CN113002795A

CN113002795A - Unmanned aerial vehicle relay station, relay control method and relay networking multi-machine logistics system

Info

Publication number: CN113002795A
Application number: CN202110351245.9A
Authority: CN
Inventors: 袁宪锋; 崔潇雅; 周雨菁; 孟芸竹; 宋勇; 许庆阳; 马国庆; 金泽轩
Original assignee: Shandong University
Current assignee: Shandong University
Priority date: 2021-03-31
Filing date: 2021-03-31
Publication date: 2021-06-22
Anticipated expiration: 2041-03-31
Also published as: CN113002795B

Abstract

The invention discloses an unmanned aerial vehicle relay station, a relay control method and a relay networking multi-machine logistics system. The UAV relay station includes a first apron and a second apron, cargo spaces are arranged under the first apron and the second apron, and the two cargo spaces are connected by a cargo channel; wherein, the The cargo channel is used to transport the cargo from the first apron to the second apron; and the second apron is also provided with a drone charging device. Through the UAV relay station, the handover of UAV distribution tasks and goods is realized, which breaks through the endurance limitation of UAV distribution and expands the distribution scope.

Description

Unmanned aerial vehicle relay station, relay control method and relay networking multi-machine logistics system

Technical Field

The invention belongs to the technical field of intelligent logistics, and particularly relates to an unmanned aerial vehicle relay station, a relay control method and a relay networking logistics multi-machine system.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

With the popularization of online shopping, the transportation and distribution modes adopted in the traditional logistics industry gradually highlight the problems of low efficiency, poor safety, high cost and the like, and are particularly suitable for remote areas such as mountainous areas with inconvenient traffic. For the delivery that realizes the remote area, the delivery mode of being applied to logistics system with unmanned aerial vehicle has appeared recently, accomplish the parcel through unmanned aerial vehicle and dispatch, overcome the road restriction in remote area, and owing to use the electric energy, green has been realized, and, because unmanned aerial vehicle's security and stationarity, the goods of transportation do not need the excessive packing like goods in the past in order to avoid impaired problem in the transportation, consequently the extravagant problem of energy that reducible packing brought.

Currently, the logistics unmanned aerial vehicle industry at home and abroad mainly has three modes:

(1) the warehouse and the logistics unmanned aerial vehicle, namely the unmanned aerial vehicle loads goods from the established fixed-point warehouse every time, the mode occupies large space and funds, and the safety performance is low;

(2) the vehicle and the logistics unmanned aerial vehicle are characterized in that the unmanned aerial vehicle hands over goods to an unmanned vehicle at a designated place, the unmanned vehicle finishes delivery, and finally manual sign-off is required, so that manpower and material resources are consumed, the maintenance cost of the unmanned vehicle is high, and the energy consumption is large;

(3) intelligence cabinet + commodity circulation unmanned aerial vehicle, new generation unmanned aerial vehicle can depend on intelligent parcel cabinet top, realizes full-automatic take-off, lands and delivers the parcel, but this is very high to technical requirement.

In any distribution mode, the cruising ability of the unmanned aerial vehicle limits the maximum distribution distance, the maximum flight radius of a single unmanned aerial vehicle is only about 10 kilometers, and distribution work is difficult to complete in some remote areas.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides an unmanned aerial vehicle relay station, a relay control method and a relay networking multi-machine logistics system. Through unmanned aerial vehicle relay station, realized the handing-over of unmanned aerial vehicle delivery task and goods, broken through the duration restriction of unmanned aerial vehicle delivery, enlarged the delivery scope.

In order to achieve the above object, one or more embodiments of the present invention provide the following technical solutions:

an unmanned aerial vehicle relay station comprises a first air park and a second air park, wherein goods are arranged below the first air park and the second air park respectively, and the two goods are connected through a goods channel; wherein the cargo passage is used for transporting cargo from a first tarmac to a second tarmac; and, still be equipped with unmanned aerial vehicle charging device on the second parking apron.

Further, the first apron is higher than the second apron, and the cargo passage is an inclined slide way.

Furthermore, a transmission device is arranged in the cargo channel, the transmission device comprises a control module, a sensing module and a transmission mechanism, the sensing module is connected with the control module, and the sensing module is arranged on the cargo level below the first apron.

Further, still be equipped with voltage detection device on the second parking apron, be connected with charging device, when voltage detection device detects unmanned aerial vehicle battery voltage not enough, carry out automatic charging.

