Vertical unmanned aerial vehicle self-adaptive delivery express storage system and express sorting method

Abstract

The invention discloses a vertical unmanned aerial vehicle self-adaptive delivery express storage system which comprises a delivery unmanned aerial vehicle and a vertical storage cabinet, the vertical storage cabinet comprises a bottom-layer storage cabinet body and a top-layer distribution cabinet body, and the bottom-layer storage cabinet body is of a sheet metal cabinet structure with the top open in a rectangular-ambulatory-plane pattern. A two-stage express storage and distribution mode is adopted, the delivery area of the vertical storage cabinet is divided into four areas from the overlook angle, and after the delivery unmanned aerial vehicle selects the delivery area closest to the delivery unmanned aerial vehicle according to the distance or the express package shape and size, the express is delivered into the most preferable vertical storage cavity of the delivery area. Compared with a parallel delivery system, a large amount of data computing resources can be saved, and compared with the fact that a sorting mechanism is additionally arranged in an express cabinet, the express cabinet system is outstanding in construction cost and maintenance cost advantage and more beneficial to application and popularization.

Description

Technical Field

[0001] The present invention relates to the technical field of drone delivery, and in particular to a vertical drone adaptive delivery express storage system. Background Art

[0002] With the rapid development of science and technology, drone technology is becoming increasingly mature, bringing unprecedented opportunities for change to the logistics industry. As an emerging technology in the express delivery industry, drone express services are highly anticipated. The delivery method combining drones and smart express lockers has gradually been applied to express delivery services. Compared with manual delivery, this delivery method can not only reduce labor costs, but also improve delivery efficiency.

[0003] In the prior art, such as the Chinese patent application number: 201711342944.7, "A multi-layer express receiving cabinet for drone transportation and a drone express delivery method", a main controller is arranged in the shell of the receiving cabinet body, a middle packaging recycling box is arranged on the front side of the receiving cabinet body, a movable door is arranged on the outside of the middle packaging recycling box, and unit movable cabinets are arranged on the upper and lower sides and the left and right sides of the middle packaging recycling box. Each unit movable cabinet includes a movable cabinet body, each movable cabinet body has a gravity sensor, and each groove at the four corners of the top of the movable cabinet body has a movable cabinet positioning sensor, each side of the front side panel of the movable cabinet body has a plug-in slot, the plug-in plate passes through the two side panels of the movable cabinet body, a pair of card strips are arranged in the guide rail at the bottom of the movable cabinet body, a rear seat controller is arranged on the rear side of the movable cabinet body, and a pushing mechanism is arranged in front of each side of the rear seat controller, and the end of the telescopic rod of the pushing mechanism is connected to the two sides of the front side panel of the corresponding movable cabinet body.

[0004] However, in the prior art, when drones deliver to express lockers, they need to carry the goods and fly to an empty locker, hover and wait for the locker to operate before placing the express in the designated empty locker. This delivery method requires the drone to accurately identify the location of the empty locker. Taking a 4*6 express locker as an example, the drone needs to identify and locate 24 locker door positions. If there are 6 express lockers in the same delivery area, because the empty lockers in the express lockers are randomly generated, each drone needs to store the flight trajectory data of 6*24 delivery points, which greatly increases the difficulty of calculating the drone flight trajectory and express delivery data, and increases the error rate of drone delivery.

[0005] In addition, there is also a method of using drones to unload goods at fixed points. This method will add a cargo sorting mechanism in the express cabinet. After the drone delivers the express to the fixed location on the express cabinet, the sorting mechanism will place the express in an empty cabinet. This method increases the installation and maintenance costs of the express cabinet, making it difficult to promote its large-scale use.

[0006] Therefore, to solve the above problems, we proposed a vertical drone adaptive delivery express storage system. Summary of the invention

[0007] The purpose of the present invention is to provide a vertical drone adaptive delivery express storage system to solve the problems raised by the above-mentioned background technology. The present invention adopts a two-level express storage allocation method, and divides the delivery area of ​​the vertical storage cabinet into four areas from a bird's-eye view. After the delivery drone selects the delivery area closest to it according to the spacing and size, the express is delivered to the most preferred vertical storage cavity in this delivery area, and then the express is dropped into the storage cabinet by using the vertically arranged partition components. There is no need for the delivery drone to accurately identify the positions of multiple storage cabinets. Compared with the parallel delivery system, this method can save a lot of data computing resources. When the recipient needs to pick up the item, the express cabinet information and the vertical storage cavity information of the express storage will be displayed in the mobile app. There is no need to accurately display the cabinet where the express is located to the recipient, which further saves the express cabinet data management resources. Compared with the addition of a sorting mechanism in the express cabinet, the construction cost and maintenance cost of the express cabinet system of the present application have outstanding advantages, which is more conducive to promotion and use.

