A drone-based express delivery locker, delivery system, and control method based on shared energy storage

Abstract

The application discloses a shared energy storage-based unmanned aerial vehicle express cabinet, an express system and a control method, relates to the technical field of express cabinet and express distribution, and solves the problem of low distribution efficiency caused by manual replacement of unmanned aerial vehicle batteries. The unmanned aerial vehicle express cabinet comprises a cabinet body, a first rotating lifting platform, an unmanned aerial vehicle centering mechanism, an unmanned aerial vehicle, a charging cabin, a first mechanical arm, a second mechanical arm, a main control module, a transfer frame, a shared battery and a transfer box integrated structure. The shared battery and the transfer box are integrated in the unmanned aerial vehicle. The shared battery can be charged, and the loading and unloading of express can be automated. The replacement of the shared battery and the loading and unloading of express can be simultaneously performed. The shared battery and the transfer box are fixed on the transfer frame to form an integrated structure. Once assembled, the shared battery, the transfer box and the unmanned aerial vehicle can be fixed, and the assembly and distribution efficiency can be effectively improved.

Description

Technical Field

[0001] This application relates to the field of express delivery lockers and express delivery distribution technology, and in particular to a drone-based express delivery locker, express delivery system and control method based on shared energy storage. Background Technology

[0002] As e-commerce expands, the demand for "last-mile" delivery has surged. Traditional manual delivery relies heavily on couriers, but rising labor costs and difficulties in allocating temporary manpower have led to increased delivery delays. Meanwhile, urban traffic congestion reduces the average speed of ground delivery to less than 15 kilometers per hour, making it difficult to overcome physical limitations. Furthermore, in remote mountainous areas and islands, weak road infrastructure hinders traditional logistics networks from covering these regions, and manual delivery becomes virtually impossible during disaster emergencies when ground transportation is disrupted.

[0003] With the rapid development of drone delivery technology, its application in the "last mile" of logistics is gradually becoming more widespread. Currently, most drone delivery systems rely on manual battery replacement, depending on human judgment of whether the battery can support the delivery trip, which severely restricts delivery efficiency. Summary of the Invention

[0004] The purpose of this application is to overcome the problem of low delivery efficiency caused by the need for manual replacement of drone batteries in the prior art, and to provide a drone express cabinet, express delivery system and control method based on shared energy storage.

[0005] Firstly, a drone delivery locker based on shared energy storage is provided, including:

[0006] The cabinet has several compartments with doors, and each door is equipped with an electrically controlled opening mechanism.

[0007] The first rotating lifting platform is installed inside the cabinet.

[0008] The drone centering mechanism is mounted on the cabinet and located above the first rotating lifting platform. An entrance and exit are reserved in the middle of the drone centering mechanism.

[0009] The drone has a gripper mechanism for locking a shared battery and a first contact pair for connecting the shared battery at its bottom.

[0010] A transport frame, wherein a removable shared battery is installed at the upper end of the transport frame and a transport box is installed at the lower end of the transport frame;

[0011] A charging compartment is located inside a cabinet and is equipped with a two-way energy management system and has multiple charging positions for charging and discharging shared batteries.

[0012] A first robotic arm is used to transfer objects between the compartment and the transfer box;

[0013] The second robotic arm is used to transfer the shared battery between the transfer frame and the charging compartment;

[0014] The main control module is electrically connected to the electronically controlled door opening mechanism, the first rotating lifting platform, the UAV centering mechanism, the charging compartment, the first robotic arm, and the second robotic arm. The main control module is also electrically connected to a control panel.

[0015] In some possible implementations, the UAV centering mechanism includes a centering platform, on which a centering rod and a laser sensor are mounted, and the laser sensor is electrically connected to the main control module.

[0016] In some possible implementations, the transport frame is equipped with a locking mechanism for securing the shared battery and the transport box.

[0017] In some possible implementations, the parcel locker is equipped with an electrically operated sliding cover for blocking the entrance and exit, and the electrically operated sliding cover is electrically connected to the main control module.

[0018] In some possible implementations, the drone includes a fuselage, a power module, a control module, a sensing module, and a first communication module, wherein the power module, the sensing module, the first communication module, and the gripper mechanism are all electrically connected to the control module, and the control module is electrically connected to a first contact point.

[0019] In some possible implementations, the main control module is electrically connected to a second communication module, and the second communication module communicates with the first communication module wirelessly.

[0020] In some possible implementations, a second rotary lifting platform is installed at the end of the cabinet away from the first rotary lifting platform, a conveyor belt for transferring objects between the first and second rotary lifting platforms is installed between the first and second rotary lifting platforms, and a third robotic arm for transferring goods between the first rotary lifting platform and the conveyor belt and between the second rotary lifting platform and the conveyor belt is installed in the cabinet. The conveyor belt, the second rotary lifting platform and the third robotic arm are all electrically connected to the main control module.

