CN113120491B

CN113120491B - Method and device for loading unmanned aerial vehicle, storage medium and distribution system

Info

Publication number: CN113120491B
Application number: CN202110328338.XA
Authority: CN
Inventors: 王启申; 毛一年; 龚玉帅; 初征
Original assignee: Beijing Airlango Technology Co ltd
Current assignee: Beijing Airlango Technology Co ltd
Priority date: 2021-03-26
Filing date: 2021-03-26
Publication date: 2022-12-16
Anticipated expiration: 2041-03-26
Also published as: CN113120491A

Abstract

The present disclosure relates to a method, an apparatus, a storage medium and a distribution system for unmanned aerial vehicle loading, the method applied to a distribution cabinet comprises: acquiring distribution information, wherein the distribution information comprises size information of goods to be distributed; determining a forward stroke of a cargo forward pushing mechanism according to the size information, and driving the cargo forward pushing mechanism to correct the position of the cargo to be delivered on the cargo transferring mechanism according to the forward stroke so that the unmanned aerial vehicle can load the cargo to be delivered. Adopt above-mentioned technical scheme, can rectify the position of the goods of waiting to deliver of unidimensional not to make unmanned aerial vehicle can load the goods of waiting to deliver of unidimensional not, promoted unmanned aerial vehicle promptly and loaded the flexibility of goods.

Description

Method and device for loading goods by unmanned aerial vehicle, storage medium and distribution system

Technical Field

The present disclosure relates to the distribution field, and in particular, to a method, an apparatus, a storage medium, and a distribution system for unmanned aerial vehicle cargo loading.

Background

With the rapid development of the economy of the electronic commerce and the rapid rise of the logistics demand, distribution personnel approach saturation, and the distribution by using an unmanned aerial vehicle becomes a development trend in the field of logistics transportation.

In unmanned distribution business involving unmanned aerial vehicles, automatic loading of goods into unmanned aerial vehicles is a relatively important link. In the related art, the articles to be dispensed may be placed in a container. Like this, can transmit the packing box to unmanned aerial vehicle through goods delivery mechanism automatically and load to unmanned aerial vehicle delivers.

Disclosure of Invention

The invention aims to provide a method, a device, a storage medium and a distribution system for loading goods by an unmanned aerial vehicle, which are used for solving the problem that the size of goods loaded by the unmanned aerial vehicle is not flexible enough in the prior art.

In order to achieve the above object, according to a first aspect of the embodiments of the present disclosure, there is provided a method for loading an unmanned aerial vehicle, applied to a distribution cabinet, the distribution cabinet includes a cabinet body, a take-off and landing platform, a cargo transferring mechanism, and a cargo straightening mechanism, the cabinet body is provided with a cargo window, the take-off and landing platform has a parking area for placing the unmanned aerial vehicle, the parking area is formed with a loading and unloading opening for goods to circulate, and the cargo transferring mechanism is used for transferring goods between the loading and unloading opening and the cargo window, the method includes:

acquiring distribution information, wherein the distribution information comprises size information of goods to be distributed;

determining the forward stroke of the cargo forward pushing mechanism according to the size information, and driving the cargo forward pushing mechanism to correct the position of the cargo to be delivered on the cargo transferring mechanism according to the forward stroke so that the unmanned aerial vehicle can load the cargo to be delivered.

Optionally, a plurality of cargo windows are disposed on the cabinet body, the delivery information further includes information representing a target cargo window, and accordingly, determining a forward stroke of the cargo straightening mechanism according to the size information, and driving the cargo straightening mechanism to correct the position of the cargo to be delivered on the cargo transferring mechanism according to the forward stroke includes:

and determining a forward stroke of the cargo straightening mechanism corresponding to the target cargo window according to the size information, and driving the cargo straightening mechanism to correct the position of the cargo to be delivered on the cargo transferring mechanism according to the forward stroke.

Optionally, the method further comprises:

obtaining a parking position of an unmanned aerial vehicle parked in the parking area;

confirm according to size information the goods pushes away positive stroke of mechanism, and according to push away positive stroke drive the goods push away positive mechanism and to the goods transport mechanism on wait to deliver the position of goods and rectify, include:

determining a forward pushing stroke of the cargo pushing mechanism according to the parking position of the unmanned aerial vehicle parked in the parking area and the size information, and driving the cargo pushing mechanism to correct the position of the cargo to be delivered on the cargo transferring mechanism according to the forward pushing stroke.

According to a second aspect of the embodiments of the present disclosure, there is provided a delivery system, including a delivery server, a delivery cabinet;

the distribution server is used for sending distribution information to the distribution cabinet, and the distribution information comprises size information of goods to be distributed;

the distribution cabinet comprises a cabinet body, a lifting platform, a cargo transferring mechanism, a cargo straightening mechanism and a controller connected with the cargo straightening mechanism, wherein a cargo window is arranged on the cabinet body, the lifting platform is provided with a parking area for the unmanned aerial vehicle to park, a loading and unloading port for cargo circulation is formed in the parking area, and the cargo transferring mechanism is used for transferring the cargo between the loading and unloading port and the cargo window;

the controller is used for determining a forward stroke of the cargo pushing mechanism according to the size information, and driving the cargo pushing mechanism to correct the position of the cargo to be delivered on the cargo transferring mechanism according to the forward stroke so that the unmanned aerial vehicle can load the cargo to be delivered.

Optionally, the distribution system further comprises an unmanned aerial vehicle hangar;

the distribution server is further used for sending the distribution information to the unmanned aerial vehicle hangar;

the unmanned aerial vehicle hangar is used for determining an unmanned aerial vehicle meeting the size information from a plurality of unmanned aerial vehicles as a target unmanned aerial vehicle according to the size information of the goods to be delivered;

the distribution server is further used for controlling the target unmanned aerial vehicle to fly to the distribution cabinet to load the goods to be distributed.

Optionally, the delivery server is further configured to:

responding to order information of a user side, and sending the order information to a container management side, wherein the order information comprises information of articles purchased by the user side;

and receiving the size information of the container which is sent by the container management end and used for packaging the goods purchased by the user end so as to obtain the size information of the goods to be distributed.

According to a third aspect of the disclosed embodiment, a method for loading goods by an unmanned aerial vehicle is provided, which is applied to a distribution system, the distribution system comprises a distribution server and a distribution cabinet, the distribution cabinet comprises a cabinet body, a lifting platform, a goods transferring mechanism, a goods correcting mechanism and a controller connected with the goods correcting mechanism, a goods window is arranged on the cabinet body, the lifting platform is provided with a parking area for parking the unmanned aerial vehicle, the parking area is provided with a loading and unloading port for goods circulation, the goods transferring mechanism is used for transferring goods between the loading and unloading port and the goods window, and the method comprises the following steps;

the distribution server sends distribution information to the distribution cabinet, wherein the distribution information comprises size information of goods to be distributed;

the distribution cabinet receives the distribution information, determines the forward stroke of the cargo forward pushing mechanism according to the size information, and drives the cargo forward pushing mechanism to correct the position of the cargo to be distributed on the cargo transferring mechanism according to the forward stroke so that the unmanned aerial vehicle can load the cargo to be distributed.

Optionally, the distribution system further includes a drone hangar, and the method further includes:

the distribution server sends the distribution information to the unmanned aerial vehicle hangar;

the unmanned aerial vehicle hangar determines an unmanned aerial vehicle meeting the size information from a plurality of unmanned aerial vehicles as a target unmanned aerial vehicle according to the size information of the goods to be distributed;

the distribution server controls the target unmanned aerial vehicle to fly to the distribution cabinet to load the goods to be distributed.

Optionally, before the distribution server sends the distribution information to the distribution cabinet, the method further includes:

the distribution server responds to order information of a user side and sends the order information to a container management side, wherein the order information comprises information of articles purchased by the user side;

the distribution server receives the size information of the container which is sent by the container management end and used for packaging the goods purchased by the user end, so as to obtain the size information of the goods to be distributed.

According to a fourth aspect of the embodiments of the present disclosure, there is provided an apparatus for loading unmanned aerial vehicles, the apparatus being applied to a distribution cabinet, the apparatus comprising:

the system comprises an acquisition module, a distribution module and a display module, wherein the acquisition module is used for acquiring distribution information, and the distribution information comprises size information of goods to be distributed;

the determining module is used for determining the straightening stroke of the cargo straightening mechanism according to the size information;

and the driving module is used for driving the cargo straightening mechanism to correct the position of the cargo to be delivered on the cargo transferring mechanism according to the straightening stroke so that the unmanned aerial vehicle can load the cargo to be delivered.

Optionally, a plurality of cargo windows are arranged on the cabinet body, the distribution information further includes information representing a target cargo window, and correspondingly, the determining module is configured to determine, according to the size information, a forward stroke of a cargo forward mechanism corresponding to the target cargo window;

the driving module is used for driving the cargo straightening mechanism to correct the position of the cargo to be delivered on the cargo transferring mechanism according to the straightening stroke.

