Multimodal transport unmanned aerial vehicle cabinet system and method

Abstract

The invention discloses a multimodal transport unmanned aerial vehicle cabinet system and method, the system comprises a box-type cabinet system, an unmanned aerial vehicle control system, a logistics transportation system, a distribution box and a system master controller, the box-type cabinet system comprises an upper cabinet mechanism and a lower cabinet mechanism, and the unmanned aerial vehicle control system comprises an unmanned aerial vehicle lifting mechanism; the upper cabinet mechanism comprises a plurality of first cabinet units, unmanned aerial vehicle controllers and unmanned aerial vehicle lifting mechanisms are arranged in the first cabinet units, the unmanned aerial vehicle controllers control the unmanned aerial vehicle lifting mechanisms to work through lines or wireless signal transmission modules, and the lower cabinet mechanism comprises second cabinet units arranged above the first cabinet units; the logistics transportation system comprises an upper article conveying mechanism, an article picking mechanism, an inclined conveying mechanism and a lower article conveying mechanism. According to the system, through a novel assembly type cabinet structure, flexible assembly of an unmanned aerial vehicle foundation framework is achieved, the overall occupied area is small, adaptability is high, and efficient circulation and transportation of unmanned aerial vehicle goods are achieved through an intelligent goods transportation and distribution system.

Description

Technical Field

[0001] The present invention relates to the technical field of prefabricated unmanned cabinets, and particularly to a multimodal unmanned cabinet system and method. Background Art

[0002] An unmanned aerial vehicle, abbreviated as "drone", is an unpiloted aircraft controlled by a radio remote control device and a self - contained program control device, or is operated completely or intermittently autonomously by an on - board computer. Drones can be classified into military and civilian applications according to their application fields. In the civilian aspect, the combination of drones and industry applications is the real demand for drones; their applications in fields such as aerial photography, agriculture, plant protection, micro - self - shooting, express delivery, disaster relief, wildlife observation, infectious disease monitoring, mapping, news reporting, power line inspection, disaster relief, film and television shooting, creating romance, etc. have greatly expanded the uses of drones themselves. Developed countries are also actively expanding industry applications and developing drone technologies.

[0003] Logistics drones, with their advantages of high efficiency, convenience and energy conservation, are becoming an important driving force in the logistics industry. Logistics drones achieve precise transportation and real - time monitoring of goods through technologies such as flight control systems, navigation and positioning systems, communication systems, and battery and energy management. For example, the application of plant protection drones in the agricultural field has improved work efficiency and reduced labor costs and environmental pollution. In the construction industry, drone hoisting technology has also played an important role, being able to quickly and safely deliver construction materials to designated locations.

[0004] Then, the application of logistics drones in the civil aviation airport field is gradually expanding. For the transportation of objects by small and medium - sized drones, generally, a matching drone warehouse is used. The drone warehouse can not only help drones in terms of charging and battery life, but also complete corresponding tasks. For example, the invention patent with the application number CN202410833822.1 relates to the technical field of energy storage for unmanned drone delivery, and is a vertical energy storage base station for an unmanned delivery system in a smart hospital, including a vertical storage cabinet. On both sides inside the vertical storage cabinet, there are laterally electrically controlled lead screws movably assembled, and inside the vertical storage cabinet, there are a plurality of bottom lifting plates controlled by the laterally electrically controlled lead screws. Although this vertical energy storage base station involves corresponding charging and drone delivery functions, its functions are single and the structure is complex, and it cannot well complete a certain amount of drone cargo transportation. The utility model patent with the application number CN202322183463.3 discloses a cargo transportation system for a logistics drone, which fixedly connects a transfer box with a connecting plate, avoiding the separation of the transfer box from the drone body during the transfer process of the drone body due to air flow or other environmental factors. However, its transfer box cannot form a systematic logistics transfer. Summary of the Invention

[0005] The object of the present invention is to provide a multimodal unmanned cabinet system. Through a novel prefabricated cabinet structure, the system realizes the flexible assembly of the unmanned aircraft basic framework, has a small overall floor area, strong adaptability, and through an intelligent article transportation and distribution system, realizes the efficient transfer and transportation of unmanned aircraft goods.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is:

[0007] A multimodal unmanned cabinet system includes a box-type cabinet system, an unmanned aircraft control system, a logistics transportation system, a distribution box, and a system master controller. The box-type cabinet system includes an upper cabinet mechanism and a lower cabinet mechanism. The unmanned aircraft control system includes an unmanned aircraft lifting mechanism;

[0008] The upper cabinet mechanism includes a plurality of first cabinet units. An unmanned aircraft controller and an unmanned aircraft lifting mechanism are arranged in the first cabinet unit. The unmanned aircraft controller controls the operation of the unmanned lifting mechanism through a line or a wireless signal transmission module. The lower cabinet mechanism includes a second cabinet unit arranged above the first cabinet unit;

[0009] The logistics transportation system includes an upper article transmission mechanism, an article picking mechanism, an inclined transmission mechanism, and a lower article transmission mechanism. A transmission channel is arranged on the inner side wall of adjacent first cabinet units. The upper article transmission mechanism is located in the first cabinet unit and arranged inside the unmanned aircraft lifting mechanism. The article picking mechanism grabs the articles unloaded by the unmanned aircraft to the upper end of the upper article transmission mechanism; the inclined transmission mechanism is arranged between the upper cabinet mechanism and the lower cabinet mechanism;

[0010] One end of the inclined transmission mechanism is connected to the upper article transmission mechanism, and the other end is connected to the lower article transmission mechanism arranged in the lower cabinet mechanism. Storage mechanisms and article transportation vehicle positions are respectively arranged in the lower cabinet mechanisms on both sides of the lower article transmission mechanism; the storage mechanism includes a large-piece storage platform, a medium-piece storage box, and a small-piece storage rack; an unmanned aircraft placement mechanism is arranged in the first cabinet unit where the unmanned aircraft lifting mechanism is located. The unmanned aircraft placement mechanism includes two U-shaped unmanned aircraft positioning frames arranged symmetrically in a mirror image.

