Unmanned aerial vehicle delivery system, unmanned aerial vehicle loading method, and unloading method

Abstract

The application provides a UAV delivery system, a UAV loading method and a UAV unloading method. The UAV delivery system comprises a rotary hangar, the rotary hangar comprises a rotating column and a plurality of UAV fixing seats arranged in a ring around the axis of the rotating column, and a UAV is loaded on the UAV fixing seat; a cargo conveying line, the conveying direction of the cargo conveying line is parallel to the axis of the rotating column; wherein a conveying mechanism is arranged on the UAV fixing seat, and the conveying mechanism is connected with the cargo conveying line. The application realizes the loading and unloading process of the UAV in the way that the rotating column rotates and cooperates with the cargo conveying line, simplifies the current UAV storage structure, and improves the loading and unloading efficiency of the UAV.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle cargo transportation system, an unmanned aerial vehicle loading method and an unmanned aerial vehicle unloading method. BACKGROUND

[0002] At present, using unmanned aerial vehicles for low-altitude cargo transportation can increase the timeliness of express delivery and solve the space limitations of transportation tools in some cases. However, high-frequency transportation of unmanned aerial vehicles in the above scenarios requires a large number of manpower for takeoff, loading, unloading and recovery operations of unmanned aerial vehicles, and pure manual operation will seriously affect the transportation efficiency of unmanned aerial vehicles.

[0003] A Chinese patent (publication number: CN213297347U) discloses an unmanned aerial vehicle storage structure and an unmanned aerial vehicle hangar device, comprising: a support frame, an unmanned aerial vehicle hangar and a lifting mechanism; the unmanned aerial vehicle hangar is arranged on the side of the support frame; the lifting mechanism comprises a lifting platform and a storage and retrieval mechanism, the lifting platform is arranged on the support frame and can move vertically along the support frame; the storage and retrieval mechanism is arranged on the lifting platform and is used for storing and retrieving unmanned aerial vehicles from the unmanned aerial vehicle hangar.

[0004] That is, the patent stores and retrieves unmanned aerial vehicles in and from each position of the unmanned aerial vehicle hangar through the vertical movement and horizontal telescopic movement of the lifting mechanism. However, this scheme can realize the storage and retrieval of unmanned aerial vehicles, but cannot complete the automatic loading and unloading of unmanned aerial vehicles, and a large number of long-distance moving mechanisms need to be arranged to store unmanned aerial vehicles, and long-distance movement of unmanned aerial vehicles will result in a large amount of time spent on storage and retrieval of unmanned aerial vehicles, finally resulting in a complex unmanned aerial vehicle hangar structure and low efficiency of storage and retrieval and loading and unloading. SUMMARY

[0005] The present application provides an unmanned aerial vehicle cargo transportation system, an unmanned aerial vehicle loading method and an unmanned aerial vehicle unloading method, aiming to solve the problem of low efficiency of the current unmanned aerial vehicle takeoff, loading, unloading and recovery process.

[0006] In a first aspect, the present application provides an unmanned aerial vehicle cargo transportation system, characterized in that it comprises:

[0007] A rotating hangar, the rotating hangar comprising a rotating column and a plurality of unmanned aerial vehicle fixing seats arranged in a ring around the axis of the rotating column, and an unmanned aerial vehicle is carried on each unmanned aerial vehicle fixing seat;

[0008] A cargo conveying line, the conveying direction of the cargo conveying line being parallel to the axis of the rotating column;

[0009] Wherein, a conveying mechanism is arranged on each unmanned aerial vehicle fixing seat, and the conveying mechanism is connected to the cargo conveying line.

[0010] In some embodiments, the cargo conveying line comprises a first conveying line and a second conveying line located on both sides of the at least one unmanned aerial vehicle fixing base;

[0011] The conveying mechanism is respectively connected with the first conveying line and the second conveying line at both ends.

[0012] In some embodiments, the first conveying line is provided with a first limiting telescopic rod at one end close to the second conveying line; and / or

[0013] The second conveying line is provided with a second limiting telescopic rod at one end close to the first conveying line.

[0014] In some embodiments, the unmanned aerial vehicle fixing base is provided with a jacking telescopic rod which extends in the direction close to or away from the rotating column;

[0015] The jacking telescopic rod is provided with a jacking base at one end away from the rotating column, and the conveying mechanism is located on the jacking base.

[0016] In some embodiments, the unmanned aerial vehicle fixing base is further provided with a fixing device for fixing the unmanned aerial vehicle;

[0017] The fixing device comprises fixing telescopic rods located on opposite sides of the jacking base respectively, and the telescopic direction of the fixing telescopic rods is perpendicular to the axis of the rotating column.

[0018] In some embodiments, the fixing telescopic rod is provided with a positioning member at one end close to the jacking base, and the jacking base has a first working position close to the unmanned aerial vehicle fixing base and a second working position away from the unmanned aerial vehicle fixing base;

[0019] The positioning member has a first positioning part corresponding to the first working position; and / or

[0020] The positioning member has a second positioning part corresponding to the second working position.

[0021] In some embodiments, the jacking base is further provided with a fixing mechanism, and the fixing mechanism comprises positioning telescopic rods located at both ends of the conveying mechanism, and the positioning telescopic rods extend in the telescopic direction of the jacking telescopic rod.

