An air-ground integrated intelligent distribution system and operation coordination method
By integrating air and ground intelligent delivery system and combining drones and unmanned vehicles for diversified delivery, the traditional logistics delivery problem in complex environments has been solved, and efficient delivery has been achieved in situations such as traffic congestion, special terrain and park closures.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- ZHEJIANG JIMI INTELLIGENT TECH CO LTD
- Filing Date
- 2026-03-10
- Publication Date
- 2026-06-05
Smart Images
Figure CN122155575A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of smart logistics and unmanned delivery technology, and in particular to an integrated air-ground intelligent delivery system and a collaborative operation method. Background Technology
[0002] Against the backdrop of the rapid development of the digital economy, logistics systems have become the core link connecting manufacturing and end-consumer markets, and a key infrastructure supporting the operation of the social circulation system. With the explosive growth of global e-commerce orders, the focus of competition in the logistics industry has shifted from early trunk transportation to products—the "last mile," often referred to as the lifeline of logistics. The importance of completing delivery lies not only in determining the timeliness and customer satisfaction of logistics services, but also in its direct impact on the operating costs of the entire supply chain.
[0003] However, existing delivery solutions still face the following serious challenges in actual operation: traditional ground goods delivery models are easily constrained by physical environments such as traffic congestion, road construction, special terrain (such as mountains and zoos), and park closures. Summary of the Invention
[0004] The purpose of this invention is to provide an integrated air-ground intelligent dispatch system and a collaborative operation method to solve the problems mentioned in the background art.
[0005] To achieve the above objectives, the present invention provides an integrated air-ground intelligent delivery system, including a package identification module, a package storage module, a sorting execution module, an air delivery module, a ground delivery module, and a central dispatch control module. The package identification module, package storage module, sorting execution module, air delivery module, and ground delivery module are all connected to the central dispatch control module. The package identification module is connected to the package storage module, the package storage module is connected to the sorting execution module, and the air delivery module and ground delivery module are both connected to the sorting execution module. The package identification module is used to identify relevant information about packages and transmit that information to the central dispatch and control module in real time. The parcel storage module is used for parcel storage, storage location management, rapid location tracking, and outbound processing. The sorting execution module is used to grab and sort packages according to the delivery destination and load them onto drones or unmanned delivery vehicles; The air delivery module is used to perform long-distance or cross-regional parcel transportation tasks; The ground delivery module is used to complete last-mile delivery tasks in communities, parks, or short-distance areas. It uses unmanned delivery vehicles to transport packages from delivery stations to user pickup locations, enabling package delivery and user self-service pickup. The central dispatch and control module is used to achieve unified management and scheduling, allocate parcel delivery tasks, generate transportation routes for drones and unmanned delivery vehicles, and monitor the operating status of system equipment.
[0006] Preferably, the package identification module includes an inbound conveying unit, a package information identification unit, and a size and weight detection unit, with the package information identification unit and the size and weight detection unit both located above the inbound conveying unit; The inbound conveyor unit is used to automatically transport packages, allowing them to pass through the identification area and detection area in sequence, and finally enter the package storage area. The package information identification unit is used to identify packages entering the system, read package waybill information, and generate electronic data records for the packages; identify the recipient address and logistics number on the express waybill, generate a unique identification ID for the package; and upload the identification results to the central dispatch and control module. The size and weight detection unit is used to automatically detect the physical parameters of the package and obtain its size and weight information.
[0007] Preferably, the inbound conveying unit includes a conveyor line, a PLC controller, and photoelectric sensors. The conveyor line adopts an electric roller conveyor structure or a belt conveyor structure. The electric roller is driven by a servo motor or a geared motor, and the conveying speed is controlled by the PLC controller. The photoelectric sensors are set at key positions on the conveyor line to detect the position status of the packages. The package information identification unit includes a barcode scanner, an industrial camera, an image acquisition and processing module, an OCR text recognition module, and a data communication interface. The barcode scanner and industrial camera are fixedly installed on both sides or above the conveyor line. The industrial camera captures images of the package waybills, and the image acquisition and processing submodule preprocesses the images. The OCR text recognition module performs character recognition on the captured waybill images, extracts the recipient address, recipient information, and logistics number, and converts the recognition results into structured data. The recipient address, recipient information, and logistics number are then uploaded to the central dispatch and control module via the data communication interface. The size and weight detection unit is installed in the detection area of the conveyor line, including a three-dimensional vision measuring instrument, a multi-point laser ranging sensor array or a structured light projector, a load cell, and a data acquisition controller. The three-dimensional vision measuring instrument, the multi-point laser ranging sensor array, and the structured light projector are all installed above the conveyor line, and the load cell is a strain gauge type load cell, which is set at the bottom of the conveyor line.
