Patent Publication Number: US-2020302382-A1

Title: Logistics method and system, aircraft, delivery robot, dispatch platform, and handover method

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     The present disclosure is based on and claims priority of Chinese application for invention 201710912824.X, filed on Sep. 30, 2017, the disclosure of which is hereby incorporated into this disclosure by reference in its entirety. 
     TECHNICAL FIELD 
     The present disclosure relates to the field of logistics, and in particular, to a logistics method and system, an aircraft, a distribution robot, a dispatching platform, and a handover method. 
     BACKGROUND 
     Due to remote locations, scattered orders, and difficult distribution, rural logistics basically relies on human staff to complete rural order distribution, which has low distribution efficiency and high distribution costs. 
     In related art, cargoes are transported from a warehouse to a manned township distribution station and delivered to their addresses one by one by distribution staff, or the buyers pick up the cargoes at the township distribution station by themselves. 
     SUMMARY 
     According to one aspect of the present disclosure, there is provided a cargo handover method, comprising: obtaining, by an aircraft, a distribution robot identifier; sending, by an aircraft, a hatch cover open request to a dispatching platform, wherein the hatch cover open request includes the distribution robot identifier, so that the dispatching platform sends a hatch cover open instruction to a distribution robot corresponding to the distribution robot identifier, to enable the distribution robot to open a hatch cover; delivering, by an aircraft, cargoes to the distribution robot upon a detection that the hatch cover is opened by the distribution robot. 
     In some embodiments of the present disclosure, the method further comprises: after the hatch cover is opened by the distribution robot, detecting by the distribution robot whether the cargoes are delivered into a storage cabin; if it is detected by the distribution robot that the cargoes are delivered into the storage cabin, closing the hatch cover and completing the handover of the cargoes. 
     In some embodiments of the present disclosure, the method further comprises: receiving, by an aircraft, a hatch cover detection instruction which is sent, in response to the hatch cover open request, by the dispatching platform; and in response to the hatch cover detection instruction, detecting, by an aircraft, whether the hatch cover of the distribution robot is opened. 
     In some embodiments of the present disclosure, obtaining a distribution robot identifier comprises: after reaching a cargo handover location, scanning, by an aircraft, a distribution robot parked at the cargo handover location to obtain the distribution robot identifier thereof. 
     According to another aspect of the present disclosure, a logistics method is provided, comprising: transporting, by an aircraft, cargoes from a distribution station to a cargo handover location of an aircraft and a distribution robot according to a fixed route; and delivering, by an aircraft, the cargoes to the distribution robot by the cargo handover method according to any one of the above embodiments, to enable the distribution robot to distribute the cargoes to a distribution address. 
     In some embodiments of the present disclosure, the method further comprises: after delivering the cargoes to the distribution robot, returning, by an aircraft, to the distribution station along the fixed route to prepare for a next task. 
     In some embodiments of the present disclosure, the method further comprises: receiving, by an aircraft, the fixed route sent by a dispatching platform. 
     In some embodiments of the present disclosure, the method further comprises: after delivering the cargoes to the distribution robot, returning, by an aircraft, to the distribution station along the fixed route to prepare for a next task. 
     According to another aspect of the present disclosure, an aircraft is provided, comprising a navigation module, configured to transport cargoes from a distribution station to a cargo handover location of the aircraft and a distribution robot according to a fixed route; and a delivery module, configured to deliver the cargoes to the distribution robot, to enable the distribution robot to distribute the cargoes to a distribution address. 
     In some embodiments of the present disclosure, the aircraft further comprises: a fixed route receiving module, configured to receive a fixed route sent by a dispatching platform. 
     In some embodiments of the present disclosure, the navigation module is further configured to enable the aircraft to return to the distribution station along the fixed route to prepare for a next task after the delivery module delivers the cargoes to the distribution robot. 
     In some embodiments of the present disclosure, the delivery module comprises: a distribution robot identifier obtaining unit, configured to obtain a distribution robot identifier; a hatch cover open request sending unit configured to send a hatch cover open request including the distribution robot identifier to the dispatching platform, to enable the dispatching platform to instruct a distribution robot corresponding to the distribution robot identifier to open a hatch cover; a hatch cover detection unit configured to detect whether the hatch cover of the distribution robot is opened; and a delivery unit configured to deliver cargoes to the distribution robot after the hatch cover detection unit detects that the hatch cover of the distribution robot is opened. 
     In some embodiments of the present disclosure, the delivery module further comprises: a hatch cover detection instruction receiving unit, configured to receive a hatch cover detection instruction which is sent, in response to the hatch cover open request, by the dispatching platform; and a hatch cover detection unit, configured to detect whether the hatch cover of the distribution robot is opened in the case that the hatch cover detection instruction receiving unit receives the hatch cover detection instruction. 
