Cargo box delivery system based on logistics unmanned aerial vehicle and control method

Abstract

The invention relates to the technical field of unmanned aerial vehicle logistics, and provides a cargo box delivery control system and method based on a logistics unmanned aerial vehicle. Transport orders and route information are received through the communication module, self-inspection is performed before takeoff, and normal states of the power system, the flight control system, the redundancy module, the mounting mechanism and the sensor are ensured. In the flying process of the unmanned aerial vehicle, the unmanned aerial vehicle monitors the states of all the systems in real time, deals with abnormal conditions in time, flies to a target delivery area, unlocks a locking device to deliver the cargo box after confirming that the cargo box meets the delivery conditions, and adopts an emergency treatment strategy to ensure that the cargo box is safely delivered if abnormity is detected; and the flight path, the delivery data and the image data are uploaded to the cloud platform to complete delivery archiving and signing confirmation. Therefore, the safety and reliability of the logistics unmanned aerial vehicle in the cargo delivery process are improved.

Description

Technical Field

[0001] The present invention relates to the field of drone logistics technology, and in particular to a cargo box delivery control system and control method based on a logistics drone with double mounting locking, abnormal response and safety redundancy mechanisms. Background Art

[0002] With the booming development of e-commerce and smart logistics, drones are increasingly used in logistics distribution, emergency material transportation, urban terminal distribution and other fields. However, although the existing logistics drone systems are equipped with basic flight control, path planning and simple cargo mounting devices, there are still many deficiencies in system safety and reliability. In particular, when dealing with emergencies such as the risk of cargo falling from high altitudes, single point failure of the flight control system, and mechanical failure of the cargo door, there is a lack of effective prevention and disposal mechanisms, which not only threatens the safety of personnel and property on the ground, but may also cause cargo losses and damage the company's reputation.

[0003] In summary, existing logistics drones have problems such as insufficient reliability of cargo mounting mechanisms, insufficient redundancy of key systems, and imperfect emergency response mechanisms. Summary of the invention

[0004] In view of the shortcomings of the above-mentioned prior art, the present invention provides a cargo box delivery control system and control method based on a logistics drone, so that the logistics drone has a reliable cargo mounting mechanism, a highly redundant key system, and a complete emergency response mechanism, thereby improving the safety and reliability of the logistics drone cargo delivery process.

[0005] In a first aspect, the present invention provides a cargo box delivery control method based on a logistics drone, comprising:

[0006] Receive transport order information and route information from the cloud platform through the communication module, and perform self-inspection on the power system, flight control system, redundant module, mounting mechanism and sensor before takeoff; if the self-inspection result is normal, control the mounting mechanism to load the cargo box, and perform first locking and second locking on the mounting mechanism correspondingly through the first locking device and the second locking device;

[0007] According to the received route information, autonomously take off and navigate to the target delivery area to deliver the cargo box loaded by the mounting mechanism; during the flight, real-time monitoring of the status of the power system, the flight control system, the redundant module, the mounting mechanism and the sensor; when an abnormality is detected, adopt a corresponding emergency treatment strategy according to the type of abnormality;

[0008] When the flight reaches the target delivery area, it hovers in the air and performs a safety scan of the ground environment; if the delivery conditions are met, the first locking device on the mounting mechanism is released, and the second locking device is detected to be in a safety preparation state;

[0009] After confirming that the cargo box is safe for delivery and detecting that the second locking device is in a safe ready state, the second lock performed by the second locking device on the mounting mechanism is released to open the mounting mechanism to deliver the cargo box; if an abnormality occurs during the delivery process, a re-locking strategy is executed.

[0010] After the cargo box is delivered, the flight trajectory, delivery data, and image data of the delivery location are uploaded to the cloud platform to complete delivery archiving and receipt confirmation.