Optionally, the apparatus further comprises:

the position acquisition module is used for acquiring a parking position of the unmanned aerial vehicle parked in the parking area;

the determining module is used for determining the forward pushing stroke of the cargo forward pushing mechanism according to the parking position of the unmanned aerial vehicle parked in the parking area and the size information;

According to a fifth aspect of the embodiments of the present disclosure, there is provided an apparatus for loading of a drone, comprising:

a memory having a computer program stored thereon;

a processor for executing the computer program in the memory to implement the steps of the method of any of the first aspects above.

According to a sixth aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, performs the steps of the method of any one of the above-mentioned first aspects.

Through above-mentioned technical scheme, the distribution cabinet can acquire the distribution information when handling the goods to obtain the size information of the goods that wait to deliver. In this way, the distribution cabinet can determine the forward pushing stroke of the cargo forward pushing mechanism in the distribution cabinet based on the size information, so that the cargo forward pushing mechanism can be driven to correct the position of the cargo to be distributed on the cargo transferring mechanism according to the forward pushing stroke, and an unmanned aerial vehicle can load the cargo to be distributed. That is to say, adopt above-mentioned technical scheme, can rectify the position of the goods of waiting to deliver of not unidimensional to make unmanned aerial vehicle can load the goods of waiting to deliver of not unidimensional size, promoted unmanned aerial vehicle promptly and loaded the flexibility of goods.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure, but do not constitute a limitation of the disclosure. In the drawings:

fig. 1 is a schematic perspective view of a distribution cabinet provided in an embodiment of the present disclosure.

Fig. 2 is a schematic bottom perspective view of a distribution cabinet according to an embodiment of the disclosure, in which a transfer mechanism is illustrated.

Fig. 3 is a schematic perspective view of a cargo straightening mechanism in a distribution cabinet according to an embodiment of the present disclosure, in which a group of synchronous straightening mechanisms is illustrated.

Fig. 4 is another perspective view of the cargo straightening mechanism in the distribution cabinet according to the embodiment of the disclosure, in which two sets of synchronous straightening mechanisms are illustrated.

Fig. 5 is a schematic perspective view of a cargo transferring mechanism in a distribution cabinet according to an embodiment of the present disclosure.

Fig. 6 is a schematic perspective view of a gripping device of a cargo transferring mechanism in a distribution cabinet according to an embodiment of the disclosure, in which a claw is illustrated in an avoiding position.

Fig. 7 is another perspective view of the gripping device of the cargo transferring mechanism in the distribution cabinet according to the embodiment of the disclosure, wherein the claw is illustrated in the gripping position.

Fig. 8 is a flowchart of a method for loading a drone provided by an embodiment of the present disclosure.

Fig. 9 is a flowchart of a method for loading a drone provided by an embodiment of the present disclosure.

Fig. 10 is a schematic diagram of a distribution system provided by an embodiment of the disclosure.

Fig. 11 is a schematic diagram of a distribution system provided by an embodiment of the present disclosure.

Fig. 12 is a flowchart of a method for loading a drone provided by an embodiment of the present disclosure.

Fig. 13 is a block diagram of an apparatus for drone loading provided by an embodiment of the present disclosure.

Fig. 14 is a block diagram of an apparatus for drone loading provided by an embodiment of the present disclosure.

Description of the reference numerals

1-a cargo window; 2-taking off and landing platform; 21-a loading and unloading port; 3-a cargo straightening mechanism; 311-a first pusher; 312-a second pusher; 313-a first synchronization belt; 314-a second synchronous belt; 315-synchronizing shaft; 316-support shaft; 32-a drive device; 331-a guide rail; 332-a first slider; 333-a second slider; 34-a mounting seat; 35-a connecting plate; 4-a transfer mechanism; 41-a transfer platform; 42-a first actuation device; 43-a mounting bracket; 44-a first nut; 45-a fixed support; 46-a guide rail; 5-a goods placing platform; a 6-X direction moving mechanism; a 61-X stent; a 62-X directional guide rail; a 7-Y direction moving mechanism; 71-Y holder; 72-a drive member; 73-a slide; a 74-Y guide rail; an 8-Z direction moving mechanism; a 81-Z scaffold; 82-Z direction driving device; 83-fourth nut; 84-Z guide rail; 9-a gripping device; 91-a rotating electrical machine; 92-a jaw; 93-connecting rods; 10-a cabinet body; 101-a first cover door; 102-a second cover door; 103-a manual interaction window; 11-unmanned aerial vehicle aligning gear.

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

Before introducing the method, apparatus, storage medium, and distribution system for unmanned aerial vehicle loading of the present disclosure, a distribution cabinet according to the present disclosure will be first described. Here, for convenience of description, an XYZ coordinate system of the distribution cabinet is defined, and in a case where the user stands facing the goods window 1, a left-right direction of the user corresponds to an X direction of the distribution cabinet, a front-back direction of the user corresponds to a Y direction of the distribution cabinet, and a Z direction corresponds to a height direction of the distribution cabinet, and directional words such as "up and down" used generally mean "up and down" in the Z direction when the corresponding portion is in a use state. Furthermore, the terms "first," "second," "third," "fourth," and the like as used herein are intended to distinguish one element from another, and are not necessarily sequential or significant. Also, in the following description, when referring to the drawings, the same reference numbers in different drawings designate the same or similar elements unless otherwise explained. The foregoing definitions are provided to illustrate and describe the present disclosure only and should not be construed to limit the present disclosure.

Referring to fig. 1 to 7, there is provided a distribution cabinet including: the cabinet body 10 is provided with a goods window 1; the unmanned aerial vehicle taking-off and landing platform 2 is provided with a parking area for parking the unmanned aerial vehicle, and the parking area is provided with a loading and unloading port 21 for goods to circulate; cargo transfer mechanism, cargo transfer mechanism be used for the loading and unloading mouth 21 and a plurality of conveying goods between the goods window 1 to and the goods pushes positive mechanism 3, the goods pushes positive mechanism 3 and is used for rectifying the position that is located the goods on the cargo transfer mechanism.

To the goods mechanism of pushing forward 3, the goods pushes forward mechanism 3 can be under the operating mode operation of difference, for example at the in-process with the goods loading to unmanned aerial vehicle, and the goods is from 1 conveying of goods window to loading and unloading mouth 21 of goods transfer mechanism, before loading the goods to unmanned aerial vehicle, pushes forward mechanism 3 through the goods and can carry out position correction to the goods to in loading the unmanned aerial vehicle with the goods. Under other operating conditions, for example, under the condition that the position of the goods on the goods transfer mechanism deviates from the target position due to an accident in the process of conveying the goods, the position of the goods can be corrected through the goods straightening mechanism 3, so that the subsequent conveying of the goods is facilitated, and the risk that the goods are separated from the goods transfer mechanism in the conveying process in the cabinet body 10 is reduced or even avoided.

In addition, the goods pushes away positive mechanism 3 and can install arbitrary suitable position on the cabinet body 10 according to operating condition, for example the goods pushes away positive mechanism 3 and can install in the cabinet body 10 and be close to the setting of goods window 1, under this condition, when conveying the goods from goods window 1 to being located the goods transport mechanism, pushes away positive mechanism 3 through the goods and can rectify the position of goods, and the goods rethread goods transport mechanism after the position correction carries to loading and unloading mouth 21. In this way, correction of the cargo position is achieved before loading the cargo into the drone, so as to facilitate loading of the cargo into the drone. In some implementation scenarios, when unmanned aerial vehicle and goods transport mechanism carry out the goods handing-over, goods that mechanism 3 carries out position correction to the goods that is located on the goods transport mechanism is pushed forward to the goods in order to be convenient for the handing-over of goods between unmanned aerial vehicle and goods transport mechanism.

Referring to fig. 2, the cargo transferring mechanism includes a transfer platform 41 capable of moving to be aligned with the loading and unloading port 21, and the cargo straightening mechanism 3 is installed on one side surface of the landing platform 2 and disposed near the loading and unloading port 21. Like this, at the in-process that unmanned aerial vehicle and goods transport mechanism carried out the goods handing-over, lift the goods through transfer platform 41, after the goods is unloaded from unmanned aerial vehicle or before loading the goods to unmanned aerial vehicle, push away positive mechanism 3 through the goods and can rectify the position that is located the goods on transfer platform 41 to in the transportation of goods in the cabinet body 10 and be convenient for load the goods to unmanned aerial vehicle.