[0021] In some possible implementations, the transport container has at least one door connected to a power mechanism that drives the door to open and close. A first microprocessor is mounted on the transport container. The power mechanism and a third communication module are both electrically connected to the first microprocessor. The third communication module communicates wirelessly with the first communication module. The shared battery is equipped with a second microprocessor, a remaining power detection module, a control panel, and a display. The remaining power detection module, control panel, and display are all electrically connected to the second microprocessor. The remaining power detection module is electrically connected to the shared battery. The second microprocessor is used to calculate the flight range based on the total weight of the UAV and the remaining power of the shared battery.

[0022] Secondly, a drone delivery system based on shared energy storage is provided, including:

[0023] At least one drone delivery locker as described in the first aspect;

[0024] A logistics distribution point, which is used to collect express deliveries from users and distribute packages to users for pickup via drones;

[0025] The cloud server is used to formulate and issue drone transfer tasks, manage the sending and receiving of drone parcel lockers, and record information.

[0026] Thirdly, a control method for a drone delivery system based on shared energy storage is provided for controlling the drone delivery system as described in the second aspect, the control method comprising:

[0027] The first robotic arm is controlled to place the items to be shipped from the compartment into the transfer box;

[0028] By controlling the second robotic arm, the shared battery with sufficient electrical energy is loaded into the upper part of the transfer frame where the transfer box is located, according to the delivery distance of the item to be sent.

[0029] Determine if there is a drone currently parked on the drone delivery locker;

[0030] If the judgment result is yes, the transfer box containing the item to be sent will be sent to the preset position by controlling the first rotating lifting platform, so that the drone can be electrically connected to the shared battery and the gripper mechanism can be controlled to lock the shared battery.

[0031] If the judgment result is negative, then the idle drone is summoned. After the drone stops on the drone centering mechanism, the shared battery and transport frame of the drone are removed and the transport box containing the item to be shipped and the shared battery are installed.

[0032] By controlling drones, transfer boxes containing packages awaiting shipment are transported to designated logistics distribution points.

[0033] Fourthly, a control method for a drone delivery system based on shared energy storage is provided for controlling the drone delivery system as described in the second aspect, the control method comprising:

[0034] The logistics distribution center loads the items to be delivered into the transfer box of the drone;

[0035] Formulate and issue the corresponding drone transfer task to the drone;

[0036] Control the drone to deliver the transfer box to the designated drone express cabinet according to the drone transfer task;

[0037] The first robotic arm is controlled to place the items to be delivered from the transfer box into the empty slots.

[0038] The pickup code is sent to the user via the cloud server so that the user can pick up the package using the pickup code.

[0039] This application has the following beneficial effects:

[0040] 1. The drone express cabinet of this application integrates a detachable shared battery and a transfer box into the drone, and combines the first rotating lifting platform, charging compartment, first robotic arm and second robotic arm inside the cabinet to realize the automation of charging of shared batteries and loading and unloading of express packages. The replacement of shared batteries and loading and unloading of express packages can be carried out simultaneously. The shared battery and the transfer box are fixed on the transfer frame to form an integrated structure. The shared battery and the transfer box can be fixed to the drone by clamping and fixing the shared battery with the claw mechanism, which can effectively improve the assembly and delivery efficiency.

[0041] 2. In the drone delivery system of this application, the shared batteries between drones are interchangeable. By configuring multiple shared batteries in the drone delivery locker, the shared batteries can be fully charged and kept in reserve when the grid electricity price is low. When the grid electricity price is high, the electricity in the shared batteries can be reversed to the grid to earn the price difference, provided that the drones have enough shared batteries to use. In addition, drones can be used to realize express delivery between the delivery locker and the logistics distribution point. The appropriate shared batteries are allocated according to the drone's required range to minimize the remaining power of the shared batteries while ensuring that the drones can reach their destination, thereby achieving a dual improvement in delivery efficiency and logistics network flexibility. Attached Figure Description

[0042] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an undue limitation of this application.

[0043] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a perspective view of the drone express cabinet based on shared energy storage according to Embodiment 1 of this application;

[0045] Figure 2 This is a schematic diagram of the internal structure of a drone delivery locker based on shared energy storage, as described in Embodiment 1 of this application. Figure 1 ;

[0046] Figure 3 This is a schematic diagram of the internal structure of a drone delivery locker based on shared energy storage, as described in Embodiment 1 of this application. Figure 2 ;

[0047] Figure 4 This is a cross-sectional view of the drone express cabinet based on shared energy storage according to Embodiment 1 of this application;

[0048] Figure 5 This is a circuit block diagram of the drone express cabinet based on shared energy storage according to Embodiment 1 of this application;

[0049] Figure 6 This is a schematic diagram of the transfer frame, shared battery, and transfer box of the drone express cabinet based on shared energy storage according to Embodiment 1 of this application;