[0008] Preferably, the parcel storage module includes a parcel inbound / outbound unit and a storage location management unit, which are connected to each other. The parcel inbound / outbound unit is used for centralized storage of parcels and for allocating storage locations based on parcel size, weight, and other criteria. It can also transport parcels to be delivered from the storage area to the sorting execution module. The parcel inbound and outbound unit adopts a multi-level three-dimensional racking structure to build the storage warehouse, and is equipped with stacker cranes for parcel storage and retrieval; the three-dimensional racking consists of multiple rows of steel structure racks, each row of racks has multiple horizontal layers, and each layer has multiple storage compartments; The storage location management unit is used to manage the parcel storage location in real time and record the usage status of each storage location, enabling rapid parcel location and inventory information management. It includes RFID tags, storage location detection sensors, and a local controller. Each storage compartment is equipped with an RFID tag and a storage location detection sensor. The storage location detection sensor uses a photoelectric sensor or a pressure sensor and is connected to a local controller. The local controller sends the storage location status data to the central dispatch control module. The central dispatch control module updates the storage location database based on the received data and establishes a correspondence between the package number and the storage location number on the RFID tag.
[0009] Preferably, the sorting execution module includes a sorting unit, a visual recognition unit, and a sorting decision unit; The sorting unit is used to perform package picking, handling, and loading. A visual recognition unit is used to identify the location and posture of the package; The sorting decision unit is used to determine whether to use air or ground delivery for a package based on delivery distance, package weight, package volume, delivery priority, and delivery time requirements. When the delivery distance exceeds a preset threshold or there are traffic restrictions, drone delivery is selected; otherwise, unmanned vehicle delivery is selected. After determining the delivery method, the unit generates a corresponding sorting and loading instruction and sends the instruction to the robotic arm, instructing the robotic arm to load the package into the corresponding delivery equipment.
[0010] Preferably, the sorting unit includes a sorting platform and a robotic arm, with the robotic arm fixedly mounted on one side of the sorting platform via a base; The robotic arm includes a robotic arm body, a servo drive motor, a robotic arm controller, and an end effector. The robotic arm body and the robotic arm controller are both connected to the servo drive motor. The robotic arm body consists of multiple rotary joints and links. The servo motor drives each joint to achieve multi-degree-of-freedom motion, enabling the robotic arm to move flexibly in three-dimensional space. The end effector is installed at the end of the robotic arm and adopts a vacuum adsorption gripping structure or a clamping gripping structure. The visual recognition unit includes an industrial camera and a supplementary light, which are mounted above the sorting platform via a bracket.
[0011] Preferably, the aerial delivery module includes a drone flight unit and a drone loading and unloading unit; Unmanned aerial vehicle (UAV) flight units are used to perform aerial transportation tasks for packages, completing the transportation process from the distribution center to the target delivery area; The drone flight unit uses a multi-rotor drone as the flight carrier for air parcel transportation. It generates lift through multiple rotor power units, enabling the drone to achieve vertical take-off and landing, hovering flight, and autonomous route cruise. Under the coordinated control of the flight control system and the positioning and navigation system, it completes the automated air transportation task of the parcel, realizing rapid delivery over long distances or across regions. The drone loading and unloading unit is used to automatically load, secure, and release packages onto drones, enabling drones to complete package transportation tasks without human intervention. The drone loading and unloading unit includes a cargo compartment, an electric latch, a weight sensor, and a drone control system. The cargo compartment is located at the bottom of the drone body and has an anti-slip mat inside. The electric latch is located inside the cargo compartment. The weight sensor is located inside the cargo compartment.
[0012] Preferably, the ground delivery module includes an unmanned delivery vehicle unit and a user pickup interaction unit; Unmanned delivery vehicle units are used to perform ground transportation tasks for packages, transporting packages from delivery stations to designated delivery locations; The unmanned delivery vehicle unit comprises a vehicle body, a chassis, a drive motor, an unmanned delivery vehicle control system, and a cargo compartment. The chassis is located beneath the vehicle body, and the drive motor powers the wheels for movement. LiDAR and cameras are mounted on the vehicle body to acquire information about the surrounding environment. The unmanned delivery vehicle control system uses SLAM algorithms to construct an environmental map and calculates the route based on path planning algorithms, enabling the unmanned delivery vehicle to automatically travel to the designated delivery location. The unmanned delivery vehicle communicates with the central dispatch and control module via wireless communication. The user pickup interaction unit is used to realize user authentication and package pickup operation. The user pickup interaction unit is located on the outside of the warehouse of the unmanned delivery vehicle and includes an electronic lock, a barcode scanning device and a display terminal.
[0013] Preferably, the central scheduling and control module includes a task allocation unit, a path planning unit, and a status monitoring unit; The task allocation unit is used to allocate delivery tasks according to order information and determine whether to use air delivery or ground delivery. It includes a server, which processes package order information. When the server receives package order information, it makes a comprehensive judgment based on package weight, volume, delivery distance and equipment operating status to determine the delivery method and allocate the delivery task to drones or unmanned delivery vehicles. At the same time, it sends delivery task instructions to the corresponding equipment. The path planning unit is used to generate transportation routes for drones and unmanned delivery vehicles. Specifically, it calculates the delivery route through a path planning algorithm, the drone plans its flight path based on the delivery target location, and the unmanned delivery vehicle plans its driving route based on the delivery area map. The planning results are then sent to the corresponding equipment so that the equipment can complete the delivery task according to the planned route. The status monitoring unit is used to monitor the operating status of system equipment in real time. Specifically, it obtains the operating information of drones and unmanned delivery vehicles through the wireless communication network, including equipment location, power status and operating status. When equipment abnormality or insufficient power is detected, the delivery task is rescheduled or the delivery equipment is adjusted.