[0008] To achieve the above-mentioned object, the present invention provides the following technical solutions: a vertical drone adaptive delivery express storage system, comprising a delivery drone and a vertical storage cabinet, wherein the vertical storage cabinet comprises a bottom storage cabinet body and a top distribution cabinet body, wherein the bottom storage cabinet body is a sheet metal cabinet structure with an open top in a U-shaped pattern, and the top edge of the bottom storage cabinet body is welded to the bottom edge of the top distribution cabinet body;

[0009] A plurality of partitions are welded in sequence on the outside of the bottom storage cabinet, and a vertical storage cavity is provided between every two adjacent partitions, and a plurality of partition components are movably installed in each vertical storage cavity in a vertical arrangement, and a pickup window is provided through the sheet metal of the bottom storage cabinet located outside the partition component, and an electromagnetic opening and closing cabinet door is rotatably installed on each pickup window, and a secondary positioning receiver is fixedly installed on the top edge of each vertical storage cavity, and a barcode scanner is fixedly installed on one side of the secondary positioning receiver;

[0010] The top distribution cabinet has cabinet entrances on all four sides, and a first-level positioning receiver is fixedly installed on the edge of each cabinet entrance. A distribution cavity is arranged on the periphery of the top distribution cabinet, and a charging cavity entrance is opened through the top axis of the top distribution cabinet. Both the cabinet entrance and the charging cavity entrance are movably installed with electric-controlled opening and closing doors;

[0011] The delivery drone is equipped with a signal transmission module and a positioning module. The signal transmission module is used to send the remaining power information and delivery status information of the delivery drone. The positioning module is used to transmit the real-time location information of the delivery drone to the first-level positioning receiver and the second-level positioning receiver.

[0012] Preferably, a supporting sheet metal is fixedly installed inside the bottom storage cabinet, and the top of the supporting sheet metal is welded to the bottom of the top distribution cabinet, a wireless charging platform is fixedly installed inside the top distribution cabinet, and a photovoltaic power generation panel is fixedly installed on the top of the top distribution cabinet.

[0013] Preferably, a plurality of large object storage cavities are provided at the bottom of the bottom storage cabinet body, and a downward-flipping electromagnetic cabinet door is rotatably installed on the outer side of each large object storage cavity.

[0014] Preferably, the electrically controlled opening and closing door comprises a first sliding door, a second sliding door, a motor and a gear, a first tooth surface rod is fixedly mounted on the bottom of the first sliding door, a second tooth surface rod is fixedly mounted on the bottom of the second sliding door, and both the first tooth surface rod and the second tooth surface rod are meshed with the motor and the gear.

[0015] Preferably, the tooth surfaces of the first tooth surface rod and the second tooth surface rod are arranged to face each other, and limiting sliders are welded to the bottoms of the first sliding door and the second sliding door.

[0016] Preferably, the partition assembly includes a first flip plate, a second flip plate, a rotating shaft, and a longitudinal slider. Limit rods are rotatably installed on the outer sides of the first flip plate and the second flip plate, and one end of the two limit rods is rotatably connected to the longitudinal slider. Rotating shafts are welded on the first flip plate and the second flip plate, and the rotating shafts are connected to the partition.

[0017] Preferably, a pressure rod is welded on the second flip plate, a flip gear is fixedly clamped on the rotating shaft of the second flip plate, and the flip gear is connected to the flip motor through a synchronous belt drive, and the outer wall of the flip motor is fixedly installed on the bottom storage cabinet.

[0018] Preferably, it also includes a primary sensing module group, a secondary sensing module group, a motor control module, a controller, and an opening and closing module;

[0019] The first-level sensing module group is used to receive the location information from the delivery drone through multiple first-level positioning receivers and transmit it to the controller, so as to send an open / close door command to the opening and closing module through the controller to control the opening and closing state of the electric opening and closing door;

[0020] The secondary sensing module group is used to receive the location information from the delivery drone through multiple secondary positioning receivers and transmit it to the controller, so as to send opening and closing instructions to the motor control module through the controller to control the opening and closing state of the flip motor.

[0021] Preferably, the controller signal is connected to an information acquisition module, which is used to collect and parse the express information from the QR code on the bottom of the goods scanned by the scanner. The express information includes the express size, express delivery address, recipient contact information, and the express mark entry time.

[0022] Preferably, the controller signal is connected to a charging module, and the charging module signal is connected to a power detection module in the delivery drone.

[0023] The present invention also provides a method for express sorting based on drone identification, including using the above-mentioned drone and all the equipment of the delivery system, and the method includes the following steps:

[0024] S1: The drone holds the express package to obtain the package size information and recipient information;

[0025] S2: The drone exchanges information with the secondary positioning receiver (102) and completes the delivery;

[0026] S3: recording the flipping action of the first flip plate (120) and the second flip plate (121);

[0027] S4: Calculate the location of the package through the information and flipping action;

[0028] S5: The recipient obtains the location of the package by scanning the QR code on the bottom storage cabinet (1).

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] 1. In the present invention, a two-level express storage allocation method is adopted. The delivery area of ​​the vertical storage cabinet is divided into four areas from a bird's-eye view. After the delivery drone selects the delivery area closest to it according to the spacing, the express is delivered to the most preferred vertical storage cavity in this delivery area, and then the express is dropped into the storage cabinet by using the vertically arranged partition components. There is no need for the delivery drone to accurately identify the positions of multiple storage cabinets. Compared with the parallel delivery system, this method can save a lot of data computing resources. When the recipient needs to pick up the item, the mobile app will display the express cabinet information and the vertical storage cavity information of the express storage. There is no need to accurately display the cabinet where the express is located to the recipient, which further saves the express cabinet data management resources. Compared with adding a sorting mechanism in the express cabinet, the construction cost and maintenance cost of the express cabinet system of the present application are outstanding, and it is more conducive to popularization and use.