     In some embodiments of the present disclosure, the distribution robot identifier obtaining unit is configured to obtain a distribution robot identifier of a distribution robot parked at a cargo handover location by scanning after the aircraft reaches the cargo handover location. 
     According to another aspect of the present disclosure, an aircraft is provided, comprising a memory configured to store computer instructions; and a processor configured to execute the instructions, so that the aircraft executes the cargo handover method or the logistics method according to any one of the foregoing embodiments. 
     According to another aspect of the present disclosure, a distribution robot is provided, comprising: a cargo receiving module, configured to receive cargoes delivered by an aircraft at a cargo handover location of an aircraft and the distribution robot; and a cargo distribution module, configured to distribute the cargoes to a distribution address. 
     In some embodiments of the present disclosure, the cargo distribution module comprises: a navigation information receiving unit, configured to receive navigation path information sent by a dispatching platform, wherein the dispatching platform generates the navigation path information according to distribution address information; and an automatic driving unit, configured to automatically drive to a distribution address according to the navigation path information to complete the distribution of the cargoes. 
     In some embodiments of the present disclosure, the automatic driving unit is further configured to return the distribution robot to the location cargo handover location of the aircraft and the distribution robot after distributing the cargoes to the distribution address, and wait for a next task. 
     In some embodiments of the present disclosure, the cargo receiving module comprises: a hatch cover open instruction receiving unit, configured to receive a hatch cover open instruction which is sent by a dispatching platform in response to a hatch cover open request including a distribution robot identifier received from the aircraft, wherein the distribution robot identifier is obtained after the aircraft reaches a location of the aircraft and the distribution robot; and a hatch cover open unit, configured to open a hatch cover in response to the hatch cover open instruction received by the hatch cover open instruction receiving unit so as to receive the cargoes delivered by the aircraft. 
     In some embodiments of the present disclosure, the cargo receiving module further comprises: a cargo detection unit, configured to detect whether the cargoes are delivered into a storage cabin after the hatch cover open unit opens the hatch cover; and a hatch cover closing unit, configured to close the hatch cover after the cargo detection unit detects that the cargoes are delivered into the storage cabin to complete the handover of the cargoes. 
     According to another aspect of the present disclosure, a dispatching platform is provided, comprising: a fixed route transmitting module, configured to transmit a fixed route to an aircraft, to enable the aircraft to reach a cargo handover location of the aircraft and a distribution robot from a distribution station according to the fixed route; a navigation information generating module, configured to generate navigation path information according to distribution address information after the distribution robot receives the cargoes delivered by the aircraft; and a navigation information transmitting module, configured to transmit the navigation path information to the distribution robot, to enable the distribution robot to automatically drive to the distribution address according to the navigation path information to complete the delivery of the cargoes. 
     In some embodiments of the present disclosure, the dispatching platform further comprises: a cargo handover control module, configured to control the aircraft to deliver the cargoes to the distribution robot to complete the handover of the cargoes. 
     In some embodiments of the present disclosure, the cargo handover control module comprises: a hatch cover open request receiving unit, configured to receive a hatch cover open request sent by the aircraft, wherein the hatch cover open request includes a distribution robot identifier obtained from a distribution robot by the aircraft; a hatch cover open instruction sending unit, configured to send a hatch cover open instruction to a distribution robot corresponding to the distribution robot identifier in the case that the hatch cover open request receiving unit receives the hatch cover open request, so as to control the distribution robot to open a hatch cover; and a hatch cover detection instruction sending unit, configured to send a hatch cover detection instruction to the aircraft in the case that the hatch cover open request receiving unit receives the hatch cover open request, so that the aircraft detects whether the hatch cover of the distribution robot is opened, and delivers the cargoes to the distribution robot after detecting that the hatch cover of the distribution robot is opened. 
     According to another aspect of the present disclosure, there is provided a logistics system comprising an aircraft according to any one of the above embodiments, a distribution robot according to any one of the above embodiments, and a dispatching platform according to any one of the above embodiments. 
     According to a still another aspect of the present disclosure, a computer-readable storage medium is provided on which computer program instructions are stored, which when executed by a processor implement the cargo handover method or the logistics method according to any one of the above embodiments. 