[0011] In a second aspect, a cargo box delivery control system based on a logistics drone is provided, wherein the cargo box delivery control system based on a logistics drone uses the above-mentioned cargo box delivery control method based on a logistics drone.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] The cargo box delivery control system and control method based on the logistics drone provided by the present invention, through the double mounting locking mechanism, double safety locking is performed on the mounting mechanism during the cargo box loading process, and the status of the power system, flight control system, redundant module, mounting mechanism and sensor are monitored in real time during the flight. When an abnormality is detected, it can quickly switch to the corresponding emergency strategy according to different abnormality types. Before the cargo box is released, the ground environment is scanned to evaluate the release conditions, and the first locking and second locking devices are gradually released to ensure that the release operation is only carried out in a safe state; if an abnormality is detected during the release process, the re-locking strategy is automatically executed to prevent the cargo from accidentally falling. Through the communication module, it can receive and execute route tasks, and upload and archive relevant data during the delivery process to improve logistics efficiency. As a result, the logistics drone has a reliable cargo mounting mechanism, a high-redundancy key system, and a complete emergency response mechanism, which improves the safety and reliability of the logistics drone cargo delivery process. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their description are used to explain the present invention and do not constitute an improper limitation of the present invention. Some specific embodiments of the present invention will be described in detail in an exemplary and non-restrictive manner with reference to the drawings. The same reference numerals in the drawings indicate the same or similar components or parts. It should be understood by those skilled in the art that these drawings are not necessarily drawn to scale. In the drawings:

[0015] Figure 1 This is a flow chart of a cargo box delivery control method of a logistics drone according to an embodiment of the present invention;

[0016] Figure 2 It is a structural schematic diagram of a logistics UAV mounting mechanism according to an embodiment of the present invention.

[0017] Description of reference numerals:

[0018] 110. UAV body;

[0019] 111, mounting mechanism; 1110, driving motor; 1111, first locking device; 1112, second locking device;

[0020] 112. A first displacement sensor;

[0021] 113. A second displacement sensor;

[0022] 114. Cargo box track;

[0023] 115. Cargo box. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only an embodiment of a part of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present invention.

[0025] Embodiment 1

[0026] See also Figure 1-Figure 2The present embodiment provides a cargo box delivery control method based on a logistics drone, which receives transportation order information and route information from a cloud platform through a communication module, and performs self-inspection on a power system, a flight control system, a redundant module, a mounting mechanism, and a sensor before taking off; if the self-inspection result is normal, the mounting mechanism is controlled to load the cargo box, and the mounting mechanism is correspondingly locked by a first locking device and a second locking device; according to the received route information, the drone takes off autonomously and navigates to a target delivery area to deliver the cargo box loaded by the mounting mechanism; during the flight, the power system, the flight control system, the redundant module, the The status of the mounting mechanism and the sensor; when an abnormality is detected, the corresponding emergency handling strategy is adopted according to the type of abnormality; when the flight reaches the target delivery area, it hovers in the air and performs a safety scan of the ground environment; if the delivery conditions are met, the first lock performed by the first locking device on the mounting mechanism is released, and the second locking device is detected to be in a safe preparation state; after confirming that the cargo box is safe for delivery and detecting that the second locking device is in a safe preparation state, the second lock performed by the second locking device on the mounting mechanism is released to open the mounting mechanism to deliver the cargo box; if an abnormality occurs during the delivery process, a re-locking strategy is implemented. After the delivery of the cargo box is completed, the flight trajectory, delivery data, and image data of the delivery location are uploaded to the cloud platform to complete the delivery archiving and receipt confirmation.

[0027] See also Figure 1-Figure 2 The cargo box delivery control method based on the logistics drone provided in this embodiment includes the following steps:

[0028] S101, receiving transport order information and route information from the cloud platform through the communication module, and performing self-inspection on the power system, flight control system, redundant module, mounting mechanism and sensor before takeoff; if the self-inspection result is normal, controlling the mounting mechanism to load the cargo box, and performing first locking and second locking on the mounting mechanism correspondingly through the first locking device and the second locking device;

[0029] S102, autonomously take off and navigate to a target delivery area to deliver the cargo box loaded by the mounting mechanism according to the received route information; during the flight, monitor the status of the power system, the flight control system, the redundant module, the mounting mechanism and the sensor in real time; when an abnormality is detected, adopt a corresponding emergency handling strategy according to the type of abnormality;

[0030] S103, after the flight reaches the target delivery area, hover in the air and perform a safety scan of the ground environment; if the delivery conditions are met, release the first locking device on the mounting mechanism, and detect whether the second locking device is in a safety preparation state;

[0031] S104, after confirming that the cargo box is safe to be dropped and detecting that the second locking device is in a safe preparation state, releasing the second locking performed by the second locking device on the mounting mechanism, so as to open the mounting mechanism to drop the cargo box; if an abnormality occurs during the dropping process, executing a re-locking strategy;