[0031] 2. In the present invention, when the express is delivered by the drone to the vacant cabinet on the top layer of a vertical storage cavity, the partition components in the vertical storage cavity are activated in sequence, and the express in the vertical storage cavity is dropped into the storage cabinet at the bottom in sequence, so that the express can be arranged in the vertical storage cavity in an incremental manner according to the delivery date. This express storage method can facilitate the management of the express by the courier staff. When the express is not received for a long time, these express will be concentrated in the cabinet on the bottom layer of the express cabinet, which is conducive to the courier to collect quickly.

[0032] 3. In the present invention, when the partition assembly is started, the second flip plate flips downward and pulls the limit rod rotatably connected thereto, and the limit rod drives the longitudinal slider to slide downward along the slide groove of the partition side wall, so that the longitudinal slider drives the first flip plate to flip downward through another limit rod, and then the express on the top of the first flip plate and the second flip plate falls into the bottom storage cabinet. At the same time, when the second flip plate flips downward, the pressure rod on the top of one side of it will also flip with it, which can push the express downward to prevent the express from being stuck in the express cabinet.

[0033] 4. Sorting The sorting method based on drone recognition reduces costs: Traditional express sorting systems usually require complex mechanical structures, including conveyor belts, sorting arms, etc. The manufacturing, installation and maintenance of these devices require high costs, and this method can replace the scanning and recognition modules installed in each storage cavity, which can not only save manufacturing costs but also reduce the failure rate. The method based on drone recognition can reduce the dependence on mechanical structures and reduce the construction cost of the system.

[0034] Improved flexibility: Traditional mechanical sorting systems need to be adjusted and set up according to packages of different sizes and shapes to adapt to various sorting needs. The drone recognition method can realize a flexible sorting process by identifying and processing the size information of the package, without the need for frequent mechanical structure adjustments.

[0035] Optimization of space utilization: Traditional mechanical sorting systems require a certain amount of space to accommodate large equipment, which may occupy valuable space resources in warehouses or sorting centers. The drone recognition method can sort by flying in the air without occupying ground space, which can better optimize the space utilization of warehouses or sorting centers.

[0036] Reduced failure rate and maintenance costs: Mechanical structures are susceptible to wear and tear, failure and other problems, and require regular maintenance and repair, which will increase additional maintenance costs and downtime. In contrast, the drone identification method reduces the use of mechanical equipment, reduces failure rate and maintenance costs, and improves the stability and reliability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a schematic diagram of the structure of a vertical storage cabinet of a vertical drone adaptive delivery express storage system of the present invention; Figure 2 An exploded view of a vertical storage cabinet of a vertical drone adaptive delivery express storage system of the present invention; Figure 3 This is a schematic diagram of the bottom storage cabinet structure of a vertical drone adaptive delivery express storage system of the present invention; Figure 4A top view of a bottom storage cabinet of a vertical drone adaptive delivery express storage system of the present invention; Figure 5 This is a schematic diagram of the top-level distribution cabinet structure of a vertical drone adaptive delivery express storage system of the present invention; Figure 6 This is a schematic diagram of the structure of a partition component of a vertical drone adaptive delivery express storage system of the present invention; Figure 7 A schematic diagram of vertical delivery by a drone of a vertical drone adaptive delivery and storage system of express delivery according to the present invention; Figure 8 It is a drone delivery flow chart of a vertical drone adaptive delivery express storage system of the present invention; Fig. 9 This is a schematic diagram of the working state of a secondary positioning receiver of a vertical drone adaptive delivery and express storage system of the present invention; Fig.10 This is a flow chart of the changes in the partition components of a vertical drone adaptive delivery express storage system of the present invention; Fig.11 This is a system block diagram of a vertical drone adaptive delivery and storage system of the present invention; Fig.12 It is a partial structural diagram of embodiment 4 of the present invention.

[0038] In the figure:

[0039] 1. Bottom storage cabinet; 10. Partition; 101. Vertical storage cavity; 102. Secondary positioning receiver; 103. Barcode scanner; 11. Support sheet metal; 110. Wireless charging platform; 12. Partition assembly; 120. First flip plate; 121. Second flip plate; 122. Limit rod; 123. Rotating shaft; 124. Longitudinal slider; 125. Press rod; 126. Flip gear; 127. Synchronous belt; 128. Flip motor; 13. Pick-up window; 14. Electromagnetic door; 15. Large object storage cavity; 16. Flip-down electromagnetic door; 2. Top distribution cabinet; 20. Charging cavity entrance 21. First-level positioning receiver; 22. Cabinet entrance; 24. Distribution cavity; 3. Photovoltaic power generation panel; 4. Electric control opening and closing door; 40. First sliding door; 41. First tooth surface rod; 42. Motor and gear; 43. Second tooth surface rod; 44. Second sliding door; 45. Limit slider; 50. First-level sensing module group; 51. Second-level sensing module group; 52. Information acquisition module; 53. Motor control module; 54. Controller; 55. Opening and closing module; 56. Charging module; 57. Signal transmission module; 58. Positioning module; 59. Power detection module; 61. Push plate body; 62. Fork arm. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] Embodiment 1

[0042] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 8 and Fig.11 Shown: A vertical drone adaptive delivery express storage system, including a delivery drone and a vertical storage cabinet.