[0011] Preferably, there are a plurality of the first cabinet units and the number is even. The plurality of first cabinet units are evenly divided into two groups, and the first cabinet units in each group are arranged longitudinally;

[0012] There are a plurality of the second cabinet units and the number is even. The plurality of second cabinet units are evenly divided into two groups, and the second cabinet units in each group are arranged longitudinally;

[0013] The first cabinet unit and the second cabinet unit are both container-type rectangular cabinets.

[0014] Preferably, there are four first cabinet units and four second cabinet units, and a transfer positioning frame is arranged between the four first cabinet units and the four second cabinet units;

[0015] The transfer positioning frame includes a horizontal positioning frame, and the horizontal positioning frame includes four cabinet limiting frames. The cabinet limiting frames are welded and assembled by four first angle steel plates, and the cabinet limiting frames are in the shape of a rectangular frame;

[0016] The horizontal positioning frame is placed on the second cabinet unit and fixed by countersunk bolts. The first cabinet unit is placed on the second cabinet unit and the cabinet limiting frame and fixed by countersunk bolts.

[0017] Preferably, the first cabinet unit includes a first cabinet frame and a first cabinet wallboard assembly, and the first cabinet wallboard assembly is connected within the first cabinet frame through first cabinet positioning bolts;

[0018] A first drone flight cavity is opened on the first cabinet wallboard assembly at the top of the first cabinet frame. A first motor track module is arranged in the first drone flight cavity. A first top cover is arranged on a first slider in the first motor track module, and the first slider is driven by a first servo motor in the first motor track module;

[0019] The second cabinet unit includes a second cabinet frame and a second cabinet wallboard assembly. The second cabinet wallboard assembly is connected within the second cabinet frame through second cabinet positioning bolts. Transfer mechanism installation cavities are opened in the first cabinet wallboard assembly at the bottom of the first cabinet frame and in the second cabinet wallboard assembly at the top of the second cabinet frame.

[0020] Preferably, the first cabinet wallboard assembly includes a first cabinet narrow-side wallboard and a first cabinet long-side wallboard. The first cabinet long-side wallboard is installed in the front end face, rear end face, upper end face and lower end face of the first cabinet frame, and the first cabinet narrow-side wallboard is installed in the left end face and right end face of the first cabinet frame;

[0021] The first cabinet long-side wallboard includes four first cabinet long-panel units, and the four first cabinet long-panel units are connected to the first cabinet frame through a first long cross-shaped bracket. The first cabinet narrow-side wallboard includes four first cabinet narrow-panel units, and the four first cabinet narrow-panel units are connected to the first cabinet frame through a first narrow cross-shaped bracket;

[0022] The second cabinet wallboard assembly includes a second cabinet narrow-side wallboard and a second cabinet long-side wallboard. The second cabinet long-side wallboard is installed in the front end face, rear end face, upper end face and lower end face of the second cabinet frame, and the second cabinet narrow-side wallboard is installed in the left end face and right end face of the second cabinet frame;

[0023] The long side wall panel of the second cabinet includes four long panel units of the second cabinet. The four long panel units of the second cabinet are connected to the second cabinet frame through a second long cross-shaped bracket. The narrow side wall panel of the second cabinet includes four narrow panel units of the second cabinet. The four narrow panel units of the second cabinet are connected to the second cabinet frame through a second narrow cross-shaped bracket;

[0024] First cabinet seal strips are provided at the edges of the first cabinet long panel unit, the first cabinet narrow panel unit, the second cabinet long panel unit, and the second cabinet narrow panel unit.

[0025] Preferably, the drone lifting mechanism includes a platform fixed frame and a lifting platform. A platform adjustment slide rail assembly is installed at the bottom of the platform fixed frame, and the platform adjustment slide rail assembly is fixed on the bottom of the first cabinet unit;

[0026] The lifting platform is arranged on the platform fixed frame. The lifting platform includes four lifting lead screws and four lifting guide rails arranged on the platform fixed frame. A drone platform board is provided at the upper ends of the lifting guide rails; an AC motor drive system is arranged between the four lifting lead screws, and the AC motor drive system is connected to the lifting lead screws through a drive gear assembly; a platform board limit sensor is arranged on the lifting guide rail;

[0027] A gravity sensing mechanism is arranged at the lower end of the drone platform board, and an electric claw assembly is arranged at the upper end of the drone platform board. The gravity sensing mechanism is connected to the drone controller through a wire. A laser ranging locator is also arranged in the positioning concave hole in the middle of the drone platform board, and the three groups of laser ranging locators are arranged in a triangular pattern;

[0028] When the gravity sensing mechanism senses the gravity generated after the drone lands on the drone platform board, and all three groups of laser ranging locators detect that there is a drone above, the electric claw assembly is powered on to grab the legs of the drone;

[0029] Preferably, the drone positioning frame includes two first electric modules, and a synchronous moving bracket and a module positioning bracket are arranged between the two first electric modules;

[0030] The module positioning bracket is connected to the ends of the two first electric modules. The rear end of the module positioning bracket is connected with a first swing arm through a first swing arm support, and the rear end of the first swing arm is connected to the left inner wall or the right inner wall of the first cabinet unit through a second swing arm support;

[0031] The end of the synchronous moving bracket is connected to the moving block of the first electric module. A plastic steel plate is fixed at the inner end of the synchronous moving bracket, and a rubber cushion with a thickness of 5 millimeters is arranged at the inner end of the plastic steel plate;

[0032] The electric gripper assembly is arranged at the upper front and upper rear of the UAV platform board. The electric gripper assembly is located on both sides of the UAV placement mechanism. The electric gripper assembly includes a gripper rotating support, a rotating hook, and a rotating motor arranged on the gripper rotating support. The rotating hook is in the shape of a long strip hook.