One or more embodiments provide a relay control method based on the unmanned aerial vehicle relay station, including:

controlling the first unmanned aerial vehicle to land on the first parking apron;

after receiving the feedback message of successful first unmanned landing, controlling the first unmanned releasing logistics box to enable the logistics box to reach the cargo level below the second parking apron through the cargo channel;

controlling a second unmanned aerial vehicle to clamp the logistics box, simultaneously sending the delivery tasks which are not completed by the first unmanned aerial vehicle and the corresponding delivery paths to the second unmanned aerial vehicle, and controlling the second unmanned aerial vehicle to start delivery;

and controlling the first unmanned aerial vehicle to fly to the second apron, and butting with the charging device to charge.

One or more embodiments provide a cloud server for relaying networking multi-machine logistics system, including:

a mission allocation module configured to: receiving a distribution task, and analyzing the distribution task to obtain a distribution path; generating a flight task according to the distribution task and the corresponding distribution path, and sending the flight task to the idle unmanned aerial vehicle;

a drone management module configured to: recording identification information and current states of a plurality of unmanned aerial vehicles, wherein the states comprise idle states, standby states in a relay station and delivery states;

a relay station management module configured to: prestoring identification information and position information of the unmanned aerial vehicle relay station; the relay station adopts the unmanned aerial vehicle relay station;

a relay request processing module configured to: and when a relay request sent by the unmanned aerial vehicle is received, searching the nearest relay station according to the current position of the unmanned aerial vehicle, and executing the relay control method.

Further, the system also comprises a recipient authentication module configured to: and receiving the receiver image sent by the unmanned aerial vehicle, and performing receiver identity authentication through face recognition.

Further, the system also comprises a recipient authentication module configured to: and after the flight mission is sent to the unmanned aerial vehicle, generating a random password of the logistics box, and sending information containing the random password to a corresponding receiver.

One or more embodiments provide a drone, connected with the cloud server, comprising:

a delivery module configured to: receiving a flight task sent by a cloud server, and carrying out cargo distribution after loading corresponding cargos;

a recipient authentication module configured to: after the address is distributed to the designated address, a recipient image is obtained and sent to a cloud server;

a charge monitoring module configured to: monitoring the current electric quantity of the self in real time in the distribution process, and sending a relay request to a cloud server when the current electric quantity is lower than a set threshold;

a relay module configured to: and flying, releasing the logistics boxes or landing according to the control instructions of the cloud server, and sending feedback messages to the cloud server.

One or more embodiments provide a relay networking multi-machine logistics system, which includes the cloud server, a plurality of the drones, and a plurality of the drone relay stations.

The above one or more technical solutions have the following beneficial effects:

unmanned aerial vehicle relay station can be used for providing the place of aerial express delivery case exchange for unmanned aerial vehicle, can also be used for charging for idle unmanned aerial vehicle, ensures to transport the goods under the prerequisite of sufficient duration, has broken through the duration restriction of unmanned aerial vehicle delivery, has enlarged the delivery scope.

The logistics system adopts the face recognition technology to collect the express, greatly reduces the possibility of express mistakenly taking and mistakenly taking, and realizes automatic signing without a deliverer.

Unmanned aerial vehicle relay station simple structure, maintenance cost are low, only need add unmanned aerial vehicle relay station on original logistics system basis can, the technical degree of difficulty is lower.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.

Fig. 1 is a schematic diagram of a relay station for a drone in accordance with one or more embodiments of the present invention;

fig. 2 is a schematic diagram illustrating the working principle of a relay station of an unmanned aerial vehicle according to one or more embodiments of the present invention;

fig. 3 is a flow chart of a method for relay control of a drone in accordance with one or more embodiments of the present invention;

FIG. 4 is a schematic view of a flow box according to one or more embodiments of the invention;

fig. 5 is a diagram illustrating a relay networking multi-computer logistics system architecture in one or more embodiments of the invention.

Detailed Description

It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The embodiments and features of the embodiments of the present invention may be combined with each other without conflict.

Example one

Based on the problem that the light and small logistics unmanned aerial vehicle generally has insufficient cruising ability, the embodiment discloses an unmanned aerial vehicle relay station, as shown in fig. 1, which comprises a first apron and a second apron, wherein cargo levels are arranged below the first apron and the second apron, and the two cargo levels are connected through a cargo channel; wherein the cargo passage is used for transporting cargo from a first tarmac to a second tarmac; and, still be equipped with unmanned aerial vehicle charging device on the second parking apron.