[0043] Among them, the vertical storage cabinet consists of two parts: a bottom storage cabinet body 1 and a top distribution cabinet body 2. The bottom storage cabinet body 1 is a sheet metal cabinet structure with an open top U-shaped layout, and the top edge of the bottom storage cabinet body 1 is welded to the bottom edge of the top distribution cabinet body 2.

[0044] Specifically, multiple partitions 10 are welded in sequence on the outside of the bottom storage cabinet 1, and a vertical storage cavity 101 is provided between every two adjacent partitions 10. The width of the vertical storage cavity 101 can be customized according to uniform specifications or on demand. At this time, the vertical storage cavity 101 is open at the top and sealed at the bottom, and is a hollow structure throughout.

[0045] Multiple partition components 12 are installed in each vertical storage cavity 101 in a vertically arranged manner. The width of the partition components 12 is adapted to the width of the corresponding vertical storage cavity 101. Each vertical storage cavity 101 is passed through multiple partition components 12. The distance between multiple partition components 12 can be customized according to uniform specifications or on demand, so as to divide the vertical cavity structure into multiple express storage cavities. A pickup window 13 is opened through the sheet metal of the bottom storage cabinet 1 located outside the partition component 12. An electromagnetic opening and closing cabinet door 14 is rotatably installed on each pickup window 13. A secondary positioning receiver 102 is fixedly installed on the top edge of each vertical storage cavity 101, and a barcode scanner 103 is fixedly installed on one side of the secondary positioning receiver 102;

[0046] The top-level distribution cabinet 2 is provided with cabinet entrances 22 on all four sides, and a primary positioning receiver 21 is fixedly installed at the edge of each cabinet entrance 22 . A distribution cavity 24 is provided on the periphery of the top-level distribution cabinet 2 .

[0047] The delivery drone is provided with a signal transmission module 57 and a positioning module 58. The signal transmission module 57 is used to send the remaining power information and delivery status information of the delivery drone. The positioning module 58 is used to transmit the real-time location information of the delivery drone to the first-level positioning receiver 21 and the second-level positioning receiver 102.

[0048] In this embodiment, reference Figure 4 As shown, the delivery area of ​​the vertical storage cabinet is divided into four areas A-1, A-2, B-1 and B-2 from a bird's-eye view. The four delivery areas correspond to the four cabinet entrances 22 on the top. When the delivery drone carrying the express arrives at the top of the vertical storage cabinet, if the four delivery areas on the four sides of the vertical storage cabinet all contain idle cabinets, the first-level positioning receiver 21 closest to the drone senses the information from the signal transmission module 57 and the positioning module 58 in the delivery drone, and controls the electrically controlled opening and closing door 4 connected thereto to open, and the drone enters the distribution cavity 24 of the top-level distribution cabinet 2 through this cabinet entrance 22.

[0049] If there is no vacant cabinet in the delivery area closest to the drone, the first-level positioning receiver 21 in the adjacent delivery area senses the information from the signal transmission module 57 and the positioning module 58 in the delivery drone, and controls the electrically controlled opening and closing door 4 connected to it to open, and the drone enters the distribution cavity 24 of the top-level distribution cabinet 2 through this cabinet entrance 22.

[0050] After completing the first-level distribution, the secondary positioning receivers 102 installed on the top of several vertical storage cavities 101 in this delivery area will sense the information from the signal transmission module 57 and the positioning module 58 in the delivery drone. The vertical storage cavity 101 containing the idle cabinet will send a delivery signal to the drone. The drone will then fly to the top of this vertical storage cavity 101 to unload the express. The express will fall into the idle cabinet at the top of this vertical storage cavity 101 for storage to wait for the next step of distribution. The drone will then fly out of the vertical storage cabinet along the same route.

[0051] Embodiment 2

[0052] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Fig.11As shown, a charging chamber entrance 20 is provided through the top axis of the top-level distribution cabinet 2, and an electric-controlled opening and closing door 4 is movably installed on the cabinet entrance 22 and the charging chamber entrance 20, a supporting sheet metal 11 is fixedly installed inside the bottom-level storage cabinet 1, and the top of the supporting sheet metal 11 is welded to the bottom of the top-level distribution cabinet 2, a wireless charging platform 110 is fixedly installed inside the top-level distribution cabinet 2, and a photovoltaic power generation panel 3 is fixedly installed on the top of the top-level distribution cabinet 2, and a transformer and a battery are connected to the bottom of the photovoltaic power generation panel 3, and the transformer and the battery are both installed inside the supporting sheet metal 11. When the power is off, the battery can supply power to the express cabinet so that it can still work normally, thereby ensuring the working stability of the express cabinet.

[0053] The controller 54 signal is connected to the charging module 56 and the first-level sensing module group 50, and the charging module 56 signal is connected to the power detection module 59 in the delivery drone. The first-level sensing module group 50 is used to receive the location information from the delivery drone through multiple first-level positioning receivers 21 and transmit it to the controller 54, so as to send an open / close door command to the opening and closing module 55 through the controller 54 to control the opening and closing state of the electric opening and closing door 4.

[0054] The electrically controlled opening and closing door 4 includes a first sliding door 40, a second sliding door 44, a motor and a gear 42. A first tooth surface rod 41 is fixedly installed at the bottom of the first sliding door 40, and a second tooth surface rod 43 is fixedly installed at the bottom of the second sliding door 44. The first tooth surface rod 41 and the second tooth surface rod 43 are both meshed with the motor and the gear 42. The tooth surfaces of the first tooth surface rod 41 and the second tooth surface rod 43 are arranged facing each other. A limiting slider 45 is welded to the bottom of the first sliding door 40 and the second sliding door 44.