[0032] S105. After the cargo box is delivered, the flight trajectory, delivery data, and image data of the delivery location are uploaded to the cloud platform to complete delivery filing and receipt confirmation;

[0033] It should be noted that in step S101, the process of receiving the transport order information and route information from the cloud platform through the communication module is not only to obtain the mission parameters, but also to provide key paths and mission instructions for the subsequent execution of the UAV mission, so as to ensure the accuracy of the flight and delivery operations. At the same time, a comprehensive self-check of the power system, flight control system, redundant modules, mounting mechanism and sensor before take-off is to evaluate the operating status of each core component and ensure that the UAV can perform the mission in the best state. This self-check mechanism can detect potential faults or abnormalities early to avoid uncontrollable problems during the flight. If the self-check result is normal, the mounting mechanism is controlled to load the cargo box and perform the first locking and the second locking, so as to provide double security during the cargo loading stage. The cooperation of the first locking device and the second locking device can ensure that the cargo box is firmly fixed on the mounting mechanism, and even if it is vibrated or disturbed by the outside world, it will not cause the cargo box to loosen, thereby improving the safety of transportation. This design provides a safe and reliable basis for the take-off, flight and cargo delivery of the UAV through the combination of self-checking and double locking, ensuring the smooth completion of the mission.

[0034] In step S102, autonomous takeoff and navigation to the target delivery area according to the received route information is to ensure that the UAV can complete the cargo delivery task efficiently and accurately according to the predetermined path. During the flight, the status of the power system, flight control system, redundant modules, mounting mechanism and sensors are monitored in real time, and the operation status of the UAV can be dynamically grasped. This real-time monitoring mechanism evaluates the operating status of key components and promptly detects potential anomalies, thereby providing strong protection for flight safety. When anomalies are detected, corresponding emergency response strategies are adopted according to the type of anomalies. Through this highly targeted emergency response mechanism, the UAV can respond quickly in complex or emergency situations, minimize the impact of anomalies on task execution, and ensure the safety of cargo transportation and the completion rate of tasks. At the same time, this abnormal response strategy reflects the intelligence level of the system and provides technical support for the reliability of UAV logistics applications.

[0035] In step S103, when the drone arrives at the target delivery area, it hovers in the air and performs a safety scan on the ground environment to ensure the accuracy and safety of cargo delivery. The ground environment scan is mainly used to detect whether the target area meets the delivery requirements, such as whether there are obstacles, whether there are human activities or other situations that may affect the safety of delivery. Only when the scanning result shows that the target area meets the delivery conditions, the flight control system will enter the next step of operation to avoid accidents that may occur during the delivery process. After confirming that the ground environment meets the delivery conditions, the locking operation of the first locking device on the mounting mechanism is released to prepare for the delivery of the subsequent cargo box. It is detected whether the second locking device is in a safe preparation state to ensure that the cargo box remains stable and will not fall off accidentally after the first lock is released. Through the safety scan of the ground environment, the gradual release of the first lock and the detection of the state of the second locking device, the present invention establishes a complete safety mechanism before the cargo box is delivered. This design can improve the accuracy of delivery while ensuring the safety of cargo delivery, and provide technical support for the efficient and reliable execution of drone logistics tasks.

[0036] In step S104, when it is confirmed that the cargo box is safe to be delivered and the second locking device is detected to be in a safe preparatory state, the second locking device is released to open the mounting mechanism to complete the delivery operation of the cargo box. This operation is based on a multiple confirmation mechanism to ensure that the delivery process is safe and orderly. By gradually releasing the first lock and the second lock, the cargo box can be effectively prevented from being released prematurely due to misoperation or mechanical failure, further improving the reliability of cargo transportation. If an abnormality occurs during the delivery process, such as the mounting mechanism is not opened as expected, the cargo box is not completely separated from the mounting mechanism, or the cargo box posture is detected to be abnormal, the system will immediately execute the re-locking strategy. The implementation of the re-locking strategy can effectively prevent the cargo box from falling out of control due to an abnormal state, protecting the ground environment and personnel safety. At the same time, the abnormal information will be uploaded to the cloud platform to facilitate the investigation and processing of subsequent problems. Through this multiple guarantee mechanism, the present invention fully considers various possible unexpected situations in the cargo box delivery link, designs a flexible and safe processing method, ensures the smooth completion of the cargo transportation task, and reduces the risk in the delivery process, providing a safe and reliable solution for drone logistics.