[0022] In a second aspect, the present application provides an unmanned aerial vehicle loading method applied to the unmanned aerial vehicle cargo conveying system as described in the first aspect, comprising:

[0023] Controlling the rotating column to rotate until the conveying mechanism of the unmanned aerial vehicle fixing base where the unmanned aerial vehicle is parked is connected with the cargo conveying line;

[0024] Controlling the cargo conveying line and the conveying mechanism to operate, and conveying the cargo to the unmanned aerial vehicle;

[0025] Controlling the unmanned aerial vehicle to fix the cargo, so as to complete the unmanned aerial vehicle loading process.

[0026] In a third aspect, the application provides a method for unloading a UAV, applied to the UAV delivery system of the first aspect, comprising:

[0027] controlling the rotating column to rotate until the conveying mechanism of the UAV fixing seat with a storage space is connected with the goods conveying line;

[0028] controlling the UAV to land and release the fixing of the goods;

[0029] controlling the goods conveying line and the conveying mechanism to operate to transport the goods away, so as to complete the unloading process of the UAV.

[0030] The application arranges a plurality of UAV fixing seats around the rotating column, and makes the conveying mechanism on at least one of the UAV fixing seats connected with the goods conveying line through the rotating column. When the loading operation is performed, the goods conveying line cooperates with the conveying mechanism to transport the goods to the UAV fixing seat, and the UAV automatically fixes the goods to complete the loading process of the UAV out of the warehouse; when the unloading operation is performed, the UAV lands on the UAV fixing seat, the goods conveying line cooperates with the conveying mechanism to transport the goods away, and then the rotating column rotates to rotate the UAV away from the goods conveying line to complete the unloading process of the UAV into the warehouse. Since the application realizes the loading and unloading processes of the UAV out of the warehouse and into the warehouse by rotating the rotating column to cooperate with the goods conveying line, the structure of the current UAV storage warehouse is simplified, and the loading and unloading efficiency of the UAV out of the warehouse and into the warehouse is improved. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0032] Figure 1 is a structural schematic diagram of the UAV delivery system provided in the embodiment of the application;

[0033] Figure 2 is a structural schematic diagram of a rotating hangar provided in the embodiment of the application;

[0034] Figure 3 is a state schematic diagram of the lifting of the lifting seat provided in the embodiment of the application;

[0035] Figure 4 is a structural schematic diagram of the lifting telescopic rod and the lifting seat provided in the embodiment of the application;

[0036] Figure 5 is a structural schematic diagram of the rotating hangar with a fixing device provided in the embodiment of the application;

[0037] Figure 6 is a structural schematic view of a positioning member provided in the embodiments of the present application;

[0038] Figure 7 is a flow schematic view of a method for loading a cargo by a UAV provided in the embodiments of the present application;

[0039] Figure 8 is a flow schematic view of a method for unloading a cargo by a UAV provided in the embodiments of the present application;

[0040] Figure 9 is a structural schematic view of a UAV cargo transportation control system provided in the embodiments of the present application.

[0041] wherein:

[0042] 100 rotating hangar, 10 rotating column, 11 prismatic part, 110 prismatic surface, 12 supporting column;

[0043] 20 UAV fixing seat, 200 storage groove, 210 UAV fixing groove, 21 fixing device, 211 fixing telescopic rod, 212 positioning member, 2121 first positioning part, 2122 second positioning part, 221 jacking telescopic rod, 222 jacking seat, 223 conveying mechanism, 224 fixing mechanism, 2241 positioning telescopic rod;

[0044] 30 UAV, 40 loading box, 50 cargo conveying line, 51 first conveying line, 511 first limiting telescopic rod, 52 second conveying line, 521 second limiting telescopic rod. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by a person skilled in the art without any creative work fall within the protection scope of the present application.

[0046] In the description of the present application, it needs to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" are only for description purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second" can be explicitly or implicitly included one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified.

[0047] In this application, the word "exemplary" is used to mean "serving as an example, instance, or illustration." Any implementation described as "exemplary" is not necessarily to be construed as preferred or advantageous over other implementations. The following description is presented to enable any person skilled in the art to make and use the application. In the following description, for purposes of explanation, specific details are set forth. It will be apparent to those skilled in the art that the present application can be practiced without the specific details. In other instances, well-known structures and processes are not elaborated in order not to obscure the description of the present application with unnecessary details. Thus, the present application is not intended to be limited by the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.

[0048] The embodiments of the present application provide a UAV delivery system, a UAV loading method and an unloading method, which are described in detail as follows.

[0049] First, refer to Figure 1 , Figure 1 The structure of a UAV delivery system in the embodiments of the present application is shown, wherein the UAV delivery system comprises:

[0050] The rotating hangar 100 comprises a rotating column 10 and a plurality of UAV fixing seats 20 arranged in a ring around the axis of the rotating column 10, and a UAV 30 is carried on the UAV fixing seat 20;

[0051] The cargo conveying line 50 has a conveying direction parallel to the axis of the rotating column 10;

[0052] The UAV fixing seat 20 is provided with a conveying mechanism 223, and the conveying mechanism 223 is connected to the cargo conveying line 50.