[0055] In this embodiment, when the drone flies to the vertical storage cabinet for operation, its power detection module 59 senses that the drone's power is too low, and will send a charging signal to the primary positioning receiver 21, and the controller 54 will start the wireless charging platform 110 through the charging module 56, and open the electric control opening and closing door 4 on the charging chamber entrance 20, so that the drone can land on the wireless charging platform 110. At the same time, the power detection module 59 will monitor the drone's power status in real time and send it to the controller 54. When the drone is fully charged, the controller 54 will close the wireless charging platform 110 through the charging module 56, and open the electric control opening and closing door 4 again, so that the drone can fly out of the channel.

[0056] Among them, the opening and closing principle of the electrically controlled opening and closing door 4 is that the motor and the gear 42 are started. When the motor rotates forward, the first tooth surface rod 41 and the second tooth surface rod 43 engaged on both sides thereof are driven to move toward each other through the gear 42, so that the first sliding door 40 and the second sliding door 44 are close to each other, and the door closing work is completed; when the motor is reversed, the first tooth surface rod 41 and the second tooth surface rod 43 engaged on both sides thereof are driven to move in the opposite direction through the gear 42, so that the first sliding door 40 and the second sliding door 44 are moved away from each other, and the door opening work is completed.

[0057] Embodiment 3

[0058] Reference Figure 2 , Figure 3 , Figure 6 , Figure 7 , Figure 8 , Fig.10 and Fig.11 As shown, the bottom of the bottom storage cabinet 1 is provided with a plurality of large item storage cavities 15, and a downward-flipping electromagnetic cabinet door 16 is rotatably installed on the outer side of each large item storage cavity 15. Large item storage cavities 15 for large express deliveries are provided around the bottom of this vertical storage cabinet, so that large express deliveries that cannot be delivered by drones can be manually delivered by couriers and stored in this express cabinet, thereby improving the practicality of this express cabinet.

[0059] The controller 54 signal is connected to the information acquisition module 52, which is used to collect and parse the express information from the QR code on the bottom of the goods scanned by the scanner 103. The express information includes the express size, express delivery address, recipient contact information, and the express mark entry time.

[0060] At the same time, the controller 54 is signal-connected to the secondary sensing module group 51, which is used to receive the location information from the delivery drone through multiple secondary positioning receivers 102 and transmit it to the controller 54, so as to send an opening and closing instruction to the motor control module 53 through the controller 54 to control the opening and closing state of the flip motor 128. The partition assembly 12 includes a first flip plate 120, a second flip plate 121, and a longitudinal slider 124. The first flip plate 120 and the second flip plate 121 are both rotatably installed with a limit rod 122 on the outside, and one end of the two limit rods 122 is rotatably connected to the longitudinal slider 124. The first flip plate 120 and the second flip plate 121 are both welded with a rotating shaft 123, and the rotating shaft 123 is plugged into the partition 10. A pressure rod 125 is welded on the second flip plate 121, and a flip gear 126 is fixedly clamped on the rotating shaft 123 of the second flip plate 121. The flip gear 126 is connected to a flip motor 128 through a synchronous belt 127, and the outer wall of the flip motor 128 is fixedly installed on the bottom storage cabinet 1.

[0061] In this embodiment, when the express is delivered by the drone to the vacant cabinet at the top of a vertical storage cavity 101, the partition components 12 in the vertical storage cavity 101 are activated in sequence, and the express in the vertical storage cavity 101 is sequentially dropped into the storage cabinet at the bottom, so that the express can be arranged in the vertical storage cavity 101 in increments according to the delivery date. If the express in the middle cabinet is taken away, that is, the items are not picked up from bottom to top, because each storage cabinet is equipped with an induction sensor, it can be known whether there is an express in this storage cabinet, and the express on the top of the storage cabinet that has been taken away will fall down in sequence. This express storage method can facilitate the management of express by express staff. When express is not picked up for a long time, these express will be concentrated in the cabinet at the bottom of this express cabinet. When the recipient needs to pick up the package, the mobile app will display the express cabinet information and the vertical storage cavity 101 information of the express. There is no need to accurately display the cabinet where the express is located to the recipient. When the recipient stands in front of the vertical storage cavity 101 where the express is stored when picking up the package, the cabinet door is open and it can be quickly found, further saving the express cabinet data management resources.

[0062] When the separator assembly 12 is required to put down the express on its top, refer to Figure 6 , Fig.10 As shown, the flip motor 128 rotates forward, and the flip gear 126 is selected through the synchronous belt 127, so that the second flip plate 121 flips downward, thereby pulling the limit rod 122 connected to it, and the longitudinal slider 124 is driven to slide downward along the slide groove of the side wall of the partition 10 through this limit rod 122, so that the longitudinal slider 124 drives the first flip plate 120 to flip downward through another limit rod 122, and then the express on the top of the first flip plate 120 and the second flip plate 121 falls into the bottom storage cabinet. At the same time, when the second flip plate 121 flips downward, the pressure rod 125 on the top of one side of it will also flip with it, which can push the express downward to prevent the express from being stuck in the express cabinet.

[0063] On the contrary, the flip motor 128 will reverse, and the longitudinal slider 124 will slide upward, driving the second flip plate 121 to flip upward, waiting for the next express to fall and be stored.