[0050] Figure 7 This is a schematic diagram of the structure of the transfer box door in the drone express cabinet based on shared energy storage according to Embodiment 1 of this application;

[0051] Figure 8 This is a circuit block diagram of the transfer box in the drone express cabinet based on shared energy storage according to Embodiment 1 of this application;

[0052] Figure 9 This is an exploded view of the first rotating lifting platform in the drone express cabinet based on shared energy storage according to Embodiment 1 of this application;

[0053] Figure 10 This is an exploded view of the drone centering mechanism in the drone express cabinet based on shared energy storage according to Embodiment 1 of this application;

[0054] Figure 11 This is a schematic diagram of the structure of the drone connected to the shared battery in the drone express cabinet based on shared energy storage according to Embodiment 1 of this application;

[0055] Figure 12This is a schematic diagram of the structure of the drone connecting the shared battery and the transfer box in the drone express cabinet based on shared energy storage according to Embodiment 1 of this application;

[0056] Figure 13 This is a circuit block diagram of the shared battery in the drone express cabinet based on shared energy storage according to Embodiment 1 of this application;

[0057] Figure 14 This is a circuit block diagram of the connection between the shared battery and the drone in the drone express cabinet based on shared energy storage according to Embodiment 1 of this application;

[0058] Figure 15 This is a schematic diagram of a drone delivery system based on shared energy storage according to Embodiment 1 of this application.

[0059] Figure label:

[0060] 100. Cabinet; 101. Compartment; 102. Electrically controlled door opening mechanism; 103. Electrically operated sliding hatch; 104. Second rotating lifting platform; 105. Conveyor belt; 106. Third robotic arm; 200. First rotating lifting platform; 201. Base; 202. Scissor lift assembly; 203. Top plate; 204. Rotary motor; 205. Rotary platform; 300. UAV centering mechanism; 301. Entrance / exit; 302. Centering platform; 303. Centering rod; 304. Laser sensor; 400. UAV; 401. Gripper mechanism; 402. Shared battery; 4021. Second microprocessor; 4022. Remaining battery detection module; 4023. Control panel 4024, Display; 4025, Second contact pair; 403, Body; 404, Power module; 405, Control module; 406, Sensing module; 407, First communication module; 408, First contact pair; 500, Transfer frame; 501, Transfer box; 502, Locking mechanism; 503, Box door; 504, Power mechanism; 505, First microprocessor; 506, Third communication module; 600, Charging compartment; 700, First robotic arm; 800, Second robotic arm; 900, Main control module; 901, Operation panel; 902, Second communication module; 903, Drone express cabinet; 904, Logistics distribution point; 905, Cloud server. Detailed Implementation

[0061] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0062] Example 1

[0063] like Figure 1 As shown in Embodiment 1 of this application, a drone express cabinet based on shared energy storage includes a cabinet body 100, a first rotating lifting platform 200, a drone centering mechanism 300, a transfer frame 500, a charging compartment 600, a first robotic arm 700, a second robotic arm 800, a main control module 900, and a drone 400. The cabinet body 100 is provided with a plurality of compartments 101 with cabinet doors. Each cabinet door is equipped with an electrically controlled door opening mechanism 102. The express package to be picked up is placed in the compartment 101. After the user enters the pickup code or scans the code to pick up the package, the cabinet door can be opened automatically.

[0064] like Figures 2-4 As shown, the cabinet 100 contains a first rotating lifting platform 200, which is capable of rotation and lifting. For example, as shown... Figure 9 As shown, the first rotary lifting platform 200 includes a base 201, on which a scissor lift assembly 202 is mounted. The scissor lift assembly 202 is driven by a hydraulic rod. A top plate 203 is mounted on the top of the scissor lift assembly 202, and a rotary motor 204 is fixed on the top plate 203. A rotary table 205 is fixed on the shaft of the rotary motor 204. In order to realize the control of the hydraulic rod and the rotary motor 204, the hydraulic pump of the hydraulic rod and the rotary motor 204 are electrically connected to the main control module 900, so that the main control module 900 can control the lifting and rotation of the rotary table 205 as needed.

[0065] like Figure 2 and Figure 10 As shown, in order to achieve precise landing of the drone 400, a drone centering mechanism 300 is provided on the cabinet 100 and above the first rotating lifting platform 200. The drone centering mechanism 300 has an inlet / outlet 301 in the middle for the transfer frame 500 carrying the transfer box 501 and the shared battery 402 to pass through. The drone centering mechanism 300 includes a centering platform 302, on which a centering rod 303 and a laser sensor 304 are installed. The centering platform 302 is used to support the drone 400 that lands on the drone express cabinet 903. The laser sensor 304 can detect whether the drone 400 has landed on the centering platform 302. The laser sensor 304 is electrically connected to the main control module 900 so that the signal detected by the laser sensor 304 can be transmitted to the main control module 900, so that the main control module 900 can sense whether the drone 400 is parked on the drone express cabinet 903.