[0053] Specifically, the rotating hangar 100 is used to control the unmanned aerial vehicle 30 to enter and exit the hangar by rotating, wherein the rotating hangar 100 comprises a rotating column 10 and a plurality of unmanned aerial vehicle fixing seats 20 arranged annularly around the axis of the rotating column 10, and the unmanned aerial vehicle 30 is carried on the unmanned aerial vehicle fixing seat 20.

[0054] The rotating column 10 provides rotating support for the plurality of unmanned aerial vehicle fixing seats 20. For example, refer to Figure 1 The rotating column 10 comprises a prismatic portion 11, and the prismatic portion 11 has a plurality of prismatic faces 110, and the plurality of unmanned aerial vehicle fixing seats 20 correspond to the plurality of prismatic faces 110 one by one. Through the one-to-one correspondence between the prismatic face 110 and the unmanned aerial vehicle fixing seat 20, the unmanned aerial vehicle fixing seat 20 has a reliable installation reference surface, thereby improving the stability of the unmanned aerial vehicle fixing seat 20 during rotation. It can be understood that the rotating column 10 can also be a cylindrical body or other shaped column, as long as it can stably install the plurality of unmanned aerial vehicle fixing seats 20.

[0055] In some embodiments of the present application, in order to facilitate the fixed connection between the unmanned aerial vehicle fixing seat 20 and the rotating column 10, a plurality of support columns 12 are arranged between the unmanned aerial vehicle fixing seat 20 and the prismatic face 110 for fixed connection. The plurality of support columns 12 can effectively fix the unmanned aerial vehicle fixing seat 20 to ensure the stability of the unmanned aerial vehicle fixing seat 20 during rotation of the rotating column 10.

[0056] The cargo conveying line 50 is used to move the cargo when the unmanned aerial vehicle 30 is loading and unloading. For example, refer to Figure 1 The cargo conveying line 50 comprises a first conveying line 51 and a second conveying line 52 located on both sides of at least one unmanned aerial vehicle fixing seat 20, and the two ends of the conveying mechanism 223 are respectively connected to the first conveying line 51 and the second conveying line 52. The first conveying line 51 is used to convey the cargo to the unmanned aerial vehicle fixing seat 20 when the unmanned aerial vehicle 30 is loading, and the second conveying line 52 is used to convey the cargo away from the unmanned aerial vehicle fixing seat 20 when the unmanned aerial vehicle 30 is unloading. That is, a conveying line is separately arranged for the loading and unloading processes to avoid the conflict between the loading and unloading processes. For example, the first conveying line 51 and the second conveying line 52 can be a belt conveying line, a roller conveying line, a metal chain net conveying line, etc.

[0057] It can be understood that the cargo conveying line 50 can also be a single conveying line, that is, the cargo is conveyed into and out of the unmanned aerial vehicle fixing seat 20 by forward and reverse rotation of the single conveying line.

[0058] In some embodiments of the present application, for example, for the embodiment in which the goods conveying line 50 comprises a first conveying line 51 and a second conveying line 52 located on both sides of the at least one unmanned aerial vehicle fixing base 20, in order to prevent the phenomenon of sliding of the goods conveying process with inertia from exceeding the fixing position of the unmanned aerial vehicle 30, the first conveying line 51 is provided with a first limiting telescopic rod 511 near one end of the second conveying line 52; and / or the second conveying line 52 is provided with a second limiting telescopic rod 521 near one end of the first conveying line 51. When the first conveying line 51 transports the goods to the conveying mechanism 223, the second limiting telescopic rod 521 is extended to block the goods to prevent them from sliding to the second conveying line 52 with inertia; and when unloading, the first limiting telescopic rod 511 is extended to prevent the goods from sliding to the first conveying line 51, thereby achieving the purpose of preventing the goods from sliding during the loading and unloading processes.

[0059] The conveying mechanism 223 on the unmanned aerial vehicle fixing base 20 continues to move the goods to the fixing position of the unmanned aerial vehicle 30 (for example, directly below the unmanned aerial vehicle 30) during loading, so as to facilitate the unmanned aerial vehicle 30 to fix the goods, and when the unmanned aerial vehicle 30 is parked on the unmanned aerial vehicle fixing base 20 for unloading, the conveying mechanism 223 moves the goods to the goods conveying line 50, so as to facilitate the goods conveying line 50 to transport the goods out. Exemplarily, the conveying mechanism 223 can be a belt conveying mechanism 223, a roller conveying mechanism 223, a metal chain mesh conveying mechanism 223, etc.

[0060] The present application arranges a plurality of unmanned aerial vehicle fixing bases 20 around the rotating column 10, and through the rotating column 10, the conveying mechanism 223 on at least one of the unmanned aerial vehicle fixing bases 20 is connected with the goods conveying line 50. When loading, the goods conveying line 50 cooperates with the conveying mechanism 223 to transport the goods to the unmanned aerial vehicle fixing base 20, and after the unmanned aerial vehicle 30 automatically fixes the goods, the loading and out-of-storage process of the unmanned aerial vehicle 30 is completed; when unloading, the unmanned aerial vehicle 30 lands on the unmanned aerial vehicle fixing base 20, the goods conveying line 50 cooperates with the conveying mechanism 223 to transport the goods away, and then the rotating column 10 rotates to rotate the unmanned aerial vehicle 30 away from the goods conveying line 50, thereby completing the unloading and storage process of the unmanned aerial vehicle 30. Since the present application realizes the loading and out-of-storage process and the unloading and storage process of the unmanned aerial vehicle 30 by rotating the rotating column 10 to cooperate with the goods conveying line 50, the structure of the current unmanned aerial vehicle 30 storage is simplified, and the efficiency of the loading and out-of-storage process and the unloading and storage process of the unmanned aerial vehicle 30 is improved.