[0064] The usage and working principle of this device: When a delivery drone carrying a parcel arrives at the top of a vertical storage cabinet, the first-level positioning receiver 21 closest to the drone senses the information from the signal transmission module 57 and the positioning module 58 in the delivery drone, and controls the electrically controlled opening and closing door 4 connected thereto to open, and the drone enters the distribution cavity 24 of the top-level distribution cabinet 2 through the cabinet entrance 22.

[0065] After completing the first-level distribution, the secondary positioning receivers 102 installed on the top of several vertical storage cavities 101 in this delivery area will sense the information from the signal transmission module 57 and the positioning module 58 in the delivery drone. The vertical storage cavity 101 containing the idle cabinet will send a delivery signal to the drone, and the drone will fly to the top of this vertical storage cavity 101 to unload the express.

[0066] After the express is delivered by the drone to the topmost vacant cabinet of a vertical storage cavity 101, the partition assembly 12 in the vertical storage cavity 101 is started in sequence, and the express in the vertical storage cavity 101 is dropped into the storage cabinet at the bottom in sequence, so that the express can be arranged in the vertical storage cavity 101 in increments according to the delivery date, and the drone flies out of the vertical storage cabinet along the original route. When the partition assembly 12 needs to put down the express on the top, the flip motor 128 rotates forward, and the flip gear 126 is selected through the synchronous belt 127, so that the second flip plate 121 flips downward, thereby pulling the limit rod 122 connected to it, and the longitudinal slider 124 is driven by the limit rod 122 to slide downward along the slide groove of the side wall of the partition 10, so that the longitudinal slider 124 drives the first flip plate 120 to flip downward through another limit rod 122, and then the express on the top of the first flip plate 120 and the second flip plate 121 falls into the bottom storage cabinet.

[0067] Embodiment 4

[0068] Reference Fig.12 As shown, for the above embodiment, if the drone cannot be accurately put into the corresponding vertical storage cavity 101 due to the operating accuracy of the drone or other reasons, technicians in this field can set a four-way push plate on the top of the vertical storage cavity to assist in pushing the package. The four push plates include four push plate bodies that surround each other in a mouth shape, and a power mechanism behind each push plate. The power mechanism preferably adopts a fork-arm telescopic structure. When this structure is adopted, a partition assembly 12 is also set on the upper part of the vertical storage cavity as a pushing platform for the package, and the orientation adaptability of other support and driving mechanisms is modified downward, such as a pressure rod 125, a limit rod 122, etc.

[0069] Embodiment 5

[0070] A method for express sorting based on drone identification includes the aforementioned drone and all the equipment of the delivery system, and a display screen is also provided on the bottom storage cabinet 1. The method includes the following steps:

[0071] S1: The drone holds the express package to obtain the package size information and recipient information;

[0072] S2: The drone exchanges information with the secondary positioning receiver (102) and completes the delivery;

[0073] S3: recording the flipping action of the first flip plate (120) and the second flip plate (121);

[0074] S4: Calculate the location of the package through the information and flipping action;

[0075] S5: The recipient obtains the location of the package by scanning the QR code on the bottom storage cabinet (1).

[0076] Specifically, the drone identifies the package information: 1. size information, 2. express information (recipient information, etc.), where size information less than 16cm long * 20cm wide * 8cm high is S specification, between 16cm long * 20cm wide * 8cm high ~ 20cm long * 34cm wide * 16cm high is M specification, and between 20cm long * 34cm wide * 16cm high ~ 34cm long * 45cm deep * 29cm high is L specification. The secondary positioning receiver on the top of the vertical storage cavity 101 of the bottom storage cabinet 1 includes a size adaptation module and an information storage module. The size adaptation module is used to identify the size information of the package and locate and navigate the drone to the top of the corresponding vertical storage cavity 101. The information storage module is used to temporarily store the delivered express information.

[0077] First, the vertical storage chambers 101 are numbered c11, c12, c13, c21, c22, c23, ... c42, c43; and different specifications and settings of S / L / M are used in the size adaptation module;

[0078] The flip motors 128 of the first flip plate 120 and the second flip plate 122 in the multiple partition components 12 in each vertical storage cavity 101 are numbered, for example, the first layer of partition components 12 in c11 is c1101, the second layer is c1102..., and all the partition components in c12, c13... are numbered in this way. The flip motor 128 interacts with the controller 54 signal as a part of the opening and closing module 55. When the gravity sensor in a partition component 12 recognizes that the gravity is 0, the partition component 12 located on the upper layer thereof performs a flipping action to cause the package to fall once, and so on, so that the package in each vertical storage cavity is always placed in the lower cavity; for example: when c1101 moves once, it means that the package falls to the next layer of cavity, and when c1102 moves once, it means that the package continues to fall to the next layer of cavity, and the cabinet number where the corresponding package is located is updated in real time;

[0079] The cavity above each flip assembly has a cabinet number, and the cabinet number can be set to 001, 002..., and these cabinet numbers correspond to the numbers of the flip motors 128 of the flip assemblies 12 one by one.

[0080] The display screen is used to interact with the controller 54 to complete the final location of the package, and to feed back to the recipient through the mobile terminal.