Specifically, the cargo passage only needs to be arranged to transport cargo from the first apron to the second apron. In this embodiment, the cargo is loaded through the logistics box. The schematic view of the material flow box is shown in figure 4.

As a specific implementation, the first apron is located higher than the second apron, and the cargo passage is an inclined chute, so that the logistics boxes can slide along the chute to the cargo level below the second apron under the action of gravity after the first apron is released.

As another specific implementation manner, a transmission device is arranged in the cargo channel, the transmission device includes a control module, and a sensing module and a transmission mechanism connected to the control module, and the sensing module is disposed on the cargo level below the first apron. The sensing module is used for sensing that the logistics box is released, when the sensing module senses that the logistics box is released, the sensing module transmits a signal to the control module, and the control module controls the transmission mechanism to be transported to a cargo level below the second apron. The sensing module is a gravity sensor or other sensors capable of sensing whether an object is in place, and the transmission mechanism is a conveyor belt or other mechanisms capable of achieving object transportation, which is not limited herein.

In order to facilitate accurate landing of the unmanned aerial vehicle, the first parking apron and the second parking apron are provided with identification information, so that the unmanned aerial vehicle can be identified by means of a down-looking optical flow sensor and the like and land at a specified position. Also, the identification information on the first apron and the second apron may be different for ease of distinction.

In order to facilitate the release and the clamp of thing flow box, because unmanned aerial vehicle can accurate landing on appointed position, the goods position is located the thing flow box and is got under the mechanism of pressing from both sides and get can.

Be equipped with the opening of goods level on the air park, after unmanned aerial vehicle descended the assigned position, the opening was opened for the thing flow box can fall into in the goods level. Specifically, be equipped with sensing device on the air park, this sensing device is connected with the control module in the passageway for whether sensing unmanned aerial vehicle parks the assigned position, when parking assigned position back, control module control opening is opened.

For the convenience of unmanned aerial vehicle charges, charging device's on the second air park position need synthesize according to the assigned position that unmanned aerial vehicle descends and the mouthful position of charging on the unmanned aerial vehicle and confirm for when unmanned aerial vehicle lands on the second air park, the mouth of charging can realize the butt joint with charging device, and when the completion of charging, unmanned aerial vehicle gets into standby state.

Still be equipped with voltage detection device on the second parking apron, be connected with charging device, when voltage detection device detects unmanned aerial vehicle battery voltage not enough, carry out automatic charging. The charging method may be any charging method in the prior art, such as a 6S balance charging method, which is not limited herein.

In order to provide electric energy for the charging device, as a specific implementation mode, the charging device is connected with a solar panel, the solar panel collects solar energy and stores electric quantity, and when the solar energy is insufficient, an erected cable is used for supplying power for the charging device.

The unmanned aerial vehicle with insufficient electric quantity in the distribution process is marked as a first unmanned aerial vehicle. The working principle of the unmanned aerial vehicle relay station is as follows: when the first unmanned aerial vehicle which is carrying out distribution work is about to be exhausted, a nearby apron is searched, the first apron is positioned and landed on the apron, an opening in the apron is opened after landing is successful, the first unmanned aerial vehicle puts down a logistics box, the logistics box is conveyed to a cargo level below the second apron, as shown in figure 2, and is aligned with a logistics box clamp of the second unmanned aerial vehicle, and the second unmanned aerial vehicle clamps the logistics box to continue to carry out distribution tasks. Then the first unmanned aerial vehicle falls on the second parking apron to charge, and when charging is completed, the unmanned aerial vehicle enters a standby state to wait for next handover.

Example two

Based on the unmanned aerial vehicle relay station, the embodiment provides a relay control method, as shown in fig. 3, which is controlled and executed by a cloud server. The method specifically comprises the following steps:

step 1: controlling the first unmanned aerial vehicle to land on the first parking apron; the first unmanned aerial vehicle is an unmanned aerial vehicle of which the electric quantity is smaller than a set threshold value in the distribution process;

step 2: after receiving the feedback message of successful first unmanned landing, controlling the first unmanned releasing logistics box to enable the logistics box to reach the cargo level below the second parking apron through the cargo channel;

and step 3: judging whether a standby unmanned aerial vehicle exists on the second parking apron, if not, controlling an idle unmanned aerial vehicle to land on the second parking apron, marking as the second unmanned aerial vehicle, and executing the step 4-5; if the unmanned aerial vehicle exists, the unmanned aerial vehicle is marked as a second unmanned aerial vehicle, and the step 4-5 is directly executed;

and 4, step 4: controlling a second unmanned aerial vehicle to clamp the logistics box, simultaneously sending the delivery tasks which are not completed by the first unmanned aerial vehicle and the corresponding delivery paths to the second unmanned aerial vehicle, and controlling the second unmanned aerial vehicle to start delivery;

and 5: and controlling the first unmanned aerial vehicle to fly to the second apron, and butting with the charging device to charge.

