Express delivery cabinet based on unmanned aerial vehicle delivery and logistics system

Abstract

The utility model relates to an express cabinet based on unmanned aerial vehicle delivery, a logistics system and a logistics method.The express cabinet based on unmanned aerial vehicle delivery comprises a storage room body, one or more box cells used for storing packages are arranged on the side wall of the storage room body, a sliding cabin cover is arranged above the storage room body, and a liftable parking apron used for landing of an unmanned aerial vehicle is arranged below the sliding cabin cover; a battery jar, a first mechanical arm and a second mechanical arm are arranged in the storage room body, and the first mechanical arm is used for taking out packages in a logistics box on the unmanned aerial vehicle and placing the packages in the box cells or taking out the packages in the box cells and placing the packages in the logistics box on the unmanned aerial vehicle. The second mechanical arm is used for taking out a battery on the unmanned aerial vehicle, putting the battery into a battery jar for charging, taking out the battery fully charged in the battery jar and installing the battery on the unmanned aerial vehicle, logistics workers do not need to manually replace the battery, and packages do not need to be manually stored in an express cabinet, especially in mountainous areas where traffic is inconvenient; full-process automatic management of parcel sending and delivery is achieved, manpower is saved, and errors caused by human factors are reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of logistics, and in particular to an express cabinet and a logistics system based on drone delivery. Background Art

[0002] With the rapid development of e-commerce, the requirements for the logistics industry are getting higher and higher. The use of traditional express lockers requires couriers to go to each express locker location to scan the waybill one by one to confirm the receipt information before delivery, which is a waste of manpower and affects the delivery efficiency, especially for some express lockers in remote areas or some areas where it is inconvenient for couriers to reach.

[0003] At present, with the advancement of technology and the maturity of unmanned driving technology, drones have been successfully applied in the distribution field. Drones are often used in delivery fields such as takeout and express delivery. The prior art provides a courier cabinet for drone delivery. The drone puts the express on the sorting cart. The sorting cart can move horizontally to the position above the designated cabinet. After the designated cabinet extends out of the receiving plate, the sorting cart will push the express down and slide along the slide to the receiving plate. The receiving plate will then bring the express back to the cabinet, realizing the process of receiving the drone to deliver the express. The prior art also uses a scenario in which drones perform delivery tasks. Drones are generally configured to stand by in the distribution station. When there is an order that needs to be delivered, the drone will deliver the delivery items corresponding to the order to the delivery location, and then the drone will return to the distribution station to wait for the next delivery. The staff of the distribution station can replace the battery of the returned drone to ensure that the drone can continue to deliver. Battery replacement for drones is generally based on the staff's experience, that is, manual judgment is made on whether battery replacement is needed. When the delivery station is busy, that is, a large number of drones return to the delivery station and a large number of drones fly away from the delivery station at all times, the pressure of manual battery replacement is relatively high, and battery replacement errors are inevitable, such as forgetting to replace the battery for the drone, or repeatedly replacing the battery for the drone, resulting in low drone delivery efficiency. Utility Model Content

[0004] The purpose of the utility model is to provide a convenient and fast express cabinet, logistics method and system for drone delivery with automatic battery charging and replacement, aiming to solve the technical problems in the prior art that drones need to be manually replaced by logistics staff and packages need to be manually stored in express cabinets.

[0005] In order to solve the above technical problems, the technical solution adopted by the utility model is: to provide an express cabinet based on drone delivery, including a storage room main body, one or more boxes for storing packages are arranged on the side walls of the storage room main body, a sliding hatch is arranged above the storage room main body, and a liftable apron for landing of the drone is arranged under the sliding hatch, and a battery slot, a first robotic arm and a second robotic arm are respectively arranged in the storage room main body, the first robotic arm is used to take out the package in the logistics box on the drone and place it in the box grid or take out the package in the box grid and put it into the logistics box on the drone, and the second robotic arm is used to take out the battery on the drone and put it into the battery slot for charging and take out the fully charged battery in the battery slot and install it on the drone.

[0006] Furthermore, a drone centering mechanism is provided on the liftable helipad for clamping the drone base after the drone lands. The drone centering mechanism includes a longitudinal clamping module and a transverse clamping module. The longitudinal clamping module performs longitudinal reciprocating motion to longitudinally clamp and release the drone base, and the transverse clamping module performs transverse reciprocating motion to clamp and release the drone base.