[0061] In order to avoid the phenomenon that the unmanned aerial vehicle 30 collides with other mechanisms during the rotation of the rotating column 10, refer to Figure 2 、 Figure 3 and Figure 4 , Figure 2 Fig. 1 shows a structural schematic diagram of a rotating hangar 100 in an embodiment of the present application, Figure 3Fig. 2 shows a schematic diagram of a state in which the lifting seat 222 is lifted in the embodiment of the present application, Figure 4 Fig. 3 shows a schematic diagram of a structure of the lifting telescopic rod 221 and the lifting seat 222 in the embodiment of the present application. The unmanned aerial vehicle fixing seat 20 has the lifting telescopic rod 221 which is telescopic along the direction close to or away from the rotating column 10. The end of the lifting telescopic rod 221 away from the rotating column 10 is provided with the lifting seat 222. The conveying mechanism 223 is located on the lifting seat 222. The unmanned aerial vehicle 30 is located on the lifting seat 222.

[0062] When the unmanned aerial vehicle 30 is loaded, the lifting telescopic rod 221 is extended, so that the lifting seat 222 moves along the direction away from the rotating column 10. Then the conveying mechanism 223 on the lifting seat 222 is connected with the conveying line, so as to facilitate the loading of the unmanned aerial vehicle 30. When the unmanned aerial vehicle 30 is landed on the lifting seat 222 to complete the unloading, the lifting telescopic rod 221 is retracted, so that the lifting seat 222 moves along the direction close to the rotating column 10, so as to facilitate the landing of the unmanned aerial vehicle 30 for storage, thereby avoiding the collision between the unmanned aerial vehicle 30 and other mechanisms due to the large trajectory line of the unmanned aerial vehicle 30 during the rotation of the rotating column 10.

[0063] In the above embodiment, when the unmanned aerial vehicle 30 is loaded, the rotating column 10 is rotated to the horizontal state of the unmanned aerial vehicle fixing seat 20 on which the unmanned aerial vehicle 30 is carried. After the unmanned aerial vehicle 30 is lifted to the preset height by the lifting seat 222, the conveying line connected with the conveying mechanism 223 moves the loading box 40 to the conveying mechanism 223 of the lifting seat 222. Then the unmanned aerial vehicle 30 is fixed to the loading box 40 to complete the loading process. When the unmanned aerial vehicle 30 is unloaded, the rotating column 10 is rotated to the horizontal state of the unmanned aerial vehicle fixing seat 20 on which the unmanned aerial vehicle 30 is unloaded. The lifting seat 222 is lifted to connect the conveying mechanism 223 with the goods conveying line 50. Then the unmanned aerial vehicle 30 is landed on the lifting seat 222 and is unlocked from the goods. The conveying mechanism 223 cooperates with the goods conveying line 50 to move the goods for the next operation (such as sorting). Finally, the conveying mechanism 223 on the lifting seat 222 realizes the purpose of automatic loading and unloading of the unmanned aerial vehicle 30.

[0064] In some embodiments of the present application, in order to facilitate the fixation of the unmanned aerial vehicle 30, the unmanned aerial vehicle fixing seat 20 is provided with the fixing device 21. Figure 5 , Figure 5 Fig. 4 shows a schematic diagram of a structure of the rotating hangar 100 with the fixing device 21 in the embodiment of the present application. The unmanned aerial vehicle fixing seat 20 is further provided with the fixing device 21 for fixing the unmanned aerial vehicle 30. The fixing device 21 includes the fixing telescopic rod 211 located on the opposite sides of the lifting seat 222. The telescopic direction of the fixing telescopic rod 211 is perpendicular to the axis of the rotating column 10.

[0065] In the above embodiment, since the moving direction of the unmanned aerial vehicle 30 during the rotation of the rotating column 10 is mainly the shaking along the rotating direction,Figure 3 The telescopic direction of the fixing telescopic rod 211 is perpendicular to the axis of the rotating column 10, that is, the two sides of the unmanned aerial vehicle 30 are fixed in the rotating direction of the rotating column 10, thereby the shaking of the unmanned aerial vehicle 30 in the rotating process of the rotating column 10 is limited to the maximum extent. It can be understood that the fixing telescopic rod 211 can also be arranged on the two sides of the unmanned aerial vehicle 30 parallel to the axis of the rotating column 10, so as to better fix the unmanned aerial vehicle 30.