     By accurately docking between an aircraft and a distribution robot, cargoes can be automatically transferred from the aircraft to the distribution robot. The present disclosure is a distribution solution taking advantage of the linkage between an aircraft and a distribution robot. The disclosure can effectively solve the outstanding problem existing in rural logistics and distribution. As a result, this disclosure can bring the same rapid logistics experience to rural areas as urban online shopping, and can realize intelligent rural logistics. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       In order to more clearly explain the embodiments of the present disclosure or the technical solutions in the prior art, a brief introduction will be given below for the drawings required to be used in the description of the embodiments or the prior art. It is obvious that, the drawings illustrated as follows are merely some of the embodiments of the present disclosure. For a person skilled in the art, he or she may also acquire other drawings according to such drawings on the premise that no inventive effort is involved. 
         FIG. 1  is a schematic diagram of a logistics system according to some embodiments of the present disclosure; 
         FIG. 2  is a schematic diagram of a logistics method according to a first embodiment of the present disclosure; 
         FIG. 3  is a schematic diagram of a cargo handover method according to the first embodiment of the present disclosure; 
         FIG. 4  is a schematic diagram of a cargo handover method according to a second embodiment of the present disclosure; 
         FIG. 5  is a schematic diagram of an aircraft according to some embodiments of the present disclosure; 
         FIG. 6  is a schematic diagram of a delivery module in some embodiments; 
         FIG. 7  is a schematic diagram of a distribution robot according to some embodiments of the present disclosure; 
         FIG. 8  is a schematic diagram of a cargo distribution module in some embodiments; 
         FIG. 9  is a schematic diagram of a cargo receiving module in some embodiments; 
         FIG. 10  is a schematic diagram of a dispatching platform according to some embodiments of the present disclosure; 
         FIG. 11  is a schematic diagram of a cargo handover control module in some embodiments. 
     
    
    
     DETAILED DESCRIPTION 
     Below, a clear and complete description will be given for the technical solution of embodiments of the present disclosure with reference to the figures of the embodiments. Obviously, merely some embodiments of the present disclosure, rather than all embodiments thereof, are given herein. The following description of at least one exemplary embodiment is in fact merely illustrative and is in no way intended as a limitation to the invention, its application or use. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments of the present disclosure without creative efforts shall fall within the protection scope of the present disclosure. 
     Unless otherwise specified, the relative arrangement, numerical expressions and numerical values of the components and steps set forth in these examples do not limit the scope of the invention. 
     At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual proportions. 
     Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, these techniques, methods, and apparatuses should be considered as part of the specification. 
     Of all the examples shown and discussed herein, any specific value should be construed as merely illustrative and not as a limitation. Thus, other examples of exemplary embodiments may have different values. 
     Notice that, similar reference numerals and letters are denoted by the like in the accompanying drawings, and therefore, once an item is defined in a drawing, there is no need for further discussion in the accompanying drawings. 
     The inventors have realized that: in the related art, rural logistics distribution is basically completed by human staff. Due to the remote locations and poor infrastructure, the current rural logistics has a long distribution time and high distribution cost; due to the influence of geographical environments, some villages in remote areas do not yet support home delivery, and buyers need to pickup cargoes at township distribution stations by themselves, which reduces the user experience and willingness to purchase online, resulting in huge online shopping potential that cannot be unleashed. 
     In view of the above technical problems, the present disclosure provides a logistics method and system, an aircraft, a distribution robot, a dispatching platform, and a handover method, and realizes intelligent rural logistics taking advantage of the linkage between an aircraft and a distribution robot. 
       FIG. 1  is a schematic diagram of a logistics system according to some embodiments of the present disclosure. As shown in  FIG. 1 , the logistics system may comprise an aircraft  100 , a distribution robot  200 , and a dispatching platform  300 , wherein, the intelligent rural logistics of the present disclosure is based on the linkage between the aircraft  100  and the distribution robot  200 , with a township distribution station  10  as a hub. 
     The dispatching platform  300  is used to transmit a fixed route to the aircraft  100  in advance. 
     In some embodiments of the present disclosure, the selection of the fixed route must first meet the national aircraft management regulations. When planning a route, it is necessary to avoid some large transmission lines in advance, and to plan a route with a relatively complete signal coverage. 
     The aircraft  100  is used to start cargo transportation and delivery along the route after receiving the route. The aircraft  100  is used to reach a cargo handover location  20  of the aircraft  100  and the distribution robot  200  from a distribution station  10  (for example, a township distribution station) according to a fixed route. The aircraft  100  is used for the operation of the fixed route. The starting point of the fixed route is the township distribution station, and the end point is the cargo handover location  20  of the aircraft  100  and the distribution robot  200 , that is, a location of the distribution robot parked at a village. 
     In some embodiments of the present disclosure, the aircraft  100  may be implemented as an unmanned aerial vehicle. 
     In some embodiments of the present disclosure, the specific location of the distribution robot may be a flat open area such as a flat village road surface or a village center cultural square, which is convenient for the aircraft to accurately position the distribution robot. 
