A drone logistics system, control method, medium and equipment

Abstract

This invention discloses a drone logistics system, control method, medium, and equipment. The system includes: a drone, a battery-swapping cargo module, a first physical interface fixedly installed on the drone, a second physical interface fixedly installed on the battery-swapping cargo module, a track module, and a robotic arm. The drone and the battery-swapping cargo module are detachably connected via the first and second physical interfaces. When the drone lands the battery-swapping cargo module at a preset landing point on the track module, the robotic arm disassembles the battery-swapping cargo module. The track module transports the battery and cargo from the battery-swapping cargo module to a sorting area. Then, the track module transports the battery-swapping cargo module containing a fully charged battery and cargo to the preset landing point. The robotic arm installs the battery-swapping cargo module with the replaced battery and cargo onto the drone. Finally, the track module transports the drone and the battery-swapping cargo module together from the preset landing point to a preset takeoff point. This system improves the transportation efficiency of drones.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) logistics technology, and in particular to a UAV logistics system, control method, medium, and equipment. Background Technology

[0002] Existing unmanned logistics systems include aerial drone systems, which use various types of drones such as multi-rotor, compound wing, tilt-and-turn compound wing, and fixed wing to transport and deliver goods. Cargo loading is achieved by manually filling the drone's cargo hold or by manually hanging the loaded cargo hold onto the drone.

[0003] However, most drones currently used for logistics transportation currently use integrated batteries. When the battery power is insufficient to complete a single cargo transport, the entire drone needs to be recharged, with each recharge taking several hours. This results in excessively long transport cycles and low transport efficiency. Summary of the Invention

[0004] In order to overcome the shortcomings of the prior art, the purpose of this invention is to provide a drone logistics system, control method, medium and equipment that eliminates the need for full charging of the drone and power battery, effectively shortens the transportation cycle of the drone and improves the transportation efficiency of the drone for goods.

[0005] This invention is implemented according to the following scheme: A drone logistics system is provided, comprising: a drone, a battery swapping cargo module, a first physical interface fixedly disposed on the drone, a second physical interface fixedly disposed on the battery swapping cargo module, a track module and a robotic arm, wherein the drone and the battery swapping cargo module are detachably connected through the first physical interface and the second physical interface; After the drone, carrying the battery swapping cargo module, lands at the preset landing point on the track module, the robotic arm disassembles the battery swapping cargo module. The track module then transports the battery to be charged and the delivered goods from the battery swapping cargo module to the sorting area. The robotic arm then transports the battery swapping cargo module containing the fully charged battery and the goods to be transported to the preset landing point. After the robotic arm installs the battery swapping cargo module, including the fully charged battery and the goods to be transported, onto the drone, the track module transports the drone, the battery swapping cargo module containing the fully charged battery and the bagged goods together from the preset landing point to the preset takeoff point.

[0006] Optionally, the battery-swapping cargo module includes a battery unit and a cargo unit. The battery unit is used to house the battery that powers the drone, and the cargo unit is used to load cargo. The battery unit and the cargo unit are detachably connected.

[0007] Optionally, the sorting area includes a battery replacement area and a goods sorting area; the track module includes a battery track unit and a warehouse track unit. The battery track unit is used to transport the battery unit and the battery to be charged placed thereon from the preset landing point to the battery replacement area. After the robotic arm replaces the battery to be charged with the fully charged battery in the battery unit, the battery track unit transports the battery unit and the fully charged battery placed thereon from the battery replacement area to the preset landing point. The warehouse track unit is used to transport the warehouse unit and the delivered goods loaded thereon from the preset landing point to the goods sorting area. After the robotic arm replaces the delivered goods in the warehouse unit with the goods to be transported, the warehouse track unit transports the warehouse unit and the goods to be transported thereon from the goods sorting area to the preset landing point.

[0008] Optionally, the track module further includes a drone transport track unit for placing the drone. The drone transport track unit is used by the robotic arm to install the battery swapping cargo module, which includes a fully charged battery and the cargo to be transported, onto the drone, and then transport the drone, the battery swapping cargo module containing the fully charged battery and the cargo to be transported, together from the preset landing point to the preset takeoff point.