[0066] In some embodiments of the present application, the fixing telescopic rod 211 can be arranged on both sides of the conveying mechanism 223, and the fixing telescopic rod 211 fixes the unmanned aerial vehicle 30 on both sides in the conveying direction of the conveying mechanism 223, so as to avoid the situation that the fixing telescopic rod 211 blocks the goods when the conveying mechanism 223 conveys. At the same time, the telescopic direction of the jacking telescopic rod 221 can also be perpendicular to the conveying direction of the conveying mechanism 223 and the telescopic direction of the fixing telescopic rod 211, that is, when the jacking telescopic rod 221 rises and falls along the Z axis, the telescopic direction of the fixing telescopic rod 211 and the conveying direction of the conveying mechanism 223 are along the X axis and the Y axis respectively, thereby avoiding the interference between the jacking telescopic rod 221 and the fixing telescopic rod 211.

[0067] It can be understood that the fixing device 21 can also adopt other embodiments, for example, the fixing device 21 can adopt a rotating lock ring to realize the locking function.

[0068] In order to better fix the unmanned aerial vehicle 30, in some embodiments of the present application, for example, for the embodiment in which the unmanned aerial vehicle fixing seat 20 is further provided with the fixing device 21 for fixing the unmanned aerial vehicle 30, referring to Figure 5 and Figure 6 , Figure 6 A structure schematic view of the positioning member 212 in the embodiment of the present application is shown, the fixing telescopic rod 211 is provided with the positioning member 212 at one end close to the jacking seat 222, and the jacking seat 222 has a first working position close to the unmanned aerial vehicle fixing seat 20 and a second working position away from the unmanned aerial vehicle fixing seat 20, wherein the positioning member 212 has a first positioning part 2121 corresponding to the first working position; and / or the positioning member 212 has a second positioning part 2122 corresponding to the second working position.

[0069] When the jacking seat 222 is in the first working position, the unmanned aerial vehicle 30 is in the storage state, at this time the first positioning part 2121 of the positioning member 212 fixes the unmanned aerial vehicle 30, so as to ensure the stability of the unmanned aerial vehicle 30 in the storage state. When the jacking seat 222 is in the second working position, the conveying mechanism 223 on the jacking seat 222 is connected with the goods conveying line 50, and the unmanned aerial vehicle 30 is in the warehouse-out loading state, at this time the second positioning part 2122 of the positioning member 212 fixes the unmanned aerial vehicle 30, so as to ensure the stability of the unmanned aerial vehicle 30 in the warehouse-out loading state.

[0070] For example, the positioning part can be a member shaped like an inverted "L", wherein the horizontal part covers the top of the UAV 30, and the vertical part contacts the side of the UAV 30, thereby avoiding the UAV 30 from moving in the vertical direction and the horizontal direction.

[0071] It can be understood that the second positioning part 2122 of the positioning member 212 can also fix the goods while locking the UAV 30, so as to ensure the stability of the goods at the same time, or the positioning member 212 can also be provided with a positioning part for fixing the goods.

[0072] Further, since the goods are prone to misalignment when moving on the conveying mechanism 223, the UAV 30 cannot be fixed for loading, referring to Figure 6 The jacking seat 222 is also provided with a fixing mechanism 224, which includes positioning telescopic rods 2241 located at both ends of the conveying mechanism 223, and the positioning telescopic rods 2241 are telescopic along the telescopic direction of the jacking telescopic rod 221. When the goods are arranged, the positioning telescopic rods 2241 on the jacking seat 222 are raised, and intercept the goods in the conveying direction of the conveying mechanism 223, so as to avoid the phenomenon that the UAV 30 cannot be fixed due to misalignment of the goods when moving on the conveying mechanism 223.

[0073] Further, in order to ensure the stability of the UAV 30 on the UAV fixing seat 20, referring to Figure 1 The UAV fixing seat 20 has a storage groove 200 penetrating to one side of the rotating column 10, and the jacking telescopic rod 221 is arranged in the storage groove 200; the UAV fixing seat 20 away from the rotating column 10 is provided with a UAV fixing groove 210, and the UAV fixing groove 210 is annularly arranged around the storage groove 200. When the jacking telescopic rod 221 is retracted to make the jacking seat 222 descend, part of the UAV 30 (for example, the wing of the UAV 30) is in the UAV fixing groove 210, and the other part of the UAV 30 (for example, the main body part of the UAV 30) is in the storage groove 200, so that most of the UAV 30 can be embedded on the UAV fixing seat 20, avoiding the UAV 30 from being damaged due to collision with other mechanisms; at the same time, since most of the jacking telescopic rod 221 is in the storage groove 200, the telescopic length can be increased, thereby increasing the telescopic stroke of the jacking telescopic rod 221, and ensuring that the UAV 30 has sufficient height after being discharged.

[0074] For example, the shape of the storage groove 200 can correspond to the main body part of the UAV 30, such as a square or circular storage groove 200, and the UAV fixing groove 210 can correspond to the wing of the UAV 30, such as being circular.

[0075] It is worth noting that the above description of the unmanned aerial vehicle delivery system is intended to clearly illustrate the verification process of the present application, and those skilled in the art can make equivalent modifications and designs under the guidance of the present application, for example, rotating the unmanned aerial vehicle fixing seat 20 to the right side of the rotating column 10, and then performing the unmanned aerial vehicle 30 warehousing and unloading and the unmanned aerial vehicle 30 warehousing and loading operations.

