Logistics unmanned aerial vehicle capable of automatically opening and closing cabin door to grab and drop items

Abstract

To solve the technical problems of low delivery efficiency, complex structure and poor reliability of the existing logistics unmanned aerial vehicle with built-in goods, the present application provides a logistics unmanned aerial vehicle with automatic opening and closing of cabin door for goods grabbing and dropping, which comprises a rack, a goods cabin, a power supply unit, a power unit, a lower cabin body control unit and a goods grabbing and dropping unit. The goods cabin is a cylindrical cabin body composed of an upper cabin body and a lower cabin body. The upper cabin body is fixed on the rack, and one side of the lower cabin body is hinged to the upper cabin body. The lower cabin body control unit is used for fixing and releasing the lower cabin body to realize the closing and opening of the goods cabin. The goods grabbing and dropping unit is used for grabbing goods into the goods cabin and controlling the dropping of goods out of the cabin. The goods grabbing and dropping unit comprises a magnetic attraction grabbing unit, a rope winding and unwinding unit and a control module. The magnetic attraction grabbing unit is used for grabbing goods. The rope winding and unwinding unit is used for pulling the grabbed goods into the goods cabin. The control module is used for controlling the actions of the magnetic attraction grabbing unit and the rope winding and unwinding unit.

Description

TECHNICAL FIELD

[0001] The present application relates to a logistics unmanned aerial vehicle, in particular to a logistics unmanned aerial vehicle capable of automatically opening and closing the cabin door to grasp and drop goods. BACKGROUND

[0002] With the rapid development and gradual maturity of unmanned aerial vehicle technology, the application scenarios of unmanned aerial vehicles are continuously expanding, and logistics distribution has become one of the application fields.

[0003] Most of the current mainstream logistics unmanned aerial vehicles use the external hanging mode to transport goods, which has the advantages of being able to transport large-volume goods, and the disadvantages of having great safety hazards, being unable to guarantee the personal safety of the dense crowd below the unmanned aerial vehicle during transportation, and being easy to lose when transporting small-volume goods.

[0004] In addition, most of the existing logistics unmanned aerial vehicles need users to wait at the destination in advance when transporting goods, so that the goods can be collected in time after the arrival of the logistics unmanned aerial vehicle, otherwise the continuous transportation of the logistics unmanned aerial vehicle will be interrupted and disturbed.

[0005] In order to solve the above problems of the logistics unmanned aerial vehicle, some documents disclose a logistics unmanned aerial vehicle capable of built-in goods, which opens the unmanned aerial vehicle cabin door by loosening the rope connected to the cabin door to drop the goods when it arrives at the destination, and tightens the rope connected to the cabin door in time to close the cabin door after dropping. Although this logistics unmanned aerial vehicle capable of built-in goods solves the safety hazards and the disadvantage of needing manual collection of goods of the existing logistics unmanned aerial vehicle, it still has the following defects and is limited in application:

[0006] 1. When storing multiple goods, it cannot grasp and drop corresponding goods for multiple delivery destinations, so it can only deliver goods to a single destination at a time, and the delivery efficiency is low.

[0007] 2. The cabin door is opened and closed by loosening and tightening the rope, which has a complex structure and poor reliability.

[0008] 3. It does not have the function of grasping goods, and cannot automatically load specific user goods (such as blood bags, first aid goods, etc. in the same city during the epidemic period) and transport them to other users in the event of special circumstances. SUMMARY

[0009] In order to solve the technical problems of low delivery efficiency, complex structure and poor reliability of the existing logistics unmanned aerial vehicle capable of built-in goods, the present application provides a logistics unmanned aerial vehicle capable of automatically opening and closing the cabin door to grasp and drop goods.

[0010] The technical solution of the present application is:

[0011] The application discloses a logistics unmanned aerial vehicle capable of automatically opening and closing a cabin door to grab and drop articles, which comprises a frame, an article cabin, a power supply unit and a power unit.

[0012] The special features are that:

[0013] The article cabin is a cylindrical cabin composed of an upper cabin body and a lower cabin body; the upper cabin body is fixed on the frame, and one side of the lower cabin body is hinged to the upper cabin body.