[0033] Preferably, the article picking mechanism includes an article picking robot, a robot base arranged below the article picking robot, and a picking slide rail assembly arranged at the lower end of the robot base. A wireless signal control module is arranged inside the article picking robot, and the article picking robot is connected to the UAV controller; one end of the robot base is connected to the inner wall of the first cabinet unit through a second telescopic hydraulic cylinder.

[0034] Preferably, the upper article transmission mechanism includes a first linear conveyor belt, a first U-shaped conveyor belt, and an upper conveyor power controller. The upper conveyor power controller is connected to the UAV controller through a wireless signal induction module;

[0035] The inclined transmission mechanism includes a second linear conveyor belt and an inclined conveyor power controller. The inclined conveyor power controller is connected to the UAV controller through a wireless signal induction module. The second linear conveyor belt is connected inside the first cabinet unit and the second cabinet unit through a conveyor support;

[0036] The lower article transmission mechanism includes a third linear conveyor belt and a lower conveyor power controller. The lower conveyor power controller is connected to the UAV controller through a wireless signal induction module; a conveyor moving roller assembly is arranged at the lower end of the third linear conveyor belt;

[0037] A transport vehicle entrance and exit is opened outside the second cabinet unit on one side of the lower article transmission mechanism. A rolling shutter door is arranged on the transport vehicle entrance and exit;

[0038] The distribution box is arranged inside the second cabinet unit below the third linear conveyor belt. The system total controller is connected to the distribution box through a line, and the distribution box is connected to the UAV control system and the logistics transportation system through lines.

[0039] Another object of the present invention is to provide a multi-modal transport type UAV cabinet construction and transportation method.

[0040] In order to achieve the above object, the technical solution adopted by the present invention is:

[0041] A multi-modal transport type UAV cabinet construction and transportation method, characterized in that the above multi-modal transport UAV cabinet system is adopted, and specifically includes the following:

[0042] Step S1, determine the quantities of the first cabinet units and the second cabinet units required in the multimodal unmanned cabinet system. Complete the individual processing of the cabinet frames and cabinet wallboard components in the prefabrication factory according to the quantities of the first cabinet units and the second cabinet units, and transport them to the target site by transport vehicles. Reserve a flight cavity for the first cabinet units that need to install the unmanned top cover, and install the first top cover;

[0043] Step S2, determine the target site. If the target site is outdoors, concrete foundation pouring and forming need to be carried out at the outdoor target site. The foundation pouring is carried out according to the drawing structure, and the bearing weight is greater than 800 Kg / ㎡; if the target site is indoors or on the roof, a steel structure is used as the base foundation. The base foundation of the steel structure is a trapezoidal structure with a wider top and a narrower bottom, and a large shock-absorbing spring mechanism is also provided at the bottom of the steel structure;

[0044] Step S3, use a crane to first hoist the cabinet frame of the second cabinet unit at the bottom, and install the cabinet wallboard components according to space requirements. The lower item transmission mechanism and the distribution box are pre-placed in the second cabinet unit;

[0045] Step S4, install the cabinet wallboard components in the first cabinet unit into the cabinet frame, and do not install the cabinet wallboard components at the top of the cabinet frame first; then complete the installation of the unmanned control system and the logistics transportation system in the first cabinet unit;

[0046] Step S5, install the cabinet wallboard components that need to be installed at the top of the first cabinet unit. After the unmanned control system and the logistics transportation system are powered on, test whether the first top cover operates normally;

[0047] Step S6, after the overall system is powered on and operates correctly, place the unmanned aircraft on the lifting platform to carry out the transportation work of the system.

[0048] The beneficial effects of the present invention are:

[0049] The present invention provides a multimodal unmanned cabinet system. Through the assembled cabinet system, accurate transportation of a large amount of goods by unmanned aircraft is completed. The overall assembly construction is simple, the structure is novel, the main frame and wall structure of the cabinet system can be pre-processed in the prefabrication factory, which is more convenient for later transportation and installation operations. The structure design of upper and lower layers with variable quantities is more convenient for customers to select and install according to the actual quantity of goods. In the assembled cabinet system, through the intelligent application of the unmanned aircraft lifting platform, centering device, and grasping robot, the operation fluency of the overall system is improved, and a new type of transmission system is designed. Through the transmission of upper and lower layers, the optimal unmanned aircraft goods distribution and transportation services are realized on a smaller floor area. The overall structure is simple and novel, and the practicability is high; and through the new construction and transportation method, the efficient assembly of the unmanned cabinet is realized, with high safety, strong adaptability, and high practicability. Brief Description of the Drawings

[0050] Figure 1 is a schematic diagram of the overall structure of the multimodal unmanned cabinet system.

[0051] Figure 2 is a schematic diagram of the decomposition of the multimodal unmanned cabinet system.

[0052] Figure 3 is a schematic diagram of the structure of the unmanned aerial vehicle lifting mechanism.

[0053] Figure 4 is a schematic diagram of the structure of the platform fixing frame.

[0054] Figure 5 is a schematic diagram of the position of the structure of the first top cover,

[0055] Figure 6 is a schematic diagram of the rotational structure of the rotating hook of the electric gripper assembly.

[0056] Figure 7 is a schematic diagram of the structure of the unmanned aerial vehicle placement mechanism. Detailed Embodiment

[0057] The following is a detailed description of the embodiments of the present invention in a step-by-step manner. This description is only for the preferred embodiments of the present invention and is not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0058] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, specific orientation structure, and operation. Therefore, it should not be construed as a limitation of the present invention.