[0007] Furthermore, a lifting module is provided below the liftable apron, and the lifting module includes a lifting rod, and the lifting rod moves under the push of the lifting mechanism motor, so that the liftable apron moves upward and downward.

[0008] Furthermore, a base is provided in the storage room body, and the lifting module is fixed on the base.

[0009] Furthermore, two battery slots are symmetrically arranged in the storage room body, and each battery slot is provided with four rechargeable batteries.

[0010] Furthermore, an operating terminal is also provided on the storage room body, which is used to accept the user's input of a pickup code to pick up a courier and input a mailing code to send a courier.

[0011] The utility model also provides a logistics system based on drone delivery, including a drone auxiliary system, a mechanical arm system, and a logistics management system.

[0012] The UAV auxiliary system includes a battery storage module, a helipad lifting module, and a hatch sliding module. The battery storage module is used to store batteries and intelligently charge the batteries; the helipad lifting module is used to control the lifting of the helipad. When the UAV lands on the helipad, it drives the UAV to descend to the set position, and when the UAV is ready to take off, it drives the UAV to rise; the hatch sliding module is used to communicate with the UAV. When the UAV descends, the hatch opens, and when the UAV takes off, the hatch closes.

[0013] The robotic arm system is used for the transition from the drone auxiliary system to the logistics management system, and includes a first gripping module and a second gripping module, which are responsible for loading and unloading packages and replacing drone batteries respectively;

[0014] The logistics management system includes a logistics monitoring module and a communication module. The logistics monitoring module is responsible for interactive docking with users, express lockers and drone signal processing, and the communication module is used for signal transmission and communication between users, express lockers and drones.

[0015] Furthermore, it also includes a drone centering module, which is used to drive the drone centering mechanism to move the drone to the center of the apron after the drone stops on the apron.

[0016] A logistics method based on drone delivery, including express delivery, which includes the following steps:

[0017] S10, the user inputs the express information on the operation terminal, the door of the storage compartment opens, and the user puts the package into the compartment and the door closes;

[0018] S11. The logistics monitoring center performs a delivery inspection. If the inspection passes, the rear door of the corresponding compartment is opened; if the inspection fails, the ground courier is notified and the traditional delivery method is adopted;

[0019] S12. If there is a drone in the express cabinet, the first robot arm will load the express into the drone logistics box; if there is no drone in the express cabinet, the logistics monitoring center will notify nearby express cabinets to let idle drones nearby come to pick up the express; if there are no idle drones nearby, the user will wait, and the logistics monitoring center will estimate the waiting time and give feedback to the user;

[0020] S13. The logistics monitoring center performs power diagnosis on the drone. If the battery is insufficient, the second mechanical arm of the express cabinet performs work, takes out the battery from the drone and places it in the charging slot, and then installs the fully charged battery into the drone, completing the battery replacement procedure;

[0021] S14. After the first robotic arm loads the express into the logistics box on the drone, the lift pad in the express cabinet rises, and the drone takes off to deliver the package to the nearest logistics distribution point.

[0022] The logistics method of drone delivery also includes delivering packages, and delivering packages includes the following steps:

[0023] S20, the logistics distribution point loads the package to be delivered into the logistics box of the drone;

[0024] S21. The drone takes off to the nearest express cabinet to the delivery address. After the express cabinet receives the message that the drone is about to land, it opens the sliding hatch and raises the helipad. After the drone lands stably, the helipad descends to the designated position.

[0025] S22, the first mechanical arm of the express cabinet takes out the package in the drone logistics box and puts it into the corresponding box;

[0026] S23, the logistics monitoring center performs power diagnosis on the drone. If the power is insufficient, the second mechanical arm of the express cabinet performs work, takes out the battery from the drone and places it in the charging slot, and then installs the fully charged battery into the drone, completing the battery replacement procedure;

[0027] S24. The logistics monitoring center obtains the storage information of the package and sends the pickup code to the user. The user picks up the package at the express cabinet with the pickup code.