[0009] The battery track unit, the cargo track unit, and the UAV transport track unit can optionally be an overlapping structure or a non-overlapping structure.

[0010] Optionally, the battery track unit includes a temperature maintaining device, which maintains the battery temperature of the battery to be charged or the fully charged battery within a preset temperature range when transporting the battery unit containing the battery to be charged or the fully charged battery.

[0011] A control method for an unmanned aerial vehicle (UAV) logistics system is also provided, for controlling an UAV logistics system as described in any one of claims 1-5, characterized in that it includes: After the drone lands at the preset landing point on the track module, the robotic arm is controlled to disassemble the battery swapping warehouse module, and the track module is controlled to transport the disassembled battery swapping warehouse module to the sorting area. The robotic arm is controlled to replace the batteries to be charged in the battery swapping warehouse module with fully charged batteries in the sorting area, and to replace the delivered goods in the battery swapping warehouse module with goods to be transported. The control track module transports the battery swapping warehouse module, which contains the fully charged battery and the goods to be transported, from the sorting area to the preset landing point; After the robotic arm is controlled to install the battery-swapping cargo module containing the fully charged battery and the cargo to be transported onto the drone, the track module is controlled to transport the drone, the battery-swapping cargo module containing the fully charged battery and the cargo to be transported from the preset landing point to the preset take-off point.

[0012] Optionally, controlling the drone to fly from a preset takeoff point to a preset landing point includes: The flight paths of multiple drones are obtained, which are the routes from different preset take-off points to different preset landing points. The system schedules multiple drones that fly from a unified preset take-off point to a unified preset landing point along the same flight path, and determines the flight distance and flight order between the multiple drones on the same flight path. Based on the flight spacing and flight sequence, multiple drones on the same flight path are controlled; Based on the drone's flight data, determine the judgment result used to determine whether the drone should change its flight path; When the judgment result indicates that the UAV is changing its flight path, a target flight path is determined among multiple flight paths, and the UAV is controlled to fly from a preset take-off point to a preset landing point based on the target flight path.

[0013] A computer-readable storage medium is also provided, which is a computer-readable storage medium storing a computer program thereon, wherein the computer program, when executed, implements the control method of the unmanned aerial vehicle logistics system.

[0014] A computer device is also provided, including a processor and a memory, wherein the memory stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by the processor to implement the control method of the unmanned aerial vehicle logistics system.

[0015] Compared with existing technologies, the beneficial effects of the drone logistics system of the present invention are as follows: By detachably connecting the drone to the battery-swapping cargo module, and by disassembling the battery-swapping cargo module with a robotic arm, when the battery power of the battery-swapping cargo module is insufficient to support the completion of a cargo transportation, the battery used by the drone can be replaced by the track module and the robotic arm without the need for full charging, effectively shortening the transportation cycle of the drone and improving the transportation efficiency of the drone for goods; at the same time, the unloading and loading operations of the cargo in the battery-swapping cargo module are performed by the robotic arm and the track module, eliminating the need for manual loading of goods and effectively improving the loading speed. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the drone and the battery-swapping warehouse module in Example 1; Figure 2 This is a top view of the track unit in Embodiment 1; Figure 3 This is a top view of the track unit in Embodiment 2; The attached diagram shows the following labels: 1. Unmanned Aerial Vehicle (UAV); 2. Battery-Swapping Cargo Warehouse Module; 201. Battery Unit; 202. Cargo Warehouse Unit; 3. Track Module; 301. Battery Track Unit; 302. Cargo Track Unit; 303. UAV Transport Track Unit. Detailed Implementation

[0017] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0018] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of this application are not limited to the described order of actions, because according to the embodiments of this application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of this application.