[0059] Embodiment 1

[0060] Combined with Figures 1 to 3 ,

[0061] Combined with Figures 1 to 7 , in the initial embodiment, the present invention proposes a multimodal unmanned cabinet system, including a box-type cabinet system, an unmanned aerial vehicle control system, a logistics transportation system 2, a distribution box, and a system master controller. The box-type cabinet system includes an upper cabinet mechanism 3 and a lower cabinet mechanism 4, and the unmanned aerial vehicle control system includes an unmanned aerial vehicle lifting mechanism 1;

[0062] The upper cabinet mechanism 3 includes a plurality of first cabinet units 31. A drone controller 32 can be individually and adaptively arranged in each first cabinet unit 31, or one drone controller 32 can be adapted in a plurality of first cabinet units 31. The first cabinet unit 31 is provided with a drone lifting mechanism 1, and the drone controller 32 controls the operation of the drone lifting mechanism 1 through a line or a wireless signal transmission module.

[0063] The lower cabinet mechanism 4 includes a second cabinet unit 41 arranged above the first cabinet unit 31.

[0064] The logistics transportation system 2 includes an upper article transmission mechanism 21, an article picking mechanism 22, an inclined transmission mechanism 23, and a lower article transmission mechanism 24. A transmission channel is provided on the inner side wall of adjacent first cabinet units 31. The upper article transmission mechanism 21 is located within a plurality of first cabinet units 31 and is arranged inside the drone lifting mechanism 1. At this time, the upper article transmission mechanism 21 passes through the transmission channel and is located within a plurality of first cabinet units 31.

[0065] The article picking mechanism 22 grabs the articles unloaded by the drone to the upper end of the upper article transmission mechanism 21. The upper article transmission mechanism 21 is connected to the inclined transmission mechanism 23, and the inclined transmission mechanism 23 is arranged between the upper cabinet mechanism 3 and the lower cabinet mechanism 4.

[0066] One end of the inclined transmission mechanism 23 is connected to the upper article transmission mechanism 21, and the other end is connected to the lower article transmission mechanism 24 arranged in the lower cabinet mechanism 4. Storage mechanisms and article transportation parking spaces are respectively arranged in the lower cabinet mechanisms 4 on both sides of the lower article transmission mechanism 24.

[0067] Embodiment 2

[0068] There are a plurality of first cabinet units 31 and the number is even. The first cabinet units 31 can be 2, 4, 6,... and increase sequentially. The even-numbered first cabinet units 31 are evenly divided into two groups, and the first cabinet units in each group are arranged longitudinally.

[0069] There are a plurality of second cabinet units 41 and the number is even. The plurality of second cabinet units 41 are evenly divided into two groups, and the second cabinet units 41 in each group are arranged longitudinally.

[0070] Both the first cabinet unit 31 and the second cabinet unit 41 are rectangular cabinets in the style of a container, but the overall structure is different from that of a container. According to needs, the storage mechanism can be classified and designed. The storage mechanism includes a large-piece storage platform, a medium-piece storage box, and a small-piece storage rack. The transported articles are placed in different types of storage mechanisms according to different classifications.

[0071] Embodiment 3

[0072] In this embodiment, according to the size of the space, four first cabinet units 31 and four second cabinet units 41 are designed. A transfer positioning frame 6 is arranged between the four first cabinet units 31 and the four second cabinet units 41. The transfer positioning frame is for better hoisting and positioning. Although the traditional container-type cabinet is a finished product, its positioning is generally by welding after hoisting. Through the setting of the transfer positioning frame 6, the connection of the first cabinet unit 31, the second cabinet unit 41 and the transfer positioning frame 6 can be an assembled connection. When hoisting the first cabinet unit 31, position sensors and hoisting markers can be arranged on the outer side of the transfer positioning frame 6 and the first cabinet unit 31. The markers increase the clarity of visual observation during hoisting, and the position sensors can achieve precise positioning.

[0073] The transfer positioning frame 6 includes a horizontal positioning frame 61. The horizontal positioning frame 6 includes four cabinet limiting frames, and each cabinet limiting frame is welded and assembled by four first angle steel plates and is in the shape of a rectangular frame. The horizontal positioning frame 61 is placed on the second cabinet unit 41 and fixed by countersunk bolts. After the countersunk bolts are fixed, pay attention to using sealant to seal the positions where the countersunk bolts are located to avoid water seepage. The first cabinet unit 31 is placed on the second cabinet unit 41 and the cabinet limiting frames and fixed by countersunk bolts. After the first cabinet unit 31 and the second cabinet unit 41 are connected by the transfer positioning frame, relying on the gravity of the cabinet unit itself, theoretically, it cannot be easily moved unless encountering a large typhoon or impact. However, according to the actual anti-vibration requirements of customers, structural strengthening vertical plates can be welded above and below the horizontal positioning frame 6. After the structural strengthening vertical plates are connected to the cabinet unit by countersunk bolts, the structural strength is increased. The structural strengthening vertical plates are set according to specific requirements, and 3 - 8 structural strengthening vertical plates are adapted to each cabinet unit.

[0074] Embodiment 4

[0075] The first cabinet unit 31 includes a first cabinet frame 33 and a first cabinet wall panel assembly 34. The first cabinet wall panel assembly 34 is connected within the first cabinet frame 33 through first cabinet positioning bolts. The first cabinet frame is welded into an integral body by 100*100 carbon steel square tubes.

[0076] On the first cabinet wall panel assembly 34 located at the top of the first cabinet frame 33, a first drone flight cavity 321 is provided. A first motor track module 322 is arranged in the first drone flight cavity 321. A first top cover 323 is arranged on the first slider in the first motor track module 322. The first slider is driven by a first servo motor in the first motor track module 322. After being driven by the first servo motor, the first slider moves, so that the first top cover 323 moves. The control instruction of the first servo motor is sent through the wireless signal module of the drone controller 32.

[0077] The second cabinet unit 41 includes a second cabinet frame and a second cabinet wallboard assembly, and the second cabinet wallboard assembly is connected within the second cabinet frame through second cabinet positioning bolts; a transmission mechanism installation cavity is provided within the first cabinet wallboard assembly at the bottom of the first cabinet frame and within the second cabinet wallboard assembly at the top of the second cabinet frame.