[0028] The beneficial effects of the utility model are as follows: the utility model provides an express delivery cabinet based on drone delivery, by providing a sliding hatch cover above the storage room body, a liftable helipad for drone landing under the sliding hatch cover, and a first mechanical arm and a second mechanical arm in the storage room body for taking packages and replacing batteries for drones, respectively, with a simple structure and strong practicality. There is no need for logistics staff to manually replace batteries, and packages do not need to be manually stored in express delivery cabinets, saving manpower, especially in mountainous areas with inconvenient transportation. The utility model also provides a logistics system for drone delivery, including a drone auxiliary system, a mechanical arm system, and a logistics management system. The drone auxiliary system includes a battery storage module, a helipad lifting module, and a hatch sliding module. The battery storage module is used to store batteries and intelligently charge batteries. The mechanical arm system is used for the transition from the drone system to the logistics management system, including the first and second mechanical arm gripping modules, and the first and second gripping modules are responsible for loading and unloading packages and replacing drone batteries respectively; the mechanical arm gripping module is used to load and unload express and replace batteries for drones, so as to realize the full process of sending and delivering packages, saving manpower and reducing human errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0030] Figure 1 This is a schematic diagram of the overall structure of the drone express cabinet of the utility model;

[0031] Figure 2This is a schematic diagram of the internal structure of the main body of the drone express cabinet of the utility model;

[0032] Figure 3 This is a schematic diagram of the structure of the main body of the drone express cabinet of the utility model from another perspective;

[0033] Figure 4 This is a structural diagram of the logistics system for drone delivery in the utility model;

[0034] Figure 5 The logistics method of the utility model for delivering goods by drone is a flow chart of express delivery;

[0035] Figure 6 The logistics method of delivering goods by drones in this utility model is a flow chart of express delivery;

[0036] Figure 7 This is a schematic diagram of the operating trajectory of the mechanical arm in the express cabinet when delivering goods by drone in the utility model.

[0037] Description of labels:

[0038] 100. Drone; 101. Logistics box;

[0039] 200, express cabinet; 201, storage room body; 202, sliding hatch;

[0040] 203, box grid; 204, display screen; 205, operation terminal;

[0041] 206, first mechanical arm; 207, second mechanical arm; 208, drone centering mechanism; 209, base; 210, battery slot; 211, liftable landing pad; DETAILED DESCRIPTION

[0042] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0043] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0044] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0045] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] like Figure 1 As shown in Figure 3, an embodiment of the utility model provides an express cabinet 200 for drone delivery, including a storage room body 201, one or more boxes 203 for storing packages are provided on the side walls of the storage room body 201, a sliding hatch 202 is provided above the storage room body 201, and a liftable apron 211 for landing the drone 100 is provided below the sliding hatch 202. A battery slot 210, a first robotic arm 206 and a second robotic arm 207 are respectively provided in the storage room body 201. The first robotic arm 206 is used to take out the package in the logistics box 101 on the drone 100 and place it in the box, or take out the package in the box and put it into the logistics box on the drone. The second robotic arm 207 is used to take out the battery on the drone 100 and put it into the battery slot 210 for charging, and take out the fully charged battery in the battery slot 210 and install it on the drone 100.

[0047] Specifically, the principle of express delivery is as follows: Since the three-dimensional spatial position of the boxes on each storage room body and the logistics box under the drone is relatively fixed. Assume that the three-dimensional spatial position of the center of the cabinet door behind the i-th box is (x i ,y i , z i ), and establish a one-to-one mapping relationship between the box label and the three-dimensional spatial position. The three-dimensional spatial position of the logistics box under the drone is (x d ,y d , z d The logistics management system in the express cabinet sends the target compartment label i to the first robotic arm 206 control unit, and the first robotic arm 206 control unit receives the storage compartment label i and finds the corresponding three-dimensional space position (x i ,y i , zi The first robot arm 206 control unit controls the motor to rotate through calculation, so that the robot arm reaches the target three-dimensional space position (x i ,y i , z i The camera above the first robotic arm 206 will identify the package and grasp the location (x′) more accurately. i , y′ i , z′ i ) is sent to the first robotic arm 206 control module. The first robotic arm 206 control module controls the end of the first robotic arm 206 to move to the specified position, controls the finger motor at the end of the first robotic arm 206 to rotate, and performs the grasping action. After confirming the grasping, the end of the first robotic arm 206 exits the storage room and moves to the three-dimensional space position (x d ,y d , z d ). Arrival (x d ,y d , z d ), the finger motor rotates in the reverse direction to confirm the release of the package, the first mechanical arm 206 returns to its original position, and sends a delivery ready signal to the drone. After receiving the delivery ready signal, the drone closes the logistics box and takes off. Delivering a package is the reverse process of sending a package, which will not be repeated here.