With combined reference to fig. 1 and 2, the lifting platform 2 is located at the top of the cabinet 10, the transfer platform 41 can move to below the loading and unloading opening 21 and align, and the cargo righting mechanism 3 is installed on the lower surface of the lifting platform 2. In this way, the cargo straightening mechanism 3 is completely shielded by the lifting platform 2. That is to say, the goods correcting mechanism 3 is hidden under the take-off and landing platform 2, and the whole platform of the take-off and landing platform 2 can be used as the landing area of the unmanned aerial vehicle. In addition, in other embodiments, the installation position of the cargo straightening mechanism 3 can be rationally designed based on the landing area of the unmanned aerial vehicle, and the cargo straightening mechanism 3 is designed to be installed on the upper surface of the take-off and landing platform 2. In this case, the transfer platform 41 may be designed to be able to move to the upper side of the loading/unloading port 21 and align with the loading/unloading port, and the cargo straightening mechanism 3 corrects the position of the cargo on the transfer platform 41 in the cargo transfer process of the unmanned aerial vehicle and the cargo transferring mechanism.

Further, the cargo righting mechanism 3 may be configured in any suitable manner. In one embodiment, the cargo straightening mechanism 3 may include a plurality of pushing members and a driving device 32, the pushing members sequentially end and intersect to form a ring structure for surrounding the cargo, and the driving device 32 is configured to drive each pushing member to move along two adjacent pushing members to straighten the cargo by changing the size of the ring structure, so as to ensure the position accuracy of the cargo. When the cargo straightening mechanism 3 is at the initial position, the cargo to be corrected is located in an annular area formed by an annular structure, namely the cargo to be corrected is surrounded by a plurality of pushing pieces, when the position correction of the cargo is needed, the driving device 32 drives each pushing piece to move along two adjacent pushing pieces, at the moment, the annular area formed by the annular structure is gradually reduced, and after any pushing piece moves to be in contact with the cargo, the cargo moves under the pushing of the pushing piece until the position correction is completed, so that the position correction of the cargo can be quickly realized. Further, the number of pushers may be provided as three, four, five, six, eight, etc., and the present disclosure is not particularly limited thereto. In another embodiment, the cargo-straightening mechanism 3 may include a plurality of pushers each extending along a horizontal plane and having a different extending direction, and a plurality of driving devices 32, each pusher being driven by the respective driving device 32 to move along the respective extending direction when the cargo position is corrected, and the position of the cargo is straightened by controlling the travel of the movement of each pusher.

Further, the cargo pushing mechanism 3 may include a synchronous pushing mechanism. Referring to fig. 3, the synchronous pushing mechanism may include a first pushing member 311 and a second pushing member 312 which are parallel to each other, and a synchronous transmission mechanism, the driving device 32 drives the first pushing member 311 and the second pushing member 312 to approach or move away from each other through the synchronous transmission mechanism, so that the first pushing member 311 and the second pushing member 312 move synchronously, when both the first pushing member 311 and the second pushing member 312 are in contact with the cargo, the position of the cargo is corrected by the cargo straightening mechanism 3, and at this time, the driving device 32 stops working.

As shown in fig. 3, the synchronous transmission mechanism may include a first synchronous belt 313 and a second synchronous belt 314 which are spaced and arranged in parallel, the first synchronous belt 313 and the second synchronous belt 314 are respectively arranged in an annular manner around a driving wheel and a driven wheel, the two driving wheels are coaxially connected through a synchronous shaft 315, the two driven wheels are coaxially arranged, an output shaft of the driving device 32 is connected with the synchronous shaft 315 in a transmission manner, a first end of the first pusher 311 and a first end of the second pusher 312 on the same side are connected to the first synchronous belt 313, and a second end of the first pusher 311 and a second pusher 312 on the same side are connected to the second synchronous belt 314, wherein the first pusher 311 is connected to a belt body on one side of the corresponding synchronous belt, and the second pusher 312 is connected to a belt body on the other side of the synchronous belt, that is, one of the first pusher 311 and the second pusher 312 is connected to an upper belt body of the corresponding synchronous belt, and the other of the first pusher 311 and the second pusher 312 is connected to a lower side of the corresponding synchronous belt, so that the first pusher 311 and the second pusher 312 always move in opposite directions, the driving device 32 drives the first synchronous belt 313 and the second synchronous belt 314 through the synchronous belt 315, and the second synchronous belt 314, and the first synchronous belt 313 and the second synchronous belt 314 move away from each other synchronous belt or away from each other synchronous belt, and the synchronous belt 314, and the synchronous belt 312 move away from each other synchronous belt.

In addition, the cargo straightening mechanism 3 may further include a guide rail 331 and a sliding block which are in sliding fit, the sliding block is mounted on the guide rail 331 and can slide along an extending direction of the guide rail 331, wherein the guide rail 331 extends perpendicular to a corresponding pushing member and is fixedly disposed corresponding to the take-off and landing platform 2, the pushing member is fixedly connected to the sliding block, the sliding block includes a first sliding block 332 connected to the first pushing member 311 and a second sliding block 333 connected to the second pushing member 312, and the first sliding block 332 and the second sliding block 333 have different heights and correspond to the belt bodies on different sides so as to guide the pushing member in a moving process, so as to ensure the moving accuracy and the moving stability of the pushing member.

In some implementations, the cargo is loaded by a square container. In this way, the cargo hold-down mechanism 3 comprises four pushers, and accordingly, the simultaneous pushing mechanisms are in two groups, with reference to the illustration in fig. 4, the first pushers 311 in the different groups being perpendicular to each other and the second pushers 312 in the different groups being perpendicular to each other, so that the ring-shaped structure is formed as a rectangular structure capable of accommodating a square container. Therefore, the two groups of synchronous pushing mechanisms respectively correct the length direction and the width direction of the container, and the position of the container is corrected.

In order to facilitate the arrangement of the two groups of synchronous pushing mechanisms, the cargo pushing mechanism 3 further comprises at least two mounting seats 34, the two groups of synchronous pushing mechanisms are respectively mounted on the lifting platform 2 through the mounting seats 34, one group of synchronous pushing mechanism is mounted on the side surface of the mounting seat 34, the other group of synchronous pushing mechanism is mounted on the bottom surface of the mounting seat 34 to form a height difference, and the two groups of synchronous pushing mechanisms are arranged to be located at different heights. In the specific embodiment provided by the present disclosure, referring to fig. 4, a set of synchronized pushing mechanisms is mounted on the landing platform 2 by two mounting seats 34, wherein the driving device 32 in the set is fixedly mounted on the side of one mounting seat 34, and the end of the synchronizing shaft 315 in the set is supported on the side of the other mounting seat 34. The other group of synchronous pushing mechanisms is mounted on the lifting platform 2 through four mounting seats 34, wherein two driving wheels in the group of synchronous pushing mechanisms are connected through a synchronizing shaft 315, two driven wheels are coaxially connected through a supporting shaft 316, two end parts of the synchronizing shaft 315 and the supporting shaft 316 are provided with connecting plates 35, and the connecting plates 35 are fixedly connected to the bottom surface of the mounting seats 34 so as to fixedly mount the other group of synchronous pushing mechanisms on the lifting platform 2 and ensure the mounting reliability of the synchronous pushing mechanisms and the lifting platform 2.

In some implementation scenarios, the cargo transferring mechanism further includes a gripping device 9 for transferring the cargo between different platforms along a first direction, the gripping device 9 includes a driving member 72, a sliding member 73, and a gripping member connected to the sliding member 73 and driven by the driving member 72 to reciprocate along the first direction, the gripping member includes two jaws 92 rotatably mounted on the sliding member 73 about an axis extending along the first direction, the two jaws 92 are spaced along a second direction perpendicular to the first direction, and have a gripping position (see fig. 7) where the two jaws 92 are collinear and arranged oppositely to be able to jointly abut against a same gripping side of the cargo and an avoiding position (see fig. 6) where the two jaws 92 are moved away from the gripping side of the cargo. In the clamping position, the distance between the ends of the two claws 92 is 0-10cm, so that the clamping device 9 is not limited to the size of the containers, and containers of different sizes and shapes can be suitable for the distribution cabinet provided by the disclosure, so that the goods of different sizes can be packed by the containers matched with the sizes of the containers, and the cost of the containers is reduced. In the embodiment shown in fig. 6 and 7, the gripping device 9 includes two groups of gripping members spaced apart from each other along the first direction, each group of gripping members includes two claws 92 spaced apart from each other along the second direction, the claws 92 on the same side of the two groups of gripping members are connected by corresponding connecting rods 93, and the two connecting rods 93 are respectively in transmission connection with the corresponding rotating motors 91, the connecting rods 93 are driven by the rotating motors 91 to rotate to turn the claws 92 on the same side, so as to switch between a gripping position and an avoiding position, in the gripping position, the claws 92 in the same group of gripping members are collinear and are arranged opposite to each other to be able to commonly abut against the same gripping side of the goods, as shown in fig. 7, and in the avoiding position, the claws 92 are moved away from the gripping side of the goods, as shown in fig. 6. The travel required for the slide 73 can be shortened by the provision of two sets of gripping members and the transfer of goods between the goods window 1 and the transfer platform 41 by the gripping device 9 is facilitated.