[0019] In the following description, when referring to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims. In the description of this application, it should be understood that the terms "first," "second," "third," etc., are used only to distinguish similar objects and are not necessarily used to describe a specific order or sequence, nor should they be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0020] Example 1 join Figure 1 As shown, an unmanned aerial vehicle (UAV) logistics system according to this embodiment includes: a UAV 1, a battery swapping cargo module 2, a first physical interface fixedly installed on the UAV 1, a second physical interface fixedly installed on the battery swapping cargo module 2, a track module 3, and a robotic arm. The UAV 1 and the battery swapping cargo module 2 are detachably connected through the first physical interface and the second physical interface. After the drone 1 lands the battery swapping cargo module 2 at the preset landing point on the track module 3, the robotic arm disassembles the battery swapping cargo module 2. The track module 3 then transports the battery to be charged and the delivered goods of the battery swapping cargo module 2 to the sorting area. The robot arm then transports the battery swapping cargo module 2, which contains a fully charged battery and the goods to be transported, to the preset landing point. After the robotic arm installs the battery swapping cargo module 2, which contains a fully charged battery and the goods to be transported, onto the drone 1, the track module 3 transports the drone 1 and the battery swapping cargo module 2, which contains a fully charged battery and the goods to be transported, together from the preset landing point to the preset takeoff point.

[0021] In this embodiment, the battery swapping cargo module 2 includes a battery unit 201 and a cargo unit 202. The battery unit 201 is used to house the battery that powers the drone 1, and the cargo unit 202 is used to load cargo. The battery unit 201 and the cargo unit 202 are detachably connected.

[0022] In this embodiment, the sorting area includes a battery replacement area and a goods sorting area; the track module 3 includes a battery track unit 301 and a warehouse track unit; the battery track unit 301 is used to transport the battery unit 201 and the batteries to be recharged placed therein from a preset landing point to the battery replacement area. After the robotic arm replaces the batteries to be recharged in the battery unit 201 with fully charged batteries, the battery track unit 301 transports the battery unit 201 and the fully charged batteries placed therein from the battery replacement area to the preset landing point; the warehouse track unit is used to transport the warehouse unit 202 and the delivered goods loaded therein from the preset landing point to the goods sorting area. After the robotic arm replaces the delivered goods in the warehouse unit 202 with goods to be transported therein, the warehouse track unit transports the warehouse unit 202 and the goods to be transported therein from the goods sorting area to the preset landing point.

[0023] In this embodiment, the track module 3 also includes a drone transport track unit 303 for placing the drone 1. The drone transport track unit 303 is used to transport the drone 1 and the battery swapping cargo module 2 containing a fully charged battery and the cargo to be transported from the preset landing point to the preset take-off point after the robotic arm installs the battery swapping cargo module 2 containing the fully charged battery and the cargo to be transported onto the drone 1.

[0024] In this embodiment, see Figure 2As shown, the battery track unit 301, cargo track unit, and UAV transport track unit 303 are in an overlapping structure. From top to bottom, the order is UAV transport track unit 303, battery track unit 301, and cargo track unit. Position A in the figure is the preset landing point, and position B is the preset takeoff point. The UAV transport track unit 303 transports UAV 1 from position A to position B in a counterclockwise direction. After UAV 1, carrying the battery swapping cargo module 2, lands at the preset landing point on the UAV transport track unit 303, the battery and cargo replacement process in the battery swapping cargo module 2 is as follows: The robotic arm disassembles the battery swapping warehouse module 2, places the battery unit 201 in the battery track unit 301, and places the warehouse unit 202 in the warehouse track unit. The battery track unit 301 then transports the battery unit 201 to the battery replacement area. The robotic arm removes the batteries to be charged from the battery unit 201 and places fully charged batteries into the battery unit 201. Simultaneously, the warehouse track unit 302 transports the warehouse unit 202 to the goods sorting area. The robotic arm removes the delivered goods from the warehouse unit 202 and places the goods to be transported into the warehouse unit 202, so that the delivered goods in the goods sorting area can be transported to the goods distribution center for subsequent transportation.

[0025] Finally, the robotic arm replaces the battery unit 201 with a fully charged battery and installs it on the drone 1, and replaces the cargo unit 202 with the cargo to be transported and installs it on the drone 1, thus realizing the replacement of the battery and cargo in the battery swapping cargo module 2.

[0026] In this embodiment, the battery track unit 301 includes a temperature maintenance device. When transporting and placing the battery unit 201 containing the battery to be charged or the fully charged battery, the temperature maintenance device maintains the battery temperature of the battery to be charged or the fully charged battery within a preset temperature range. The preset temperature range can be set according to the season. For example, in summer when the temperature is high, the preset temperature range is set to 10-20 degrees Celsius, and in winter when the temperature is low, the preset temperature range is set to 5-10 degrees Celsius. In this embodiment, the temperature maintenance device ensures that the battery can maintain good charging and discharging performance and cycle life.