[0048] Specifically, the principle of replacing the battery of the drone is as follows: Since the three-dimensional spatial position of each battery slot 210 and the drone battery compartment is relatively fixed. Assume that the three-dimensional spatial position of the center of the cabinet door behind the j-th battery slot is (x j ,y j , z j ), and establish a one-to-one mapping relationship between the battery slot number and the three-dimensional spatial position. The three-dimensional spatial position of the drone battery compartment is (x b ,y b , z b The logistics management system in the express cabinet sends the target battery slot number j to the control unit of the second robotic arm 207. The control unit of the second robotic arm 207 receives the battery slot number j and finds the corresponding three-dimensional space position (x j ,y j , z j The second robot arm 207 control unit controls the motor to rotate through calculation, so that the robot arm reaches the target three-dimensional space position (x j ,y j , z j The camera above the second robotic arm 207 will capture the battery and more accurately grasp the position (x′ j , y′ j , z′ j) is sent to the second robot arm 207 control module. The second robot arm 207 control module controls the end of the second robot arm 207 to move to the specified position, controls the finger motor at the end of the second robot arm 207 to rotate, and performs the grasping action. After confirming the grasping, the end of the second robot arm 207 exits the battery slot and moves to the three-dimensional space position (x) of the drone battery compartment. b ,y b , z b ). Arrival (x b ,y b , z b ), the motor of the elbow joint of the second robotic arm 207 rotates to push the battery into the battery slot. After confirmation of the push-in, the second robotic arm 207 returns to its original position and sends a battery in place signal to the drone. The drone battery indicator lights up, and the battery replacement is completed.

[0049] The most critical concept of the utility model is that the first robotic arm is used to take out the parcels in the logistics box on the drone and place them in the box grid, or take out the parcels in the box grid and place them into the logistics box on the drone, and the second robotic arm performs battery replacement operations on the drone; the whole process is automatically managed without manual operation, saving manpower and errors caused by human factors.

[0050] Furthermore, the liftable helipad 211 is provided with a drone centering mechanism 208 for clamping the drone base after the drone lands. The drone centering mechanism 208 includes a longitudinal clamping module and a transverse clamping module. The longitudinal clamping module longitudinally reciprocates to clamp and release the drone base longitudinally, and the transverse clamping module transversely reciprocates to clamp and release the drone base. This makes the relative position of the drone more accurate, facilitates the operation of the mechanical arm, and reduces the relative position error.

[0051] Furthermore, a lifting module is provided below the liftable apron 211, and the lifting module includes a lifting rod, and the lifting rod moves under the impetus of the lifting mechanism motor, so that the liftable apron moves upward and downward. The liftable apron is driven up and down by the lifting rod, which has a simple structure, low cost, and saves costs.

[0052] Furthermore, a base 209 is provided in the storage room body 201, and the lifting module is fixed on the base. Fixing the lifting module on the base makes the liftable helipad more firm and stable, reduces the error during the movement, and makes the relative position of the drone more accurate.

[0053] Furthermore, two battery slots 210 are symmetrically arranged in the storage room body 201, and four rechargeable batteries are arranged in each battery slot 210. The first mechanical arm 206 can operate between the two battery slots 210, so that the drone battery supply is sufficient and the frequency of the drone performing flight missions is increased.

[0054] Furthermore, the storage room body 201 is also provided with an operating terminal 205, which is used to accept the user to input the pickup code to pick up the express and the mailing code to mail the express. Preferably, a display screen 204 is also provided on the storage room body 201, which can be used to place advertisements and the like to increase promotional operating income. The human-computer interaction of the drone express cabinet is realized through the operating terminal, which is simple and fast to operate.