     In some embodiments of the present disclosure, the delivery radius of the aircraft  100  is approximately 15 km-20 km. 
     The aircraft  100  is further used to deliver cargoes to the distribution robot  200  after it reaches the cargo handover location  20 . 
     The distribution robot  200  is used to deliver the cargoes from the cargo handover location  20  to a distribution address  30 , that is, to a user&#39;s home to complete the distribution of the cargoes. 
     In some embodiments of the present disclosure, the distribution robot  200  may be implemented as an unmanned vehicle. 
     In some embodiments of the present disclosure, as shown in  FIG. 1 , the logistics system may further comprise a positioning device  400 , wherein, the positioning device  400  is used to realize positioning of the aircraft  100  and the distribution robot  200 , facilitating the dispatching platform  300  to monitor the status of the aircraft  100  and the distribution robot  200  in real time, and to provide navigation path planning services for the aircraft  100  and the distribution robot  200 . 
     Based on the logistics system provided by the above embodiments of the present disclosure, in order to solve the problem of scattered orders and difficult delivery in rural areas in the related art, the present invention uses a distribution solution taking advantage of the linkage between an aircraft and a distribution robot to replace the existing delivery-staff based distribution mode. Therefore, the above-mentioned embodiments of the present disclosure can greatly shorten the distribution time and save logistics costs. With the scaling-up of the solution of the above embodiment of the present disclosure, the logistics and distribution system can be deeply extended to rural areas. Therefore, the above embodiments of the present disclosure truly solve the problem of final delivery of rural e-commerce, so that rural users in the future can fully experience the convenience and benefits brought by e-commerce. 
       FIG. 2  is a schematic diagram of a logistics method according to a first embodiment of the present disclosure. Preferably, this embodiment can be executed by the disclosed logistics system. As shown in  FIG. 2 , the method may comprise step  1  to step  3 . 
     Step  1 : transporting, by an aircraft  100 , cargoes from a township distribution station  10  to a cargo handover location of the aircraft  100  and a distribution robot  200  according to a fixed route. 
     In some embodiments of the present disclosure, before step  1 , the method may further comprise: transmitting, by a dispatching platform.  300 , a fixed route to the aircraft  100 , so that the aircraft  100  can reach the cargo handover location of the aircraft  100  and the distribution robot  200 . 
     Step  2 : delivering, by the aircraft  100 , the cargoes to the distribution robot  200 . 
     Step  3 : distributing, by the distribution robot  200 , the cargoes to a distribution address. 
     In some embodiments of the present disclosure, the method may further comprise: generating, by the dispatching platform  300 , navigation path information according to distribution address information after the distribution robot  200  receives the cargoes delivered by the aircraft  100 ; transmitting, by the dispatching platform  300 , the navigation path information to the distribution robot  200 , so that the distribution robot  200  can automatically drive to the distribution address according to the navigation path information, and complete the distribution of the target cargoes after the cargoes are received by a user. 
     Based on the logistics method provided in the above embodiment of the present disclosure, through accurately docking between an aircraft and a distribution robot, cargoes can be automatically transferred from the aircraft to the distribution robot. The above embodiment of the present disclosure is a distribution solution taking advantage of the linkage between an aircraft and a distribution robot. The above embodiment of the present disclosure can effectively solve the outstanding problem existing in rural logistics and distribution. As a result, the above embodiment of the present disclosure can bring the same rapid logistics experience to rural areas as urban online shopping, and can realize intelligent rural logistics. 
       FIG. 1  further shows a schematic diagram of a logistics method according to a second embodiment of the present disclosure. Preferably, this embodiment can be executed by a logistics system of the present disclosure. Compared with the embodiment in  FIG. 2 , the logistics method in the embodiment in  FIG. 1  may further comprise step  4 . 
     Step  4 : after delivering the cargoes to the distribution robot  200 , the aircraft  100  returns to the distribution station along the fixed route to prepare for a next task. 
     In some embodiments of the present disclosure, as shown in  FIG. 1 , the method may further comprise step  5 . 
     Step  5 : the distribution robot  200  returns to the cargo handover location  20  of the aircraft  100  and the distribution robot  200  after distributing the cargoes to the distribution address, and waits for a next task. 
     In some embodiments of the present disclosure, as shown in  FIG. 1 , the method may further comprise step  6 . 
     Step  6 : the dispatching platform  300  monitors the status of the aircraft  100  and the distribution robot  200  in real time. 