[0066] like Figure 11 , Figure 12 and Figure 14As shown, to achieve rapid connection (including mechanical and electrical connection) between the drone 400 and the shared battery 402, the drone 400 is equipped with a gripper mechanism 401 for locking the shared battery 402 and a first contact pair 408 for connecting the shared battery 402. The shared battery 402 is detachably mounted on the upper end of the transfer frame 500, and a transfer box 501 is mounted on the lower end of the transfer frame 500. The transfer frame 500 is equipped with a locking mechanism 502 for locking the shared battery 402 and the transfer box 501. For example, the inner walls on both sides of the transfer frame 500 are provided with locking blocks, and the shared battery 402 has slots on both sides that are adapted to the locking blocks. The locking mechanism 502, consisting of the locking blocks and slots, secures the shared battery 402 to the transfer frame 500. The transport box 501 can also be fixed by a structure similar to a card block and card slot, or by a buckle or clamp, or the transport box 501 can be welded to the transport frame 500 or integrally formed. A second contact pair 4025 adapted to the first contact pair 408 is provided on the top of the shared battery 402. The shared battery 402 supplies power to the drone 400 through the contact between the second contact pair 4025 and the first contact pair 408. The electrical connection stability between the second contact pair 4025 and the first contact pair 408 can also be improved by using elastic elements such as springs. That is, the elastic force provided by the elastic element makes the second contact pair 4025 and the first contact pair 408 stick together tightly, so that the effective electrical connection between the second contact pair 4025 and the first contact pair 408 can be maintained even if there are bumps or vibrations.

[0067] like Figure 2 and Figure 3 As shown, the first robotic arm 700 is used to transfer objects between the compartment 101 and the transfer box 501, and the second robotic arm 800 is used to transfer the shared battery 402 between the transfer frame 500 and the charging compartment 600. In order to realize functions such as lateral movement, longitudinal movement and object grasping, for example, both the first robotic arm 700 and the second robotic arm 800 include an X-axis beam and an X-axis guide rail, and a Y-axis beam and a Y-axis guide rail. The Y-axis beam can translate along the Y-axis guide rail under the action of the drive mechanism, and the X-axis beam can translate along the X-axis guide rail under the action of the drive mechanism. The Y-axis guide rail is fixed to the inner wall of the cabinet 100, and the X-axis guide rail is fixed to the Y-axis beam. A robotic arm composed of a large arm, a small arm, a drive mechanism and other components is installed on the X-axis beam. A gripper and its drive mechanism are installed at the front end of the robotic arm. In order to complete the object recognition, object grasping and placement in the designated position in three-dimensional space, the robotic arm can also include sensors such as a camera, an infrared sensor, and an angle encoder.

[0068] like Figure 2As shown, a charging compartment 600 for charging the shared battery 402 is also provided inside the cabinet 100. The charging compartment 600 is equipped with a bidirectional energy management system and has multiple charging positions for charging and discharging the shared battery 402. The second robotic arm 800 can be used to send the shared battery 402 that needs to be charged on the transfer frame 500 to an empty charging position in the charging compartment 600 for charging. Alternatively, a shared battery 402 that is fully charged or has enough remaining power in the charging compartment 600 to complete the task can be installed on the transfer frame 500 for use by the drone 400.

[0069] like Figure 5 As shown, in order to achieve automated control and human-machine interaction with users, the electrically controlled door opening mechanism 102, the first rotating lifting platform 200, the drone centering mechanism 300, the charging compartment 600, the first robotic arm 700, and the second robotic arm 800 are all electrically connected to the main control module 900. The main control module 900 is also electrically connected to a control panel. Users can input the pickup code, the delivery code, or scan the QR code through the control panel 901 to perform functions such as pickup and delivery. The main control module 900 is electrically connected to a second communication module 902. The second communication module 902 communicates wirelessly with the first communication module 407 to realize signal transmission between the drone express cabinet 903 and the drone 400.

[0070] like Figure 1 As shown, in order to adapt to the outdoor environment, the express cabinet is equipped with an electric sliding cover 103 for covering the entrance and exit 301. The electric sliding cover 103 is electrically connected to the main control module 900. Under the control of the main control module 900, the electric sliding cover 103 can slide to both sides to expose the drone centering mechanism 300 and the entrance and exit 301. When there is no drone 400 on the cabinet body 100 and no drone 400 is about to land on the cabinet body 100, the electric sliding cover 103 is closed to prevent fallen leaves, rain, snow and other debris from falling into the cabinet body 100 from the entrance and exit 301, so as to keep the inside of the cabinet body 100 dry and clean.