[0076] Further, in order to better implement the unmanned aerial vehicle delivery system in the embodiments of the present application, on the basis of the unmanned aerial vehicle delivery system of the present application, referring to Figure 7 , Figure 7 A flowchart of the unmanned aerial vehicle 30 loading method in the embodiments of the present application is shown, and the unmanned aerial vehicle 30 loading method is applied to the unmanned aerial vehicle delivery system of any of the above embodiments, wherein the unmanned aerial vehicle 30 loading method comprises:

[0077] Step S701, control the rotating column 10 to rotate until the conveying mechanism 223 of the unmanned aerial vehicle fixing seat 20 where the unmanned aerial vehicle 30 is parked is connected with the goods conveying line 50;

[0078] When loading, the rotating column 10 rotates to make the unmanned aerial vehicle fixing seat 20 where the unmanned aerial vehicle 30 is parked rotate to the top of the rotating column 10, at this time the conveying mechanism 223 of the unmanned aerial vehicle fixing seat 20 is connected with the goods conveying line 50, that is, the connection between the unmanned aerial vehicle fixing seat 20 and the goods conveying line 50 is realized and the unmanned aerial vehicle 30 take-off preparation process is realized.

[0079] Step S702, control the goods conveying line 50 and the conveying mechanism 223 to operate, and convey the goods to the unmanned aerial vehicle 30;

[0080] After the conveying mechanism 223 of the unmanned aerial vehicle fixing seat 20 is connected with the goods conveying line 50, the goods conveying line 50 and the conveying mechanism 223 can be controlled to operate, and the goods can be conveyed to the unmanned aerial vehicle 30, for example, the goods can be conveyed to the position directly below the unmanned aerial vehicle 30, so as to facilitate the unmanned aerial vehicle 30 to fix the goods.

[0081] In some embodiments of the present application, for example, for the embodiment in which the goods conveying line 50 includes the first conveying line 51 and the second conveying line 52, the goods can be first conveyed to the conveying mechanism 223 by the first conveying line 51, and then conveyed to the unmanned aerial vehicle 30 by the conveying mechanism 223.

[0082] Step S703, control the unmanned aerial vehicle 30 to fix the goods, to complete the unmanned aerial vehicle 30 loading process.

[0083] Generally, the goods can be located in the loading box 40, and the unmanned aerial vehicle 30 fixes the goods by fixing the loading box 40. It can be understood that the goods can also be provided with a lifting ring, and the unmanned aerial vehicle 30 is directly connected to the lifting ring to realize the fixing process of the goods. Since the application realizes the process of loading and unloading the unmanned aerial vehicle 30 by rotating the rotating column 10 to cooperate with the goods conveying line 50, the structure of the current unmanned aerial vehicle 30 storage is simplified, and the efficiency of loading and unloading the unmanned aerial vehicle 30 is improved.

[0084] Further, in order to better implement the unmanned aerial vehicle delivery system in the embodiment of the application, on the basis of the unmanned aerial vehicle delivery system of the application, referring to Figure 8 , Figure 8 A flowchart of the unmanned aerial vehicle 30 unloading method in the embodiment of the application is shown, and the unmanned aerial vehicle 30 unloading method is applied to the unmanned aerial vehicle delivery system of any of the above embodiments, wherein the unmanned aerial vehicle 30 unloading method comprises:

[0085] Step S801, control the rotating column 10 to rotate until the conveying mechanism 223 of the unmanned aerial vehicle fixing seat 20 with a storage space is connected with the goods conveying line 50;

[0086] When unloading, the rotating column 10 rotates so that the unmanned aerial vehicle fixing seat 20 with a storage space rotates to the top of the rotating column 10, at this time, the conveying mechanism 223 of the unmanned aerial vehicle fixing seat 20 is connected with the goods conveying line 50, that is, the connection between the unmanned aerial vehicle fixing seat 20 and the goods conveying line 50 and the landing preparation process of the unmanned aerial vehicle 30 are realized.

[0087] Step S802, control the unmanned aerial vehicle 30 to land and release the fixation of the goods;

[0088] After the conveying mechanism 223 of the unmanned aerial vehicle fixing seat 20 is connected with the goods conveying line 50, the unmanned aerial vehicle 30 can be controlled to land and release the fixation of the goods, so as to facilitate the conveying of the goods by the conveying mechanism 223 and the goods conveying line 50. For example, when the goods are located in the loading box 40, the unmanned aerial vehicle 30 can release the clamping and filling of the loading box 40, that is, the fixation of the goods is released.

[0089] Step S803, control the goods conveying line 50 and the conveying mechanism 223 to operate to convey the goods away, so as to complete the unloading process of the unmanned aerial vehicle 30.

[0090] In some embodiments of the present application, for example, for the embodiment in which the goods conveying line 50 includes the first conveying line 51 and the second conveying line 52, the goods can be first conveyed onto the second conveying line 52 by the conveying mechanism 223, and then transported away by the second conveying line 52. Since the present application realizes the warehousing and unloading process of the unmanned aerial vehicle 30 by rotating the rotating column 10 to cooperate with the goods conveying line 50, the structure of the current unmanned aerial vehicle 30 storage is simplified, and the efficiency of the warehousing and unloading process of the unmanned aerial vehicle 30 is improved.