     In order to solve the problem of scattered orders and difficult delivery in rural areas in the related art, the above embodiment of the present disclosure adopts a distribution solution taking advantage of the linkage between an aircraft and a distribution robot to replace the existing delivery-staff based distribution mode. Therefore, the above-mentioned embodiment of the present disclosure can greatly shorten the distribution time and save logistics costs. With the scaling-up of the solution of the above embodiment of the present disclosure, the logistics and distribution system can be deeply extended to rural areas. Therefore, the above embodiments of the present disclosure truly solve the problem of final delivery of rural e-commerce, so that rural users in the future can fully experience the convenience and benefits brought by e-commerce. 
       FIG. 3  is a schematic diagram of a cargo handover method according to the first embodiment of the present disclosure. Preferably, this embodiment can be executed by a logistics system of the present disclosure. As shown in  FIG. 3 , the method of handing over cargoes between an aircraft and a distribution robot (that is, step  2  in the embodiment of  FIG. 1  or  FIG. 2 ) may comprise step  21  to step  25 . 
     Step  21 : obtaining, by the aircraft  100 , a distribution robot identifier. 
     In some embodiments of the present disclosure, the step  21  may comprise: after reaching a cargo handover location, scanning, by the aircraft  100 , a distribution robot  200  parked at the cargo handover location to obtain the distribution robot identifier thereof. 
     In some embodiments of the present disclosure, a unique two-dimensional code electronic identifier is provided on the top of each distribution robot. Therefore, when the aircraft flies over the top of the distribution robot, the distribution robot identifier of the distribution robot  200  can be obtained by scanning. 
     Step  22 : sending, by the aircraft  100 , a hatch cover open request to the dispatching platform  300 , wherein the hatch cover open request includes a distribution robot identifier. 
     Step  23 : in response to the hatch cover open request, sending, by the dispatching platform  300 , a hatch cover open instruction to a distribution robot  200  corresponding to the distribution robot identifier. 
     Step  24 : in response to the hatch cover detection instruction, automatically opening a hatch cover by the distribution robot  200 . 
     Step  25 : upon a detection that the hatch cover is opened by the distribution robot  200 , delivering cargoes to the distribution robot  200  by the dispatching platform  300 . 
     In some embodiments of the present disclosure, after step  24 , the method may further comprise: after the hatch cover is opened by the distribution robot  200 , detecting, by the distribution robot  200 , whether the cargoes are delivered into a storage cabin; if it is detected by the distribution robot  200  that the cargoes are delivered into the storage cabin, closing the hatch cover and completing the handover of the cargoes. After the handover of the cargoes, the aircraft returns to the township distribution station along the fixed route to prepare for a next task. The distribution robot starts logistics distribution. 
     In some embodiments of the present disclosure, after step  22 , the method may further comprise: in response to the hatch cover open request, sending, by the dispatching platform  300 , a hatch cover detection instruction to the aircraft  100 ; in response to the hatch cover detection instruction, detecting, by the aircraft  100 , whether the hatch cover of the distribution robot  200  is opened. 
     Based on the method of cargo handover between an aircraft and a distribution robot provided in the above embodiment of the present disclosure, when the aircraft reaches the cargo handover location (the location where the distribution robot is located) according to the navigation line, accurate target locking can be achieved. Therefore, in the above embodiment of the present disclosure, through accurately docking between an aircraft and a distribution robot, cargoes can be automatically transferred from the aircraft to the distribution robot. The above embodiment of the present disclosure is a distribution solution taking advantage of the linkage between an aircraft and a distribution robot. The above embodiment of the present disclosure can effectively solve the outstanding problem existing in rural logistics and distribution. As a result, the above embodiment of the present disclosure can bring the same rapid logistics experience to rural areas as urban online shopping, and can realize intelligent rural logistics. 
     In some embodiments of the present disclosure, each aircraft  100  and each distribution robot  200  have a built-in SIM card, which can directly communicate with the dispatching platform  300 . The communication between the aircraft  100  and the dispatching platform  300  may be implemented through a public wireless communication network such as 4G LTE. The communication between the distribution robot  200  and the dispatching platform  300  can be realized through a public wireless communication network such as 4G LTE. 
     In some embodiments of the present disclosure, the wireless communication between the aircraft  100  and the distribution robot  200  may use a wireless communication protocol such as a WIFI communication protocol, an infrared communication protocol, a Bluetooth communication protocol, and an NFC (Near Field Communication) protocol for the wireless communication. 
     Compared with the WIFI communication protocol, adopting the NFC communication protocol in the present disclosure has the advantages of more convenient opening of the hatch cover, better application prospects, and long-term development. But the popularity of NFC terminals is not enough. 