[0037] In step S105, after the cargo box is delivered, the flight trajectory, delivery data, and image data of the delivery location are uploaded to the cloud platform in order to achieve transparency of the entire logistics process and traceability of the delivery results. The flight trajectory records the complete path of the drone from the starting point to the target delivery area, which can be used as the basis for the itinerary of the transportation process; the delivery data includes the delivery time, status, and related operating parameters of the cargo box, which are used to prove whether the cargo is delivered as planned; the image data of the delivery location records the actual situation of the cargo box delivery location in the form of photos or videos, which can not only serve as proof of the completion of the delivery, but also provide clear evidence for possible disputes that may arise later.

[0038] In some preferred embodiments, during the self-inspection of the mounting mechanism and the loading of the cargo box, the closing position and the load status of the mounting mechanism are detected to confirm whether the first lock and the second lock are normal; if an abnormality is confirmed, take-off is rejected and the lock is re-executed, and an error prompt message is output.

[0039] It should be noted that the first lock and the second lock are electromagnetic locks, the first lock is located on the buckle of the mounting mechanism, and the second lock is located next to the mounting arm of the mounting mechanism. Check whether the mounting mechanism is completely closed to ensure that the first lock and the second lock can be normally attracted in the correct position. If the closure is not complete, the electromagnetic lock will not be able to provide sufficient attraction force, and there is a risk of the cargo box loosening. Detect the load condition of the mounting mechanism to ensure that the electromagnetic lock can withstand the weight of the cargo carried and maintain sufficient locking force. If the load is overloaded, the electromagnetic lock cannot provide a stable locking effect. If an abnormality is found in the first lock and the second lock during the self-test process, the take-off is refused and the locking operation is re-executed. At the same time, an error prompt message is output to facilitate rapid diagnosis and resolution of the problem, ensuring the safe take-off of the drone and the smooth completion of the cargo delivery mission.

[0040] In some preferred embodiments, when detecting the closing position and the load state of the mounting mechanism, the closing position of the mounting mechanism is detected by a travel switch, and the load state of the mounting mechanism is detected by a torque sensor.

[0041] It should be noted that the travel switch is used to detect the closing position of the mounting mechanism. When the mounting mechanism is closed to the set position, the travel switch will generate a signal to confirm that the mounting mechanism has been closed correctly, ensuring that the electromagnetic lock can be normally attracted. The torque sensor is used to detect the load state of the mounting mechanism when carrying cargo. The torque sensor is usually installed on the drive motor of the mounting mechanism, and uses the torque change of the motor output to accurately sense and evaluate the load state. This detection mechanism ensures that the mounting mechanism is in a safe and stable state when loading cargo, avoiding problems during flight due to incomplete closure or abnormal load.

[0042] In some preferred embodiments, during the flight, the states of the power system, the flight control system, the redundant module, the mounting mechanism and the sensor are monitored in real time. When an abnormality is detected, the abnormality type is divided into flight control system abnormality, redundant module abnormality, mounting mechanism abnormality and sensor abnormality.

[0043] It should be noted that during the flight, various sensors and detection devices arranged in the power system, the flight control system, the redundant module, and the mounting mechanism are used to collect the operating parameters of the power system, the flight control system, the redundant module, and the mounting mechanism in real time; the collected operating parameters are analyzed and processed by the monitoring module in the flight control system to determine whether the operating status of the power system, the redundant module, the mounting mechanism, and the flight control system itself is normal. Real-time monitoring of these key systems can detect and take measures in time when an abnormality occurs to prevent further damage or fault expansion. When an abnormality occurs, the abnormality type is divided into flight control system abnormality, redundant module abnormality, mounting mechanism abnormality, and sensor abnormality, which helps to accurately locate the source of the problem and take targeted emergency treatment measures.

[0044] In a further preferred embodiment, the redundant module may include: a backup flight control unit, a backup power supply system and a backup communication link; the backup flight control unit has the same control function as the main flight control unit of the UAV; the backup power supply system includes a backup battery or a power management module for providing backup power to the power module of the UAV; the backup communication link provides a backup wireless communication channel.