[0014] The logistics unmanned aerial vehicle further comprises a lower cabin control unit and an article grabbing and dropping unit.

[0015] The lower cabin control unit is used for fixing and unfixing the lower cabin to realize the closing and opening of the article cabin.

[0016] The article grabbing and dropping unit is used for grabbing articles in the article cabin and controlling the dropping of the articles in the article cabin; the article grabbing and dropping unit comprises a magnetic attraction grabbing unit, a rope winding and unwinding unit and a control module; the magnetic attraction grabbing unit is used for grabbing articles to be transported; the rope winding and unwinding unit is used for pulling the grabbed articles into the article cabin; and the control module is used for controlling the actions of the magnetic attraction grabbing unit and the rope winding and unwinding unit.

[0017] Further, the rope winding and unwinding unit is also used for dropping articles out of the cabin.

[0018] Further, the rope winding and unwinding unit comprises a rope, a winding wheel and a bidirectional motor; the rope is wound on the winding wheel, and when the winding wheel rotates forward and reversely under the driving of the bidirectional motor, the winding and unwinding of the rope can be realized.

[0019] The magnetic attraction grabbing unit comprises a magnetic attraction identification device arranged at a free end of the rope, a magnetic attraction device arranged on the article, a plurality of slidable electromagnetic suction disc cards arranged in the article cabin, a fixed electromagnetic suction disc card arranged at one end of a cabin body of the article cabin and close to the winding wheel, a first electromagnetic suction disc interface arranged on the fixed electromagnetic suction disc card and used for inputting current, and a second electromagnetic suction disc interface and a pressure sensor arranged on the slidable electromagnetic suction disc card and used for detecting the pressure applied by the electromagnetic suction disc card to the article.

[0020] The initial positions of the slidable electromagnetic suction disc cards are on one side of the article cabin, and after the first article is grabbed into the cabin by the cooperation of the magnetic suction identification device and the magnetic suction device, all the slidable electromagnetic suction disc cards slide to the other side of the article cabin under the action of the magnetic suction force until the articles are tightly pressed.

[0021] Further, a disc is arranged on the output shaft of the bidirectional motor, and the disc is located between the bidirectional motor body and the winding wheel, and the disc and the fixed electromagnetic suction disc card jointly form a storage magazine for placing the winding wheel.

[0022] Further, a rope channel is formed in the inner wall of the upper cabin body of the article cabin, and the rope segment separated from the winding wheel is located in the rope channel.

[0023] Further, the lower cabin body locking unit control cabin is arranged at one end of the article cabin, the rotating lock piece includes a rotating disc and a blocking piece arranged on the side wall of the rotating disc, the rotating disc is arranged between the lower cabin body locking unit control cabin and the article cabin and is driven by the unidirectional motor, the rotating direction of the blocking piece on the rotating disc is the same as the rotating direction of the lower cabin body when the article cabin is closed, the unidirectional motor is located in the lower cabin body locking unit control cabin, the inner wall of the blocking piece is matched with the outer wall of the lower cabin body and is located on the outer side in the radial direction of the lower cabin body, and the locking control module is located in the lower cabin body locking unit control cabin and is used for controlling the action of the unidirectional motor.

[0024] Further, the upper cabin body and the lower cabin body are hingedly connected by an embedded hinge.

[0025] The application also provides an article grabbing and dropping method of a logistics unmanned aerial vehicle capable of automatically opening and closing the cabin door to grab and drop articles.

[0026] Step 1: the lower cabin body control unit releases the fixation of the lower cabin body, and the article cabin is opened.

[0027] Step 2: the magnetic suction grabbing unit grabs the articles, the rope winding and unwinding unit pulls the grabbed articles into the article cabin, and the magnetic suction grabbing unit tightly presses the articles into the cabin.

[0028] Step 3: the article loading into the cabin is completed, the lower cabin body control unit fixes the lower cabin body, and the article cabin is closed.

[0029] Step 4: Before launching, the lower cabin control unit releases the fixation of the lower cabin, the article cabin is opened, the magnetic attraction grabbing unit releases the compressed article, and the article is free-fall delivered; or the magnetic attraction grabbing unit releases the compressed article, and the rope winding and unwinding unit performs rope delivery on the article.