[0071] like Figure 11 and Figure 14As shown, the drone 400 includes a fuselage 403, a power module 404, a control module 405, a sensing module 406, and a first communication module 407. The power module 404, sensing module 406, first communication module 407, and gripper mechanism 401 are all electrically connected to the control module 405. The control module 405 is electrically connected to a first contact pair 408, which supplies power to the drone 400 by contacting a second contact pair 4025 on a shared battery 402. The power module 404 includes propellers, propeller motors, etc., to provide power for the drone 400's takeoff and turning. The sensing module 406 includes a GPS positioning module, an obstacle avoidance module, etc., to provide navigation and obstacle avoidance for the drone 400. The first communication module 407 is used to communicate with the drone delivery locker 903, the logistics distribution point 904, and the backend server.

[0072] like Figure 2As shown, to improve transfer efficiency, a second rotary lifting platform 104 is installed at the end of the cabinet 100 away from the first rotary lifting platform 200. A conveyor belt 105 for transferring objects between the first rotary lifting platform 200 and the second rotary lifting platform 104 is installed between the first rotary lifting platform 200 and the second rotary lifting platform 104. A third robotic arm 106 for transferring goods between the first rotary lifting platform 200 and the conveyor belt 105 and between the second rotary lifting platform 104 and the conveyor belt 105 is installed inside the cabinet 100. The conveyor belt 105, the second rotary lifting platform 104, and the third robotic arm 106 are all electrically connected to the main control module 900. In this embodiment, two conveyor belts 105 are provided. One conveyor belt 105 is positioned above the cabinet 100, and another is positioned below the cabinet 100. This allows for the configuration of an additional transfer frame 500 and transfer box 501 within the cabinet 100. Before the drone 400 arrives at the drone express cabinet 903, the package to be transferred can be placed in the transfer box 501 under the transfer frame 500. A shared battery 402 with sufficient power to complete the transfer can be selected from the charging compartment 600 and installed on the transfer frame 500. The transfer frame 500 is then placed on the second rotating lifting platform 104. Upon arrival, the drone 400 controls the gripper mechanism 401 to pick up the transfer frame 500 and the shared battery 402 brought by the drone 400. The transfer frame 500, shared battery 402, and transfer box 501 are placed on the first rotating lifting platform 200. Then, the first rotating lifting platform 200 is lowered to a certain height and aligned with the upper conveyor belt 105. The third robotic arm 106 is used to transfer the transfer frame 500, shared battery 402, and transfer box 501 onto the upper conveyor belt 105. Then, the transfer frame 500, shared battery 402, and transfer box 501 containing the package to be transferred on the second rotating lifting platform 104 are transferred to the first rotating lifting platform 200 via the lower conveyor belt 105 and the third robotic arm 106. Then, the first rotating lifting platform 200 is raised until the second contact pair 4025 of the shared battery 402 contacts the first contact pair 408 of the drone 400, thus activating the drone. Powered by 400, the control module 405 of the drone 400 controls the gripper mechanism 401 to clamp and fix the shared battery 402, completing the fixed connection between the drone 400 and the transfer frame 500 and transporting the transfer frame 500 to the designated location according to the set route. The third robotic arm 106 and the second robotic arm 800 can be the same robotic arm or different robotic arms. The drone 400 can also be equipped with a small-capacity battery to provide power to the drone 400 before it is connected to the shared battery 402. After the drone 400 is connected to the shared battery 402, the shared battery 402 powers the drone 400 and charges the small-capacity battery to keep the small-capacity battery with sufficient power.

[0073] like Figure 6 and Figure 7 As shown, the transfer box 501 has at least one door 503, and the door 503 is connected to a power mechanism 504 that can drive the door 503 to open and close. Figure 8 As shown, the transfer box 501 is equipped with a first microprocessor 505. The power mechanism 504 and the third communication module 506 are both electrically connected to the first microprocessor 505. The third communication module 506 communicates wirelessly with the first communication module 407. When it is necessary to load or unload a package into the transfer box 501, the first microprocessor 505 controls the door 503 of the transfer box 501 to open. After completing the loading or unloading task, the door 503 is closed. Figure 13 As shown, the shared battery 402 is equipped with a second microprocessor 4021, a remaining power detection module 4022, a control panel 4023, and a display 4024. The remaining power detection module 4022, the control panel 4023, and the display 4024 are all electrically connected to the second microprocessor 4021. The remaining power detection module 4022 is electrically connected to the shared battery 402. The second microprocessor 4021 is used to calculate the flight range based on the total weight of the drone 400 and the remaining power of the shared battery 402. In this way, a suitable shared battery 402 can be found from the charging compartment 600 and installed on the transfer frame 500 to power the drone 400, based on the total weight of the drone 400 and the distance required for cargo transportation.