[0045] It should be noted that the backup flight control unit has the same control functions as the main flight control unit. The backup power supply system includes a backup battery or a power management module. The backup communication link provides a backup wireless communication channel. The backup communication link usually uses different frequency bands or different technical standards, such as satellite communications, cellular networks or other wireless communications. Through the setting of redundant modules, it is ensured that when the UAV encounters a failure, it can be quickly restored through the backup system, thereby reducing flight safety risks and improving the system's reliability and emergency response capabilities.

[0046] In some preferred embodiments, the corresponding emergency handling strategies are adopted according to the type of abnormality, including when a power system abnormality is detected, choosing the nearest safe landing or returning to the starting point according to the current flight altitude and environment; when a flight control system abnormality is detected, automatically switching to the backup flight control system, and sending an alarm message to the cloud platform; when a redundant module abnormality is detected, further emergency measures are taken according to the current flight status; when a mounting mechanism abnormality is detected, the mounting mechanism is locked and the delivery operation is suspended; when a sensor abnormality is detected, the backup sensor is enabled or the flight strategy is adjusted to ensure safety.

[0047] It should be noted that when a power system abnormality is detected, the emergency response method must first be evaluated based on the current flight altitude and environmental conditions. If the flight altitude is low or the surrounding environment is suitable, the flight control system will automatically select the nearest safe landing point for emergency landing. If the flight altitude is high and the surrounding environment is not suitable for emergency landing, the flight control system will evaluate the feasibility of returning to the starting point and automatically navigate the drone back to the starting point for landing. During this process, the flight path will avoid obstacles and ensure that appropriate control measures are taken for power system abnormalities during flight to avoid further failures.

[0048] When an abnormality is detected in the flight control system, the flight control system will automatically switch to the backup flight control unit in the redundant module to ensure that the drone can still maintain flight control and avoid flight interruption or loss of control. At the same time, an alarm message of abnormal flight control system will be sent to the cloud platform. Providing timely status feedback allows for the preparation of emergency response measures in advance.

[0049] When an abnormality is detected in a redundant module, the current flight status and mission requirements will be evaluated, and further emergency measures will be taken, such as reducing flight complexity, returning to the starting point in advance, or choosing a safe landing. At the same time, an alarm message will be sent to the cloud platform to indicate that manual intervention is required to ensure that the various functions of the drone continue to operate and avoid interruption or inability to complete the flight mission.

[0050] When an abnormality is detected in the mounting mechanism, the mounting mechanism will be locked first to prevent the cargo from loosening or falling due to the mounting mechanism failure. At the same time, the flight control system will suspend the delivery operation to ensure that there will be no accidental cargo release or delivery failure before the problem is solved. If the problem of the mounting mechanism cannot be solved by locking, an abnormal information will be sent to the cloud platform to remind manual intervention or further inspection.

[0051] When a sensor abnormality is detected, the flight control system will automatically enable the backup sensor. If the backup sensor cannot provide sufficient data immediately, the flight altitude can be adjusted or the flight mode can be changed based on the existing sensor data to reduce the risks brought by the sensor abnormality and ensure flight safety.

[0052] In some preferred embodiments, during the process of delivering the cargo box, it is detected whether the second locking device is in a safe ready state. If the second locking device is not in a safe ready state, the operation of delivering the cargo box is suspended and a re-locking procedure is performed; if it cannot be restored to normal, the abnormal information is uploaded to the cloud platform, waiting for remote manual intervention.

[0053] It should be noted that the safety preparation state of the second locking device is crucial to ensure the stable delivery of the cargo box. During the delivery process, if it is detected that the second locking device is not in the safety preparation state, it means that the locking device may not be fully in place or malfunction, which will cause the cargo delivery to be unstable or unable to be released safely. In this case, the flight control system will automatically suspend the delivery operation to avoid safety accidents such as loss of control or falling of cargo. In order to restore normal, the flight control system will execute a re-locking procedure and try to recalibrate the second locking device to ensure that it reaches a safe preparation state. If the problem is still not solved after the re-locking procedure, the flight control system will upload abnormal information to the cloud platform and provide a detailed error report to facilitate remote operators to perform manual intervention and troubleshooting. Through this mechanism, abnormalities in the locking device can be discovered and handled in a timely manner to ensure the safety and stability of the cargo delivery process.