[0030] Further, the step 2 is specifically:

[0031] Step 2.1 Initial position, the slidable electromagnetic suction disc card is located on one side of the article cabin, the control module controls the bidirectional motor to drive the wire winding wheel to rotate forward to lower the rope, and the magnetic attraction recognition device connected with the free end of the rope is attached to and attracted to the magnetic attraction device installed on the article;

[0032] Step 2.2 The wire winding wheel continues to operate, the rope drives the grabbed article to be pulled into the article cabin and to the middle position of the article, the slidable electromagnetic suction disc card is close to or away from the fixed electromagnetic suction disc card under the condition that the electromagnetic suction disc interface is electrified, so that the article moves along the axial direction to one side of the article cabin together with the slidable electromagnetic suction disc card, thereby compressing the article, and when the pressure detected by the pressure sensor reaches the pre-set pressure threshold, the current supplied to the slidable electromagnetic suction disc card is no longer increased, and the suction force is no longer increased;

[0033] Step 2.3 In addition to the slidable electromagnetic suction disc card directly compressing the current article, the electrified current direction of the remaining slidable electromagnetic suction disc cards is changed, so that they all slide to the other side of the article cabin;

[0034] Step 2.4 The subsequent articles are gradually grabbed according to the method of steps 2.2-2.3 until the cabin is full.

[0035] The beneficial effects of the present application are:

[0036] 1. The present application has the article grabbing function, can continuously transport articles to multiple destinations, and improves the transportation efficiency.

[0037] 2. The present application has the rope launching function, and can be used for more stable launching of valuable or fragile articles.

[0038] 3. The present application has the automatic opening and closing door function, and has simple structure and high reliability.

[0039] 4. The present application has good balance, small air resistance, and good aerodynamic performance. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 is a structural schematic diagram of the logistics unmanned aerial vehicle of the present application.

[0041] Figure 2is the exploded view of the logistics unmanned aerial vehicle of the present application (showing the transported articles therein and hiding the rack).

[0042] Figure 3 is the top view, sectional view and partial enlarged view of the logistics unmanned aerial vehicle of the present application (hiding the rack).

[0043] Figure 4 is the half-sectional structural view of the logistics unmanned aerial vehicle of the present application (hiding the rack).

[0044] Figure 5 is the three-view and axonometric view of the upper cabin body in the logistics unmanned aerial vehicle of the present application.

[0045] Figure 6 is the schematic view of the rack in the logistics unmanned aerial vehicle of the present application.

[0046] Figure 7 is the schematic view of the slidable electromagnetic chuck card in the logistics unmanned aerial vehicle of the present application.

[0047] Figure 8 is the schematic view of the winding wheel and bidirectional motor in the logistics unmanned aerial vehicle of the present application.

[0048] Figure 9 is the schematic view of the rotary locking plate and unidirectional motor in the logistics unmanned aerial vehicle of the present application.

[0049] Figure 10 is the schematic view of the article grabbing and dropping control unit cabin internal module and power supply unit in the logistics unmanned aerial vehicle of the present application.

[0050] Figure 11 is the work flow chart of the logistics unmanned aerial vehicle of the present application.

[0051] Legend of reference signs:

[0052] 1 - power unit; 2 - article grabbing and dropping control unit cabin; 3 - rack; 4 - lower cabin body locking unit control cabin; 5 - article cabin; 6 - magnetic attraction identification device; 7 - rope passage; 8 - electromagnetic chuck interface; 9 - bidirectional motor; 10 - winding wheel; 11 - control module; 12 - storage machine case; 13 - fixed electromagnetic chuck card; 14, 21 - slidable electromagnetic chuck card; 15 - magnetic attraction device mounted on the article; 16 - rotary locking plate; 17 - electromagnetic chuck interface; 18 - unidirectional motor; 19 - locking control module; 20 - embedded hinge leaf; 22 - pressure sensor; 23 - blocking plate; 24 - power supply unit; 25 - article. DETAILED DESCRIPTION

[0053] The present application is further described below in conjunction with the accompanying drawings.