[0055] like Figure 4 As shown, the utility model also provides a logistics system 10 based on drone delivery, including a drone auxiliary system 11, a mechanical arm system 12, and a logistics management system 13. The drone auxiliary system 11 includes a battery storage module, a helipad lifting module, and a hatch sliding module. The battery storage module is used to store batteries and intelligently charge the batteries; the helipad lifting module is used to control the lifting of the helipad. When the drone lands on the helipad, it drives the drone to descend to a set position, and when the drone is ready to take off, it drives the drone to rise; the hatch sliding module is used to communicate with the drone. When a drone descent signal is received, the hatch opens, and when a drone take-off signal is received, the hatch closes;

[0056] The mechanical arm system 12 is used for the transition from the drone auxiliary system to the logistics management system, and includes a first gripping module and a second gripping module, which are responsible for loading and unloading packages and replacing drone batteries respectively;

[0057] The logistics management system 13 includes a logistics monitoring module and a communication module. The logistics monitoring module is responsible for interacting with users, express cabinets and drone signals. The communication module is used to accept users' express delivery and send express deliveries and send signals to the logistics monitoring center.

[0058] Furthermore, it also includes a drone centering system, which is used to drive the drone centering mechanism to move the drone to the center of the apron after the drone stops on the apron.

[0059] like Figure 5 As shown, a logistics method based on drone delivery includes express delivery, which includes the following steps:

[0060] S10, the user inputs the express information on the operation terminal, the door of the storage compartment opens, and the user puts the package into the compartment and the door closes;

[0061] S11. The logistics monitoring center performs a delivery inspection. If the inspection passes, the rear door of the corresponding compartment is opened; if the inspection fails, the ground courier is notified and the traditional delivery method is adopted;

[0062] S12. If there is a drone in the express cabinet, the first robot arm will load the express into the drone logistics box; if there is no drone in the express cabinet, the logistics monitoring center will notify nearby express cabinets to let idle drones nearby come to pick up the express; if there are no idle drones nearby, the user will wait, and the logistics monitoring center will estimate the waiting time and feedback to the user;

[0063] S13. After the first robotic arm loads the package into the logistics box on the drone, the lift pad in the express cabinet rises, and the drone takes off to deliver the package to the nearest logistics distribution point.

[0064] After the user completes the operation on the platform, he / she will put the package into the express cabinet. If there is a drone in the express cabinet, the package will be loaded into the logistics box of the drone through the first mechanical arm. If there is no drone in the express cabinet, the logistics monitoring center will notify the nearby express cabinets to let the idle drones nearby come to pick up the package. If there are no idle drones nearby, the user will wait, and the logistics monitoring center will estimate the waiting time and feedback to the user. The operation steps are as follows:

[0065] The user enters the express information (sender information, recipient information, item content, package size, weight, etc.) on the platform or operation terminal, and the front cabinet door of the storage room will open.

[0066] After the user has loaded the package, the logistics monitoring center will perform a delivery inspection. If the inspection passes, the back door of the corresponding storage room will be opened. If the inspection fails, the ground courier will be notified and the package will be delivered in the traditional way.

[0067] Among them, the logistics monitoring center performs delivery inspections, including:

[0068] 1) Check whether the drone has the conditions for takeoff, such as weather conditions;

[0069] 2) Whether the delivery distance exceeds the range of the drone;

[0070] 3) Whether the robotic arm works properly;

[0071] 4) Whether the package size meets the delivery requirements;

[0072] 5) Whether the package shape can be grasped by the robot arm;

[0073] 6) Is the package overweight?

[0074] Among them, the conditions for the first robot arm to confirm the grasping are:

[0075] 1) The force feedback sensor value is greater than 10N;

[0076] 2) The distance between the two fingers of the robotic arm is greater than 3cm;

[0077] The first robotic arm confirms that the conditions for releasing the package are:

[0078] 1) The force feedback sensor value is less than 1N.

[0079] 2) The distance between the two fingers at the end of the first robotic arm is greater than 20cm.

[0080] like Figure 6 As shown, a logistics method based on drone delivery also includes delivering a package, and delivering a package includes the following steps:

[0081] S20, the logistics distribution point loads the package to be delivered into the logistics box of the drone;

[0082] S21. The drone takes off to the nearest express cabinet to the delivery address. After the express cabinet receives the message that the drone is about to land, it opens the sliding hatch and raises the helipad. After the drone lands stably, the helipad descends to the designated position.