In the embodiment provided by the present disclosure, the cargo transferring mechanism further includes a transfer conveyor 4 and a receiving and dispatching conveyor, the transfer conveyor 4 is located below the loading and unloading port 21 and used for making the transfer platform 41 move back and forth along the longitudinal direction, and the receiving and dispatching conveyor includes a loading platform 5 for conveying the cargo between the transfer platform 41 and the cargo window 1. The movement range of the receiving and transmitting mechanism can be rationalized by arranging the transfer conveying mechanism 4, so that the movement range of the receiving and transmitting mechanism is arranged between the cargo window 1 which is highest along the Z direction and the cargo window 1 which is lowest along the Z direction, the movement range of the receiving and transmitting mechanism is reduced to the minimum, and the working efficiency is improved.

Wherein the transfer transmission structure may be configured in any suitable manner, and optionally, the transfer transmission mechanism 4 includes a first actuating device 42 and a fixed bracket 45 extending along the Z direction, the transfer platform 41 is slidably connected to the fixed bracket 45, and the first actuating device 42 drives the transfer platform 41 to move on the fixed bracket 45 along the Z direction. The first actuating device 42 may be configured in any suitable manner, and alternatively, the first actuating device 42 may be configured as a linear motor, an air cylinder, or the like, which is disposed on the fixed bracket 45 and connected with the relay platform 41 such that the relay platform 41 moves on the fixed bracket 45 in the Z direction.

In an embodiment provided by the present disclosure, the transferring and conveying mechanism 4 may further include a first transmission structure, the first transmission structure may be configured in any suitable manner, and optionally, the first transmission structure may include a first lead screw and a first nut 44 that are matched with each other, the first lead screw is disposed on the fixing bracket 45 and extends along the Z direction, the transferring platform 41 is connected with the first nut 44 through a mounting bracket 43, the first actuating device 42 is disposed on the fixing bracket 45 and configured as a motor, and the first lead screw is connected with an output shaft of the motor to drive the transferring platform 41 to move on the fixing bracket 45 along the Z direction through driving of the motor. In some embodiments provided by the present disclosure, the first transmission structure may be further configured as a rack and pinion transmission structure, a belt transmission structure, or the like, and the output shaft of the motor is connected to a transmission gear in the rack and pinion transmission structure or a transmission belt in the belt transmission structure to convert the rotary motion of the motor into a linear motion through the rack and pinion transmission structure or the belt transmission structure, so that the transfer platform 41 moves on the fixed bracket 45 in the Z direction.

In order to guide the transfer platform 41 to move in the Z direction, a first guiding structure is disposed between the first nut 44 and the fixing bracket 45, the first guiding structure includes a guiding slide rail 46 and a first sliding slot, the guiding slide rail 46 is disposed on one of the first nut 44 and the fixing bracket 45, and the first sliding slot is disposed on the other of the first nut 44 and the fixing bracket 45. In the specific embodiment provided by the present disclosure, the guiding slide rail 46 is disposed on the fixing bracket 45, the first sliding groove is disposed on the first nut 44, and the first nut 44 slides on the fixing bracket 45 under the driving of the first actuating device 42, so that the transferring platform 41 moves on the fixing bracket 45 along the Z direction.

In addition, the transfer transmission mechanism 4 can be adaptively designed according to different application scenes, and the distribution cabinet is integrated with a high-rise building, so that the distribution cabinet can be applied to various scenes, such as an unmanned distribution warehouse, a merchant terminal, a residential building, a strict entrance guard research institute or an industrial park. As an exemplary application of the present disclosure, the above distribution cabinet may be used in a logistics system in which a merchant (such as a manufacturer, a restaurant, a department store, etc.) automatically distributes goods such as express delivery, takeaway, etc., and then the take-off and landing platform 2 may be installed on a top floor of a building in which the merchant is located, so as to facilitate parking of an unmanned aerial vehicle. Wherein, goods window 1 can set up to a plurality ofly to every goods window 1 sets up respectively in a plurality of shops in this building correspondingly, the trade company only need put in the goods to corresponding goods window 1, the goods is through receiving and dispatching transport mechanism and transfer transport mechanism 4 with the goods from goods window 1 conveying to loading and unloading mouth 21, and correct the position of goods through goods forward mechanism 3, and then load in unmanned aerial vehicle's cargo hold, deliver to the goods by unmanned aerial vehicle.

In addition, the distribution cabinet can be used for storing goods such as express delivery or takeaway at a consumer end (such as an office building, a residential building and the like). Wherein, take off and land platform 2 can install the top layer at the building that the consumer end was located to in unmanned aerial vehicle parks, goods window 1 can set up to a plurality ofly, and unmanned aerial vehicle unloads the back with the goods from unmanned aerial vehicle's cargo hold, conveys the goods to goods window 1 from loading and unloading mouth 21 through transfer transport mechanism 4 and receiving and dispatching transport mechanism, in order to deposit the goods.

In the embodiment provided in the present disclosure, the cargo window 1 may be arranged in the longitudinal direction and the lateral direction, and as shown in fig. 5, the transceiving transfer mechanism includes an X-direction moving mechanism 6, a Y-direction moving mechanism 7, and a Z-direction moving mechanism 8, and the X-direction moving mechanism 6, the Y-direction moving mechanism 7, and the Z-direction moving mechanism 8 are used to move the cargo placement platform 5 in the X-direction, the Y-direction, and the Z-direction, respectively, to transfer the cargo between the cargo window 1 and the transit platform 41.

In the specific embodiment provided by the present disclosure, the Y-direction moving mechanism 7 may be configured in any suitable manner, and alternatively, the Y-direction moving mechanism 7 may include a Y-bracket 71 extending along the Y-direction, the goods placing platform 5 is fixed to the Y-bracket 71, the gripping device 9 is slidably connected to the Y-bracket 71 through a slider 73, and a driving member 72 causes the gripping device 9 to move on the Y-bracket 71 along the Y-direction through a second transmission structure, so as to transfer goods between the goods placing platform 5 and the transfer platform 41 and the goods window 1. The Y-direction moving mechanism 7 includes two Y-brackets 71 extending along the Y-direction and disposed parallel to each other to support the second transmission mechanism and the gripping device 9.

Wherein the second transmission structure may be configured in any suitable manner. In an embodiment provided by the present disclosure, the second transmission structure may be configured as a screw nut transmission mechanism, and includes a second screw and a second nut that are engaged with each other, the above-mentioned sliding part 73 is configured as a second nut, the clamping device 9 is fixedly disposed on the sliding part 73, the second screw is disposed on the Y bracket 71 and extends in the Y direction, the driving part 72 is disposed on the Y bracket 71 and configured as a motor, and the second screw is connected to an output shaft of the motor to drive the clamping device 9 to move in the Y direction through driving of the motor, so as to push the goods out of the transfer platform 41 or pull the goods back onto the transfer platform 41. In some embodiments provided by the present disclosure, the second transmission structure may be further configured as a rack and pinion transmission structure, a belt transmission structure, or the like, and an output shaft of the motor is connected to a transmission gear in the rack and pinion transmission structure or a transmission belt in the belt transmission structure to convert a rotational motion of the motor into a linear motion through the rack and pinion transmission structure or the belt transmission structure, so that the gripping device 9 moves on the Y carriage 71 in the Y direction. In other embodiments provided by the present disclosure, the driving member 72 may be configured as a linear motor, an air cylinder, or the like, which is provided on the Y bracket 71 and connected with the gripping device 9 such that the gripping device 9 moves on the Y bracket 71 in the Y direction.

In order to guide the gripping device 9 to move in the Y direction, a Y-guide structure is provided between the slide 73 and the Y support 71, the Y-guide structure includes a Y-guide rail 74 and a Y-runner, the Y-guide rail 74 is provided on one of the slide 73 and the Y support 71, and the Y-runner is provided on the other of the slide 73 and the Y support 71. Referring to fig. 6 and 7, in the embodiment, a Y-directional guide 74 is provided on the Y-bracket 71, a Y-directional chute is provided on a slider 73, and the slider 73 slides on the Y-directional guide 74 by a driving member 72 to move the gripping device 9 on the Y-bracket 71 in the Y-direction.

In the specific embodiment provided in the present disclosure, the X-direction moving mechanism 6 may be configured in any suitable manner, and optionally, the X-direction moving mechanism 6 may include an X bracket 61 extending along the X direction, an X-direction driving device 32, and a third transmission structure, wherein the Y bracket 71 is slidably connected to the X bracket 61, and the X-direction driving device 32 enables the Y bracket 71 to move on the X bracket 61 along the X direction through the third transmission structure, so as to realize the transportation of the goods in the X direction.