[0078] The structures of the first cabinet frame 33 and the second cabinet frame are similar, and the structure of the first cabinet wallboard assembly is similar to that of the second cabinet wallboard assembly. However, the first top cover for drone flight and its supporting structure need to be separately provided for the first cabinet wallboard assembly 34 at the top of the first cabinet unit 31.

[0079] Embodiment 5

[0080] The first cabinet wallboard assembly 34 includes a first cabinet narrow-side wallboard 341 and a first cabinet long-side wallboard 342. The terms "narrow" and "wide" for the first cabinet narrow-side wallboard 341 and the first cabinet long-side wallboard 342 are only for relative comparison between the two, and do not specify that one side is long or the other is short.

[0081] The first cabinet long-side wallboard 342 is installed within the front end face, rear end face, upper end face, and lower end face of the first cabinet frame 33. The orientations within the front end face, rear end face, upper end face, and lower end face refer to the longer side of the cabinet unit in the form of a container cabinet, not specifically referring to a certain side. The first cabinet narrow-side wallboard 341 is installed within the left end face and right end face of the first cabinet frame 33.

[0082] Here, to improve the installation convenience of the first cabinet narrow-side wallboard 341 and the first cabinet long-side wallboard 342, we further refine the first cabinet narrow-side wallboard 341 and the first cabinet long-side wallboard 342 modularly, aiming to improve the installation, transportation, and later maintenance convenience of the entire cabinet unit.

[0083] The first cabinet long-side wallboard 342 includes four first cabinet long panel units, and the four first cabinet long panel units are connected to the first cabinet frame 33 through a first long cross-shaped bracket 343. The first long cross-shaped bracket 343 can not only position the cabinet long panel units but also increase the overall structural stability. The first cabinet narrow-side wallboard 341 includes four first cabinet narrow panel units, and the four first cabinet narrow panel units are connected to the first cabinet frame 33 through a first narrow cross-shaped bracket 344.

[0084] The structure of the first cabinet wallboard assembly 34 is similar to that of the second cabinet wallboard assembly. The second cabinet wallboard assembly includes a second cabinet narrow-side wallboard and a second cabinet long-side wallboard. The second cabinet long-side wallboard is installed within the front end face, rear end face, upper end face, and lower end face of the second cabinet frame, and the second cabinet narrow-side wallboard is installed within the left end face and right end face of the second cabinet frame;

[0085] The long side wall panel of the second cabinet includes four long panel units of the second cabinet. The four long panel units of the second cabinet are connected to the second cabinet frame through a second long cross-shaped bracket. The narrow side wall panel of the second cabinet includes four narrow panel units of the second cabinet. The four narrow panel units of the second cabinet are connected to the second cabinet frame through a second narrow cross-shaped bracket;

[0086] First cabinet seal strips are provided at the edges of the first cabinet long panel unit, the first cabinet narrow panel unit, the second cabinet long panel unit, and the second cabinet narrow panel unit.

[0087] The first cabinet long panel unit, the first cabinet narrow panel unit, the second cabinet long panel unit, and the second cabinet narrow panel unit are all composite heat-insulating wall panels. The composite heat-insulating wall panel includes an outer steel plate. An anti-rust coating and a waterproof coating are applied on the inner surface of the outer steel plate. A plurality of structural reinforcing ribs are provided inside the outer steel plate. Heat-insulating fireproof glass wool with a thickness of about 50 mm can be installed inside the outer steel plate for heat insulation (used in areas with low temperatures). An aluminum foil sticker is pasted on the inner surface of the heat-insulating fireproof glass wool. A structural mounting plate is provided inside the outer steel plate and the heat-insulating fireproof glass wool. The structural mounting plate serves as a support plate for connecting electrical equipment inside the cabinet unit, avoiding directly drilling holes in the outer steel plate when connecting electrical equipment to the cabinet unit.

[0088] Embodiment 6

[0089] The unmanned aerial vehicle (UAV) lifting mechanism 1 includes a platform fixed frame 11 and a lifting platform 12. A platform adjusting slide rail assembly is installed at the bottom of the platform fixed frame 11, and the platform adjusting slide rail assembly is fixed on the bottom of the first cabinet unit 31.

[0090] The lifting platform 12 is arranged on the platform fixed frame 11. The lifting platform 12 includes four lifting lead screws 13 and four lifting guide rails 14 arranged on the platform fixed frame 11. A UAV platform board 15 is provided at the upper ends of the lifting guide rails 13 and the lifting guide rails 14; An AC motor drive system 16 is arranged between the four lifting lead screws 13, and the AC motor drive system 16 is connected to the lifting lead screws 13 through a transmission gear assembly; A platform board limit sensor is arranged on the lifting guide rail 13.

[0091] A gravity sensing mechanism is arranged at the lower end of the UAV platform board 15, and an electric claw assembly 17 is arranged at the upper end of the UAV platform board 15. The gravity sensing mechanism is connected to the UAV controller through a circuit. A laser ranging and positioning device is also arranged in the positioning concave hole in the middle of the UAV platform board 15; The three groups of laser ranging and positioning devices are arranged in a triangular pattern;

[0092] When the gravity sensing mechanism senses the gravity after the drone lands on the drone platform board, and all three laser rangefinder positioners detect that there is a drone above, the electric gripper assembly 17 is energized to grasp the leg 18 of the drone. After the electric gripper assembly 17 grasps the leg 18 of the drone 5, it prevents the drone from shaking.

[0093] Embodiment 7

[0094] A drone placement mechanism 7 is arranged in the first cabinet unit where the drone lifting mechanism 1 is located. The drone placement mechanism 7 includes two U-shaped drone positioning frames 71 arranged symmetrically. The drone positioning frame 71 includes two first electric modules 72. A synchronous moving bracket 73 and a module positioning bracket 74 are arranged between the two first electric modules 72.

[0095] The module positioning bracket 74 is connected to the ends of the two first electric modules 72. The rear end of the module positioning bracket 74 is connected with a first swing arm through a first swing arm support. The rear end of the first swing arm is connected to the left inner wall or the right inner wall of the first cabinet unit through a second swing arm support. The first swing arm generally does not move. When the module positioning bracket 74 works, it will be placed on the lifting platform 12.