[0054] As Figures 1-10As shown, the small logistics unmanned aerial vehicle capable of automatically opening and closing the cabin door to grab and drop objects of the present application comprises a rack 3, an object cabin 5, a lower cabin body control unit, an object grabbing and dropping unit, a power supply unit and a power unit 1.

[0055] The object cabin 5 is used to place objects and comprises an upper cabin body and a lower cabin body arranged in an up-down manner. Both the upper cabin body and the lower cabin body are semi-cylindrical shells, and when they are closedly connected, a cylindrical object cabin is formed. The upper cabin body is fixed on the rack 3, and one side of the upper cabin body along its axial direction is connected with one side of the lower cabin body along its axial direction through an embedded hinge 20. The other side of the lower cabin body along its axial direction is a free side. Due to the action of the embedded hinge 20, the lower cabin body can rotate relative to the upper cabin body at the embedded hinge 20. When the free side of the lower cabin body rotates to tightly abut the other side of the upper cabin body, the object cabin 5 is closed. When the free side of the lower cabin body rotates away from the upper cabin body, the object cabin 5 is opened. It should be noted that in other embodiments, the upper cabin body and the lower cabin body are not limited to be connected in the manner of the embedded hinge 20, but can also be connected in other hinged manners, such as through a rotating shaft.

[0056] The lower cabin body control unit is used to fix and release the fixation of the lower cabin body to realize the closing and opening of the object cabin. When the lower cabin body control unit fixes the lower cabin body so that its free side tightly abuts the upper cabin body, the object cabin 5 is in a closed state. After the lower cabin body control unit releases the fixation of the lower cabin body, the lower cabin body will rotate around the embedded hinge 20 under the action of gravity, thereby separating from the upper cabin body, and the object cabin 5 is opened.

[0057] As shown in the figure, the object grabbing and dropping unit comprises a grabbing and dropping mechanism 6 and a grabbing and dropping mechanism control unit 7. The grabbing and dropping mechanism 6 is arranged in the object cabin 5 and is used to grab and drop objects. The grabbing and dropping mechanism control unit 7 is arranged on the rack 3 and is used to control the grabbing and dropping mechanism 6 to grab and drop objects. Figure 4As shown, the lower cabin body control unit is arranged at one end of the article cabin 5, including a lower cabin body locking unit control cabin 4, a rotary locking piece 16, a one-way motor 18, and a locking control module 19. The lower cabin body locking unit control cabin 4 is arranged at one end of the article cabin 5; the rotary locking piece 16 includes a rotating disc and a blocking piece 23 arranged on the side wall of the rotating disc, wherein the rotating disc is arranged at one end of the article cabin 5 between the lower cabin body locking unit control cabin 4 and the article cabin 5, and is driven by the one-way motor 18, the rotation direction of the blocking piece 23 on the rotary locking piece 16 is the same as the rotation direction of the lower cabin body when the article cabin 5 is closed; the one-way motor 18 is located in the lower cabin body locking unit control cabin 4; the inner wall of the blocking piece 23 is adapted to the outer wall of the lower cabin body and is located on the outer side of the radial direction of the lower cabin body; the locking control module 19 is located in the lower cabin body locking unit control cabin 4 and is used to control the action of the one-way motor 18. When the one-way motor 18 drives the rotary locking piece 16 to rotate to the position where the blocking piece 23 contacts the lower cabin body, the lower cabin body is supported by the blocking piece 23, and the free side of the lower cabin body gradually approaches the upper cabin body until it is in contact with the upper cabin body under the driving of the one-way motor 18, and the article cabin 5 is closed; when the one-way motor 18 drives the rotary locking piece 16 to rotate to the position where the blocking piece 23 is separated from the lower cabin body, the lower cabin body rotates around the embedded hinge leaf 20 due to gravity, the one-way motor 18 stops acting, the article cabin 5 is opened, and the articles in the article cabin 5 are freely dropped to achieve delivery. After the articles are dropped out of the cabin, the one-way motor 18 drives the rotary locking piece 16 to continue rotating around the hinge until it contacts the lower cabin body again to achieve automatic cabin closing, and the one-way motor 18 stops acting.