       FIG. 4  is a schematic diagram of a cargo handover method according to a second embodiment of the present disclosure. Preferably, this embodiment can be executed by a logistics system of the present disclosure. As shown in  FIG. 3 , the cargo handover method (that is, step  2  in the embodiment of  FIG. 1  or  FIG. 2 ) may comprise step  201  to step  206 . 
     Step  201  and step  202 : scanning, by the aircraft  100 , the top of the distribution robot  200  to obtain a distribution robot identifier (i.e., distribution robot information ID) of the distribution robot  200 . 
     step  203 : sending, by the aircraft  100 , a hatch cover open request to the dispatching platform  300 , wherein the hatch cover open request includes the distribution robot identifier. 
     step  204 : in response to the hatch cover open request, sending, by the dispatching platform  300 , a hatch cover open instruction to the distribution robot  200  corresponding to the distribution robot identifier. 
     step  205 : in response to the hatch cover open request, sending, by the dispatching platform  300 , a hatch cover detection instruction to the aircraft  100 , so that the aircraft  100  detects whether the hatch cover of the distribution robot  200  is opened, and delivers the cargoes to the distribution robot  200  after detecting that the hatch cover of the distribution robot  200  is opened. 
     step  206 : reporting, by the distribution robot  200 , hatch cover status information, distribution robot status, and positioning information to the dispatching platform  300 . 
     In order to solve the problem of scattered orders and difficult delivery in rural areas in the related art, the above embodiment of the present disclosure adopts a distribution solution taking advantage of the linkage between an aircraft and a distribution robot to replace the existing delivery-staff based distribution mode. Therefore, the above-mentioned embodiment of the present disclosure can greatly shorten the distribution time and save logistics costs. With the scaling-up of the solution of the above embodiment of the present disclosure, the logistics and distribution system can be deeply extended to rural areas. Therefore, the above embodiments of the present disclosure truly solve the problem of final delivery of rural e-commerce, so that rural users in the future can fully experience the convenience and benefits brought by e-commerce. 
     The specific structures and functions of the aircraft, the distribution robot, and the dispatching platform in the above embodiments of the present disclosure will be further described in specific embodiments below. 
       FIG. 5  is a schematic diagram of an aircraft according to some embodiments of the present disclosure. As shown in  FIG. 5 , the aircraft  100  in the embodiment of  FIG. 1  or  FIG. 4  comprises a navigation module  110  and a delivery module  120 . 
     The navigation module  110  is used to navigate the aircraft  100  along a fixed route to a cargo handover location of the aircraft  100  and a distribution robot  200 . 
     In some embodiments of the present disclosure, the navigation module  110  is further used to enable the aircraft  100  to return to the distribution station along the fixed route to prepare for a next task after the delivery module  120  delivers the cargoes to the distribution robot  200 . 
     The delivery module  120  is used to deliver the cargoes to the distribution robot  200 , to enable the distribution robot  200  to distribute the cargoes to a distribution address. 
     In some embodiments of the present disclosure, as shown in  FIG. 5 , the aircraft  100  may further comprise a fixed route receiving module  130 , wherein, the fixed route receiving module  130  is used to receive a fixed route sent by the dispatching platform  300 . 
       FIG. 6  is a schematic diagram of a delivery module in some embodiments. As shown in  FIG. 6 , the delivery module  120  in the embodiment of  FIG. 5  may comprise a distribution robot identifier obtaining unit  121 , a hatch cover open request sending unit  122 , a hatch cover detection unit  123 , and a delivery unit  124 . 
     The distribution robot identifier obtaining unit  121  is used to obtain a distribution robot identifier. 
     In some embodiments of the present disclosure, the distribution robot identifier obtaining unit  121  may be used to obtain a distribution robot identifier of the distribution robot  200  parked at the cargo handover location by scanning after the aircraft  100  reaches the cargo handover location. 
     The hatch cover open request sending unit  122  is used to send a hatch cover open request to the dispatching platform  300 , wherein the hatch cover open request includes the distribution robot identifier, the dispatching platform  300  instructing the distribution robot  200  corresponding to the distribution robot identifier to open a hatch cover in response to the hatch cover open request. 
     The hatch cover detection unit  123  is used to detect whether the hatch cover of the distribution robot  200  is opened. 
     The delivery unit  124  is used to deliver cargoes to the distribution robot  200  after the hatch cover detection unit  123  detects that the hatch cover of the distribution robot  200  is opened. 
     In some embodiments of the present disclosure, as shown in  FIG. 6 , the delivery module  120  may further comprise a hatch cover detection instruction receiving unit  125 , wherein, the hatch cover detection instruction receiving unit  125  is used to receive a hatch cover detection instruction sent by the dispatching platform  300 , wherein the dispatching platform  300  sends a hatch cover detection instruction to an aircraft  100  in response to the hatch cover open request. 