[0096] The end of the synchronous moving bracket 73 is connected to the moving block of the first electric module 72. A plastic steel plate is fixed at the inner end of the synchronous moving bracket 73, and a rubber cushion with a thickness of 5 mm is arranged at the inner end of the plastic steel plate. When the drone flies to the top of the lifting platform 12, if the three laser rangefinder positioners do not detect the position, then the moving block of the first electric module 72 drives the synchronous moving bracket 73 to move, and pushes the drone to the position above the three laser rangefinder positioners. The position above the three laser rangefinder positioners is an area position, not an accurate position accurate to the centimeter level. As long as it is in this position, the item picking mechanism can enter the working state. The item picking mechanism clamps the goods unloaded by the drone through sensors such as video image sensors and gripper sensors.

[0097] The electric gripper assembly 17 is arranged at the upper front part and the upper rear part of the drone platform board. The electric gripper assembly 17 is located on both sides of the drone placement mechanism 7. The electric gripper assembly 17 includes a gripper rotating support, a rotating hook 171 and a rotating motor arranged on the gripper rotating support. The rotating hook is in the shape of a long strip hook.

[0098] Embodiment 8

[0099] The article picking mechanism 22 includes an article picking robot 221, a robot base arranged below the article picking robot 221, and a picking slide rail assembly arranged at the lower end of the robot base. A wireless signal control module is arranged inside the article picking robot 221, and the article picking robot 221 is connected to the drone controller; one end of the robot base is connected to the inner wall of the first cabinet unit through a second telescopic hydraulic cylinder and rotating supports at both ends of the second telescopic hydraulic cylinder. After the rod body of the second telescopic hydraulic cylinder expands and contracts, it drives the robot base to move, so that the article picking robot 221 can move within a certain straight line range.

[0100] Embodiment 9

[0101] The upper article transmission mechanism 21 includes a first linear conveyor belt, a first U-shaped conveyor belt, and an upper conveyor power controller. The upper conveyor power controller is connected to the drone controller through a wireless signal induction module;

[0102] The inclined transmission mechanism 23 includes a second linear conveyor belt and an inclined conveyor power controller. The inclined conveyor power controller is connected to the drone controller through a wireless signal induction module. The second linear conveyor belt is connected inside the first cabinet unit and the second cabinet unit through a conveyor support;

[0103] The lower article transmission mechanism 24 includes a third linear conveyor belt and a lower conveyor power controller. The lower conveyor power controller is connected to the drone controller through a wireless signal induction module; a conveyor moving roller assembly is arranged at the lower end of the third linear conveyor belt;

[0104] A transport vehicle entrance and exit is opened outside the second cabinet unit on one side of the lower article transmission mechanism 24, and a rolling shutter door is arranged on the transport vehicle entrance and exit;

[0105] The distribution box is arranged inside the second cabinet unit below the third linear conveyor belt. The system master controller is connected to the distribution box through a line, and the distribution box is connected to the drone control system and the logistics transportation system through lines.

[0106] Embodiment 10

[0107] A multi-modal unmanned cabinet construction and transportation method uses the above multi-modal unmanned cabinet system, and specifically includes the following:

[0108] Step S1, determine the number of the first cabinet units and the second cabinet units required in the multi-modal unmanned cabinet system, and complete the single-piece processing of the cabinet frames and cabinet wallboard components in the prefabrication factory according to the number of the first cabinet units and the second cabinet units;

[0109] Step S2: Reserve a flight cavity for the first cabinet unit that needs to install the drone top cover, and install the first top cover and corresponding supporting structures. After the cabinet frame and the cabinet wall panel assembly are processed, they are transported to the target site by a transport vehicle.

[0110] Step S3: Determine the target site. If the target site is outdoors, a concrete foundation needs to be poured and formed at the outdoor target site. The foundation pouring is carried out according to the drawing structure, and the bearing weight is greater than 800 Kg / ㎡. If the target site is indoors or on the roof, a steel structure is used as the base foundation. The base foundation of the steel structure is a trapezoidal structure with a wider top and a narrower bottom, and a large shock-absorbing spring mechanism is also set at the bottom of the steel structure.

[0111] Step S4: When installing, use a crane to first hoist the cabinet frame of the second cabinet unit at the bottom, and install the cabinet wall panel assembly in the second cabinet unit according to space requirements. The lower item transfer mechanism and the distribution box are pre-placed in the second cabinet unit.

[0112] Step S5: Do not install the cabinet wall panel assembly on the top of the cabinet frame first. Install the other cabinet wall panel assemblies in the first cabinet unit into the cabinet frame on the ground. After the transfer positioning frame is installed, hoist the first cabinet unit onto the transfer positioning frame.

[0113] Step S6: Then complete the installation of the drone control system and the logistics transportation system in the first cabinet unit.

[0114] Step S7: Install the cabinet wall panel assembly that needs to be installed on the top of the first cabinet unit. After the drone control system and the logistics transportation system are powered on, test whether the first top cover operates normally.

[0115] Step S8: Test whether the drone control system and the logistics transportation system operate. After the overall system is powered on and operates correctly, place the drone on the lifting platform and carry out the transportation work of the system.

[0116] Step S9: Install cameras in the first cabinet unit and the second cabinet unit to monitor the operating status of the work.

[0117] The multimodal unmanned cabinet system uses a prefabricated cabinet system to complete the precise transportation of a large amount of goods by drones. The overall assembly construction is simple and the structure is novel. The main frame and wall structure of the cabinet system can be prefabricated in a prefabrication yard, which is more convenient for later transportation and installation operations. The structure design of two upper and lower layers with variable quantity is more convenient for customers to select and install according to actual cargo volume requirements. In the prefabricated cabinet system, through the intelligent application of the drone lifting platform, centering device, and grasping robot, the operation flow of the overall system is improved, and a new conveyor system is designed. Through the conveyor on two upper and lower layers, the optimized drone cargo distribution and transportation services on a small floor area are realized. The overall structure is simple and novel, and the practicability is high. And through the new construction and transportation method, the efficient assembly of the unmanned cabinet is realized, with high safety, strong adaptability, and high practicability.