[0014] This invention also provides a collaborative operation method applied to the aforementioned integrated air-ground intelligent dispatch system, comprising the following steps: S1. Receive the package and identify the information, and generate the corresponding package data record at the same time; S2. Detect the size and weight of the package and allocate storage space according to the package parameters to complete the warehousing process; S3. The central dispatch and control module analyzes the delivery task based on the package's delivery address, delivery distance, package weight, and volume, and determines whether to use drone delivery or unmanned delivery vehicle delivery. S4. When delivery is required, the package is taken out of the storage area and transported to the sorting area. The package is picked up by a robotic arm and loaded into the drone cargo warehouse or the unmanned delivery vehicle cargo warehouse according to the delivery method. S5. If air delivery is used, the drone will fly along the planned route and transport the package to the target area; if ground delivery is used, the unmanned delivery vehicle will automatically drive to the user's designated pickup location along the planned route. S6. When the delivery equipment arrives at the destination, the user completes identity verification by scanning the code or entering the pickup code, opens the warehouse door to retrieve the package, and the system records the pickup information and updates the delivery status.
[0015] Therefore, the present invention, employing the above-described air-ground integrated intelligent dispatch system and operation coordination method, has the following beneficial effects: (1) This invention achieves complementary advantages through a dual transportation mode of air and ground; the central dispatch control module can assign drones or unmanned vehicles to complete delivery tasks according to real-time road conditions and geographical features, effectively solving the problem of on-time delivery in complex dynamic environments and solving the continuity and effectiveness of multiple tasks.
[0016] (2) The present invention adopts an intelligent sorting scheme that integrates OCR recognition, three-dimensional vision measurement and a six-axis robotic arm, which can accurately capture the physical characteristics and spatial process of the package, and ensure the accurate movement and positioning of the package during the circulation process.
[0017] (3) The use of floor-level three-dimensional racks and stacker cranes, along with RFID tags and storage location detection sensors, has enabled a high degree of integration of grid space and real-time monitoring of storage location status. The central dispatch control module can establish a one-to-one correspondence between package IDs and storage locations, ensuring rapid positioning and transfer of packages when they leave the warehouse.
[0018] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description
[0019] Figure 1 This is a schematic diagram of the structure of an integrated air-ground intelligent distribution system according to an embodiment of the present invention; Figure 2 This is a graph showing the changes in delivery distance and average delivery time under different delivery methods according to embodiments of the present invention; Figure 3 This is a flowchart of a task collaboration method according to an embodiment of the present invention. Detailed Implementation
[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.
[0021] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.
[0022] Example like Figure 1 As shown, the present invention provides an integrated air-ground intelligent delivery system, including a package identification module, a package storage module, a sorting execution module, an air delivery module, a ground delivery module, and a central dispatch control module. The package identification module, package storage module, sorting execution module, air delivery module, and ground delivery module are all connected to the central dispatch control module. The package identification module is connected to the package storage module, the package storage module is connected to the sorting execution module, and the air delivery module and ground delivery module are both connected to the sorting execution module.
[0023] The package identification module is used to receive packages. By automatically identifying and collecting data from packages, it can obtain key parameters such as package number, delivery address, weight, and size, and transmit the relevant information to the central scheduling and control module in real time, thereby providing an accurate data foundation for subsequent package storage, sorting scheduling, and air-to-ground delivery decisions.
[0024] The package identification module includes an inbound conveying unit, a package information identification unit, and a size and weight detection unit. The package information identification unit and the size and weight detection unit are both located above the inbound conveying unit.
[0025] The inbound conveying unit is used to automatically transport packages, allowing them to pass through the identification area and detection area in sequence, and finally enter the package storage area.
[0026] The inbound conveyor unit includes a conveyor line, a PLC controller, and photoelectric sensors. The conveyor line can employ an electric roller conveyor or a belt conveyor. The electric roller is driven by a servo motor or a geared motor, and the conveying speed is controlled by the PLC controller. Photoelectric sensors are installed at key locations on the conveyor line to detect the position of packages. When a package enters the identification or weighing area, the PLC controller adjusts the conveyor speed or briefly stops the conveyor based on the photoelectric sensor signal to ensure the accuracy of the identification and detection process.
[0027] The package information identification unit is used to identify packages entering the system, read package waybill information, and generate electronic data records for the packages; identify the recipient address and logistics number on the express waybill, generate a unique identification ID for the package; and upload the identification results to the central dispatch and control module.