Wherein the third transmission structure may be configured in any suitable manner. In one embodiment provided by the present disclosure, the third transmission structure may include a third screw rod and a third nut which are matched with each other, the third screw rod is disposed on the X bracket 61 and extends along the X direction, the Y bracket 71 is disposed on the third nut, the X-direction driving device 32 is disposed on the X bracket 61 and is configured as a motor, and the third screw rod is connected with an output shaft of the motor to drive the Y bracket 71 to move on the X bracket 61 along the X direction through the driving of the motor. In some embodiments provided by the present disclosure, the third transmission structure may be further configured as a rack and pinion transmission structure, a belt transmission structure, or the like, and the output shaft of the motor is connected to a transmission gear in the rack and pinion transmission structure or a transmission belt in the belt transmission structure to convert the rotational motion of the motor into a linear motion through the rack and pinion transmission structure or the belt transmission structure, so that the Y carriage 71 moves on the X carriage 61 in the X direction. In other embodiments provided by the present disclosure, the X-direction driving device 32 may be configured as a linear motor, an air cylinder, or the like, which is provided on the X-bracket 61 and connected with the Y-bracket 71 such that the Y-bracket 71 moves on the X-bracket 61 in the X-direction.

In order to guide the Y bracket 71 to move along the X direction, an X-direction guide structure is disposed between the third nut and the X bracket 61, the X-direction guide structure includes an X-direction guide rail 62 and an X-direction runner, the X-direction guide rail 62 is disposed on one of the third nut and the X bracket 61, and the X-direction runner is disposed on the other of the third nut and the X bracket 61. In the specific embodiment provided by the present disclosure, the X-direction guide rail 62 is provided on the X-bracket 61, the X-direction chute is provided on the third nut, and the third nut slides on the X-direction guide rail 62 under the drive of the X-direction drive device 32, so that the Y-bracket 71 moves on the X-bracket 61 in the X direction.

In the specific embodiment provided in the present disclosure, the Z-direction moving mechanism 8 may be configured in any suitable manner, and optionally, the Z-direction moving mechanism 8 includes a Z bracket 81 extending along the Z direction, a Z-direction driving device 82, and a fourth transmission structure, the X bracket 61 is slidably connected to the Z bracket 81, and the Z-direction driving device 82 enables the X bracket 61 to move on the Z bracket 81 along the Z direction through the fourth transmission structure. Wherein, the Z-direction moving mechanism 8 includes two Z-brackets 81 extending along the Z-direction and disposed parallel to each other to support the fourth transmission structure.

Wherein the fourth transmission structure may be configured in any suitable manner. In one embodiment provided by the present disclosure, the fourth transmission structure may include a fourth lead screw and a fourth nut 83, which are engaged with each other, the fourth lead screw is disposed on the Z bracket 81 and extends along the Z direction, the X bracket 61 is disposed on the fourth nut 83, the Z-direction driving device 82 is disposed on the Z bracket 81 and is configured as a motor, and the fourth lead screw is connected to an output shaft of the motor to drive the X bracket 61 to move on the Z bracket 81 along the Z direction through driving of the motor. In some embodiments provided by the present disclosure, the fourth transmission structure may be further configured as a rack and pinion transmission structure, a belt transmission structure, or the like, and an output shaft of the motor is connected with a transmission gear in the rack and pinion transmission structure or a transmission belt in the belt transmission structure to convert a rotary motion of the motor into a linear motion through the rack and pinion transmission structure or the belt transmission structure, so that the X bracket 61 moves on the Z bracket 81 in the Z direction. In other embodiments provided by the present disclosure, the Z-direction driving device 82 may be configured as a linear motor, an air cylinder, or the like, which is provided on the Z-bracket 81 and connected with the X-bracket 61 so that the X-bracket 61 moves on the Z-bracket 81 in the Z-direction.

Wherein, in order to guide the X bracket 61 to move along the Z direction, a Z-direction guide structure is arranged between the fourth nut 83 and the Z bracket 81, the Z-direction guide structure comprises a Z-direction guide rail 84 and a Z-direction chute which are matched with each other, the Z-direction guide rail 84 is arranged on one of the fourth nut 83 and the Z bracket 81, and the Z-direction chute is arranged on the other of the fourth nut 83 and the Z bracket 81. Referring to the embodiment shown in fig. 3, the Z-guide rail 84 is provided on the Z-bracket 81, the Y-runner is provided on the fourth nut 83, and the fourth nut 83 slides on the Z-guide rail 84 under the drive of the Z-drive device 82 to move the X-bracket 61 on the Z-bracket 81 in the Z-direction.

In the specific embodiment provided by the present disclosure, the cabinet 10 has an actuating device and a top cover, the top cover has a first cover door 101 and a second cover door 102, the actuating device actuates the first cover door 101 and the second cover door 102 to move towards each other to close the loading and unloading opening 21 and protect the lifting platform 2; the actuating device actuates the first cover door 101 and the second cover door 102 to move away from each other to expose the loading/unloading opening 21. During loading or unloading, the controller controls the actuating device to open the top cover in advance so as to facilitate parking of the unmanned aerial vehicle. Wherein, the cabinet body 10 is further provided with a manual interaction window 103 for information interaction between the system and the user.

During loading goods, a merchant places the goods in the goods window 1, the receiving and dispatching conveying mechanism moves to the corresponding goods window 1 with goods, the clamping device 9 conveys the goods at the goods window 1 to the goods placing platform 5, and the receiving and dispatching conveying mechanism moves to the corresponding position of the transfer conveying mechanism 4; the transfer conveying mechanism 4 moves the transfer platform 41 to a position corresponding to the goods placing platform 5, and the clamping device 9 conveys the goods from the goods placing platform 5 to the transfer platform 41; transfer transport mechanism 4 will be located the below of goods conveying to loading and unloading mouth 21 on transfer platform 41 and make the goods be located the annular structure that the impeller encloses, and goods is pushed forward mechanism 3 and is rectified the position of goods, and then loads in unmanned aerial vehicle's cargo hold, is delivered the goods by unmanned aerial vehicle.

In the process of unloading goods, the transfer platform 41 is moved to the lower part of the loading and unloading port 21 by the transfer conveying mechanism 4, and the receiving and transmitting conveying mechanism is moved to the position corresponding to the transfer conveying mechanism 4; the transfer conveying mechanism 4 moves the goods on the transfer platform 41 from the loading and unloading port 21 to a position corresponding to the goods placing platform 5, and the clamping device 9 conveys the goods from the transfer platform 41 to the goods placing platform 5; the goods are conveyed to the position corresponding to the goods window 1 by the receiving and conveying mechanism, the goods are conveyed to the goods window 1 from the goods placing platform 5 by the clamping device 9, after a user receives a goods taking instruction, the user arrives at the specified goods window 1 to scan a code so as to open the cabinet door to take the goods, the cabinet door is closed, and a sensor in the goods window 1 executes the next order after detecting that the goods are taken away. Wherein, after the goods unloaded to being located transfer platform 41 from unmanned aerial vehicle, goods are pushed forward mechanism 3 and can be rectified the position of the goods that are located transfer platform 41 to in the transport of goods in the cabinet body 10.

Fig. 8 is a flowchart illustrating a method for loading a drone, as applied to the above-described distribution cabinets, in accordance with an exemplary embodiment of the present disclosure. As shown in fig. 8, the method includes:

in step S21, delivery information including size information of goods to be delivered is acquired.

In some implementations, the distribution cabinet may obtain the distribution information from a distribution server. By taking the goods to be delivered as the takeout food as an example, after the user places an order on the takeout platform, the merchant terminal can package the food corresponding to the order. After the packaging is completed, the merchant may place the goods to be delivered (i.e., the packaged food) in the goods window 1 of the delivery cabinet, and send the size information of the packaged food to the delivery server. In this way, the distribution cabinet can acquire the distribution information through the distribution server.

Further, in some scenarios, the meal items may also be packaged based on a container. In this case, the goods to be delivered may refer to a container for receiving the goods to be delivered. Accordingly, the size information may refer to size information of the container.

In other embodiments, the delivery information may be generated by the delivery cabinet in response to a user's operation. Following the above example of the goods to be delivered as the takeaway food, the delivery cabinet may include, for example, a button, a touch screen, and other human-computer interaction components. In this way, when the merchant places the goods to be delivered into the goods window 1, the size information of the goods to be delivered can be input based on the human-computer interaction component.