[0083] S22, the first mechanical arm of the express cabinet takes out the package in the drone logistics box and puts it into the corresponding box;

[0084] S23, the logistics monitoring center performs power diagnosis on the drone. If the power is insufficient, the second mechanical arm of the express cabinet performs work, takes out the battery from the drone and places it in the charging slot, and then installs the fully charged battery into the drone, completing the battery replacement procedure;

[0085] S24. The logistics monitoring center obtains the storage information of the package and sends the pickup code to the user. The user picks up the package at the express cabinet with the pickup code.

[0086] Specifically, after receiving the message that the drone is about to land, the express locker raises the helipad. After the drone lands stably, the drone centering mechanism positions and clamps the drone base, fixing the drone in the center of the helipad.

[0087] After the drone is fixed in the center of the apron, the apron descends and enters the express cabinet. The first mechanical arm extends, takes out the package from the logistics box, and puts it into the corresponding storage compartment. After that, the drone is diagnosed. If the battery is low, the battery is replaced; if other parts such as the propellers are damaged, the fault is reported to the logistics monitoring center.

[0088] Among them, the first robot arm and the second robot arm are freedom robot arms, and the DH (Denavit-Hartenberg) method is used to establish the link coordinate system. Figure 7 As shown, BC / / DE / FG, CD / EF, AB / / GH establish the connecting rod coordinate system o i x i y i z i(i=0, 1, 2, 3, 4, 5, 6). origin o i (i=0, 1, 2, 3, 4, 5, 6) are located at A~H respectively, o0x0y0z0 represents the base coordinate system, and o6x6y6z6 represents the end coordinate system of the robot arm. Figure 7 Know: o i-1 x i-1 y i-1 z i-1 After two rotations and two translations, it is transformed to o i x i y i z i , these four transformations are: the first, o i x i y i z i Around J i Rotation θ i When i-1 x i-1 yo-1 i-1 Need to go around i-1 Axis rotation γ i In order to make the new x i-1 Axis and x i axis in the same direction; the second time, along the new z i-1 Axis translation i , making the new o i-1 Move to J i , and J i+1 The common perpendicular line and J i At the intersection; the third time, along x i Axis translation d i , making the new o i-1 With o i . Overlap; the fourth time, rotate α around the new xi axis i , so that the new z i-1 Axis and z i The above four transformations can be realized by four homogeneous transformation matrices:

[0089]

[0090] in,

[0091]

[0092]

[0093]

[0094]

[0095] Since the link coordinate systems of the joints of the robotic arm have a conjoined relationship, the transformation matrix from o6x6y6z6 to o0x0y0z0 is:

[0096]

[0097] Formula (2) is called the forward kinematic model of the robot arm, where Respectively represent the direction vectors of the three coordinate axes o6x6y6z6 in the base coordinate system. Indicates the position of the coordinate origin o6x6y6z6 (the end point H of the robotic arm) in the base coordinate system.

[0098] In formula (2), each component of vector p is a function of θ1, θ2, θ3, θ4, θ5, and θ6. Due to the complex coupling relationship between joint angles, it can be calculated using matlab software. Since the rotation angle θ6 of H around the end joint GH has no effect on the position of H in the base coordinate system, the expressions of each component of vector p are only related to θ1, θ2, θ3, θ4, and θ5, and the joint variable combination (θ1, θ2, θ3, θ4, θ5) has a definite mapping relationship with the position of H in the base coordinate system. This mapping is denoted as f(θ1, θ2, θ3, θ4, θ5) = (p x , p y , p z ) T Therefore, as long as a set of joint variable combinations is given, the end point H of the robot arm can move to the position determined by o0x0y0z0.

[0099] From formula (2), we know that when the vector f(θ1, θ2, θ3, θ4, θ5)-X o When it is a zero vector, the corresponding joint variables (θ1, θ2, θ3, θ4, θ5) are the optimal solutions to be determined by the inverse kinematics of the robot arm, thus obtaining the inverse kinematics model of the robot arm.

[0100]

[0101] In order to make the command angle of the motor rotation as small as possible, after adding constraints, the total command angle expression is:

[0102]

[0103] θ i That is, the command angle for each motor to rotate, so that the first and second robotic arms can be used to pick up packages and change batteries for drones.