[0028] The package information recognition unit includes a barcode scanner, an industrial camera, an image acquisition and processing module, an OCR text recognition module, and a data communication interface. The barcode scanner and industrial camera form the visual recognition component. When a package passes through the inbound conveyor unit, the barcode scanner, located on either side or above the conveyor line, first scans and recognizes the express barcode or QR code on the package surface. The industrial camera captures images of the package label, and the image acquisition and processing submodule preprocesses the images, including image enhancement, noise reduction, and edge detection, to improve image recognition quality. The OCR text recognition module recognizes characters in the captured label images, extracts key data such as the recipient address, recipient information, and logistics number, and converts the recognition results into structured data. The recipient address, recipient information, and logistics number are then uploaded to the central dispatch and control module via the data communication interface. The OCR text recognition module can use deep learning text recognition algorithms to automatically locate and recognize characters in the label area, thus adapting to different label formats used by logistics companies.
[0029] The size and weight detection unit is used to automatically detect the physical parameters of the package and obtain its size and weight information so that the system can make storage allocation and delivery method decisions based on the package parameters, i.e., determine whether the package meets the conditions for drone or unmanned vehicle transportation.
[0030] The size and weight detection unit is installed in the detection area of the conveyor line and mainly includes a 3D vision measuring instrument, a multi-point laser rangefinder array or structured light projector, a load cell, and a data acquisition controller. The 3D vision measuring instrument, multi-point laser rangefinder array, and structured light projector are all installed above the conveyor line; the load cell is a strain gauge type load cell, located at the bottom of the conveyor line. A grating pattern is projected onto the package surface by the structured light projector, the 3D vision measuring instrument acquires the grating deformation image, and calculates the spatial coordinates of the package surface using a 3D reconstruction algorithm, thereby obtaining the package's length, width, and height dimensions. The load cell detects minute deformations in the conveyor line's supporting structure to calculate the package weight. The load cell works synchronously with the conveyor line; when a package enters the weighing area, the conveyor belt slows down or stops briefly to ensure the stability of the weighing data. After measurement, the size and weight data are sent to the data acquisition controller for integration, generating a package physical parameter record, which is then uploaded to the central scheduling and control module.
[0031] In another implementation, a multi-point laser rangefinder array can be used to scan the outline of the package, and the package size can be calculated using a data fusion algorithm.
[0032] The parcel storage module is used for storing, managing storage locations, quickly locating, and issuing parcels. It includes a parcel inbound / outbound unit and a storage location management unit, which are connected to each other.
[0033] The parcel inbound / outbound unit is used for centralized storage of parcels and for allocating storage locations based on parcel size, weight, and other criteria. It can also transport parcels that need to be delivered from the storage area to the sorting execution module.
[0034] The parcel inbound / outbound conveying unit utilizes a multi-layer automated racking system to construct the storage warehouse, and is equipped with a stacker crane for parcel storage and retrieval. The automated racking system consists of multiple rows of steel structure racks, each row with multiple horizontal levels, and each level with multiple storage compartments, forming a multi-layer, multi-column storage matrix structure. The dimensions of each storage compartment are designed according to common express parcel specifications, accommodating the storage needs of parcels of different sizes. The stacker crane includes a vertical lifting mechanism, a horizontal traveling mechanism, and a fork extension mechanism, used to automatically handle the inbound, outbound, and storage location transfer operations between the automated racks. The vertical lifting mechanism controls the movement of the forks between different levels; the horizontal traveling mechanism moves along the rack aisles to designated storage locations; and the fork extension mechanism delivers or retrieves parcels into or from the rack storage locations.
[0035] After the central dispatch and control module generates a delivery task, the system first determines the storage location of the package through the storage location database and sends a pickup instruction to the stacker crane. After the stacker crane moves to the designated storage location, it takes out the package through the fork mechanism and places it in the sorting area.
[0036] The storage location management unit is used to manage the storage location of packages in real time and record the usage status of each storage location, thereby enabling rapid package location and inventory information management. It includes RFID tags, storage location detection sensors, and local controllers.
[0037] Each storage compartment is equipped with an RFID tag and a storage location detection sensor. The RFID tag identifies the storage location number. When the stacker crane retrieves a package, it reads the tag information using an RFID reader to confirm the package's storage location. The storage location detection sensor, which can be a photoelectric sensor or a pressure sensor, detects whether the storage compartment is occupied by a package. The storage location detection sensor is connected to the local controller. When a package is placed in a storage compartment, the sensor's status changes, and it transmits an occupancy signal to the local controller. The local controller sends the storage location status data to the central dispatch control module. The central dispatch control module updates the storage location database based on the received data and establishes a correspondence between package numbers and storage location numbers. When the system needs to locate a package, the central dispatch control module can quickly obtain the package's storage location through a database query and generate an outbound dispatch instruction.
[0038] The sorting execution module is used to grab and sort packages according to the delivery destination and load them onto drones or unmanned delivery vehicles. It includes a sorting unit, a vision recognition unit, and a sorting decision unit.
[0039] The sorting unit is used to perform package grabbing, handling and loading, and includes a sorting platform (i.e. sorting area) and a robotic arm, which is fixedly mounted on one side of the sorting platform via a base.