[0091] In order to better implement the unmanned aerial vehicle 30 loading method and the unmanned aerial vehicle 30 unloading method in the embodiments of the present application, on the basis of the unmanned aerial vehicle 30 loading method and the unmanned aerial vehicle 30 unloading method, the present application further provides an unmanned aerial vehicle 30 transportation control system, which includes:

[0092] one or more processors;

[0093] a memory; and

[0094] one or more application programs, wherein the one or more application programs are stored in the memory and configured to execute the steps in any one of the above-mentioned embodiments of the unmanned aerial vehicle 30 loading method and the unmanned aerial vehicle 30 unloading method by the processor.

[0095] As shown in Figure 9 , which shows a structural schematic diagram of the unmanned aerial vehicle 30 transportation control system related to the embodiments of the present application. Specifically:

[0096] The unmanned aerial vehicle 30 transportation control system can include a processor 901 with one or more processing cores, a memory 902 with one or more computer readable storage media. Those skilled in the art can understand that Figure 9 the structure shown in the figure does not constitute a limitation on the unmanned aerial vehicle 30 transportation control system, and can include more or fewer components than those shown in the figure, or combine certain components, or different component arrangements. Among them:

[0097] The processor 901 is the control center of the system, connects various parts of the whole system by using various interfaces and lines, executes various functions of the system and processes data by running or executing software programs and / or modules stored in the memory 902 and calling data stored in the memory 902, thereby overall monitoring the system. Optionally, the processor 901 can include one or more processing cores; the processor 901 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor or the like, preferably, the processor 901 can integrate an application processor and a modem processor, wherein the application processor mainly processes operating systems, user interfaces, application programs and the like, and the modem processor mainly processes wireless communication. It can be understood that the above-mentioned modem processor can also not be integrated into the processor 901.

[0098] The memory 902 can be used to store software programs and modules, and the processor 901 executes various functions and data processing by running the software programs and modules stored in the memory 902. The memory 902 can mainly include a program storage area and a data storage area, wherein the program storage area can store operating systems, application programs required by at least one function (such as sound playing function, image playing function, etc.), etc.; the data storage area can store data created according to the use of the unmanned aerial vehicle 30 transportation control system, etc. In addition, the memory 902 can include a high-speed random access memory, and can also include a non-volatile memory, for example, at least one magnetic disk storage device, a flash memory device, or other volatile solid-state memory device. Accordingly, the memory 902 can also include a memory controller to provide the processor 901 with access to the memory 902.

[0099] Although not shown, the unmanned aerial vehicle 30 transportation control system can also include a display unit and the like, which will not be described here. In particular, in the embodiment, the processor 901 in the unmanned aerial vehicle 30 transportation control system will load the executable file corresponding to the process of one or more application programs into the memory 902 according to the following instructions, and run the application programs stored in the memory 902 by the processor 901, thereby realizing various functions, as follows:

[0100] The rotating column 10 is controlled to rotate until the conveying mechanism 223 of the UAV fixing seat 20 with the storage space is docked with the goods conveying line 50;

[0101] The goods conveying line 50 and the conveying mechanism 223 are controlled to operate to convey the goods away, so as to complete the unloading process of the UAV 30.

[0102] The goods conveying line 50 and the conveying mechanism 223 are controlled to operate to convey the goods away, so as to complete the unloading process of the UAV 30.

[0103] The goods conveying line 50 and the conveying mechanism 223 are controlled to operate to convey the goods away, so as to complete the unloading process of the UAV 30.

[0104] The goods conveying line 50 and the conveying mechanism 223 are controlled to operate to convey the goods away, so as to complete the unloading process of the UAV 30.

[0105] The goods conveying line 50 and the conveying mechanism 223 are controlled to operate to convey the goods away, so as to complete the unloading process of the UAV 30.

[0106] The above has described the basic concept, and it is obvious that the above detailed disclosure is only taken as an example and does not constitute a limitation on the present application for those skilled in the art. Although it is not explicitly stated here, those skilled in the art can make various modifications, improvements and corrections to the present application. Such modifications, improvements and corrections are suggested in the present application, so such modifications, improvements and corrections still belong to the spirit and scope of the exemplary embodiments of the present application.

[0107] Meanwhile, specific words are used in the present application to describe the embodiments of the present application. As "one embodiment", "an embodiment", and / or "some embodiments" means a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that the "an embodiment" or "one embodiment" or "one alternative embodiment" mentioned in different places in the specification does not necessarily refer to the same embodiment. In addition, certain features, structures or characteristics in one or more embodiments of the present application can be properly combined.

[0108] Accordingly, various aspects of the present application can be completely executed by hardware, can be completely executed by software (including firmware, resident software, microcode, etc.), or can be executed by a combination of hardware and software. The above hardware or software can be referred to as "data block", "module", "engine", "unit", "component" or "system". In addition, various aspects of the present application can be manifested as a computer product located in one or more computer readable media, including computer readable program code.

[0109] Computer storage media can include volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information, such as computer readable instructions, data structures, program code, or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, solid state drives (SSDs) that use NAND or NOR logic, flash memory or other memory technology, cassettes, tape, magnetic or optical disks, memory cards, digital video disks (DVDs), or other storage media. Computer storage media does not include communication media, which includes media that facilitates travel of a computer program from one place to another, such as a carrier wave that is part of a modem or other wireless transmission.