     The hatch cover detection unit  123  is used to detect whether the hatch cover of the distribution robot  200  is opened when the hatch cover detection instruction receiving unit receives the hatch cover detection instruction. 
     According to another aspect of the present disclosure, an aircraft is provided, comprising a memory configured to store computer instructions; and a processor configured to execute the instructions, so that the aircraft executes implements the cargo handover method or the logistics method according to any one of the foregoing embodiments. 
     Based on the aircraft provided in the above embodiment of the present disclosure, through accurately docking between an aircraft and a distribution robot, cargoes can be automatically transferred from the aircraft to the distribution robot. The above embodiment of the present disclosure is a distribution solution taking advantage of the linkage between an aircraft and a distribution robot. The above embodiment of the present disclosure can effectively solve the outstanding problem existing in rural logistics and distribution. As a result, the above embodiment of the present disclosure can bring the same rapid logistics experience to rural areas as urban online shopping, and can realize intelligent rural logistics. 
       FIG. 7  is a schematic diagram of a distribution robot according to some embodiments of the present disclosure. As shown in  FIG. 7 , the distribution robot  200  in the embodiment of  FIG. 1  or  FIG. 4  may comprise a cargo receiving module  210  and a cargo delivery module  220 . 
     The cargo receiving module  210  is used to receive cargoes delivered by an aircraft  100  at a cargo handover location of the aircraft  100  and the distribution robot  200 . 
     The cargo distribution module  220  is used to distribute the cargoes to a distribution address. 
       FIG. 8  is a schematic diagram of a cargo distribution module in some embodiments; As shown in  FIG. 8 , the cargo delivery module  220  in the embodiment of  FIG. 7  may comprise a navigation information receiving unit  221  and an automatic driving unit  222 . 
     The navigation information receiving unit  221  is used to receive navigation path information sent by a dispatching platform  300 , wherein the dispatching platform  300  generates the navigation path information according to distribution address information. 
     The automatic driving unit  222  is used to automatically drive to a distribution address according to the navigation path information to complete the distribution of the cargoes. 
     In some embodiments of the present disclosure, the automatic driving unit  222  is further used to return the distribution robot  200  to the cargo handover location of the aircraft  100  and the distribution robot  200  after distributing the cargoes to the distribution address, and wait for a next task. 
       FIG. 9  is a schematic diagram of a cargo receiving module in some embodiments. As shown in  FIG. 9 , the cargo receiving module  210  in the embodiment of  FIG. 7  may comprise a hatch cover open instruction receiving unit  211  and a hatch cover open unit  212 . 
     The hatch cover open instruction receiving unit  211  is used to receive a hatch cover open instruction sent by a dispatching platform  300 , wherein the aircraft  100  obtains a distribution robot identifier after reaching a cargo handover location of the aircraft  100  and the distribution robot  200 , and sends a hatch cover open request to the dispatching platform  300 , the hatch cover open request including the distribution robot identifier, to enable the dispatching platform  300  to send a hatch cover open instruction to a distribution robot  200  corresponding to the distribution robot identifier. 
     The hatch cover open unit  212  is used to open a hatch cover in response to the hatch cover open instruction received by the hatch cover open instruction receiving unit  211  so as to receive the cargoes delivered by the aircraft  100 , wherein the aircraft  100  delivers the cargoes to the distribution robot  200  after detecting that the hatch cover is opened by the distribution robot  200 . 
     In some embodiments of the present disclosure, as shown in  FIG. 9 , the cargo receiving module  210  may further comprise a cargo detection unit  213  and a hatch cover closing unit  214 . 
     The cargo detection unit  213  is used to detect whether the cargoes are delivered into a storage cabin after the hatch cover open unit  212  opens the hatch cover. 
     The hatch cover closing unit  214  is used to close the hatch cover after the cargo detection unit  213  detects that the cargoes are delivered into the storage cabin to complete the handover of the cargoes. 
     Based on the distribution robot provided by the above embodiments of the present disclosure, in order to solve the problem of scattered orders and difficult delivery in rural areas in the related art, the present invention uses a distribution solution taking advantage of the linkage between an aircraft and a distribution robot to replace the existing delivery-staff based distribution mode. Therefore, the above-mentioned embodiments of the present disclosure can greatly shorten the distribution time and save logistics costs. With the scaling-up of the solution of the above embodiment of the present disclosure, the logistics and distribution system can be deeply extended to rural areas. Therefore, the above embodiments of the present disclosure truly solve the problem of final delivery of rural e-commerce, so that rural users in the future can fully experience the convenience and benefits brought by e-commerce. 