[0074] In this embodiment, a detachable shared battery 402 and a transfer box 501 are integrated into the drone 400. Combined with the first rotating lifting platform 200, charging compartment 600, first robotic arm 700, and second robotic arm 800 within the cabinet 100, the charging of the shared battery 402 and the loading and unloading of packages can be automated. The replacement of the shared battery 402 and the loading and unloading of packages can be performed simultaneously. Since the shared battery 402 and the transfer box 501 are fixed together, the transfer box 501 is fixed to the drone 400 when the shared battery 402 is installed, effectively improving assembly and delivery efficiency. Furthermore, by setting up a second rotating lifting platform 104 and a conveyor belt 105, an additional transfer frame 500 and transfer box 501 can be configured within the cabinet 100. This allows the assembly of packages to be transferred to be completed before the drone 400 arrives, and the drone 400 detaches its own transfer frame 500 and shared battery 402 upon arrival. After replacing the transfer box 501 with the additional transfer frame 500, shared battery 402, and transfer box 501 containing the goods to be transferred inside the cabinet 100, transportation can proceed, further saving time and significantly improving transfer efficiency. At the same time, the shared batteries 402 between drones 400 are interchangeable, and by configuring multiple shared batteries 402 in the drone express cabinet 903, the shared batteries 402 can be fully charged and kept in reserve when the grid electricity price is low, and when the grid electricity price is high, the electricity in the shared batteries 402 can be reversed to the grid to earn the price difference, provided that the drones 400 have enough shared batteries 402 for use. In addition, appropriate shared batteries 402 can be allocated according to the drone's payload and required range to minimize the remaining power of the shared batteries 402 while ensuring that the drones 400 can reach their destination, thereby improving the utilization efficiency of the shared batteries 402 and achieving reasonable allocation of the shared batteries 402.

[0075] Example 2

[0076] like Figure 15 As shown, Embodiment 2 of this application relates to a drone delivery system based on shared energy storage, comprising:

[0077] At least one drone delivery locker 903 as described in Example 1;

[0078] The logistics distribution point 904 is used to collect express deliveries from users and distribute packages to users via drones 400. The logistics distribution point 904 communicates with drone express cabinets 903, drones 400 and cloud servers 905 via electronic devices such as computers and mobile phones.

[0079] The cloud server 905 is used to formulate and issue drone 400 transfer tasks, manage the sending and receiving of packages by drone express cabinet 903, and record information.

[0080] In this embodiment, multiple drone parcel lockers 903 can be bound to logistics distribution points 904 according to the region. Packages waiting to be sent in these drone parcel lockers 903 can be transferred to the logistics distribution point 904 by drones 400, and packages waiting to be delivered in the logistics distribution point 904 can be delivered to the designated drone parcel lockers 903 by drones 400. This replaces manual delivery between the logistics distribution point 904 and the parcel lockers, saving labor costs and adapting to areas with inconvenient land transportation, such as mountainous areas, greatly improving delivery efficiency. Secondly, multiple shared batteries 402 can be installed in each drone parcel locker 903. Multiple drone parcel lockers 903 form a huge energy storage system. When the grid electricity price is low, the shared batteries 402 can be fully charged for backup. When the grid electricity price is high, the electricity in the shared batteries 402 can be reversed to the grid to earn the price difference, provided that the drones 400 have enough shared batteries 402 for use.

[0081] It should be noted that other specific implementations of the drone 400 express delivery system based on shared energy storage in this embodiment can be found in the specific implementation of the drone express cabinet 903 based on shared energy storage described above. To avoid redundancy, they will not be repeated here.

[0082] Example 3

[0083] The control method for a drone delivery system based on shared energy storage disclosed in Embodiment 3 of this application is used to control the drone delivery system as described in Embodiment 2. The control method for transferring packages to be sent from the drone delivery locker 903 to the designated logistics distribution point 904 includes:

[0084] First, users who send packages via the drone parcel locker 903 can open the door to send packages by entering the package code or scanning the QR code on the operation panel 901 of the drone parcel locker 903. Users then place the package to be sent into the designated compartment 101.

[0085] By controlling the first robotic arm 700 to put the package to be sent from the compartment 101 into the transfer box 501, in addition to controlling the first robotic arm 700 to pick up and put in the package, it is also necessary to control the opening and closing of the box door 503 of the transfer box 501. That is, the box door 503 of the transfer box 501 needs to be opened first, and the box door 503 needs to be closed after the package is put in.

[0086] By controlling the second robotic arm 800 to load the shared battery 402, which stores sufficient electrical energy, into the upper part of the transfer frame 500 where the transfer box 501 is located, according to the delivery distance of the package to be sent, the main control module 900 obtains the remaining power information of each battery in the charging compartment 600 through the power monitoring system. Based on the total weight of the drone 400, the transfer frame 500, the transfer box 501, the shared battery 402, and the cargo in the transfer box 501, as well as the distance that the drone 400 needs to fly, the module calculates how much power the shared battery 402 needs. Then, it selects a shared battery 402 with a slightly larger capacity from the charging compartment 600 to power the drone 400. The weight of the drone 400 and the shared battery 402 is a pre-input fixed value. The total weight of the transfer frame 500, the transfer box 501, and the package in the transfer box 501 can be weighed by setting a weighing module on the first rotating lifting platform 200.