[0054] In some further preferred embodiments, the safety preparation state of the second locking device includes: the second locking device needs to be completely closed and ensure that there is no looseness or failure; the load borne by the second locking device does not exceed the design range; the sensor of the second locking device does not detect any abnormal signal.

[0055] It should be noted that complete closure ensures a tight connection between the locking device and the mounting mechanism to prevent the cargo box from loosening or falling off; the load borne is within the design range, ensuring that the locking device can stably support the weight of the cargo when the cargo is dropped, avoiding locking failure due to overload; the absence of abnormal signals from the sensor indicates that the various functions of the locking device are operating normally and are not affected by external interference or internal faults.

[0056] In some preferred embodiments, during the process of placing the cargo box, when it is detected that the inclination of the cargo box exceeds a preset threshold, the operation of releasing the cargo box is immediately interrupted, the mounting mechanism is re-locked, and the abnormal information is uploaded to the cloud platform to prevent the cargo box from falling out of control.

[0057] It should be noted that during the delivery process, the first displacement sensor and the second displacement sensor on the cargo box track are used to monitor the tilt angle of the cargo box in real time. When the tilt angle exceeds the preset threshold, the flight control system will immediately interrupt the release operation and re-lock the mounting mechanism to prevent the cargo box from falling out of control. Abnormal information will be uploaded to the cloud platform for subsequent processing to improve the overall delivery safety and reliability.

[0058] In a further preferred embodiment, in order to further improve the safety and emergency response capabilities during cargo delivery, a safety emergency electromagnetic lock is added to the cargo box track; when the flight control system detects abnormal falling of the cargo box through the first displacement sensor and the second displacement sensor on the track, the emergency locking mechanism is triggered to lock the cargo box by activating the safety emergency electromagnetic lock on the track.

[0059] It should be noted that the first displacement sensor and the second displacement sensor on the cargo box track monitor the position and movement status of the cargo box on the track in real time. Once the cargo box shows signs of abnormal falling, the flight control system immediately activates the safety emergency electromagnetic lock according to the preset emergency response strategy. There are special grooves on the cargo box. After activation, the safety emergency electromagnetic lock will accurately snap into the corresponding groove position of the cargo box to ensure that the cargo box is firmly fixed on the track to prevent the cargo box from falling due to sudden abnormal situations.

[0060] In some preferred embodiments, during the delivery archiving and receipt confirmation process, the delivery location is photographed or recorded by a camera, and the image data is uploaded to the cloud platform together with the location information and timestamp as a delivery certificate to complete the receipt confirmation and traceable record.

[0061] Embodiment 2

[0062] See also Figure 1-Figure 2The present embodiment provides a cargo box delivery control system based on a logistics drone. The cargo box delivery control system based on a logistics drone uses the above-mentioned cargo box delivery control method based on a logistics drone to receive transportation order information and route information from a cloud platform through a communication module, and performs self-inspection on a power system, a flight control system, a redundant module, a mounting mechanism, and a sensor before taking off; if the self-inspection result is normal, the mounting mechanism is controlled to load the cargo box, and the mounting mechanism is correspondingly locked by a first locking device and a second locking device; according to the received route information, the drone takes off autonomously and navigates to a target delivery area to deliver the cargo box loaded by the mounting mechanism; during the flight, the drone is monitored in real time. The state of the force system, the flight control system, the redundant module, the mounting mechanism and the sensor; when an abnormality is detected, the corresponding emergency handling strategy is adopted according to the type of abnormality; when the flight reaches the target delivery area, it hovers in the air and performs a safety scan of the ground environment; if the delivery conditions are met, the first locking device on the mounting mechanism is released, and the second locking device is detected to be in a safe preparation state; after confirming that the cargo box is safe to be delivered and detecting that the second locking device is in a safe preparation state, the second locking device on the mounting mechanism is released to open the mounting mechanism to deliver the cargo box; if an abnormality occurs during the delivery process, a re-locking strategy is executed. After the delivery of the cargo box is completed, the flight trajectory, delivery data and image data of the delivery location are uploaded to the cloud platform to complete the delivery archiving and receipt confirmation.