[0040] The robotic arm employs a six-axis structure, with its range of motion covering the package grasping area, as well as the drone loading area and the unmanned vehicle loading area. The robotic arm comprises the arm body, servo drive motors, a controller, and an end effector. Both the arm body and controller are connected to the servo drive motors. The arm body consists of multiple rotary joints and links, with servo motors driving each joint to achieve multi-degree-of-freedom movement, enabling flexible movement in three-dimensional space. The end effector, mounted at the end of the arm, can employ either a vacuum suction gripping structure or a clamping gripping structure. The controller executes the grasping action and, according to scheduling instructions, places the package into the drone's loading area or the unmanned delivery vehicle's cargo area. The vacuum suction gripping structure uses a vacuum generator to create negative pressure, causing suction cups to adhere to the package surface, suitable for cardboard boxes. The clamping gripping structure uses motorized grippers to hold the sides of the package, suitable for irregularly shaped packages or packages with surfaces unsuitable for suction.
[0041] The specific operation process is as follows: the robotic arm moves to the grab position above the package; the end effector descends and adsorbs or clamps the package; the robotic arm lifts the package and moves it to the target loading area (i.e., the drone loading area and the unmanned vehicle loading area); according to the scheduling instructions, the package is placed in the drone warehouse or the unmanned delivery vehicle warehouse; after loading is completed, it returns to the standby position to wait for the next sorting task.
[0042] The visual recognition unit, used to identify the position and posture of packages, includes an industrial camera and supplementary lighting. The camera and lighting are mounted above the sorting platform via a bracket. The supplementary lighting provides a stable light source in low-light or complex environments to improve image recognition accuracy. The industrial camera captures images of the packages, and image recognition algorithms determine the location of the package gripping point, sending the coordinate information to the sorting unit.
[0043] The sorting decision unit is used to determine whether to use air or ground delivery for a package based on information such as delivery distance, package weight, package volume, delivery priority, and delivery time requirements. When the delivery distance exceeds a preset threshold or there are traffic restrictions, drone delivery is selected; otherwise, unmanned vehicle delivery is selected. After determining the delivery method, the unit generates a corresponding sorting and loading instruction and sends the instruction to the robotic arm, instructing the robotic arm to load the package into the corresponding delivery equipment.
[0044] Delivery distance assessment: Calculates the straight-line distance or path distance between the delivery address and the delivery station using a GIS map. Package weight assessment: Determines whether the package weight exceeds the drone's maximum payload. Package volume assessment: Determines whether the package weight exceeds the drone's maximum volumetric payload. Delivery environment assessment: Combines real-time traffic information and road conditions to assess ground delivery efficiency.
[0045] For example, when the delivery distance is long, ground traffic is congested, or the delivery time requirement is high, drone delivery is chosen; when the delivery distance is short, the weight is large, or the drone cannot fly, unmanned delivery vehicle delivery is chosen.
[0046] The aerial delivery module is used to perform long-distance or cross-regional parcel delivery tasks, including drone flight units and drone loading and unloading units.
[0047] The drone flight unit is used to perform aerial transportation of packages, enabling the drone to take off autonomously, fly along routes, navigate paths, maintain stability, and land safely, thereby completing the transportation process of packages from the distribution center to the target delivery area.
[0048] This unit employs multi-rotor drones, such as quadcopters, hexacopter, or octacopter drones, to meet different payload requirements. Serving as a flight carrier for aerial parcel transport, it generates lift through multiple rotor power units, enabling the drone to achieve vertical takeoff and landing, hovering flight, and autonomous route cruising. Under the coordinated control of the flight control system and positioning and navigation system, it completes automated aerial parcel transport tasks, thereby achieving rapid delivery over long distances or across regions.
[0049] The drone loading and unloading unit is used to automatically load, secure, and release packages onto drones, enabling drones to complete package transportation tasks without human intervention. It includes a cargo compartment, electric locking mechanism, weight sensors, and a drone control system.
[0050] The cargo compartment, located at the bottom of the drone's fuselage, is constructed from lightweight aluminum alloy or composite materials and is used to store packages awaiting delivery. The compartment's dimensions are designed according to the drone's payload capacity, and anti-slip mats are installed inside. An electric locking mechanism is located within the compartment to secure the package after loading, preventing it from falling out during flight. Once the robotic arm places the package into the compartment, the drone's control system activates the electric locking mechanism, locking it into the compartment's securing slots. When the drone reaches the designated delivery area, the control system releases the package by opening the electric locking mechanism according to delivery instructions. A weight sensor is located within the compartment to detect whether the package has been successfully loaded and remains inside.
[0051] The ground delivery module is used to complete last-mile delivery tasks in communities, parks, or short-distance areas. It uses unmanned delivery vehicles to transport packages from delivery stations to user pickup locations, enabling package delivery and user self-service pickup. It includes an unmanned delivery vehicle unit and a user pickup interaction unit.