EXAMPLE III

On the basis that the first embodiment provides an unmanned aerial vehicle relay station and the second embodiment provides an unmanned aerial vehicle relay control method, the second embodiment provides a relay networking multi-machine logistics system, as shown in fig. 5, the system comprises a cloud server and a plurality of unmanned aerial vehicles, goods are loaded through a logistics box, the unmanned aerial vehicles are relayed through the relay station, and the unmanned aerial vehicles and the logistics box are both in communication connection with the cloud server.

The cloud server carries out path planning and task allocation according to the distribution tasks, the unmanned aerial vehicle carries out cargo distribution according to the planned path, identity authentication is carried out on the receiver after the cargo is distributed to the designated address, and the logistics box is opened if the authentication is successful, so that the distribution is completed. Besides, unmanned aerial vehicle is at delivery in-process real-time supervision self electric quantity, sends the relay request to the cloud server when the electric quantity is not enough, seeks nearest relay station and feeds back corresponding route by the server, and unmanned aerial vehicle arrives the relay station, accomplishes the goods handing-over back with the unmanned aerial vehicle that parks on the relay station, and the route is replanned according to the delivery task to the cloud server, and the unmanned aerial vehicle of control handing-over carries out next section delivery.

The system specifically comprises:

a cloud server configured to include:

the flight task distribution module is used for receiving the distribution tasks and analyzing the distribution tasks to obtain distribution paths; and generating a flight task according to the distribution task and the corresponding distribution path, and sending the flight task to one or more idle unmanned aerial vehicles. The distribution task comprises the names of the recipients, contact information, address information, the size and weight of goods and the like.

Specifically, the recipient address is extracted from the distribution task, and a distribution route is obtained by performing route analysis based on the map data and the recipient address. Through path analysis, realized that an unmanned aerial vehicle dispatches a plurality of addressees on the route, improved delivery efficiency.

And the unmanned aerial vehicle management module records the identification information and the current working state of a plurality of unmanned aerial vehicles, wherein the current working state comprises idle state, relay station state and delivery state. Wherein, if the unmanned aerial vehicle is at the relay station, still record the identification information of this relay station.

And the relay station management module prestores identification information and position information of the unmanned aerial vehicle relay station.

The relay request processing module is used for searching a nearest relay station according to the current position of the unmanned aerial vehicle when receiving a relay request sent by the unmanned aerial vehicle, planning a path according to the current position of the unmanned aerial vehicle and the position of the relay station, generating a relay instruction and sending the relay instruction to the unmanned aerial vehicle;

after receiving a feedback message that the unmanned aerial vehicle lands on a first parking apron, sending a logistics box release instruction to the unmanned aerial vehicle, and sending a logistics box clamping instruction and a flight task to a standby unmanned aerial vehicle on a second parking apron; and

and after receiving a feedback message that the standby unmanned aerial vehicle starts to deliver, sending a charging control instruction to the unmanned aerial vehicle on the first apron.

And the receiver authentication module can authenticate the identity of the receiver through two modes of face recognition and random password. The method comprises the following specific steps:

(1) and carrying out recipient identity authentication through face recognition.

And receiving the recipient image shot and sent by the unmanned aerial vehicle, identifying the face of the recipient image, and controlling the logistics box to be opened if the identification is passed. The cloud server stores pre-collected recipient face image data.

Specifically, the face recognition mainly comprises two major links of model deployment, face detection and comparison. Firstly, a model is built, an effective data set is obtained after user data are collected, a face recognition neural network is built based on MXNet, and model arts SDK is used for building training operation, model deployment and model testing; the next is the transformation and import of the offline model, the resulting model is transferred directly to the top of the MindSpore Studio via the OMG tool and then run on top of the NPU. And finally, acquiring a face image of the user by a camera connected with an Atlas 200DK developer board, preprocessing the face image by using a DVPP module, inputting the preprocessed face image into the deployed offline model for comparison, and outputting a final parameter after judgment is finished.

And the receiver authentication module prestores the trained offline model and receives the receiver image to identify the face of the person.

(2) And authenticating the identity of the receiver.

