteristic circle is identified using Hough transform algorithm, and the algorithm is using conversion back boundary
The parameter attribute of point describes boundary curve, and in characteristic circle identification, robustness is superior.All drift angles of feature based character and interior
The characteristics of angle is 90 degree of right angles, characteristic character recognizer adopt characteristic angle algorithm, the algorithm to be needed in implementation process first
Then these characteristic points are normalized by the possible feature angle point of image to be calculated (the rectangular point of institute in sphere of movements for the elephants symbol),
Distance according to point-to-point transmission is processed, and the normalizing point set apart from the nearest several points in the center of circle is obtained, while calculating each point
Between length, it is determined that apart from home position, i.e. stopping point.
Automatically it drop to stop position.
3rd, system overall workflow
(1) distribution network point puts the express mail for needing to send certain panel region with charge free in order, and specifies certain intelligent transport by dispatcher
Car performs dispensing task, assigns a task instruction to the vehicle-mounted turn-key system of corresponding automobile.
(2) express mail to be dispensed is sequentially placed into express delivery cabinet by dispensing person, while typing express mail odd numbers and pickup people's cell-phone number, build
The corresponding relation of each matter storage lattice on vertical express mail and express delivery cabinet, and the information is imported into vehicle-mounted turn-key system.
(3) the vehicle-mounted turn-key system on intelligent transport car receives the assignment instructions of dispatcher, and identification needs the dispensing gone to
Place, is automatically performed path planning, and opens vehicle GPS, and automatic running is to dispensing place.In vehicle traveling process,
The door lock that express delivery cabinet control system controls each matter storage lattice is fast will not occur during ensureing traveling in locking states all the time
The analogues such as part is dropped out, mispick.
(4), after intelligent transport car reaches dispensing place, it has been parked on ready-portioned parking stall in advance.It is after coming to a complete stop, vehicle-mounted
Turn-key system sends the status information that car has been come to a complete stop to express delivery cabinet control system, and express delivery cabinet control system releases cabinet door door lock control
System.
(5), after vehicle-mounted turn-key system determines that door lock control is released, send comprising pickup to the addressee that may be from taking express mail
The pickup SMS notification of address, pickup code, effective time etc..After the completion of short message sending, before automobile is parked in original place wait addressee
Carry out pickup.
(6) express mail dispensed by vehicle-mounted turn-key system real-time inspection unmanned plane whether in need：If any vehicle-mounted master control system
Express mail to be dispensed is sorted by system, from the beginning of first, by order the step of (7)～(11), performs dispensing task one by one, until needing
The express mail of unmanned plane dispensing is wanted to dispense；Such as nothing, then unmanned plane is stayed where one is, pending further orders, and does not perform any action.
(7) by the relevant information input express delivery cabinet control system of express mail to be dispensed, the control of express delivery cabinet is vehicle-mounted turn-key system
System is opened and houses cabinet door on the inside of the matter storage lattice of corresponding express mail.
(8) matter storage lattice position is sent to automatic piler control subsystem by vehicle-mounted turn-key system, and automatic piler is voluntarily
Take out wherein express mail.
(9) vehicle-mounted turn-key system is that express mail to be dispensed distributes specific unmanned plane execution dispensing task, and unmanned plane is compiled
Number automatic piler control subsystem is fed back to, automatic piler is by express mail pop-up to the corresponding unmanned plane picking of vehicle roof
Mouthful, unmanned plane captures express mail to be dispensed.
(10) ship-to is input into unmanned aerial vehicle (UAV) control subsystem by vehicle-mounted turn-key system, and unmanned plane will after confirming crawl goods
The relevant informations such as confirmation, express mail odd numbers, unmanned plane numbering feed back to vehicle-mounted turn-key system.Unmanned aerial vehicle control system is known automatically
The address of express mail not to be dispensed, plans flight path, and starts GPS navigation system and fly to ship-to, is receiving it is determined that reaching
Image identification system is opened when within 30 meters of address, specific airplane parking area pattern is recognized, after the completion of identification, is accurately drop to shutdown
Level ground, unmanned plane are maked a return voyage after unloading automatically express mail automatically.
(11) unmanned plane auto-returned is parked in the fixed stop position on vehicle top, and by unmanned aerial vehicle (UAV) control subsystem from
It is dynamic to give vehicle-mounted turn-key system by status information feedbacks such as current electric quantity, course continuation mileages.