[0027] In this embodiment, the UAV logistics system is connected to the integrated control system. Specifically, the integrated control system is communicatively connected to UAV 1, track module 3, robotic arm, and sorting area to coordinate the scheduling of the UAV 1 cluster in flight and the ground transportation process. Specifically, the integrated control system receives and processes sensor parameters from UAV 1, battery unit 201, cargo unit 202, track module 3, and sorting area. The sensor parameters include, but are not limited to, the flight speed, operating speed, flight altitude, motor speed, temperature, acceleration, overload coefficient, vertical flight speed, attitude angle, geographical location, track angle, battery temperature, battery charge, charging status, battery operating position, cargo weight, cargo operating position, battery loading and unloading status, cargo loading and unloading status, as well as the flight distance and satellite sealing order between UAV 1, the distance and order between battery modules, and the distance and order between cargo modules. Based on the above sensor parameters, the integrated control system realizes real-time air-to-ground communication and control through wireless communication methods such as 4G, 5G, satellite communication, or combined communication.

[0028] In a flight route, the integrated control system can realize high-density flight of multiple aircraft. Based on airspace data and matrix base management, the integrated control system can schedule multiple UAVs on a single route and control the flight distance between the front and rear aircraft to within 2 kilometers (calculated at a flight speed of 50 km / h, the departure frequency is less than one flight every 3 minutes), thereby realizing dynamic management in the form of a corridor or high-speed rail scheduling.

[0029] Meanwhile, the integrated control system can switch routes and make rights-of-way decisions for UAV 1 across multiple routes. When a route switch is detected, a target route is assigned to UAV 1. When a malfunction is detected in UAV 1 or ground equipment, the integrated control system automatically dispatches the faulty equipment to a backup take-off and landing point or backup track, and dynamically optimizes the operating sequence of other equipment.

[0030] In this embodiment, through the coordinated scheduling of the integrated control system, the UAV logistics system can support multiple UAVs 1 to land, unload, mount, and take off simultaneously or in coordination, as well as multiple sets of batteries and multiple sets of cargo warehouses to be loaded, unloaded, transported, and charged simultaneously or in coordination, significantly improving site utilization and overall system throughput.

[0031] Taking a multi-rotor drone 1 with a payload of 200 kg as an example, this embodiment is compared with the existing drone logistics system to illustrate the technical effects that this embodiment can achieve: The existing technology uses an integrated structure of the drone and power battery, requiring the entire drone to be charged. The charging time is approximately 5 hours, which can be extended to 7 hours in high or low temperature environments. Due to limitations in manual operation and battery life, a maximum of 4 flight cycles can be completed per day. With a maximum single flight distance of 15 kilometers, the daily carrying capacity of a single drone is 200 kg × 15 km × 4 flights = 12,000 kg·km.

[0032] Theoretically, a 10,000-square-meter site could accommodate 30 take-off and landing platforms. However, due to limitations in ground logistics and personnel access, fewer than 15 landing points can actually be built. The site's total daily carrying capacity is 180 ton-kilometers, or 5,400 ton-kilometers per month. Based on battery and overall equipment failures, and assuming a 70% uptime, approximately 22 drones are needed.

[0033] Monthly operating costs include: labor costs: 45 pilots, 20 maintenance personnel, 60 handling personnel, and 15 management personnel, totaling 140 people, at an average cost of 15,000 yuan per person per month, totaling 2.1 million yuan; site rental: 10 yuan per square meter, totaling 100,000 yuan; battery depreciation: calculated based on 500 cycles, with a cost of 200 yuan per cycle, 4 cycles per day per aircraft, for 30 days, totaling 360,000 yuan; aircraft depreciation: approximately 16,000 yuan; other management expenses: approximately 2.2 million yuan, totaling approximately 4.76 million yuan per month, equivalent to a monthly cost of 880 yuan per ton-kilometer, or 880 yuan per ton-kilometer.