Specifically, after a flight mission is sent to the unmanned aerial vehicle, a random password of the logistics box is generated, and information containing the random password is sent to a corresponding receiver. The receiver inputs the password to open the logistics box.

A drone configured to include:

the distribution module receives the flight tasks sent by the cloud server, and distributes the goods after loading the corresponding goods; the goods are loaded through a logistics box.

And the receiver authentication module acquires the receiver image and sends the receiver image to the cloud server when the goods are signed after being distributed to the designated address.

The electric quantity monitoring module monitors the current electric quantity of the electric quantity monitoring module in real time in the distribution process, and sends a relay request to the cloud server when the current electric quantity is lower than a set threshold value;

the relay module executes different operations when the current unmanned aerial vehicle is the unmanned aerial vehicle with insufficient electric quantity in the distribution process and the standby unmanned aerial vehicle located in the relay station. Is specifically configured to:

if the current unmanned aerial vehicle is an unmanned aerial vehicle with insufficient electric quantity in the distribution process (namely the first unmanned aerial vehicle), acquiring a relay instruction sent by the cloud server, flying to a corresponding relay station according to a path in the relay instruction, landing on a first parking apron and sending a feedback message to the cloud server; receiving a logistics box release instruction, and releasing the logistics box to a cargo level; and receiving a charging control command, flying and landing on a second parking apron for charging.

If the current unmanned aerial vehicle is a standby unmanned aerial vehicle (namely, the second unmanned aerial vehicle) located in the relay station, receiving a logistics box clamping instruction and a flight task sent by the cloud server, starting distribution and sending a feedback message to the cloud server.

Above-mentioned unmanned aerial vehicle optional use is arbitrary current unmanned aerial vehicle model, can realize above-mentioned function can, do not limit here. In the embodiment, a multi-rotor aircraft is selected, main hardware comprises a rack, a propeller, a motor, an electric regulator, a flight control unit, a GPS (global positioning system), a power supply module, an undercarriage, a remote controller receiver, a damping plate, a picture transmission unit, a camera and the like, and all the elements are integrated on the rack. Considering the weight of the fuselage itself, the lift of screw needs to reach 12kg, so every motor blade combination of six rotor unmanned aerial vehicle need provide about 2kg lift, so this six rotor unmanned aerial vehicle's motor model is 3508. The best choice of the electric speed regulator is the electric speed regulator with the model number of 40A. Each motor blade combination needs to provide about 2kg of lift force, and the blades are selected to be 1555 carbon fiber paddles (the diameter of the paddle is 15 inches and the pitch of the paddle is 5.5 inches).

If the goods are distributed from Xie Jia Zi, the altitude of Xie Jia Zi is 1573.2m, the altitude of Nero dream is 1720.5m, and the altitude difference is 147.3 m. If the driving distance along the shortest road is about 4.6 km, the straight-line distance between two places is 1175.1m according to the longitude and latitude and the mountain area simplified model calculation (the radius of the earth is 6371 km).

The present embodiment calculates the energy consumption and the benefit for different freight modes respectively. The parameters of the different modes of transport are as follows, the energy consumption benefits are as shown in table 1, and the energy benefits are as shown in table 2.

Medium displacement car (displacement 1600CC, minibus): one liter of oil runs for about 12 kilometers on a flat road surface;

large displacement car (displacement 3000CC, large truck): one liter of oil runs for about 5 kilometers on a flat road surface;

no. 92 gasoline is 5.65 yuan/liter, No. 0 diesel oil is 5.19 yuan/liter (the selection is a Yunnan local oil price look-up table of 5 months and 25 days of 2020), the electricity charges are divided into step power supply, time-sharing power supply and the like, the electricity charges are different in different regions, and the average electricity charge is 0.5 yuan one degree (kw/h);

the speed limit of a common automobile in a mountainous area is 40km/h, and the speed limit of a large truck is 30 km/h;

the four-wheel electric vehicle basically consumes 10 degrees per kilometer, and the electric tricycle consumes 0.028 to 0.03 degrees per kilometer;

the unit distance power consumption of the unmanned aerial vehicle is measured to be 44.6w □ h/km through experiments.

TABLE 1 energy consumption benefit analysis

TABLE 2 energy benefit analysis

Type (B)	Energy consumption per unit distance	Energy consumption saving of unmanned aerial vehicle
			Kaiwo D102020 pattern	3174.6	98.5％
Chery EV post	3809.5	98.8％
			Electric three-wheel truck	142.9	70.5％

One or more of the above embodiments have the following technical effects:

through introducing unmanned aerial vehicle relay station, can provide the place of aerial express delivery case exchange for unmanned aerial vehicle to charge for idle unmanned aerial vehicle, ensure to transport the goods under the prerequisite of sufficient duration, broken through the duration restriction of unmanned aerial vehicle delivery, enlarged the delivery scope, specially adapted remote areas such as mountain area.