[0052] The unmanned delivery vehicle unit is used to perform ground transportation tasks for packages, transporting them from delivery stations to designated delivery locations. This unit utilizes unmanned delivery vehicles, including a vehicle body, chassis, drive motor, unmanned delivery vehicle control system, and cargo compartment. The chassis is located beneath the vehicle body, and the drive motor propels the wheels for movement. Environmental perception devices such as LiDAR and cameras are installed on the vehicle body to acquire information about the surrounding environment. The unmanned delivery vehicle control system constructs an environmental map using SLAM algorithms and calculates the driving route based on path planning algorithms, enabling the unmanned delivery vehicle to automatically travel to the designated delivery location. Simultaneously, the unmanned delivery vehicle communicates wirelessly with the central dispatch and control module to receive delivery tasks and upload operational status information.
[0053] The user pickup interaction unit is used for user authentication and package pickup operations. This unit is located outside the warehouse of the unmanned delivery vehicle and includes an electronic lock, a barcode scanner, and a display terminal. The electronic lock controls the opening and closing of the warehouse door; the barcode scanner identifies the pickup QR code or pickup code information on the user's mobile phone; and the display terminal displays pickup prompts. After the user completes the barcode verification or enters the pickup code, the control system sends an unlocking command to the electronic lock, opening the corresponding warehouse door, allowing the user to retrieve the package.
[0054] The central dispatch and control module is used to realize the unified management and dispatch of the entire air-ground integrated intelligent delivery system. It allocates package delivery tasks, generates transportation routes for drones and unmanned delivery vehicles, and monitors the operating status of system equipment to ensure that delivery tasks can be completed smoothly. It includes a task allocation unit, a route planning unit, and a status monitoring unit.
[0055] The task allocation unit, including a server, is used to allocate delivery tasks based on order information and determine whether to use air or ground delivery. This unit processes package order information through the server. Upon receiving the package order information, the server comprehensively assesses factors such as package weight, volume, delivery distance, and equipment operating status to determine the delivery method and allocate the delivery task to a drone or unmanned delivery vehicle, while simultaneously sending delivery task instructions to the corresponding equipment.
[0056] The path planning unit is used to generate transportation routes for drones and unmanned delivery vehicles. This unit calculates delivery routes using path planning algorithms. The drone plans its flight path based on the delivery target location, and the unmanned delivery vehicle plans its driving route based on the delivery area map. The planning results are sent to the corresponding equipment (i.e., the drone control system or the unmanned delivery vehicle control system) so that the equipment can complete the delivery task according to the planned route.
[0057] The status monitoring unit is used to monitor the operating status of system equipment in real time. This unit acquires operational information of drones and unmanned delivery vehicles via a wireless communication network, including equipment location, battery status, and operational status. When equipment malfunctions or insufficient power are detected, delivery tasks can be rescheduled or delivery equipment adjusted.
[0058] Reference Figure 2 As distance increases, ground delivery time shows a significant upward trend, while the growth curve of air-ground integrated delivery is slower, especially at medium and long distances, demonstrating the time efficiency advantage of air-ground integrated systems in long-distance or cross-regional delivery.
[0059] Reference Figure 3 The present invention also provides a collaborative operation method applied to the above-mentioned integrated air-ground intelligent dispatch system, comprising the following steps: S1. Receiving and identifying packages: Packages enter the package identification module through the inbound conveyor unit. The package information identification unit scans and identifies the package label to obtain information such as package number and recipient address, and generates corresponding package data records.
[0060] S2. Check package size and weight and complete warehousing: The size and weight detection unit checks the size and weight of the package to obtain the length, width, height and weight information of the package; then the package is transported to the package storage area and storage space is allocated according to the package parameters to complete warehousing.
[0061] S3. Decision on delivery method based on delivery address: The central dispatch and control module analyzes the delivery task based on information such as the delivery address, delivery distance, package weight and volume, and determines whether to use drone delivery or unmanned delivery vehicle delivery.
[0062] S4. The robotic arm performs automatic sorting and loading: When delivery is required, the package is taken out of the storage area and transported to the sorting area. Guided by the location information provided by the vision recognition unit, the robotic arm grabs the package and loads it into the drone cargo warehouse or the unmanned delivery vehicle warehouse according to the delivery method.
[0063] S5. Delivery tasks are performed by drones or unmanned vehicles: If aerial delivery is used, drones will fly along the planned route and transport the package to the target area; if ground delivery is used, unmanned delivery vehicles will automatically drive to the user's designated pickup location along the planned route.
[0064] S6. User completes pickup and reports delivery status: After the delivery equipment arrives at the destination, the user completes identity verification by scanning the code or entering the pickup code, opens the warehouse door to retrieve the package, and the system records the pickup information and updates the delivery status.
[0065] Therefore, the present invention adopts the above-mentioned air-ground integrated intelligent distribution system and operation collaboration method, which enables the sorting decision unit to perform multi-dimensional analysis based on package attributes (weight, volume) and external environment (distance, timeliness, road conditions) to scientifically allocate transportation routes.
[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.