[0034] In this embodiment, a battery-swapping cargo module 2, a track module 3, and a robotic arm are used. Because the battery can be charged and discharged independently and is equipped with a temperature maintenance device, the battery charging time is shortened to 1 hour, the battery replacement time is less than 5 minutes, and the flight distance can be increased to 20 kilometers.

[0035] Simultaneously, a comprehensive control system enables the scheduling of high-speed rail via a utility tunnel. A single route can accommodate 5-6 UAVs¹, with the distance between aircraft controlled within 2 kilometers, and a departure frequency of less than one flight every 3 minutes. This embodiment adopts an automated track layout after eliminating manual passageways, allowing for the dense establishment of 40 take-off and landing platforms within a 10,000 square meter site.

[0036] Drone 1 can operate continuously for 24 hours, with each drone completing approximately 3 flight cycles per hour. Its daily carrying capacity is 200 kg × 40 takeoff and landing points × 5 drones / flight × 3 flights / hour × 24 hours × 20 km ÷ 1000 = 19,200 ton-kilometers / day, or 576,000 ton-kilometers / month. Operational personnel require only 20 monitoring and management staff, with labor costs of approximately 500,000 yuan / month; the fleet size is approximately 260 drones, with depreciation of 3.25 million yuan / month; 7,200 batteries are required, with monthly depreciation of 10.37 million yuan; depreciation and maintenance of other automated systems are approximately 10 million yuan / month; site rental remains at 100,000 yuan / month, totaling a monthly cost of 24.22 million yuan, equivalent to a monthly cost of 0.0042 million yuan per ton-kilometer, approximately 42 yuan / ton-kilometer.

[0037] Compared with the above data, the drone logistics system of this embodiment reduces the cost per ton-kilometer from RMB 0.088 million / ton·kilometer to RMB 0.0042 million / ton·kilometer, a reduction of approximately 95%, compared with the drone logistics system of the prior art. The carrying capacity of a 10,000 square meter site increases from 180 tons·kilometer / day to 19,200 tons·kilometer / day, an increase of 29 times. The land utilization rate increases by 29 times accordingly, and the overall industrial scale-driving effect can reach more than 20 times.

[0038] That is, this embodiment fundamentally solves the problems of long cycle time, low attendance rate, high dependence on manual labor, and low site utilization caused by the charging of the entire drone 1 in the prior art through the detachable connection between the drone 1 and the battery swapping warehouse module 2, the automated battery swapping and cargo swapping between the track module 3 and the robotic arm, and the coordinated scheduling of multiple air and ground bodies by the integrated control system, thereby effectively improving the efficiency of the drone 1 in transporting goods.

[0039] Example 2 See Figure 3 As shown, the drone logistics system of this embodiment differs from that of Embodiment 1 only in that the battery track unit 301, the cargo track unit, and the drone transport track unit 303 are non-overlapping structures; when the drone 1 drives the battery swapping cargo module 2 to land at the preset landing point on the drone transport track unit 303, the battery and cargo replacement process in the battery swapping cargo module 2 is the same as the replacement process in Embodiment 1, and will not be described in detail here.

[0040] Example 3 The drone logistics system in this embodiment differs from that in Embodiment 1 only in that the battery unit 201 and the cargo unit 202 are fixedly connected. After the drone 1, carrying the battery-swapping cargo module 2, lands at a preset landing point on the drone transport track unit 303, the process for replacing the battery and cargo in the battery-swapping cargo module 2 is as follows: The robotic arm disassembles the battery swapping warehouse module 2 and places it in the battery track unit 301. The battery track unit 301 then transports the battery swapping warehouse module 2 to the battery replacement area. The robotic arm then removes the batteries to be charged from the battery swapping warehouse module 2 and places fully charged batteries into it. Next, the robotic arm places the battery-swapping warehouse module 2 on the cargo track unit 302. The cargo track unit 302 transports the battery-swapping warehouse module 2 to the cargo sorting area. The robotic arm removes delivered goods from the battery-swapping warehouse module 2 and places goods to be transported into the battery-swapping warehouse module 2, so that delivered goods located in the cargo sorting area can be transported to the cargo distribution center for subsequent transportation.