Those skilled in the art will appreciate that the modules or steps of the present invention described above can be implemented using general purpose computer means, or alternatively, they can be implemented using program code that is executable by computing means, such that they are stored in memory means for execution by the computing means, or they are separately fabricated into individual integrated circuit modules, or multiple modules or steps of them are fabricated into a single integrated circuit module. The present invention is not limited to any specific combination of hardware and software.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.

Claims

1. An unmanned aerial vehicle relay station is characterized in that, it comprises a first parking apron and a second parking apron, below the first parking apron and the second parking apron are all provided with cargo spaces, and goods are passed between the two cargo spaces. Channel connection; wherein, the cargo channel is used to transport goods from the first apron to the second apron; and a drone charging device is also provided on the second apron.

2 . The UAV relay station according to claim 1 , wherein the position of the first apron is higher than that of the second apron, and the cargo passage is an inclined slideway. 3 .

3. The UAV relay station according to claim 1, wherein a transmission device is provided in the cargo passage, and the transmission device comprises a control module, and a sensing module and a sensor module connected with the control module. In the transmission mechanism, the sensing module is arranged on the cargo space under the first apron.

4. A drone relay station as claimed in claim 1, characterized in that, a voltage detection device is also provided on the second parking apron, which is connected with the charging device, and when the voltage detection device detects the battery voltage of the drone When it is insufficient, it will automatically charge.

5. A relay control method based on the UAV relay station according to any one of claims 1-4, characterized in that, comprising:

(1) Controlling the first drone to land on the first apron;

(2) After receiving the feedback message that the first drone has landed successfully, control the first drone to release the logistics box, so that the logistics box can reach the cargo space under the second apron through the cargo channel;

(3) Determine whether there is a standby drone on the second apron, if not, control an idle drone to land on the second apron, record it as the second drone, and execute step (4)-step ( 5); If there is, the drone is recorded as the second drone, and step (4)-step (5) is performed;

(4) Controlling the second drone to clamp the logistics box, sending the unfinished delivery tasks and corresponding delivery paths of the first drone to the second drone, and controlling the second drone to start delivery;

(5) Control the first drone to fly to the second apron, and dock with the charging device for charging.

6. A cloud server for relay networking multi-machine logistics system, characterized in that, comprising:

The flight task assignment module is configured to: receive the distribution task, analyze the distribution task, and obtain the distribution path; generate the flight task according to the distribution task and the corresponding distribution path and send it to the idle drone;

an unmanned aerial vehicle management module, configured to: record identification information and current states of a plurality of unmanned aerial vehicles, the states including idle, standby at the relay station and delivery;

The relay station management module is configured to: pre-store the identification information and location information of the UAV relay station; wherein, the relay station adopts the UAV relay station according to any one of claims 1-4;

The relay request processing module is configured to: when receiving the relay request sent by the drone, search for the nearest relay station according to the current position of the drone, and execute the relay control method according to claim 5 .

7. a kind of cloud server as claimed in claim 6, is characterized in that, also comprises recipient authentication module, is configured to: receive recipient image that drone sends, carry out recipient identity through face recognition Certification.

8. The cloud server according to claim 6, further comprising a recipient authentication module, configured to: after sending the flight mission to the drone, generate a random password of the logistics box, and send the corresponding recipient The person sends a message containing the random password.

9. An unmanned aerial vehicle, connected with the cloud server according to any one of claims 6-8, characterized in that, comprising:

The delivery module is configured to: receive the flight mission sent by the cloud server, and carry out the delivery of the goods after loading the corresponding goods;

The recipient authentication module is configured to: after delivery to the specified address, obtain the recipient image and send it to the cloud server;

The power monitoring module is configured to monitor its current power in real time during the delivery process, and send a relay request to the cloud server when the current power is lower than the set threshold;

The relay module is configured to: fly, release the logistics box or land according to the control instructions of the cloud server, and send a feedback message to the cloud server.

10. A relay networking multi-machine logistics system, characterized in that it comprises a cloud server as claimed in any one of claims 6-8, a plurality of unmanned aerial vehicles as claimed in claim 9, and a plurality of unmanned aerial vehicles as claimed in claim 9. The UAV relay station described in any one of 1-4 is required.