[0058] The article grabbing and delivery unit is used to grab articles in the article cabin 5 and control the delivery of the articles in the article cabin 5 out of the cabin. As shown in the figure, Figure 4 、 8 As shown, the article grabbing and delivery unit includes an article grabbing and delivery control unit cabin 2, a magnetic attraction grabbing unit, a rope winding and unwinding unit, and a control module 11; the magnetic attraction grabbing unit is used to grab the articles to be transported; the rope winding and unwinding unit is used to pull the grabbed articles into the article cabin. The rope winding and unwinding unit includes a rope, a winding wheel 10, and a bidirectional motor 9; the magnetic attraction grabbing device includes a magnetic attraction identification device 6 arranged at the free end of the rope, a magnetic attraction device 15 mounted on the article, a plurality of slidable electromagnetic suction disc cards 14, 21 arranged in the article cabin 5 and capable of sliding along the axial direction of the article cabin 5, a fixed electromagnetic suction disc card 13 arranged at one end of the cabin body of the article cabin 5 and close to the winding wheel 10; the magnetic attraction grabbing device further includes an electromagnetic suction disc interface 8 arranged on the fixed electromagnetic suction disc card 13, and an electromagnetic suction disc interface 17 and a pressure sensor 22 arranged on the slidable electromagnetic suction disc card 14, 21.

[0059] The article grabbing and dropping control unit cabin 2 is arranged at the other end of the article cabin 5, and the bidirectional motor 9 and the control module 11 are arranged in the article grabbing and dropping control unit cabin 2; the bidirectional motor 9 is used for driving the winding wheel 10 to rotate; the rope is wound on the winding wheel 10, and the winding and unwinding of the rope can be realized when the winding wheel 10 rotates in the forward and reverse directions. In order to ensure that the rope is regularly stored after being recovered, the application further comprises a storage box 12 arranged at the end of the article cabin 5 close to the article grabbing and dropping unit, and the winding wheel 10 is arranged in the storage box 12, and the rope will be regularly arranged in the storage box 12 after being recovered; specifically, a disc is arranged on the output shaft of the bidirectional motor 9, and the disc is arranged between the body of the bidirectional motor 9 and the winding wheel 10, and the disc and the fixed electromagnetic suction disc card 13 close to the other side of the winding wheel 10 jointly form the storage box 12. In order to ensure that the rope will not be stuck in the slidable electromagnetic suction disc cards 14 and 21 in the article cabin 5 during winding and unwinding, a rope channel 7 is arranged in the inner wall of the upper cabin body of the article cabin 5, and the section of the rope away from the winding wheel 10 is arranged in the rope channel 7. In addition, in order to improve the efficiency of article dropping, the application can only control the bidirectional motor 9 to act to open the rope dropping function when transporting valuable or fragile articles, and since the article is connected with the rope, the article can be smoothly dropped under the action of the rope.

[0060] The electromagnetic suction disc interfaces 8 and 17 are respectively used for transmitting current to the fixed electromagnetic suction disc card 13 and the slidable electromagnetic suction disc cards 14 and 21 to control the suction force between the fixed electromagnetic suction disc card 13 and the slidable electromagnetic suction disc cards 14 and 21: the suction force is enhanced with the increase of the current; and the direction of the force between the electromagnetic suction disc cards is changed by reversing the transmitted current. The pressure sensor 22 is used for collecting the pressure value applied to the article when the slidable electromagnetic suction disc cards 14 and 21 contact the article and providing the pressure value to the control module 11. When the pressure collected by the pressure sensor 22 reaches a preset threshold value, the control module 11 will control the power supply unit to no longer increase the output current, and then the current input to the electromagnetic suction disc card through the electromagnetic suction disc interface will no longer increase, at this time, the suction force between the fixed electromagnetic suction disc card 13 and the slidable electromagnetic suction disc cards 14 and 21 will no longer change. When the lower cabin door is closed, the control module 11 controls the power supply unit to stop power supply, and the position of the article has been pushed to the two sides of the article cabin by the slidable electromagnetic suction disc cards 14 and 21 during power supply. Therefore, through the cooperation of the fixed electromagnetic suction disc card 13, the slidable electromagnetic suction disc cards 14 and 21, the electromagnetic suction disc interfaces 8 and 17 on each electromagnetic suction disc and the pressure sensor 22, the functions of clamping the article and dropping the corresponding article can be realized.