[0118] The parts not described in the present invention can be realized by adopting or referring to the existing technologies.

[0119] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions, or substitutions made by those skilled in the art within the essence of the present invention should also fall within the protection scope of the present invention.

Claims

1. A multimodal unmanned aerial vehicle cabinet system, characterized in that: It includes a box-type cabinet system, a drone control system, a logistics transportation system, a distribution box and a system master controller. The box-type cabinet system includes an upper cabinet mechanism and a lower cabinet mechanism. The drone control system includes a drone lifting mechanism. The upper cabinet mechanism includes a plurality of first cabinet units, wherein a drone controller and a drone lifting mechanism are arranged in the first cabinet unit, and the drone controller controls the operation of the drone lifting mechanism through a line or wireless signal transmission module, and the lower cabinet mechanism includes a second cabinet unit arranged above the first cabinet unit; The logistics transportation system includes an upper article transmission mechanism, an article picking mechanism, an inclined transmission mechanism and a lower article transmission mechanism. A transmission channel is arranged on the inner side wall of the adjacent first cabinet unit. The upper article transmission mechanism is located in the first cabinet unit and arranged on the inner side of the drone lifting mechanism. The article picking mechanism grabs the articles unloaded by the drone to the upper end of the upper article transmission mechanism; the inclined transmission mechanism is arranged between the upper cabinet mechanism and the lower cabinet mechanism. One end of the inclined transmission mechanism is connected to the upper item transmission mechanism, and the other end is connected to the lower item transmission mechanism arranged in the lower cabinet mechanism. Storage mechanisms and item transportation parking spaces are respectively arranged in the lower cabinet mechanisms on both sides of the lower item transmission mechanism; the storage mechanism includes a large storage platform, a medium-sized storage box and a small storage rack; a drone placement mechanism is arranged in the first cabinet unit where the drone lifting mechanism is located, and the drone placement mechanism includes two U-shaped drone positioning frames arranged in mirror symmetry.

2. The multimodal unmanned aerial vehicle cabinet system according to claim 1, characterized in that: There are a plurality of first cabinet units and the number is an even number, the plurality of first cabinet units are divided into two groups, and the first cabinet units in each group are arranged vertically; There are a plurality of second cabinet units and the number is an even number, the plurality of second cabinet units are divided into two groups, and the second cabinet units in each group are arranged vertically; The first cabinet unit and the second cabinet unit are both container-type rectangular cabinets.

3. The multimodal unmanned aerial vehicle cabinet system according to claim 1, characterized in that: There are four first cabinet units, four second cabinet units, and a transfer positioning frame is provided between the four first cabinet units and the four second cabinet units; The transfer positioning frame includes a transverse positioning frame, which includes four cabinet limit frames, which are assembled by welding four first angle steel plates, and the cabinet limit frames are in the shape of a rectangular frame; The transverse positioning frame is placed on the second cabinet unit and fixed by countersunk bolts, and the first cabinet unit is placed on the second cabinet unit and the cabinet limit frame and fixed by countersunk bolts.

4. The multimodal unmanned aerial vehicle cabinet system according to claim 3, characterized in that: The first cabinet unit comprises a first cabinet frame and a first cabinet wall panel assembly, and the first cabinet wall panel assembly is connected to the first cabinet frame through a first cabinet positioning bolt; A first UAV flight cavity is formed on a first cabinet wall panel assembly located on the top of the first cabinet frame, a first motor track module is disposed in the first UAV flight cavity, a first top cover is disposed on a first slider in the first motor track module, and the first slider is driven by a first servo motor in the first motor track module; The second cabinet unit includes a second cabinet frame and a second cabinet wall panel assembly, and the second cabinet wall panel assembly is connected to the second cabinet frame through second cabinet positioning bolts; a conveying mechanism installation cavity is provided in the first cabinet wall panel assembly located at the bottom of the first cabinet frame and in the second cabinet wall panel assembly located at the top of the second cabinet frame.

5. The multimodal unmanned aerial vehicle cabinet system according to claim 4, characterized in that: The first cabinet wall panel assembly comprises a first cabinet narrow wall panel and a first cabinet long wall panel, the first cabinet long wall panel is installed in the front end face, rear end face, upper end face and lower end face of the first cabinet frame, and the first cabinet narrow wall panel is installed in the left end face and right end face of the first cabinet frame; The first cabinet long wall panel comprises four first cabinet long panel units, which are connected to the first cabinet frame via a first long cross-shaped bracket; the first cabinet narrow wall panel comprises four first cabinet narrow panel units, which are connected to the first cabinet frame via a first narrow cross-shaped bracket; The second cabinet wall panel assembly comprises a second cabinet narrow wall panel and a second cabinet long wall panel, the second cabinet long wall panel is installed in the front end face, rear end face, upper end face and lower end face of the second cabinet frame, and the second cabinet narrow wall panel is installed in the left end face and right end face of the second cabinet frame; The second cabinet long wall panel includes four second cabinet long panel units, which are connected to the second cabinet frame via a second long cross-shaped bracket; the second cabinet narrow wall panel includes four second cabinet narrow panel units, which are connected to the second cabinet frame via a second narrow cross-shaped bracket; First cabinet sealing strips are arranged on the edges of the first cabinet long panel unit, the first cabinet narrow panel unit, the second cabinet long panel unit and the second cabinet narrow panel unit.