[0081] For control program implementation, please refer to the following content

[0082] import time

[0083] import qrcode

[0084] # Vertical storage cavity number

[0085] vertical_storage_cavities = ['c11', 'c12', 'c13', 'c21', 'c22', 'c23', 'c42', 'c43']

[0086] # Correspondence between size and vertical storage cavity number

[0087] size_mapping = {

[0088] 'S': 'c11',

[0089] 'M': 'c12',

[0090] 'L': 'c13'

[0091] …}

[0092] # Controller Class

[0093] class Controller:

[0094] def __init__(self):

[0095] self.display_screen = DisplayScreen()

[0096] self.size_adapter_module = SizeAdapterModule()

[0097] self.info_storage_module = InfoStorageModule()

[0098] self.vertical_storage_cavities = vertical_storage_cavities

[0099] self.flip_component_mapping = self.initialize_flip_component_mapping()

[0100] def initialize_flip_component_mapping(self):

[0101] flip_component_mapping = {}

[0102] for i, cavity in enumerate(self.vertical_storage_cavities):

[0103] flip_component_mapping[cavity] = f'c{int(i / 3) + 1}{i%3 +1:02}'

[0104] return flip_component_mapping

[0105] def process_delivery(self, package_size):

[0106] # Use the size adaptation module to identify the size information of the package and locate and navigate to the corresponding vertical storage cavity

[0107] target_cavity = self.size_adapter_module.locate_cavity(package_size)

[0108] # Get the current time as the delivery time

[0109] delivery_time = time.strftime("%Y-%m-%d %H:%M:%S",time.localtime())

[0110] #Store express information in the information storage module

[0111] elf.info_storage_module.store_delivery_info(target_cavity,delivery_time)

[0112] # Display the final location of the package on the display screen and generate a QR code

[0113] self.display_screen.show_delivery_location(target_cavity)

[0114] self.display_screen.show_qr_code(target_cavity)

[0115] # Flip component action

[0116] self.move_package_to_bottom(target_cavity)

[0117] def move_package_to_bottom(self, current_cavity):

[0118] flip_component = self.flip_component_mapping[current_cavity]

[0119] current_cavity_index = self.vertical_storage_cavities.index(current_cavity)

[0120] while current_cavity_index < len(self.vertical_storage_cavities) - 3:

[0121] next_cavity_index = current_cavity_index + 3

[0122] next_cavity = self.vertical_storage_cavities[next_cavity_index]

[0123] next_flip_component = self.flip_component_mapping[next_cavity]

[0124] print(f"Package in cavity {flip_component} moves down to cavity {next_flip_component}")

[0125] time.sleep(1) # Simulate flipping action

[0126] self.flip_component_mapping[current_cavity] = next_flip_component

[0127] flip_component = next_flip_component

[0128] current_cavity = next_cavity

[0129] current_cavity_index = next_cavity_index

[0130] # Size Adaptation Module Class

[0131] class SizeAdapterModule:

[0132] def locate_cavity(self, package_size):

[0133] # Get the vertical storage cavity number based on the package size information

[0134] cavity_number = size_mapping.get(package_size, 'c11') # defaults to 'c11', indicating unknown size

[0135] return cavity_number

[0136] # Information storage module class

[0137] class InfoStorageModule:

[0138] def store_delivery_info(self, cavity_number, delivery_time):

[0139] # Temporarily store the delivered express information in the information storage module

[0140] # This is an example. You can store it in a database or other data structure according to your actual needs.

[0141] print(f"The express has been delivered to the vertical storage cavity number: {cavity_number}, delivery time: {delivery_time}")

[0142] # Display screen class

[0143] class DisplayScreen:

[0144] def show_delivery_location(self, cavity_number):

[0145] # Display the final location of the package on the display

[0146] print(f"Your package is stored in the vertical storage cavity number: {cavity_number}")

[0147] def show_qr_code(self, cavity_number):

[0148] # Display the QR code on the screen

[0149] qr = qrcode.QRCode(version=1, box_size=10, border=4)

[0150] qr.add_data(cavity_number)

[0151] qr.make(fit=True)

[0152] qr_img = qr.make_image(fill_color="black", back_color="white")

[0153] qr_img.show()

[0154] # Controller instance

[0155] controller = Controller()

[0156] # Example: Processing a package of size 'S'

[0157] controller.process_delivery('S')

[0158] #Simulate flip component action

[0159] # When c1101 is activated once, it means the package falls into the next cavity.

[0160] time.sleep(1)

[0161] # When c1102 moves once, it means the package continues to fall into the next cavity

[0162] time.sleep(1)

[0163] Those skilled in the art can further optimize the control program according to the program architecture.