[0061] It should be noted that the number of slidable electromagnetic suction disc cards arranged in the article cabin 5 is indefinite, and can be flexibly arranged according to the requirements. In the embodiment, only two slidable electromagnetic suction disc cards are taken as an example for illustrative purposes.

[0062] The power supply unit is used for supplying power to the locking control module 19, the control module 11, and the driving mechanism of the unidirectional motor 18, the bidirectional motor 9 and the propeller in the power unit 1.

[0063] The power unit 1 comprises four propellers and driving mechanisms for driving the propellers to rotate; the four propellers are arranged on both sides of the rack 3 and are used for providing lift for the unmanned aerial vehicle.

[0064] As shown in Figure 11 The working process of the article grabbing and dropping realized by the present application is as follows:

[0065] The logistics unmanned aerial vehicle of the present application is mainly aimed at two kinds of goods, one is ordinary drop-resistant goods, and the other is valuable / breakable goods; for different types of goods, the unmanned aerial vehicle will adopt different dropping modes.

[0066] After the logistics unmanned aerial vehicle arrives at the destination, the locking control module 19 in the lower cabin control unit controls the unidirectional motor 18 to act so that the blocking piece 23 is separated from the lower cabin of the article cabin 5, and the article cabin 5 is opened.

[0067] Then, the control module 11 in the article grabbing and dropping unit controls the bidirectional motor 9 to drive the wire reel 10 to rotate forward to drop the rope, and the magnetic attraction recognition device 6 connected with the free end of the rope is attached to the magnetic attraction device 15 installed on the article and is firmly attracted. The magnetic attraction recognition device 6 in the present application is a magnetic attraction sensing device with scanning and recognition function, which can scan and recognize the size of the goods to be transported. If the size of a certain article is not within the size range of the articles that can be stored in the unmanned aerial vehicle, the magnetic attraction function of the magnetic attraction recognition device 6 will not be triggered, so that the article will not be grabbed; otherwise, the article will be grabbed.

[0068] After the first article is grabbed, the wire reel 10 in the article grabbing and dropping unit continues to operate, the rope drives the first grabbed article to be pulled into the article cabin 5 and to the middle position of the first article in the article cabin 5, and the slidable electromagnetic suction disc card 14, 21 approaches or moves away from the fixed electromagnetic suction disc card 13 under the condition that the electromagnetic suction disc interface 8, 17 is powered, and the article moves together with the slidable electromagnetic suction disc card 14, 21 along the axial direction to one side of the article cabin 5, so as to compress the first article. When the pressure detected by the pressure sensor 22 reaches the pre-set pressure threshold value, the current supplied to the electromagnetic suction disc interface 8, 17 is no longer increased, and the suction force is no longer increased.

[0069] The process of grabbing the second article is similar to that of the first article, at this time, the size range of the article that can be stored is recalculated by the control module 11 according to the total length of the cabin body of the article cabin 5 and the size data of the first article provided by the magnetic identification device 6 to the control module 11, the current size range of the article that can be stored = the total length of the cabin body of the article cabin 5 - the length of the first article. At this time, the second article to be grabbed is located in the middle position of the article cabin 5, and the slidable electromagnetic suction disc cards 14 and 21 are located on one side of the compressed first article, at this time, the control module 11 changes the current direction of the electromagnetic suction disc interface 17 at the upper end of the slidable electromagnetic suction disc card 21, changes the magnetic force direction by changing the direction of the current, so that the slidable electromagnetic suction disc card 21 repels the fixed electromagnetic suction disc card 13, thereby driving the slidable electromagnetic suction disc card 21 to compress the second article to be grabbed to the right.

[0070] Subsequently, the third article is continuously grabbed according to the above method, which will not be described here.