       FIG. 10  is a schematic diagram of a dispatching platform according to some embodiments of the present disclosure. As shown in  FIG. 10 , the dispatching platform  300  in the embodiment of FIG.  1  or  FIG. 4  may comprise a fixed route transmitting module  310 , a navigation information generation module  320 , and a navigation information transmitting module  330 . 
     The fixed route transmitting module  310  is used to transmit a fixed route to an aircraft  100 , to enable the aircraft  100  to reach a cargo handover location of the aircraft  100  and a distribution robot  200  according to the fixed route. 
     The navigation information generating module  320  is used to generate navigation path information according to distribution address information after the distribution robot  200  receives the cargoes delivered by the aircraft  100 . 
     The navigation information transmitting module  330  is used to transmit the navigation path information to the distribution robot  200 , to enable the distribution robot  200  to automatically drive to the distribution address according to the navigation path information to complete the delivery of the cargoes. 
     In some embodiments of the present disclosure, as shown in  FIG. 10 , the dispatching platform  300  may further comprise a cargo handover control module  340 , wherein, the cargo handover control module  340  is used to control the aircraft  100  to deliver the cargoes to the distribution robot  200  to complete the handover of the cargoes. 
       FIG. 11  is a schematic diagram of a cargo handover control module in some embodiments. As shown in  FIG. 11 , the cargo handover control module  340  in the embodiment of  FIG. 10  may comprise a hatch cover open request receiving unit  341 , a hatch cover open instruction sending unit  342 , and a hatch cover detection instruction sending unit  343 . 
     The hatch cover open request receiving unit  341  is used to receive a hatch cover open request sent by the aircraft  100 , wherein the hatch cover open request includes a distribution robot identifier obtained from the distribution robot  200  after the aircraft reaches a cargo handover location of the aircraft  100  and the distribution robot  200 . 
     The hatch cover open instruction sending unit  342  is used to send a hatch cover open instruction to a distribution robot  200  corresponding to the distribution robot identifier in the case that the hatch cover open request receiving unit  341  receives the hatch cover open request, so as to control the distribution robot  200  to open a hatch cover. 
     The hatch cover detection instruction sending unit  343  is used to send a hatch cover detection instruction to the aircraft  100  in the case that the hatch cover open request receiving unit  341  receives the hatch cover open request, so that the aircraft  100  detects whether the hatch cover of the distribution robot  200  is opened, and delivers the cargoes to the distribution robot  200  after detecting that the hatch cover of the distribution robot  200  is opened. 
     Based on the dispatching platform provided by the above embodiments of the present disclosure, in order to solve the problem of scattered orders and difficult delivery in rural areas in the related art, the present invention uses a distribution solution taking advantage of the linkage between an aircraft and a distribution robot to replace the existing delivery-staff based distribution mode. Therefore, the above-mentioned embodiments of the present disclosure can greatly shorten the distribution time and save logistics costs. With the scaling-up of the solution of the above embodiment of the present disclosure, the logistics and distribution system can be deeply extended to rural areas. Therefore, the above embodiments of the present disclosure truly solve the problem of final delivery of rural e-commerce, so that rural users in the future can fully experience the convenience and benefits brought by e-commerce. 
     According to a still another aspect of the present disclosure, a computer-readable storage medium is provided on which computer program instructions are stored, which when executed by a processor implement the cargo handover method or the logistics method according to any one of the above embodiments. For example, the computer readable storage medium is a non-transitory computer readable storage medium. 
     Functional units such as the dispatching platform  300 , the distribution robot identifier obtaining unit  121 , the hatch cover open request sending unit  122 , the hatch cover detection unit  123 , and the cargo receiving module  210  described above may be implemented as a general-purpose processor for performing the functions described in this application, Programmable logic controller (PLC), digital signal processor (DSP), application specific integrated circuit (ASIC), field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components or any appropriate combination thereof. 
     Heretofore, the present disclosure has been described in detail. In order to avoid obscuring the concepts of the present disclosure, some details known in the art are not described. Based on the above description, those skilled in the art can understand how to implement the technical solutions disclosed herein. 
     A person skilled in the art can understand that all or part of the steps for carrying out the method in the above embodiments can be completed by hardware or a program instructing the related hardware, wherein the program can be stored in a computer readable storage medium. The storage medium may be a read-only memory (ROM), a magnetic disk or a compact disk (CD). 
     The above description of this invention is given for illustration and description, but is not exhaustive and is not intended to limit the present invention to the form disclosed herein. Various modifications and variations are apparent for a person of ordinary skill in the art. Embodiments are selected and described for a better illustration of the principle and practical application of the present disclosure, so that those skilled in the art can understand the present disclosure and envisage various embodiments with various modifications suited to specific usages.