[0087] To determine whether drone 400 is currently parked on the drone delivery locker 903, the location of drone 400 can be obtained through communication between drone delivery locker 903 and drone 400, or through cloud server 905. This can be combined with the laser sensor 304 or camera on drone delivery locker 903 to determine whether drone 400 is parked on drone delivery locker 903.

[0088] If the judgment result is yes, the first rotating lifting platform 200 is controlled to send the transfer box 501 containing the item to be sent to the preset position, so that the drone 400 and the shared battery 402 can be electrically connected and the gripper mechanism 401 can be controlled to lock the shared battery 402. Before using the first rotating lifting platform 200 to transport the transfer frame 500 (including the shared battery 402 and the transfer box 501) upward, the transfer frame 500 needs to be rotated to the specified direction and moved to the specified position of the first rotating lifting platform 200 by the first robotic arm 700 and / or the second robotic arm 800, so that after the transfer frame 500 rises to the preset position, the first contact pair 408 and the second contact pair 4025 can be effectively electrically connected, thereby powering the drone 400, and then the gripper mechanism 401 of the drone 400 can clamp and fix the shared battery 402, thus completing the fixation of the drone 400 and the transfer frame 500.

[0089] If the judgment result is negative, then an idle drone 400 is summoned. After the drone 400 stops on the drone centering mechanism 300, the shared battery 402 and the transfer frame 500 of the drone 400 are removed and the transfer box 501 containing the item to be sent and the shared battery 402 are installed. If there is no idle drone 400 nearby, it is added to the queue until an idle drone 400 is available to complete the transport.

[0090] The drone 400 is controlled to transport the transfer box 501 containing the package to be shipped to the designated logistics distribution point 904. During the transportation process, the server needs to provide navigation, and the drone 400's own perception module 406 can avoid obstacles to complete the transportation.

[0091] Example 4

[0092] The control method for a drone delivery system based on shared energy storage disclosed in Embodiment 4 of this application is used to control the drone delivery system as described in Embodiment 2. The control method for transferring packages to be delivered from the logistics distribution point 904 to the designated drone delivery locker 903 includes:

[0093] The logistics distribution point 904 loads the items to be delivered into the transfer box 501 of the drone 400. Specifically, in addition to loading the items to be delivered, it is also necessary to select a suitable shared battery 402 to provide power for this flight. That is, the required power is calculated based on the total weight and flight range of the drone 400, and then the shared battery 402 is selected based on the power. The human-machine interface can view the remaining power of the shared battery 402 through the display 4024 on the shared battery 402, or it can obtain the remaining power of the shared battery 402 through the charging management system.

[0094] The corresponding drone 400 transfer task is formulated and issued to the drone 400. The drone 400 transfer task includes navigation information. The drone 400 navigates to the designated location according to the navigation information and parks on top of the drone express cabinet 903.

[0095] The drone 400 is controlled to transport the transfer box 501 to the designated drone express cabinet 903 according to the drone 400 transfer task. After the drone 400 is parked on the drone express cabinet 903 according to the navigation information, the gripper mechanism 401 is controlled to release the shared battery 402 and place the shared battery 402 on the first rotating lifting platform 200. Then, the first rotating lifting platform 200 is controlled to descend to the preset height.

[0096] The first robotic arm 700 is controlled to place the items to be delivered from the transfer box 501 into the empty slot 101.

[0097] The pickup code is sent to the user via cloud server 905 so that the user can pick up the package using the pickup code.

[0098] The above are merely preferred embodiments of this application; however, the scope of protection of this application is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in this application, based on the technical solution and its improved concept, should be covered within the scope of protection of this application.