[0071] Before grabbing the article, if the initial positions of all the slidable electromagnetic suction disc cards are on the right side of the article cabin 5, when the first article to be grabbed enters the cabin, all the slidable electromagnetic suction disc cards move to the left uniformly; then, except for the slidable electromagnetic suction disc card close to the first article for compressing the article, the remaining slidable electromagnetic suction disc cards slide to the right uniformly after the second article to be grabbed enters the cabin; thereafter, except for the slidable electromagnetic suction disc card close to the second article for compressing the article, the remaining slidable electromagnetic suction disc cards slide to the left uniformly after the third article to be grabbed enters the cabin; and so on until the cabin is full. Conversely, if the initial positions of all the slidable electromagnetic suction disc cards are on the left side of the article cabin 5, when the first article to be grabbed enters the cabin, all the slidable electromagnetic suction disc cards move to the right uniformly; that is, the direction of compressing the article is related to the initial position of the slidable electromagnetic suction disc card, and the initial position of the slidable electromagnetic suction disc card can be set by the control module 11 controlling the magnetic force of the slidable electromagnetic suction disc card and the fixed electromagnetic suction disc card 13.

[0072] After reaching the destination of the article to be dropped, the current direction of the electromagnetic suction disc interface 17 on the corresponding slidable electromagnetic suction disc card is controlled according to the destination, so as to change the magnetic force direction to relax the corresponding article, and then the corresponding article is freely dropped or dropped by using a rope. It should be noted that the article to be dropped by using a rope must be placed in the middle of the article cabin 5, and the placement position of the other articles is arbitrary. In addition, since the storage mode of the articles in the article cabin 5 presents a left-right arrangement mode, the center of gravity of the unmanned aerial vehicle is always located near the middle, effectively improving the balance of the unmanned aerial vehicle, and the axial space utilization rate reaches the maximum. Moreover, the whole unmanned aerial vehicle is symmetrically arranged, has good sealing performance, small air resistance, and good aerodynamic performance.

Claims

1. A logistics unmanned aerial vehicle capable of automatically opening and closing cabin door to grab and drop goods, comprising a frame, a goods cabin, a power supply unit and a power unit; characterized in that: the goods cabin is a cylindrical cabin composed of an upper cabin body and a lower cabin body; the upper cabin body is fixed on the frame, and one side of the lower cabin body is hinged to the upper cabin body; the logistics unmanned aerial vehicle further comprises a lower cabin control unit and a goods grabbing and dropping unit; the lower cabin control unit is used for fixing and unfixing the lower cabin body to realize the closing and opening of the goods cabin; the goods grabbing and dropping unit is used for grabbing goods into the goods cabin and controlling the goods in the goods cabin to drop out of the cabin; the goods grabbing and dropping unit comprises a magnetic attraction grabbing unit, a rope winding and unwinding unit and a control module; the magnetic attraction grabbing unit is used for grabbing goods to be transported; the rope winding and unwinding unit is used for pulling the grabbed goods into the goods cabin; and the control module is used for controlling the magnetic attraction grabbing unit and the rope winding and unwinding unit to act; the rope winding and unwinding unit is also used for dropping goods out of the cabin; the rope winding and unwinding unit comprises a rope, a winding wheel and a bidirectional motor; the rope is wound on the winding wheel, and the winding wheel can realize the winding and unwinding of the rope when it rotates forward and backward under the driving of the bidirectional motor; the magnetic attraction grabbing unit comprises a magnetic attraction identification device arranged at a free end of the rope, a magnetic attraction device mounted on the goods, a plurality of slidable electromagnetic suction disc cards arranged in the goods cabin, a fixed electromagnetic suction disc card arranged at one end of the cabin body of the goods cabin and close to the winding wheel, a first electromagnetic suction disc interface arranged on the fixed electromagnetic suction disc card for inputting current, and a second electromagnetic suction disc interface and a pressure sensor for detecting the pressure applied by the electromagnetic suction disc card to the goods arranged on the slidable electromagnetic suction disc card; the initial positions of the slidable electromagnetic suction disc cards are all on one side of the goods cabin; after the first goods is grabbed into the cabin through the cooperation of the magnetic attraction identification device and the magnetic attraction device, all the slidable electromagnetic suction disc cards slide to the other side of the goods cabin under the action of magnetic attraction force until the goods are pressed tightly; then, in addition to one of the slidable electromagnetic suction disc cards directly pressing the first goods, the remaining slidable electromagnetic suction disc cards slide to the other side of the goods cabin again after the second goods is grabbed into the cabin, and the process is repeated until the cabin is full. 2.The logistics drone capable of automatically opening and closing the cabin door to grab and drop items according to claim 1, wherein: A disc is arranged on the output shaft of the bidirectional motor, and the disc is located between the bidirectional motor body and the winding wheel; the disc and the fixed electromagnetic suction disc card jointly form a storage case for placing the winding wheel. 3.The logistics drone capable of automatically opening and closing the cabin door to grab and drop items according to claim 2, characterized in that: A rope channel is formed in the inner wall of the upper cabin body of the goods cabin, and the rope segment separated from the winding wheel is located in the rope channel. 4.The logistics unmanned aerial vehicle capable of automatically opening and closing the cabin door to grab and drop objects according to any one of claims 1-3, characterized in that: The lower cabin body control unit comprises a lower cabin body locking unit control cabin, a rotating lock piece, a one-way motor and a locking control module; the lower cabin body locking unit control cabin is arranged at one end of the article cabin; the rotating lock piece comprises a rotating disc and a blocking piece arranged on the side wall of the rotating disc, wherein the rotating disc is arranged between the lower cabin body locking unit control cabin and the article cabin and is driven by the one-way motor, and the rotating direction of the blocking piece on the rotating disc is the same as the rotating direction of the lower cabin body when the article cabin is closed; the one-way motor is located in the lower cabin body locking unit control cabin; the inner wall of the blocking piece is matched with the outer wall of the lower cabin body and is located on the outer side of the radial direction of the lower cabin body; the locking control module is located in the lower cabin body locking unit control cabin and is used for controlling the action of the one-way motor. 5.The logistics drone capable of automatically opening and closing the cabin door to grab and drop items according to claim 4, characterized in that: The upper cabin body and the lower cabin body are hinged through the embedded butt hinge.