[0164] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A vertical drone adaptive delivery and storage system, characterized in that: It comprises a delivery drone and a vertical storage cabinet, wherein the vertical storage cabinet comprises a bottom storage cabinet body (1) and a top distribution cabinet body (2), wherein the bottom storage cabinet body (1) is a sheet metal cabinet structure with an open top in a U-shaped pattern, and the top edge of the bottom storage cabinet body (1) is welded to the bottom edge of the top distribution cabinet body (2); The outer side of the bottom storage cabinet (1) is welded with a plurality of partitions (10) in sequence, and a vertical storage cavity (101) is provided between every two adjacent partitions (10), and a plurality of partition components (12) are movably installed in each vertical storage cavity (101), and a pickup window (13) is provided through the sheet metal of the bottom storage cabinet (1) located outside the partition component (12), and an electromagnetic opening and closing cabinet door (14) is rotatably installed on each pickup window (13), and a secondary positioning receiver (102) is fixedly installed on the top edge of each vertical storage cavity (101), and a barcode scanner (103) is fixedly installed on one side of the secondary positioning receiver (102); The top distribution cabinet (2) is provided with cabinet entrances (22) on all four sides, and a primary positioning receiver (21) is fixedly installed on the edge of each cabinet entrance (22); a distribution cavity (24) is provided on the periphery of the top distribution cabinet (2); a charging cavity entrance (20) is provided through the top axis of the top distribution cabinet (2); and an electrically controlled opening and closing door (4) is movably installed on the cabinet entrance (22) and the charging cavity entrance (20); The delivery drone is provided with a signal transmission module (57), a positioning module (58), an obstacle avoidance module, a dimension measurement module, an information storage module, and a scanning and identification module. The signal transmission module (57) is used to transmit the remaining power information and delivery status information of the delivery drone. The positioning module (58) is used to transmit the real-time position information of the delivery drone to a primary positioning receiver (21) and a secondary positioning receiver (102).

2. The vertical drone adaptive delivery and storage system according to claim 1 is characterized by: A supporting sheet metal (11) is fixedly installed inside the bottom storage cabinet (1), and the top of the supporting sheet metal (11) is welded to the bottom of the top distribution cabinet (2); a wireless charging platform (110) is fixedly installed inside the top distribution cabinet (2), and a photovoltaic power generation panel (3) is fixedly installed on the top of the top distribution cabinet (2).

3. The vertical drone adaptive delivery and storage system according to claim 1 is characterized by: The bottom of the bottom storage cabinet (1) is provided with a plurality of large object storage cavities (15), and a downward-flipping electromagnetic cabinet door (16) is rotatably mounted on the outer side of each large object storage cavity (15).

4. The vertical drone adaptive delivery and storage system according to claim 1 is characterized by: The electrically controlled opening and closing door (4) comprises a first sliding door (40), a second sliding door (44), a motor and a gear (42); a first tooth surface rod (41) is fixedly mounted on the bottom of the first sliding door (40); a second tooth surface rod (43) is fixedly mounted on the bottom of the second sliding door (44); the first tooth surface rod (41) and the second tooth surface rod (43) are both meshed with the motor and the gear (42).

5. The vertical drone adaptive delivery and storage system according to claim 4 is characterized by: The tooth surfaces of the first tooth surface rod (41) and the second tooth surface rod (43) are arranged facing each other, and the bottoms of the first sliding door (40) and the second sliding door (44) are both welded with a limiting sliding block (45).

6. The vertical drone adaptive delivery and storage system according to claim 1 is characterized by: The partition assembly (12) comprises a first flip plate (120), a second flip plate (121), and a longitudinal slider (124); the first flip plate (120) and the second flip plate (121) are both rotatably mounted with limit rods (122) on their outer sides, and one end of the two limit rods (122) is rotatably connected to the longitudinal slider (124); the first flip plate (120) and the second flip plate (121) are both welded with rotating shafts (123), and the rotating shafts (123) are both plugged into the partition plate (10).

7. The vertical drone adaptive delivery and storage system according to claim 6 is characterized by: A pressure rod (125) is welded to the second flip plate (121), a flip gear (126) is fixedly clamped on the rotating shaft (123) of the second flip plate (121), and the flip gear (126) is connected to a flip motor (128) via a synchronous belt (127), and the outer wall of the flip motor (128) is fixedly mounted to the bottom storage cabinet (1).

8. The vertical drone adaptive delivery and storage system according to claim 7 is characterized in that: It also includes a primary sensing module group (50), a secondary sensing module group (51), a motor control module (53), a controller (54), and an opening and closing module (55); The first-level sensing module group (50) is used to receive position information from the delivery drone through a plurality of first-level positioning receivers (21) and transmit the position information to the controller (54), so as to send an opening / closing door instruction to the opening and closing module (55) through the controller (54) to control the opening and closing state of the electric-controlled opening and closing door (4); The secondary sensing module group (51) is used to receive position information from the delivery drone via a plurality of secondary positioning receivers (102) and transmit the position information to the controller (54), so as to send an opening and closing instruction to the motor control module (53) via the controller (54) to control the opening and closing state of the flip motor (128).

9. The vertical drone adaptive delivery and storage system according to claim 8 is characterized by: The controller (54) is signal-connected to an information acquisition module (52), and the information acquisition module (52) is used to collect and analyze the express information from the QR code on the bottom of the goods scanned by the barcode scanner (103), wherein the express information includes the size of the goods, the delivery address of the goods, the contact information of the recipient, and the time of the delivery entry is marked; The controller (54) is signal-connected to a charging module (56), and the charging module (56) is signal-connected to a power detection module (59) in the delivery drone.

10. A method for express sorting based on drone recognition, characterized in that: The method includes all the equipment using the drone and delivery system of claim 9 or 10, and the method includes the following steps: S1: The drone holds the express package to obtain the package size information and recipient information; S2: The drone interacts with the secondary positioning receiver (102) described in claim 9 or 10 to perform the information delivery; S3: recording the flipping action of the first flip plate (120) and the second flip plate (121) according to claim 9 or 10; S4: Calculate the location of the package through the information and the flipping action; S5: The recipient obtains the location of the package by scanning the QR code on the bottom storage cabinet (1).

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