[0041] Finally, the robotic arm installs the battery-swapping cargo module 2, which contains a fully charged battery and the goods to be transported, onto the drone 1, thus enabling the replacement of the battery and goods within the battery-swapping cargo module 2.

[0042] Example 4 This embodiment provides a control method for a drone logistics system, used to control a drone logistics system according to Embodiment 1, Embodiment 2, or Embodiment 3. The method includes: after the drone 1 lands at a preset landing point on the track module 3, controlling a robotic arm to disassemble the battery-swapping cargo module 2, and controlling the track module 3 to transport the disassembled battery-swapping cargo module 2 to a sorting area; controlling the robotic arm in the sorting area to replace the uncharged battery in the battery-swapping cargo module 2 with a fully charged battery, and to replace the delivered goods in the battery-swapping cargo module 2 with goods to be transported; controlling the track module 3 to transport the battery-swapping cargo module 2 containing the fully charged battery and the goods to be transported from the sorting area to the preset landing point; controlling the robotic arm to install the battery-swapping cargo module 2 containing the fully charged battery and the goods to be transported onto the drone 1, and then controlling the track module 3 to transport the drone 1 and the battery-swapping cargo module 2 containing the fully charged battery and the goods to be transported together from the preset landing point to a preset takeoff point.

[0043] In this embodiment, controlling the UAV 1 to fly from a preset takeoff point to a preset landing point includes: acquiring flight paths of multiple UAVs 1, where the flight paths are routes from different preset takeoff points to different preset landing points; scheduling multiple UAVs 1 flying from a unified preset takeoff point to a unified preset landing point along the same flight path, and determining the flight distance and flight order between multiple UAVs 1 on the same flight path; controlling multiple UAVs 1 on the same flight path according to the flight distance and flight order; determining a judgment result based on the flight data of the UAV 1 to determine whether the UAV 1 should switch flight paths; when the judgment result indicates that the UAV 1 should switch flight paths, determining a target flight path among multiple flight paths, and controlling the UAV 1 to fly from the preset takeoff point to the preset landing point based on the target flight path.

[0044] Example 5 This embodiment discloses a computer-readable storage medium that stores a computer program thereon. When the computer program is executed, it implements the control method of the unmanned aerial vehicle logistics system of Embodiment 4 described above.

[0045] Optionally, the computer-readable storage medium may include: read-only memory (ROM), random access memory (RAM), solid-state drives (SSDs), or optical discs, etc. The random access memory may include resistive random access memory (ReRAM) and dynamic random access memory (DRAM).

[0046] Example 6 The computer device in this embodiment includes a processor and a memory. The memory stores at least one instruction, at least one program, code set, or instruction set. The processor loads and executes the at least one instruction, at least one program, code set, or instruction set to implement the control method of the unmanned aerial vehicle logistics system in Embodiment 4 above.

[0047] The processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0048] The memory can be used to store computer programs or modules. The processor implements various functions of the control method of the UAV logistics system by running or executing the computer programs or modules stored in the memory and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area. The program storage area can store the operating system, applications required for at least one function, etc.; the data storage area can store data created based on the use of the mobile phone, etc. In addition, the memory can include high-speed random access memory, and can also include non-volatile memory, such as hard disk, RAM, plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0049] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A drone logistics system, characterized in that, include: The drone, the battery swapping cargo module, a first physical interface fixedly installed on the drone, a second physical interface fixedly installed on the battery swapping cargo module, a track module, and a robotic arm are provided. The drone and the battery swapping cargo module are detachably connected through the first physical interface and the second physical interface. After the drone, carrying the battery swapping cargo module, lands at the preset landing point on the track module, the robotic arm disassembles the battery swapping cargo module. The track module then transports the battery to be charged and the delivered goods from the battery swapping cargo module to the sorting area. The robotic arm then transports the battery swapping cargo module containing the fully charged battery and the goods to be transported to the preset landing point. After the robotic arm installs the battery swapping cargo module, including the fully charged battery and the goods to be transported, onto the drone, the track module transports the drone, the battery swapping cargo module containing the fully charged battery and the bagged goods together from the preset landing point to the preset takeoff point.