6. The article grabbing and dropping method of the logistics unmanned aerial vehicle capable of automatically opening and closing the cabin door to grab and drop articles according to any one of claims 1-5, characterized in that: Step 1: the lower cabin body control unit releases the fixation of the lower cabin body, and the article cabin is opened; Step 2: the magnetic grabbing unit grabs the article, the rope winding and unwinding unit pulls the grabbed article into the article cabin, and the magnetic grabbing unit compresses the article into the cabin; Step 3: the article loading is completed, the lower cabin body control unit fixes the lower cabin body, and the article cabin is closed; Step 4: before preparation for dropping, the lower cabin body control unit releases the fixation of the lower cabin body, the article cabin is opened, the magnetic grabbing unit releases the compressed article, and the article is free-fall delivered; or the magnetic grabbing unit releases the compressed article, and the rope winding and unwinding unit performs rope delivery on the article.

7. The article gripping and launching method according to claim 6, characterized in that: The step 2 is specifically: Step 2.1 initial position, the slidable electromagnetic chuck cards are located on one side of the article cabin, the control module controls the bidirectional motor to drive the wire reel to rotate forward to lower the rope, and the magnetic attraction identification device connected with the free end of the rope is attached to and attracted to the magnetic attraction device installed on the article; Step 2.2 the wire reel continues to operate, the rope pulls the grabbed article into the article cabin and to the middle position of the article in the article cabin, the slidable electromagnetic chuck cards are close to or away from the fixed electromagnetic chuck cards under the condition that the electromagnetic chuck interfaces are electrified, so that the article moves together with the slidable electromagnetic chuck cards to one side of the article cabin in the axial direction, thereby compressing the article, when the pressure detected by the pressure sensor reaches the pre-set pressure threshold, the current supplied to the slidable electromagnetic chuck cards is no longer increased, and the suction force is no longer increased; Step 2.3 in addition to the slidable electromagnetic chuck cards directly compressing the current article, the electrification current directions of the remaining slidable electromagnetic chuck cards are changed, so that they all slide to the other side of the article cabin; Step 2.4 the subsequent articles are gradually grabbed according to the method of steps 2.2-2.3 until the cabin is full.

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