6. The multimodal unmanned aerial vehicle cabinet system according to claim 1, characterized in that: The drone lifting mechanism comprises a platform fixing frame and a lifting platform, a platform adjusting slide rail assembly is installed at the bottom of the platform fixing frame, and the platform adjusting slide rail assembly is fixed on the bottom of the first cabinet unit; The lifting platform is arranged on the platform fixed frame, and the lifting platform includes four lifting screw rods and four lifting guide rails arranged on the platform fixed frame, and the lifting guide rails and the upper ends of the lifting guide rails are provided with a UAV platform plate; an AC motor transmission system is arranged between the four lifting screw rods, and the AC motor transmission system is connected to the lifting screw rods through a transmission gear assembly; a platform plate limit sensor is arranged on the lifting guide rail; A gravity sensing mechanism is arranged at the lower end of the UAV platform plate, an electric clamp assembly is arranged at the upper end of the UAV platform plate, the gravity sensing mechanism is connected to the UAV controller through a line, and a laser rangefinder is also arranged in the positioning concave hole in the middle of the UAV platform plate, and three groups of laser rangefinders are arranged in a triangle; When the gravity sensing mechanism senses that the drone has landed on the drone platform board and generates gravity sensing, and when the three sets of laser range finders all detect that there is a drone on top, the electric gripper assembly is energized to grab the legs of the drone.

7. The multimodal unmanned aerial vehicle cabinet system according to claim 6, characterized in that: The drone positioning frame includes two first electric modules, and a synchronous moving bracket and a module positioning bracket are arranged between the two first electric modules; The module positioning bracket is connected to the ends of the two first electric modules, the rear end of the module positioning bracket is connected to the first swing arm through the first swing arm support, and the rear end of the first swing arm is connected to the left inner wall or the right inner wall of the first cabinet unit through the second swing arm support; The end of the synchronous movable bracket is connected to the moving block of the first electric module, the inner end of the synchronous movable bracket is fixed with a plastic steel plate, and the inner end of the plastic steel plate is provided with a 5 mm thick rubber pad; The electric gripper assembly is arranged at the front upper end and the rear upper end of the UAV platform plate. The electric gripper assembly is located on both sides of the UAV placement mechanism. The electric gripper assembly includes a gripper rotating support, a rotating grab hook and a rotating motor arranged on the gripper rotating support. The rotating grab hook is in the shape of a long hook.

8. The multimodal unmanned aerial vehicle cabinet system according to claim 1, characterized in that: The item picking mechanism includes an item picking robot, a robot base arranged below the item picking robot, and a picking slide rail assembly arranged at the lower end of the robot base. A wireless signal control module is arranged in the item picking robot, and the item picking robot is connected to the drone controller; one end of the robot base is connected to the inner wall of the first cabinet unit through a second telescopic hydraulic cylinder.

9. The multimodal unmanned aerial vehicle cabinet system according to claim 1, characterized in that: The upper article transmission mechanism includes a first linear conveyor belt, a first U-shaped conveyor belt and an upper transmission power controller, and the upper transmission power controller is connected to the drone controller through a wireless signal sensing module; The inclined transmission mechanism includes a second linear transmission belt and an inclined transmission power controller, the inclined transmission power controller is connected to the drone controller through a wireless signal sensing module, and the second linear conveyor belt is connected to the first cabinet unit and the second cabinet unit through a conveyor belt bracket; The lower article transmission mechanism includes a third linear conveyor belt and a lower transmission power supply controller, and the lower transmission power supply controller is connected to the drone controller through a wireless signal sensing module; a conveyor belt moving roller assembly is provided at the lower end of the third linear conveyor belt; A transport vehicle entrance and exit is provided outside the second cabinet unit on one side of the lower article transport mechanism, and a rolling shutter door is provided on the transport vehicle entrance and exit; The distribution box is arranged in the second cabinet unit below the third linear conveyor belt. The system master controller is connected to the distribution box through lines, and the distribution box is connected to the drone control system and the logistics transportation system through lines.

10. A multi-modal unmanned aerial vehicle cabinet construction and transportation method, characterized in that: The multimodal transport unmanned aerial vehicle cabinet system according to any one of claims 1 to 9 specifically comprises the following: Step S1, determining the number of first cabinet units and second cabinet units required in the multimodal unmanned aerial vehicle cabinet system, and completing the monomer processing of cabinet frames and cabinet wall panel components in the prefabrication plant according to the number of first cabinet units and second cabinet units; Step S2, a flight cavity is reserved for the first cabinet unit that needs to be installed with the drone top cover, and the first top cover and corresponding supporting structures are installed; after the cabinet frame and cabinet wall panel components are processed, they are transported to the target site by a transport vehicle; Step S3, determine the target site. If the target site is outdoor, the target site outdoors needs to be cast with concrete foundation. The foundation casting is carried out according to the structure in the drawing, and the bearing weight is greater than 800Kg / ㎡. If the target site is indoors or on the roof, a steel structure is used as the base foundation. The base foundation of the steel structure is a trapezoidal structure that is wide at the top and narrow at the bottom. A large shock-absorbing spring mechanism is also provided at the bottom of the steel structure. Step S4, during installation, a crane is used to first hoist the cabinet frame of the second cabinet unit at the bottom, and the cabinet wall panel assembly in the second cabinet unit is installed according to space requirements, and the lower article conveying mechanism and the distribution box are pre-placed in the second cabinet unit; Step S5, the cabinet wall panel assembly on the top of the cabinet frame is not installed yet, and other cabinet wall panel assemblies in the first cabinet unit are installed into the cabinet frame on the ground. After the transfer positioning frame is installed, the first cabinet unit is hoisted onto the transfer positioning frame; Step S6, then complete the installation of the drone control system and the logistics transportation system in the first cabinet unit; Step S7, installing the cabinet wall panel assembly that needs to be installed on the top of the first cabinet unit, and after the drone control system and the logistics transportation system are powered on, testing whether the first top cover operates normally; Step S8, testing whether the drone control system and the logistics transportation system are running. After the entire system is powered on and running correctly, the drone is placed on the lifting platform to carry out the system transportation work; Step S9, installing cameras on the first cabinet unit and the second cabinet unit to monitor the running status of the work.

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