Claims
1. An integrated air-ground intelligent dispatch system, characterized in that: It includes a package identification module, a package storage module, a sorting execution module, an air delivery module, a ground delivery module, and a central dispatch control module. The package identification module, package storage module, sorting execution module, air delivery module, and ground delivery module are all connected to the central dispatch control module. The package identification module is connected to the package storage module, the package storage module is connected to the sorting execution module, and the air delivery module and ground delivery module are all connected to the sorting execution module. The package identification module is used to identify relevant information about packages and transmit that information to the central dispatch and control module in real time. The parcel storage module is used for parcel storage, storage location management, rapid location tracking, and outbound processing. The sorting execution module is used to grab and sort packages according to the delivery destination and load them onto drones or unmanned delivery vehicles; The air delivery module is used to perform long-distance or cross-regional parcel transportation tasks; The ground delivery module is used to complete last-mile delivery tasks in communities, parks, or short-distance areas. It uses unmanned delivery vehicles to transport packages from delivery stations to user pickup locations, enabling package delivery and user self-service pickup. The central dispatch and control module is used to achieve unified management and scheduling, allocate parcel delivery tasks, generate transportation routes for drones and unmanned delivery vehicles, and monitor the operating status of system equipment.
2. The air-ground integrated intelligent dispatch system according to claim 1, characterized in that: The package identification module includes an inbound conveying unit, a package information identification unit, and a size and weight detection unit. The package information identification unit and the size and weight detection unit are both located above the inbound conveying unit. The inbound conveyor unit is used to automatically transport packages, allowing them to pass through the identification area and detection area in sequence, and finally enter the package storage area. The package information identification unit is used to identify packages entering the system, read package waybill information, and generate electronic data records for the packages; identify the recipient address and logistics number on the express waybill, generate a unique identification ID for the package; and upload the identification results to the central dispatch and control module. The size and weight detection unit is used to automatically detect the physical parameters of the package and obtain its size and weight information.
3. The air-ground integrated intelligent dispatch system according to claim 2, characterized in that: The inbound conveying unit includes a conveyor line, a PLC controller, and photoelectric sensors. The conveyor line adopts an electric roller conveyor structure or a belt conveyor structure. The electric roller is driven by a servo motor or a geared motor, and the conveying speed is controlled by the PLC controller. The photoelectric sensors are set at key positions on the conveyor line to detect the position status of the packages. The package information identification unit includes a barcode scanner, an industrial camera, an image acquisition and processing module, an OCR text recognition module, and a data communication interface. The barcode scanner and industrial camera are fixedly installed on both sides or above the conveyor line. The industrial camera captures images of the package waybills, and the image acquisition and processing submodule preprocesses the images. The OCR text recognition module performs character recognition on the captured waybill images, extracts the recipient address, recipient information, and logistics number, and converts the recognition results into structured data. The recipient address, recipient information, and logistics number are then uploaded to the central dispatch and control module via the data communication interface. The size and weight detection unit is installed in the detection area of the conveyor line, including a three-dimensional vision measuring instrument, a multi-point laser ranging sensor array or a structured light projector, a load cell, and a data acquisition controller. The three-dimensional vision measuring instrument, the multi-point laser ranging sensor array, and the structured light projector are all installed above the conveyor line, and the load cell is a strain gauge type load cell, which is set at the bottom of the conveyor line.
4. The air-ground integrated intelligent dispatch system according to claim 1, characterized in that: The parcel storage module includes a parcel inbound / outbound unit and a storage location management unit, which are connected to each other. The parcel inbound / outbound unit is used for centralized storage of parcels and for allocating storage locations based on parcel size, weight, and other criteria. It can also transport parcels to be delivered from the storage area to the sorting execution module. The parcel inbound and outbound unit adopts a multi-layer three-dimensional rack structure to build the storage warehouse, and is equipped with stacker cranes for parcel storage and retrieval; The automated racking system consists of multiple rows of steel structure racks, with each row having multiple horizontal levels and each level having multiple storage compartments; The storage location management unit is used to manage the parcel storage location in real time and record the usage status of each storage location, enabling rapid parcel location and inventory information management. It includes RFID tags, storage location detection sensors, and a local controller. Each storage compartment is equipped with an RFID tag and a storage location detection sensor. The storage location detection sensor uses a photoelectric sensor or a pressure sensor and is connected to a local controller. The local controller sends the storage location status data to the central dispatch control module. The central dispatch control module updates the storage location database based on the received data and establishes a correspondence between the package number and the storage location number on the RFID tag.
5. The air-ground integrated intelligent dispatch system according to claim 1, characterized in that: The sorting execution module includes a sorting unit, a visual recognition unit, and a sorting decision unit; The sorting unit is used to perform package picking, handling, and loading. A visual recognition unit is used to identify the location and posture of the package; The sorting decision unit is used to determine whether to use air or ground delivery for a package based on delivery distance, package weight, package volume, delivery priority, and delivery time requirements. When the delivery distance exceeds a preset threshold or there are traffic restrictions, drone delivery is selected; otherwise, unmanned vehicle delivery is selected. After determining the delivery method, the unit generates a corresponding sorting and loading instruction and sends the instruction to the robotic arm, instructing the robotic arm to load the package into the corresponding delivery equipment.