Claims

1. A shared energy storage based UAV delivery locker, characterized in that, The utility model relates to a kind of express delivery cabinet, including: Cabinet, the cabinet is provided with several with cabinet door compartment, wherein, the cabinet door is mounted with electric control door opening mechanism; First rotating lifting platform, the first rotating lifting platform is arranged in cabinet, the first rotating lifting platform is used to lift and rotate the integrated structure of transfer frame, shared battery and transfer box; Unmanned aerial vehicle centering mechanism, the unmanned aerial vehicle centering mechanism is arranged on cabinet and is located above first rotating lifting platform, and import and export are reserved in the middle of unmanned aerial vehicle centering mechanism; Unmanned aerial vehicle, the bottom of the unmanned aerial vehicle is provided with the first contact pair for being used for locking shared battery and connecting shared battery; Transfer frame, the detachable shared battery is installed on the upper end of the transfer frame, and the transfer box is installed on the lower end of the transfer frame; Charging cabin, the charging cabin is arranged in cabinet, the charging cabin is configured with two-way energy management system and has multiple charging positions for shared battery charging and discharging; First mechanical arm, the first mechanical arm is used for transferring object between compartment and transfer box; Second mechanical arm, the second mechanical arm is used for transferring shared battery between transfer frame and charging cabin; Master module, the electric control door opening mechanism, first rotating lifting platform, unmanned aerial vehicle centering mechanism, charging cabin, first mechanical arm and second mechanical arm are electrically connected with master module, and the master module is also electrically connected with control panel; The end of the cabinet away from the first rotating lifting platform is provided with a second rotating lifting platform, and a conveyor belt for transmitting objects between the first rotating lifting platform and the second rotating lifting platform is installed between the first rotating lifting platform and the second rotating lifting platform. 2.The shared energy storage based UAV delivery cabinet of claim 1, wherein, The unmanned aerial vehicle centering mechanism includes a centering platform, a centering rod and a laser sensor are installed on the centering platform, and the laser sensor is electrically connected with the master module. 3.The shared energy storage based UAV delivery cabinet of claim 1, wherein, The transfer frame is provided with a locking mechanism for locking shared battery and transfer box. 4.The shared energy storage based UAV delivery cabinet of claim 1, wherein, The express delivery cabinet is provided with an electric sliding hatch cover for shielding the import and export, and the electric sliding hatch cover is electrically connected with the master module. 5.The shared energy storage based UAV delivery cabinet of any one of claims 1-4, wherein, The unmanned aerial vehicle includes a fuselage, a power module, a control module, a sensing module and a first communication module, wherein the power module, the sensing module, the first communication module and the clamping jaw mechanism are electrically connected with the control module, the control module is electrically connected with the first contact pair, the master module is electrically connected with a second communication module, and the second communication module communicates with the first communication module in a wireless form. 6.The shared energy storage based UAV delivery cabinet of claim 1, wherein, The transfer box has at least one box door connected with a power mechanism capable of driving the box door to open and close, a first microprocessor is arranged on the transfer box, the power mechanism and a third communication module are electrically connected with the first microprocessor, the third communication module communicates with the first communication module in a wireless mode, a second microprocessor, a residual power detection module, a control panel and a display are arranged on the shared battery, the residual power detection module, the control panel and the display are electrically connected with the second microprocessor, the residual power detection module is electrically connected with the shared battery, and the second microprocessor is used for calculating the flyable mileage according to the total weight of the unmanned aerial vehicle and the residual power of the shared battery.

7. A shared energy storage based drone delivery system, characterized in that, Comprise: At least one unmanned aerial vehicle express cabinet according to any one of claims 1-6; A logistics distribution point, which is used for delivering express mails delivered by users and distributing the to-be-taken items of users by unmanned aerial vehicles; A cloud server, which is used for formulating and issuing unmanned aerial vehicle transfer tasks, express mail and to-be-taken item management of the unmanned aerial vehicle express cabinet and information recording. 8.A control method of a shared energy storage based UAV express delivery system, characterized in that, The control method for the unmanned aerial vehicle express system according to claim 7 comprises: Placing the to-be-sent item in the slot into the transfer box by controlling the first mechanical arm; According to the delivery distance of the to-be-sent item, the shared battery with sufficient power is loaded into the upper end of the transfer frame where the transfer box is arranged by controlling the second mechanical arm; Judging whether the unmanned aerial vehicle is parked on the current unmanned aerial vehicle express cabinet; If the judgment result is yes, the transfer box loaded with the to-be-sent item is sent to a preset position by controlling the first rotating lifting platform, so that the unmanned aerial vehicle and the shared battery are electrically connected and the shared battery is locked by the clamping jaw mechanism; If the judgment result is no, the unmanned aerial vehicle in an idle state is called, and after the unmanned aerial vehicle is parked on the unmanned aerial vehicle parking mechanism, the shared battery of the unmanned aerial vehicle and the transfer frame are disassembled and the transfer box loaded with the to-be-sent item and the shared battery are installed; The transfer box loaded with the to-be-sent item is transferred to the designated logistics distribution point by controlling the unmanned aerial vehicle. 9.A control method of a shared energy storage based UAV delivery system, characterized in that, The control method for the unmanned aerial vehicle express system according to claim 7 comprises: The logistics distribution point loads the to-be-delivered item into the transfer box of the unmanned aerial vehicle; Formulating and issuing the corresponding unmanned aerial vehicle transfer task to the unmanned aerial vehicle; The unmanned aerial vehicle transports the transfer box to the designated unmanned aerial vehicle express cabinet according to the unmanned aerial vehicle transfer task; Placing the to-be-delivered item in the transfer box into the idle slot by controlling the first mechanical arm; Sending the to-be-taken item code to the user by the cloud server, so that the user can take the item by the to-be-taken item code.

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