For example, in some scenarios, the man-machine interaction components of the distribution cabinet may include a button S, a button M, and a button L for sequentially characterizing the dimensions of the goods to be distributed as 10 × 10, 15 × 15, 20 × 20 (length × width × height, unit: cm). In this way, when the merchant places the goods to be delivered into the goods window 1, the size information of the goods to be delivered can be input based on the human-computer interaction component. If the merchant presses the button S, the distribution cabinet may determine that the size of the goods to be distributed is 10 × 10, that is, the distribution information is obtained.

After the distribution information is acquired, in step S22, a forward stroke of the cargo forward pushing mechanism 3 is determined according to the size information, and the cargo forward pushing mechanism 3 is driven to correct the position of the cargo to be distributed on the cargo transferring mechanism according to the forward stroke, so that the unmanned aerial vehicle can load the cargo to be distributed.

It will be appreciated that for different sizes of goods to be delivered, different push strokes may be required in correcting the position of the goods. Therefore, in the present embodiment, the push-forward stroke corresponding to the goods to be delivered may be determined based on the size information of the goods to be delivered.

For example, in some implementation scenarios, a correspondence table between the size and the forwarding stroke of the goods forwarding mechanism 3 may be stored in advance in the storage medium of the distribution cabinet. In this case, the distribution cabinet may query the correspondence table based on the acquired size information of the goods to be distributed, so as to determine the forward stroke of the goods forward mechanism 3. Of course, in some embodiments, the distribution cabinet may also calculate the push stroke based on the size information of the goods to be distributed, which is not limited in this disclosure.

After the forward stroke is obtained, the delivery cabinet may drive the cargo forward mechanism 3 to correct the position of the cargo to be delivered on the cargo transfer mechanism based on the forward stroke, so that the unmanned aerial vehicle loads the cargo to be delivered.

The drone may be any type of drone having a cargo hold for transporting cargo, for example. Correspondingly, take-off and landing platform 2, goods transport mechanism and goods window 1 can design according to unmanned aerial vehicle's model and goods size adaptability to use in the scene of difference, this disclosure does not do specific restriction to this.

In addition, the above-mentioned unmanned aerial vehicle may have a built-in or external cargo hold, and a locking mechanism for fixing the cargo may be provided in the cargo hold to prevent the cargo from falling or moving (e.g., shaking or swinging) during transportation. The locking mechanism can be an electric buckle, an automatic door opening and closing mechanism and the like, and when goods are conveyed into the cargo hold, the locking mechanism can automatically lock the goods, so that the goods to be delivered are loaded. When the cargo is being unloaded, the locking mechanism may automatically release the cargo to allow the cargo to be unloaded from the cargo compartment.

By adopting the technical scheme, the distribution cabinet can acquire distribution information when processing the goods, so that the size information of the goods to be distributed is acquired. In this way, the distribution cabinet can determine the forward stroke of the cargo pushing mechanism 3 in the distribution cabinet based on the size information, so that the cargo pushing mechanism 3 can be driven to correct the position of the cargo to be distributed on the cargo transferring mechanism according to the forward stroke, so that the unmanned aerial vehicle can load the cargo to be distributed. That is to say, adopt above-mentioned technical scheme, can rectify the position of the goods of waiting to deliver of not unidimensional to make unmanned aerial vehicle can load the goods of waiting to deliver of not unidimensional size, promoted unmanned aerial vehicle promptly and loaded the flexibility of goods.

Referring to fig. 1, and to the flow chart of a method for drone loading shown in fig. 9, in a possible embodiment, the distribution cabinet may also comprise a plurality of cargo windows 1. In this case, the delivery information acquired in step S31 may include size information of the goods to be delivered and information representing the target goods window 1. In the above example of the goods to be delivered being the takeout food, in the case that the delivery cabinet includes a plurality of goods windows 1, after the goods to be delivered are placed in the goods windows 1 of the delivery cabinet, the merchant terminal may further send information of the goods windows 1, for example, number information, position information, and the like of the goods windows 1, to the delivery server.

Accordingly, in step S32, a forward stroke of the cargo pushing mechanism 3 corresponding to the target cargo window 1 is determined according to the size information, and the cargo pushing mechanism 3 is driven according to the forward stroke to correct the position of the cargo to be delivered on the cargo transferring mechanism.

For example, the distribution cabinet may include a goods window a and a goods window B, and the goods window a is used for placing goods a to be distributed. In this way, when placing the goods to be delivered, the merchant may place the goods to be delivered in the vacant goods window B, and send the number B of the goods window 1 corresponding to the goods to be delivered to the delivery server. In this way, the distribution cabinet can determine the push-forward stroke of the cargo push-forward mechanism 3 corresponding to the cargo to be distributed in the cargo window B according to the size information of the cargo to be distributed. That is, according to the above-described technical solution, when the distribution cabinet includes a plurality of goods to be distributed, the distribution cabinet can also distinguish the goods to be distributed, and determine the push-forward stroke of the goods push-forward mechanism 3 corresponding to the goods to be distributed based on the size information of the goods to be distributed.

In one possible embodiment, the method further comprises:

and acquiring a parking position of the unmanned aerial vehicle parked in the parking area.

For example, the distribution cabinet may further include a drone correcting mechanism for correcting the position of a drone in a parking zone in the landing platform 2, for correcting the position of a drone landing in the parking zone. In this way, the position of the drone within the parking zone (e.g., the drone that lands into the parking zone) may be corrected by the drone correcting mechanism. In this case, the parking position of the drone may refer to a position where the drone is located after the drone is subjected to position correction by the drone correcting mechanism.

Further, the determining a forward stroke of the cargo forward pushing mechanism 3 according to the size information, and driving the cargo forward pushing mechanism 3 according to the forward stroke to correct the position of the cargo to be delivered on the cargo transferring mechanism (step S22) may include:

determining a forward pushing stroke of the cargo forward pushing mechanism 3 according to the parking position of the unmanned aerial vehicle parked in the parking area and the size information, and driving the cargo forward pushing mechanism 3 to correct the position of the cargo to be delivered on the cargo transferring mechanism according to the forward pushing stroke.

It should be understood that, since there may be corresponding differences in the parking positions of the drones, after correcting the position of the goods to be delivered based on the size information of the goods to be delivered, the drones may still be unable to load the goods to be delivered. Therefore, in this embodiment, the push stroke of the cargo push-right mechanism 3 may be determined based on the parking position where the unmanned aerial vehicle is parked in the parking area and the size information, and the position of the cargo to be delivered may be corrected. Here, the correction of the cargo located on the cargo transferring mechanism may be made to correspond to the position of the drone. Like this, the goods need not to fix a position goods and unmanned aerial vehicle before loading unmanned aerial vehicle, is convenient for load the goods in unmanned aerial vehicle.

The present disclosure also provides a distribution system, which includes a distribution server and a distribution cabinet, referring to a schematic diagram of a distribution system shown in fig. 10.

The distribution server is used for sending distribution information to the distribution cabinet. Taking a takeaway scenario as an example, the delivery server may be a delivery server of a takeaway platform, for example. When a new order is generated, the merchant terminal can pack the food corresponding to the order. After packaging is completed, a delivery request is sent to the delivery server, which may include, for example, size information of the goods to be delivered (i.e., packaged food items). In some implementation scenarios, the size information of the goods to be delivered may also be determined by the delivery server according to the type, weight, and the like of the goods.

After receiving the delivery request, the delivery server may send the delivery information to the delivery cabinet in response to the delivery request, where the delivery information includes information on the size of the goods to be delivered, so that the delivery cabinet corrects the location of the goods to be delivered.

The distribution cabinet may be, for example, the distribution cabinet described in the above embodiment, the distribution cabinet includes a cabinet body, a lifting platform 2, a cargo transferring mechanism, a cargo straightening mechanism 3, and a controller connected to the cargo straightening mechanism 3, the cabinet body is provided with a cargo window 1, the lifting platform 2 has a parking area for placing an unmanned aerial vehicle, the parking area is formed with a loading and unloading opening 21 for goods to circulate, and the cargo transferring mechanism is used for transferring goods between the loading and unloading opening 21 and the cargo window 1.

The controller is used for determining the forward pushing stroke of the cargo forward pushing mechanism 3 according to the size information, and driving the cargo forward pushing mechanism 3 to correct the position of the cargo to be delivered on the cargo transferring mechanism according to the forward pushing stroke, so that the unmanned aerial vehicle can load the cargo to be delivered.

It will be appreciated that for different sizes of goods to be delivered, different push strokes may be required in correcting the position of the goods. Therefore, in the present embodiment, the push stroke corresponding to the goods to be delivered may be determined based on the size information of the goods to be delivered.

For example, in some implementation scenarios, the storage medium of the distribution cabinet may store a correspondence table between the size and the pushing stroke of the cargo pushing mechanism 3 in advance. In this case, the distribution cabinet may query the correspondence table based on the acquired size information of the goods to be distributed, so as to determine the straightening stroke of the goods straightening mechanism 3. Of course, in some embodiments, the distribution cabinet may also calculate the push stroke based on the size information of the goods to be distributed, which is not limited by the present disclosure.