2. The unmanned aerial vehicle (UAV) logistics system according to claim 1, characterized in that, The battery swapping cargo module includes a battery unit and a cargo unit. The battery unit is used to house the battery that powers the drone, and the cargo unit is used to load cargo. The battery unit and the cargo unit are detachably connected.

3. The unmanned aerial vehicle (UAV) logistics system according to claim 2, characterized in that, The sorting area includes a battery replacement area and a goods sorting area; the track module includes a battery track unit and a warehouse track unit. The battery track unit is used to transport the battery unit and the battery to be charged placed thereon from the preset landing point to the battery replacement area. After the robotic arm replaces the battery to be charged with the fully charged battery in the battery unit, the battery track unit transports the battery unit and the fully charged battery placed thereon from the battery replacement area to the preset landing point. The warehouse track unit is used to transport the warehouse unit and the delivered goods loaded thereon from the preset landing point to the goods sorting area. After the robotic arm replaces the delivered goods in the warehouse unit with the goods to be transported, the warehouse track unit transports the warehouse unit and the goods to be transported thereon from the goods sorting area to the preset landing point.

4. The unmanned aerial vehicle (UAV) logistics system according to claim 3, characterized in that, The track module also includes a drone transport track unit for placing the drone. The drone transport track unit is used by the robotic arm to install the battery swapping cargo module, which includes a fully charged battery and the cargo to be transported, onto the drone, and then transport the drone, the battery swapping cargo module containing the fully charged battery and the cargo to be transported from the preset landing point to the preset takeoff point.

5. The unmanned aerial vehicle (UAV) logistics system according to claim 4, characterized in that, The battery track unit, the cargo track unit, and the UAV transport track unit may be an overlapping structure or a non-overlapping structure.

6. The unmanned aerial vehicle (UAV) logistics system according to claim 3, characterized in that, The battery track unit includes a temperature maintenance device, which maintains the battery temperature of the battery to be charged or the fully charged battery within a preset temperature range when transporting the battery unit containing the battery to be charged or the fully charged battery.

7. A control method for an unmanned aerial vehicle (UAV) logistics system, used to control the UAV logistics system according to any one of claims 1-5, characterized in that, include: After the drone lands at the preset landing point on the track module, the robotic arm is controlled to disassemble the battery swapping warehouse module, and the track module is controlled to transport the disassembled battery swapping warehouse module to the sorting area. The robotic arm is controlled to replace the batteries to be charged in the battery swapping warehouse module with fully charged batteries in the sorting area, and to replace the delivered goods in the battery swapping warehouse module with goods to be transported. The control track module transports the battery swapping warehouse module, which contains the fully charged battery and the goods to be transported, from the sorting area to the preset landing point; After the robotic arm is controlled to install the battery-swapping cargo module containing the fully charged battery and the cargo to be transported onto the drone, the track module is controlled to transport the drone, the battery-swapping cargo module containing the fully charged battery and the cargo to be transported from the preset landing point to the preset take-off point.

8. The control method for an unmanned aerial vehicle (UAV) logistics system according to claim 6, characterized in that, Controlling the drone to fly from a preset takeoff point to a preset landing point includes: The flight paths of multiple drones are obtained, which are the routes from different preset take-off points to different preset landing points. The system schedules multiple drones that fly from a unified preset take-off point to a unified preset landing point along the same flight path, and determines the flight distance and flight order between the multiple drones on the same flight path. Based on the flight spacing and flight sequence, multiple drones on the same flight path are controlled; Based on the drone's flight data, determine the judgment result used to determine whether the drone should change its flight path; When the judgment result indicates that the UAV is changing its flight path, a target flight path is determined among multiple flight paths, and the UAV is controlled to fly from a preset take-off point to a preset landing point based on the target flight path.

9. A computer-readable storage medium, characterized in that, It is a computer-readable storage medium on which a computer program is stored, which, when executed, implements a control method for an unmanned aerial vehicle (UAV) logistics system as described in any one of claims 7-8.

10. A computer device, characterized in that, The computer device includes a processor and a memory, the memory storing at least one instruction, at least one program, code set, or instruction set, the at least one instruction, at least one program, code set, or instruction set being loaded and executed by the processor to implement the control method of the unmanned aerial vehicle logistics system as described in any one of claims 7 to 8.

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