[0063] The above embodiments are only preferred specific implementation modes of the present invention, and the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention. The protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A cargo box delivery control method based on logistics drones, characterized in that: include: Receive transport order information and route information from the cloud platform through the communication module, and perform self-inspection of the power system, flight control system, redundant modules, mounting mechanism and sensors before takeoff; If the self-check result is normal, the mounting mechanism is controlled to load the cargo box, and the mounting mechanism is correspondingly locked by the first locking device and the second locking device; Autonomously take off and navigate to a target delivery area to deliver the cargo box loaded by the mounting mechanism according to the received route information; During the flight, the states of the power system, the flight control system, the redundant module, the mounting mechanism and the sensor are monitored in real time; when an abnormality is detected, a corresponding emergency treatment strategy is adopted according to the type of abnormality; When the flight reaches the target delivery area, it hovers in the air and performs a safety scan of the ground environment; if the delivery conditions are met, the first locking device on the mounting mechanism is released, and the second locking device is detected to be in a safety preparation state; After confirming that the cargo box is safe to be dropped and detecting that the second locking device is in a safe preparation state, releasing the second locking performed by the second locking device on the mounting mechanism, so as to open the mounting mechanism to drop the cargo box; If an abnormality occurs during the delivery process, the re-locking strategy will be executed.

2. The cargo box delivery control method based on logistics drone according to claim 1 is characterized in that: After the cargo box is delivered, the flight trajectory, delivery data, and image data of the delivery location are uploaded to the cloud platform to complete delivery archiving and receipt confirmation.

3. The cargo box delivery control method based on logistics drone according to claim 1 is characterized in that: During the self-check of the mounting mechanism and the loading of the cargo box, detecting the closed position and the load state of the mounting mechanism to confirm whether the first locking and the second locking are normal; If an abnormality is confirmed, takeoff is rejected and locking is re-executed, and an error prompt message is output.

4. The cargo box delivery control method based on logistics drone according to claim 3 is characterized in that: When detecting the closing position and the load state of the mounting mechanism, the closing position of the mounting mechanism is detected by a travel switch, and the load state of the mounting mechanism is detected by a torque sensor.

5. The cargo box delivery control method based on logistics drone according to claim 1 is characterized in that: During the flight, the states of the power system, the flight control system, the redundant module, the mounting mechanism and the sensor are monitored in real time. When an abnormality is detected, the abnormality type is divided into flight control system abnormality, redundant module abnormality, mounting mechanism abnormality and sensor abnormality.

6. The cargo box delivery control method based on logistics drone according to claim 5 is characterized in that: Adopt corresponding emergency handling strategies according to the type of abnormality, including when a power system abnormality is detected, choose to land safely nearby or return to the starting point according to the current flight altitude and environment; when a flight control system abnormality is detected, automatically switch to the backup flight control unit and send an alarm message to the cloud platform; when a redundant module abnormality is detected, take further emergency measures according to the current flight status; when a mounting mechanism abnormality is detected, lock the mounting mechanism and suspend the delivery operation; when a sensor abnormality is detected, enable the backup sensor or adjust the flight strategy to ensure safety.

7. The cargo box delivery control method based on logistics drone according to claim 1 is characterized in that: During the process of placing the cargo box, detecting whether the second locking device is in a safety preparation state, and if the second locking device is not in a safety preparation state, suspending the operation of placing the cargo box and executing a re-locking procedure; If it cannot be restored to normal, the abnormal information will be uploaded to the cloud platform and wait for remote manual intervention.

8. The cargo box delivery control method based on logistics drone according to claim 1 is characterized in that: During the process of placing the cargo box, when it is detected that the inclination of the cargo box exceeds a preset threshold, the operation of releasing the cargo box is immediately interrupted, the mounting mechanism is re-locked, and the abnormal information is uploaded to the cloud platform to prevent the cargo box from falling out of control.

9. The cargo box delivery control method based on logistics drone according to claim 2 is characterized in that: During the delivery archiving and receipt confirmation process, the delivery location is photographed or recorded through a camera, and the image data is uploaded to the cloud platform together with the location information and timestamp as a delivery certificate to complete the receipt confirmation and traceable record.

10. A cargo box delivery control system based on logistics drones, characterized in that: The cargo box delivery control system based on a logistics drone uses the cargo box delivery control method based on a logistics drone as described in any one of claims 1-9.

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