It is worth mentioning that, in some possible implementation scenarios, the delivery server may be further configured to determine a target drone based on the size information of the goods to be delivered, and send delivery task information to the target drone. The delivery task information may include, for example, location information of the delivery cabinets and end point information of the delivery tasks. Therefore, the unmanned aerial vehicle can land to the parking area of the distribution cabinet based on the distribution task information, load goods and further distribute the goods to be distributed to the end point of the distribution task.

By adopting the technical scheme, the distribution cabinet can receive the distribution information sent by the distribution server, so that the size information of the goods to be distributed is obtained. In this way, the distribution cabinet can determine the forward stroke of the cargo pushing mechanism 3 in the distribution cabinet based on the size information, so that the cargo pushing mechanism 3 can be driven to correct the position of the cargo to be distributed on the cargo transferring mechanism according to the forward stroke, so that the unmanned aerial vehicle can load the cargo to be distributed. That is to say, adopt above-mentioned technical scheme, can rectify the position of the goods of waiting to deliver of not unidimensional to make unmanned aerial vehicle can load the goods of waiting to deliver of not unidimensional size, promoted unmanned aerial vehicle promptly and loaded the flexibility of goods.

Fig. 11 is a schematic diagram of a distribution system according to an exemplary embodiment of the present disclosure, as shown in fig. 11, the distribution system further includes a drone hangar based on fig. 10.

The distribution server is further used for sending the distribution information to the unmanned aerial vehicle hangar.

Wherein the drone hangar may include, for example, multiple types of drones. For example, the drone library may include, for example, drone type S, drone type M, and drone type L, for characterizing in turn the size of the drone cargo by a maximum of 10 × 10, 15 × 15, 20 × 20 (length × width × height, unit: cm). Of course, the type of drone may also be set based on the weight of the payload, which the present disclosure does not limit. In this way, the delivery server may send delivery information to the drone hangar to determine a target drone corresponding to the cargo to be delivered.

The unmanned aerial vehicle hangar is used for determining an unmanned aerial vehicle meeting the size information from a plurality of unmanned aerial vehicles as a target unmanned aerial vehicle according to the size information of the goods to be delivered. Following the above example, when the size of the goods to be delivered in the delivery information is 10 × 10, the unmanned aerial vehicle hangar may use an unmanned aerial vehicle of type S as the target unmanned aerial vehicle.

Of course, in some implementation scenarios, the number of drones of type S may be multiple. In this case, the drone hangar may also determine the target drone, for example, based on the load of each type S drone. For example, the unmanned aerial vehicle of the type S with the smallest number of tasks may be taken as the target unmanned aerial vehicle by counting the number of tasks that have been completed by each unmanned aerial vehicle of the type S.

The distribution server is further used for controlling the target unmanned aerial vehicle to fly to the distribution cabinet to load the goods to be distributed. Referring to fig. 11, after the target drone is determined, the drone hangar may further send target drone information to the distribution server, so that the distribution server controls the target drone to fly to the distribution cabinet to load the goods to be distributed. For example, the delivery server may send delivery task information to the target drone, where the delivery task information may include, for example, location information of a delivery cabinet and location information of a delivery endpoint, so that the drone performs a delivery task according to the delivery task information.

Further, in some embodiments, the delivery mission information may also be sent by the drone hangar. The drone hangar may send the delivery task information to the target drone after determining the target drone. Accordingly, in this case, the delivery information sent by the delivery server to the unmanned aerial vehicle hangar may include the location information of the delivery cabinet and the location information of the delivery destination.

Among the above-mentioned technical scheme, the unmanned aerial vehicle hangar can be based on the size information determination corresponding target unmanned aerial vehicle of the goods of waiting to deliver. For example, when the size of the cargo to be delivered is small, the unmanned aerial vehicle with low load capacity may be used as the target unmanned aerial vehicle, and when the size of the cargo to be delivered is large, the unmanned aerial vehicle with high load capacity may be used as the target unmanned aerial vehicle. Consequently, adopt above-mentioned technical scheme, can be nimble based on waiting to deliver the size selection unmanned aerial vehicle of goods, help reducing the wasting of resources of unmanned aerial vehicle delivery in-process.

Still referring to fig. 11, in one possible implementation, the delivery server is further configured to:

and receiving the size information of the container for packing the goods purchased by the user side, which is sent by the container management side, so as to obtain the size information of the goods to be distributed.

For example, after obtaining the order information, a clerk at the container management end may pack the corresponding articles into the containers based on the order information, and place the containers into the distribution cabinets. In addition, the clerk may also send information on the size of the container to the distribution server, for example, so that the distribution server can perform subsequent processing.

Of course, in some implementations, the container management end may also be part of a retail store, for example. In this case, the unmanned vending shop may perform processes such as selection, packing, and transfer of the items after receiving the order information transmitted from the distribution server, and transmit size information of a packing box for packing the items purchased at the user side to the distribution server.

Fig. 12 is a flowchart of a method for unmanned aerial vehicle loading according to an exemplary embodiment of the present disclosure, where the method may be applied to a distribution system in the above embodiments, the distribution system includes a distribution server, a distribution cabinet, the distribution cabinet may be, for example, the above distribution cabinet, and the method includes;

and S61, the distribution server sends distribution information to the distribution cabinet, wherein the distribution information comprises the size information of the goods to be distributed.

Taking a takeaway scenario as an example, the delivery server may be a delivery server of a takeaway platform, for example. When a new order is generated, the merchant terminal can pack the food corresponding to the order. After packaging is completed, a delivery request is sent to the delivery server, which may include, for example, size information of the goods to be delivered (i.e., packaged food items). In some implementation scenarios, the size information of the goods to be delivered may also be determined by the delivery server according to the type, weight, and the like of the goods.

S62, the distribution cabinet receives the distribution information, determines the forward pushing stroke of the cargo forward pushing mechanism 3 according to the size information, and drives the cargo forward pushing mechanism 3 to correct the position of the cargo to be distributed on the cargo transferring mechanism according to the forward pushing stroke, so that the unmanned aerial vehicle can load the cargo to be distributed.

For example, in some implementation scenarios, a correspondence table between the size and the forwarding stroke of the goods forwarding mechanism 3 may be stored in advance in the storage medium of the distribution cabinet. In this case, the distribution cabinet may query the correspondence table based on the acquired size information of the goods to be distributed, so as to determine the straightening stroke of the goods straightening mechanism 3. Of course, in some embodiments, the distribution cabinet may also calculate the push stroke based on the size information of the goods to be distributed, which is not limited by the present disclosure.

After the forward stroke is obtained, the distribution cabinet may drive the cargo forward mechanism 3 to correct the position of the cargo to be distributed on the cargo transferring mechanism based on the forward stroke, so that the unmanned aerial vehicle loads the cargo to be distributed.

and the distribution server sends the distribution information to the unmanned aerial vehicle hangar. The drone aircraft library may include, for example, multiple types of drones. For example, the drone library may include, for example, drone type S, drone type M, and drone type L, for characterizing drone loads in turn by maximum size 10 × 10, 15 × 15, 20 × 20 (length × width, height, unit: cm). Of course, the type of drone may also be set based on the weight of the payload, which the present disclosure does not limit. In this way, the delivery server may send delivery information to the drone hangar to determine a target drone corresponding to the cargo to be delivered.

And the unmanned aerial vehicle hangar determines an unmanned aerial vehicle meeting the size information from a plurality of unmanned aerial vehicles as a target unmanned aerial vehicle according to the size information of the goods to be delivered. Following the above example, when the size of the goods to be delivered in the delivery information is 10 × 10, the unmanned aerial vehicle hangar may use an unmanned aerial vehicle of type S as the target unmanned aerial vehicle.

After determining the target drone, the delivery server may control the target drone to fly to the delivery cabinet to load the goods to be delivered. Referring to fig. 11, after the target drone is determined, the drone hangar may further send target drone information to the distribution server, so that the distribution server controls the target drone to fly to the distribution cabinet to load the goods to be distributed. For example, the delivery server may send delivery task information to the target drone, where the delivery task information may include, for example, location information of a delivery cabinet and location information of a delivery endpoint, so that the drone performs a delivery task according to the delivery task information.

Of course, in some implementations, the container management end may also be part of an unmanned store, for example. In this case, the unmanned shop may perform processes such as selection, packing, and transmission of the items after receiving the order information transmitted from the distribution server, and transmit the size information of the container for packing the items purchased at the user side to the distribution server.