(12) vehicle-mounted turn-key system judges whether still there is the express mail for needing unmanned plane to dispense：If any, vehicle-mounted turn-key system according to
Status information and whether dispense the automatic investigation of the information such as the flyer miles of required by task, goods weight that unmanned plane is fed back after returning
There is unmanned plane to be able to carry out next dispensing task, such as executable dispensing task, then by step (7)～(11), such as all unmanned planes
Dispensing task cannot be completed, then vehicle-mounted turn-key system will be unable to execution task information send to dispensing site comprehensively monitoring
Center, waits lower step instruction；Such as nothing, then unmanned plane is parked on fixed stop position, does not perform any action.
(13) whether dispensing is completed the express mail that vehicle-mounted turn-key system judges in all express delivery cabinets, or whether has met one
The fixed time of staying：In this way, vehicle-mounted turn-key system is planned automatically return path and opens GPS navigation, and automobile is automatically returned to matches somebody with somebody
Send site；If not, returning (6), continue to be parked in original place execution dispensing task.
Claims (7)
1. a kind of a kind of Intelligent transportation device, more particularly to Intelligent transportation device for the dispensing of express delivery end, which includes intelligence
Transport vehicle, in-car are provided with Vehicle Controller, it is characterised in that also include
Express delivery cabinet, the compartment left and right sides of intelligent transport car and rear side are surrounded by multiple express delivery cabinets and are constituted, multiple described fast
Pass cabinet and be arranged in U-shape structure, each described express delivery cabinet includes the interior cabinet door opened towards on the inside of vehicle body and opens towards on the outside of vehicle body
The outer cabinet door for opening, each described express delivery cabinet are provided with for depositing multiple matter storage lattices of express mail to be dispensed, each described matter storage lattice
Bottom is provided with crawler type transporter, is provided with express delivery cabinet controller inside each described express delivery cabinet；
Small-sized piler, the small-sized piler are parked in multiple express delivery cabinets and are formed on the compartment bottom in middle vacancy, described little
Stacking machine controller is provided with inside type piler；
The express delivery cabinet controller, the stacking machine controller are communicated to connect with the Vehicle Controller and receive vehicle-mounted control
The instruction of device and information.
2. it is as claimed in claim 1 to be used for the Intelligent transportation device that express delivery end dispenses, it is characterised in that also to include
Airplane parking area, the airplane parking area are arranged on car body top, and airplane parking area mid portion is provided with a rectangular aperture；
Unmanned plane, its bottom are provided with mechanical gripper, and the unmanned plane is parked on airplane parking area, is provided with nobody inside the unmanned plane
Machine controller；
The unmanned aerial vehicle (UAV) control device communicates to connect and receives instruction and the information of Vehicle Controller with the Vehicle Controller.
It is 3. as claimed in claim 1 to be used for the Intelligent transportation device that express delivery end dispenses, it is characterised in that
The express delivery cabinet controller is used for the opening and closing for controlling the interior cabinet door and the outer cabinet door, and crawler type transmission dress
The opening and closing put；The stacking machine controller takes out express mail to be dispensed simultaneously from the matter storage lattice for controlling the small-sized piler
Deliver to the underface at the rectangular aperture；The unmanned aerial vehicle (UAV) control device is opened through the rectangle for controlling the mechanical gripper
Mouth crawl express mail to be dispensed.
It is 4. as claimed in claim 1 to be used for the Intelligent transportation device that express delivery end dispenses, it is characterised in that
The interior cabinet door is plug-type cabinet door, and the outer cabinet door is hinge-type cabinet door, and the express delivery cabinet is towards the cabinet on the outside of vehicle body
Information input area is provided with body.
It is 5. as claimed in claim 1 to be used for the Intelligent transportation device that express delivery end dispenses, it is characterised in that
Small-sized piler includes article carrying platform, base plate, pole, and article carrying platform is arranged with floor level, and pole is vertically set on bottom
On plate, base plate has wheel to driving means, small-sized piler is moved horizontally to rotating realization by wheel, is set on pole with wheel
There are guide rail and fluid pressure drive device, fluid pressure drive device can drive article carrying platform vertical movement on guide rail.
6. it is as claimed in claim 1 to be used for the Intelligent transportation device that express delivery end dispenses, it is characterised in that the airplane parking area number
Measure as two, unmanned plane quantity is two.
7. it is as claimed in claim 1 to be used for the Intelligent transportation device that express delivery end dispenses, it is characterised in that the mechanical gripper
Including motor, linkage, gripper.
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