[0104] In summary, the utility model provided by the utility model provides an express cabinet and logistics system based on drone delivery, by providing a sliding hatch cover above the storage room body, providing a liftable helipad for drone landing under the sliding hatch cover, and providing a first mechanical arm and a second mechanical arm on the storage room body for taking packages and changing batteries for drones, respectively, with a simple structure and strong practicality. There is no need for logistics staff to manually change batteries, and there is no need for packages to be manually stored in express cabinets, saving manpower, especially in mountainous areas with inconvenient transportation. Preferably, a drone centering mechanism is provided on the liftable helipad, so that the relative position of the drone is more prepared, which is convenient for the robot arm to operate and reduce the relative position error. By using the gripping module of the robot arm to load and take express and replace batteries for drones, the full process of sending and delivering packages can be automated, saving manpower and reducing human errors.

[0105] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent transformations made using the contents of the specification and drawings of the present invention, or directly or indirectly applied in the relevant technical field, are also included in the patent protection scope of the present invention.

Claims

1. A courier cabinet based on drone delivery, characterized in that: It includes a storage room body, and one or more boxes for storing packages are arranged on the side walls of the storage room body, a sliding hatch is arranged above the storage room body, and a liftable apron for landing of a drone is arranged below the sliding hatch, and a battery slot, a first mechanical arm and a second mechanical arm are respectively arranged in the storage room body, the first mechanical arm is used to take out the packages in the logistics box on the drone and place them in the boxes, or take out the packages in the boxes and put them into the logistics box on the drone, and the second mechanical arm is used to take out the battery on the drone and put it into the battery slot for charging, and take out the fully charged battery in the battery slot and install it on the drone.

2. The express delivery cabinet based on drone delivery according to claim 1 is characterized in that: The liftable helipad is provided with a drone centering mechanism for clamping the drone base after the drone lands. The drone centering mechanism includes a longitudinal clamping module and a transverse clamping module. The longitudinal clamping module reciprocates longitudinally to clamp and release the drone base longitudinally, and the transverse clamping module reciprocates transversely to clamp and release the drone base.

3. The express delivery cabinet based on drone delivery according to claim 1 is characterized in that: A lifting module is arranged below the liftable apron, and the lifting module comprises a lifting rod. The lifting rod moves under the driving force of the lifting mechanism motor, so that the liftable apron moves upward and downward.

4. The express delivery cabinet based on drone delivery according to claim 3 is characterized in that: A base is arranged in the storage room body, and the lifting module is fixed on the base.

5. The express delivery cabinet based on drone delivery according to claim 1 is characterized in that: Two battery slots are symmetrically arranged in the storage room main body, and four rechargeable batteries are arranged in each battery slot.

6. The express delivery cabinet based on drone delivery according to claim 1 is characterized in that: The storage room body is also provided with an operating terminal for accepting a user input of a pickup code to pick up a courier and a mailing code to mail a courier.

7. A logistics system based on drone delivery, characterized in that: Including drone assistance system, robotic arm system, logistics management system, The UAV auxiliary system includes a battery storage module, a helipad lifting module, and a hatch sliding module. The battery storage module is used to store batteries and intelligently charge the batteries; the helipad lifting module is used to control the lifting of the helipad. When the UAV lands on the helipad, it drives the UAV to descend to a set position, and when the UAV is ready to take off, it drives the UAV to rise; the hatch sliding module is used to communicate with the UAV. When receiving the UAV descent signal, the hatch opens, and when receiving the UAV take-off signal, the hatch closes; The robotic arm system is used for the transition from the drone auxiliary system to the logistics management system, and includes a first gripping module and a second gripping module, wherein the first gripping module and the second gripping module are responsible for loading and unloading packages and replacing drone batteries, respectively; The logistics management system includes a logistics monitoring module and a communication module. The logistics monitoring module is responsible for interactive docking with users, express cabinets and drone signal processing, and the communication module is used for signal transmission and communication between users, express cabinets and drones.

8. The logistics system based on drone delivery according to claim 7 is characterized in that: It also includes a drone centering module, which is used to drive the drone centering mechanism to move the drone to the center of the apron after the drone stops on the apron.

Images