6. The air-ground integrated intelligent dispatch system according to claim 5, characterized in that: The sorting unit includes a sorting platform and a robotic arm, with the robotic arm fixedly mounted on one side of the sorting platform via a base. The robotic arm includes a robotic arm body, a servo drive motor, a robotic arm controller, and an end effector. The robotic arm body and the robotic arm controller are both connected to the servo drive motor. The robotic arm body consists of multiple rotary joints and links. Each joint is driven by a servo motor to achieve multi-degree-of-freedom motion, enabling the robotic arm to move flexibly in three-dimensional space. The end effector is installed at the end of the robotic arm and adopts a vacuum adsorption gripping structure or a clamping gripping structure. The visual recognition unit includes an industrial camera and a supplementary light, which are mounted above the sorting platform via a bracket.
7. The air-ground integrated intelligent dispatch system according to claim 1, characterized in that: The aerial delivery module includes a drone flight unit and a drone loading and unloading unit; Unmanned aerial vehicle (UAV) flight units are used to perform aerial transportation tasks for packages, completing the transportation process from the distribution center to the target delivery area; The drone flight unit uses a multi-rotor drone as the flight carrier for air parcel transportation. It generates lift through multiple rotor power units, enabling the drone to achieve vertical take-off and landing, hovering flight, and autonomous route cruise. Under the coordinated control of the flight control system and the positioning and navigation system, it completes the automated air transportation task of the parcel, realizing rapid delivery over long distances or across regions. The drone loading and unloading unit is used to automatically load, secure, and release packages onto drones, enabling drones to complete package transportation tasks without human intervention. The drone loading and unloading unit includes a cargo compartment, an electric locking mechanism, a weight sensor, and a drone control system. The cargo compartment is located at the bottom of the drone's body, and the inside of the cargo compartment is equipped with an anti-slip mat; the electric locking buckle is located inside the cargo compartment; and the weight sensor is located inside the cargo compartment.
8. The air-ground integrated intelligent dispatch system according to claim 1, characterized in that: The ground delivery module includes an unmanned delivery vehicle unit and a user pickup interaction unit; Unmanned delivery vehicle units are used to perform ground transportation tasks for packages, transporting packages from delivery stations to designated delivery locations; The unmanned delivery vehicle unit comprises a vehicle body, a chassis, a drive motor, an unmanned delivery vehicle control system, and a cargo compartment. The chassis is located beneath the vehicle body, and the drive motor powers the wheels for movement. LiDAR and cameras are mounted on the vehicle body to acquire information about the surrounding environment. The unmanned delivery vehicle control system uses SLAM algorithms to construct an environmental map and calculates the route based on path planning algorithms, enabling the unmanned delivery vehicle to automatically travel to the designated delivery location. The unmanned delivery vehicle communicates with the central dispatch and control module via wireless communication. The user pickup interaction unit is used to realize user authentication and package pickup operation. The user pickup interaction unit is located on the outside of the warehouse of the unmanned delivery vehicle and includes an electronic lock, a barcode scanning device and a display terminal.
9. The air-ground integrated intelligent dispatch system according to claim 1, characterized in that: The central dispatch and control module includes a task allocation unit, a path planning unit, and a status monitoring unit; The task allocation unit is used to allocate delivery tasks according to order information and determine whether to use air delivery or ground delivery. It includes a server, which processes package order information. When the server receives package order information, it makes a comprehensive judgment based on package weight, volume, delivery distance and equipment operating status to determine the delivery method and allocate the delivery task to drones or unmanned delivery vehicles. At the same time, it sends delivery task instructions to the corresponding equipment. The path planning unit is used to generate transportation routes for drones and unmanned delivery vehicles. Specifically, it calculates the delivery route through a path planning algorithm, the drone plans its flight path based on the delivery target location, and the unmanned delivery vehicle plans its driving route based on the delivery area map. The planning results are then sent to the corresponding equipment so that the equipment can complete the delivery task according to the planned route. The status monitoring unit is used to monitor the operating status of system equipment in real time. Specifically, it obtains the operating information of drones and unmanned delivery vehicles through the wireless communication network, including equipment location, power status and operating status. When equipment abnormality or insufficient power is detected, the delivery task is rescheduled or the delivery equipment is adjusted.
10. A collaborative operation method, applied to an integrated air-ground intelligent dispatch system as described in any one of claims 1-9, characterized in that, Includes the following steps: S1. Receive the package and identify the information, and generate the corresponding package data record at the same time; S2. Detect the size and weight of the package and allocate storage space according to the package parameters to complete the warehousing process; S3. The central dispatch and control module analyzes the delivery task based on the package's delivery address, delivery distance, package weight, and volume, and determines whether to use drone delivery or unmanned delivery vehicle delivery. S4. When delivery is required, the package is taken out of the storage area and transported to the sorting area. The package is picked up by a robotic arm and loaded into the drone cargo warehouse or the unmanned delivery vehicle cargo warehouse according to the delivery method. S5. If air delivery is used, the drone will fly along the planned route and transport the package to the target area; if ground delivery is used, the unmanned delivery vehicle will automatically drive to the user's designated pickup location along the planned route. S6. When the delivery equipment arrives at the destination, the user completes identity verification by scanning the code or entering the pickup code, opens the warehouse door to retrieve the package, and the system records the pickup information and updates the delivery status.