[0110] Computer program code for carrying out operations of various aspects of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C++, C#, VB.NET, Python, or the like, conventional procedural programming languages, such as the "C" programming language, Visual Basic, Fortran 2003, Perl, COBOL 2002, PHP, ABAP, dynamic programming languages such as Python, Ruby and Groovy, or other programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic program code can be downloaded from an on-demand computing platform, such as Amazon Web Services, Microsoft Azure, or Google Cloud Platform, or other on-demand computing platforms. In some embodiments, electronic program code can be downloaded from a software-as-a-service (SaaS) platform, such as Salesforce, or other SaaS platforms.

[0111] In addition, the order of execution or sequence of any of the processes depicted, unless specifically stated to the contrary, can not be limiting, even if the description does not reflect same. Also, steps can not be performed in the order shown or can be performed at least partially concurrently with each other. Additionally, the delineation between steps can not be strictly adhered to, or can not be required. For example, one step can be performed before, after, or during another step. Further, the language used in the specification is for the purpose of enabling the claims and making it clear to the skilled person what is being claimed, rather than limiting the present application. For example, the use of any and all examples, or exemplary language (e.g., "may" used in the sense of meaning "possibility of"), is intended to open up more possible implementations than just the ones described. Numerous modifications, adaptations and variations are possible in the present application, and the scope of the present application is not limited to that which has been specifically set forth. Still, it is contemplated that any carryover of patentable subject matter from the prior art to the claims that follow is intended to be incorporated by reference into this patent application, even though it is not repeated in the body of the specification. For example, although the above-described system components can be implemented by hardware devices, they can also be implemented by software solutions only, such as installing the described system on an existing server or mobile device.

[0112] For the same reasons, it is to be noted that the foregoing description of embodiments of the application is intended to be illustrative only and not limiting of the application as claimed. For the purpose of simplicity of explanation, there are instances in the foregoing description of embodiments of the application in which numerous specific details are set forth in order to provide a thorough understanding of the inventive concepts. It will be apparent, however, to one skilled in the art that the application is not limited in its application to the details of the foregoing description. The description is generally made in the context of a few embodiments of the application, modifications to which would be readily apparent to those skilled in the art, but the application is not limited to these embodiments. The application can be practiced without the specific details (e.g., dimensions, locations, sequences, etc.) set forth in the description and illustrated in the figures. Furthermore, the foregoing description shall also be considered to consist in the description provided above in combination with the accompanying drawings, in which the following numbered paragraphs are to be considered.

[0113] The above detailed description of a UAV delivery system, a UAV loading method and an unloading method provided by embodiments of the present application has been described in detail, the principles and implementation modes of the present application are described by applying specific examples in this paper, the above description of the embodiments is only used to help understand the method of the present application and its core idea; at the same time, for those skilled in the art, according to the idea of the present application, the specific implementation mode and application range will be changed, and the above description should not be understood as limiting the present application.

Claims

1. A drone delivery system, comprising: The application relates to an unmanned aerial vehicle (UAV) delivery system, which comprises a rotating garage, a cargo conveying line and a control system. The rotating garage comprises a rotating column and a plurality of UAV fixing seats arranged in a ring around the axis of the rotating column, and a UAV is mounted on each of the UAV fixing seats. The cargo conveying line is parallel to the axis of the rotating column. The UAV fixing seat is provided with a conveying mechanism which is connected to the cargo conveying line. The UAV fixing seat is provided with a telescopic jacking rod which is retractable towards or away from the rotating column, and the telescopic jacking rod is provided with a jacking seat at the end away from the rotating column. The UAV fixing seat is further provided with a fixing device for fixing the UAV, and the fixing device comprises a fixing telescopic rod arranged on each side of the jacking seat. The cargo conveying line comprises a first conveying line and a second conveying line arranged on both sides of at least one UAV fixing seat. The first conveying line is provided with a first limiting telescopic rod at the end adjacent to the second conveying line. The jacking seat is provided with a positioning member at the end close to the UAV fixing seat, and the jacking seat has a first working position close to the UAV fixing seat and a second working position away from the UAV fixing seat.

2. A method of loading a UAV, comprising: The jacking seat is further provided with a fixing mechanism comprising a positioning telescopic rod arranged at each end of the conveying mechanism. The UAV fixing seat is provided with a UAV fixing groove on the side away from the rotating column, and the UAV fixing groove is arranged in a ring around the storage groove. The application is applied to the UAV delivery system as claimed in claim 1, and comprises the following steps. The rotating column is controlled to rotate until the conveying mechanism of the UAV fixing seat with a UAV is docked with the cargo conveying line.

3. A method of unloading a UAV, the method comprising: The cargo conveying line and the conveying mechanism are controlled to operate to deliver the cargo to the UAV. The UAV is controlled to fix the cargo to complete the UAV loading process. The application is applied to the UAV delivery system as claimed in claim 1, and comprises the following steps. The rotating column is controlled to rotate until the conveying mechanism of the UAV fixing seat with a storage space is docked with the cargo conveying line. The UAV is controlled to land and release the fixing of the cargo. The cargo conveying line and the conveying mechanism are controlled to operate to deliver the cargo away to complete the UAV unloading process.

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