The present disclosure also provides an apparatus for loading a drone, referring to a block diagram of an apparatus for loading a drone shown in fig. 13, which may be applied to the above-mentioned distribution cabinet, the apparatus 700 including:

an obtaining module 701, configured to obtain distribution information, where the distribution information includes size information of goods to be distributed;

a determining module 702, configured to determine a pushing stroke of the cargo pushing mechanism according to the size information;

the driving module 703 is configured to drive the cargo straightening mechanism to correct the position of the cargo to be delivered on the cargo transferring mechanism according to the straightening stroke, so that the unmanned aerial vehicle loads the cargo to be delivered.

Through above-mentioned technical scheme, the distribution cabinet can acquire the distribution information when handling the goods to obtain the size information of the goods that wait to deliver. In this way, the distribution cabinet can determine, based on the size information, a pushing stroke of a cargo pushing mechanism in the distribution cabinet, so that the cargo pushing mechanism can be driven to correct the position of the cargo to be distributed on the cargo transferring mechanism according to the pushing stroke, and an unmanned aerial vehicle can load the cargo to be distributed. That is to say, adopt above-mentioned technical scheme, can rectify the position of not unidimensional goods of waiting to deliver to make unmanned aerial vehicle can load not unidimensional goods of waiting to deliver, promoted unmanned aerial vehicle promptly and loaded the flexibility of goods.

Optionally, a plurality of cargo windows are disposed on the cabinet body, the distribution information further includes information representing a target cargo window, and correspondingly, the determining module 702 is configured to determine, according to the size information, a forward stroke of a cargo forward mechanism corresponding to the target cargo window;

the driving module 703 is configured to drive the cargo straightening mechanism to correct the position of the cargo to be delivered on the cargo transferring mechanism according to the straightening stroke.

Optionally, the apparatus 700 further comprises:

the determining module 702 is configured to determine a push stroke of the cargo push mechanism according to a parking position where the unmanned aerial vehicle is parked in the parking area and the size information;

With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

The present disclosure also provides a device for unmanned aerial vehicle loading, including:

a memory having a computer program stored thereon;

a processor for executing the computer program in the memory to implement the steps of the method in any of the embodiments provided by the present disclosure.

The present disclosure also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method described in any of the embodiments provided by the present disclosure.

Fig. 14 is a block diagram illustrating an apparatus 800 for drone loading according to an example embodiment. As shown in fig. 14, the apparatus 800 for drone loading may include: a processor 801, a memory 802. The apparatus 800 for drone loading may also include one or more of a multimedia component 803, an input/output (I/O) interface 804, and a communication component 805.

The processor 801 is configured to control the overall operation of the apparatus 800 for loading drone, so as to complete all or part of the steps of the method for loading drone. The memory 802 is used to store various types of data to support operation of the apparatus for drone loading 800, which may include, for example, instructions for any application or method operating on the apparatus for drone loading 800, as well as application-related data, such as information transceived, logs, and the like. The Memory 802 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), electrically Erasable Programmable Read-Only Memory (EEPROM), erasable Programmable Read-Only Memory (EPROM), programmable Read-Only Memory (PROM), read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk or optical disk. The multimedia components 803 may include screen and audio components. Wherein the screen may be, for example, a touch screen and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may comprise at least one speaker for outputting audio signals. The I/O interface 804 provides an interface between the processor 801 and other interface modules, such as a keyboard, buttons, and the like. These buttons may be virtual buttons or physical buttons. The communication component 805 is used for wired or wireless communication between the apparatus for drone loading 800 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, near Field Communication (NFC for short), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, which is not limited herein. The corresponding communication component 805 may therefore include: wi-Fi module, bluetooth module, NFC module, etc.

In an exemplary embodiment, the apparatus 800 for drone loading may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above-described method for drone loading.

In another exemplary embodiment, a computer readable storage medium comprising program instructions which, when executed by a processor, implement the steps of the above-described method for drone loading is also provided. For example, the computer readable storage medium may be the memory 802 described above comprising program instructions executable by the processor 801 of the apparatus 800 for drone loading to perform the method for drone loading described above.

In another exemplary embodiment, a computer program product is also provided, which contains a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-described method for drone loading when executed by the programmable apparatus.

The preferred embodiments of the present disclosure are described in detail above with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details in the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims

1. A method for loading goods by an unmanned aerial vehicle, which is applied to a distribution cabinet, the distribution cabinet comprises a cabinet body, a lifting platform, a goods transferring mechanism and a goods straightening mechanism, a goods window is arranged on the cabinet body, the lifting platform is provided with a parking area for parking the unmanned aerial vehicle, the parking area is formed with a loading and unloading port for goods circulation, the goods transferring mechanism is used for transferring goods between the loading and unloading port and the goods window, and the method comprises the following steps:

obtaining parking positions of the unmanned aerial vehicles parked in the parking areas, wherein the parking positions of the unmanned aerial vehicles can have differences;

according to the parking position of the parking area where the unmanned aerial vehicle is parked and the size information, the forward pushing stroke of the cargo pushing mechanism is determined, and according to the forward pushing stroke, the cargo pushing mechanism is driven to correct the position of the cargo to be delivered on the cargo transferring mechanism, so that the cargo to be delivered does not need to be positioned with the unmanned aerial vehicle before being loaded to the unmanned aerial vehicle, and the cargo to be delivered is loaded by the unmanned aerial vehicle.

2. The method according to claim 1, wherein a plurality of cargo windows are provided on the cabinet, the delivery information further includes information characterizing a target cargo window, and accordingly, the determining a forwarding stroke of the cargo forwarding mechanism according to the size information and driving the cargo forwarding mechanism according to the forwarding stroke corrects the position of the cargo to be delivered on the cargo transferring mechanism, includes:

3. The distribution system is characterized by comprising a distribution server and a distribution cabinet;

the controller is used for determining a forward pushing stroke of the cargo forward pushing mechanism according to the parking position of the unmanned aerial vehicle parked in the parking area and the size information, and driving the cargo forward pushing mechanism to correct the position of the cargo to be delivered on the cargo transfer mechanism according to the forward pushing stroke, so that the cargo to be delivered does not need to be positioned with the unmanned aerial vehicle before being loaded to the unmanned aerial vehicle, the cargo to be delivered can be conveniently loaded by the unmanned aerial vehicle, and the parking positions of the unmanned aerial vehicle can be different.

4. The delivery system of claim 3, further comprising an unmanned aerial vehicle hangar;

5. The delivery system of claim 3 or 4, wherein the delivery server is further configured to:

6. The method for loading the goods by the unmanned aerial vehicle is characterized by being applied to a distribution system, wherein the distribution system comprises a distribution server and a distribution cabinet, the distribution cabinet comprises a cabinet body, a lifting platform, a goods transferring mechanism, a goods straightening mechanism and a controller connected with the goods straightening mechanism, a goods window is arranged on the cabinet body, the lifting platform is provided with a parking area for parking the unmanned aerial vehicle, the parking area is provided with a loading and unloading port for goods to circulate, the goods transferring mechanism is used for transferring the goods between the loading and unloading port and the goods window, and the method comprises the following steps of;

the distribution cabinet receives the distribution information, acquires a parking position where an unmanned aerial vehicle is parked in the parking area, determines a forward stroke of the cargo forward pushing mechanism according to the parking position where the unmanned aerial vehicle is parked in the parking area and the size information, and drives the cargo forward pushing mechanism to correct the position of the cargo to be distributed on the cargo transfer mechanism according to the forward stroke, so that the cargo to be distributed does not need to be positioned with the unmanned aerial vehicle before being loaded on the unmanned aerial vehicle, the cargo to be distributed is loaded by the unmanned aerial vehicle, and the parking positions of the unmanned aerial vehicle can be different.

7. The method of claim 6, wherein the delivery system further comprises a drone hangar, the method further comprising:

the unmanned aerial vehicle hangar determines an unmanned aerial vehicle meeting the size information from a plurality of unmanned aerial vehicles as a target unmanned aerial vehicle according to the size information of the goods to be delivered;

8. The method of claim 6, wherein before the delivery server sends delivery information to the delivery locker, the method further comprises:

9. A device for unmanned aerial vehicle loading, characterized in that, the device is applied to the delivery cabinet, the device includes:

the system comprises an acquisition module, a distribution module and a display module, wherein the acquisition module is used for acquiring distribution information which comprises size information of goods to be distributed;

the position acquisition module is used for acquiring the parking positions of the unmanned aerial vehicles parked in the parking areas, wherein the parking positions of the unmanned aerial vehicles can have differences;

the driving module is used for correcting the position of goods to be delivered on the goods transfer mechanism by the goods pushing mechanism according to the pushing stroke driving, so that the goods to be delivered do not need to be positioned with the unmanned aerial vehicle before being loaded to the unmanned aerial vehicle, and the goods to be delivered are loaded by the unmanned aerial vehicle.

10. A device for unmanned aerial vehicle loading, characterized by, includes:

a memory having a computer program stored thereon;

a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1-2.

11. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any one of claims 1-2.