Warehouse goods access unmanned aerial vehicle, goods shelf and warehouse goods conveying system

Abstract

The application discloses a warehouse goods storage and taking unmanned aerial vehicle, a goods shelf and a warehouse goods conveying system. The unmanned aerial vehicle comprises a fuselage and a rotor assembly, and further comprises a goods identification assembly arranged on the fuselage, a goods grasping assembly, a power presetting assembly and a control assembly. The goods identification assembly is used for identifying goods information based on a mark on the goods or a carrier of the goods and outputting the goods information. The goods grasping assembly is used for setting a motion according to the goods information output to grasp the goods. The power presetting assembly is used for setting a time to adjust a power output mode of the rotor assembly in advance according to the goods information. The control assembly receives and responds to instruction data output of the goods information or an external control center to output a control instruction, and controls the motion of the goods grasping assembly and the power presetting assembly. By using the goods storage and taking unmanned aerial vehicle, the goods information can be automatically identified, a corresponding grasping mode and a running power can be adopted based on the goods information, the goods can be stably and quickly carried, and the conveying efficiency of the goods in the warehouse is improved.

Description

Technical Field

[0001] This invention relates to the field of warehouse management technology, and more specifically, to a drone, a shelf, and a warehouse goods conveying system for storing and retrieving goods. Background Technology

[0002] In large-scale warehouses, the location and transportation efficiency of goods often affect the delivery efficiency, which is one of the core competitive advantages of e-commerce. How to shorten the location and retrieval time of warehouse goods is a key area of ​​research and development for major logistics and e-commerce companies.

[0003] In the current logistics warehouses of self-operated e-commerce companies, goods are typically categorized and placed on shelves. When an order is received, staff manually retrieve the goods from designated areas. Due to the large warehouse area and the dispersed storage of ordered goods, staff need to repeatedly visit different areas to retrieve items, resulting in very low efficiency throughout the entire order retrieval process. This is a problem that urgently needs to be addressed. Summary of the Invention

[0004] To address the issue of long locating and retrieving times for goods in warehouses, which affects the efficiency of e-commerce goods delivery, this invention aims to: 1) provide a drone for storing and retrieving goods in warehouses, which can automatically locate warehouse locations and types of goods, and cooperate with intelligent shelves to achieve efficient storage and retrieval of goods; 2) provide a warehouse goods storage shelf; and 3) provide a warehouse goods conveying system. The specific solutions are as follows:

[0005] A drone for storing and retrieving goods in a warehouse includes a fuselage and a rotor assembly, and further includes:

[0006] The product identification component, configured on the device body, identifies product information and outputs it based on the markings on the product or its carrier;

[0007] The product grabbing component is configured to output a set action to grab products based on product information;

[0008] The power preset component is configured to adjust the power output mode of the rotor assembly in advance based on the cargo information.

[0009] The communication component is configured to communicate with an external control center, and is used to send the UAV's operational status data and receive command data from the external control center.

[0010] The control component is configured to be data-connected to the goods identification component and control-connected to the goods grasping component and the power preset component. It receives and responds to the goods information or the instruction data of the external control center to output control commands and control the actions of the goods grasping component and the power preset component.

[0011] Through the above technical solution, the drone for cargo storage and retrieval can automatically identify cargo information and adopt the corresponding grasping method and operating power based on the cargo information, so as to stably and quickly transport the cargo.

[0012] Furthermore, the marking element includes RFID tags, graphic codes, the external shape of goods or their carriers, or combinations thereof;

[0013] The product identification component includes:

[0014] The first storage module is configured to store a first relationship model between product information and each marker.

[0015] The RFID identification module is configured to identify RFID tags affixed to goods or their carriers, and output goods information based on the first relationship model; and / or

[0016] The graphic code recognition module is configured as a barcode scanner mounted on the device body, which recognizes the graphic code and outputs product information based on the first relationship model; and / or

[0017] The image acquisition and recognition module is configured to acquire images of the external shape of goods or their carriers, identify them, and generate goods information based on the first relationship model.

[0018] Using the above technical solution, drones can autonomously identify cargo information based on recognition components mounted on their bodies, thereby accurately handling the corresponding goods. Utilizing these recognition components, drones can perform long-range, non-contact identification of goods, significantly reducing the time required for the drone to identify and output cargo information.

[0019] Furthermore, the goods gripping component includes:

[0020] A mechanical gripper, disposed below the machine body, includes a mechanical gripper and a drive component that drives the mechanical gripper to move. The drive component is controlled and connected to the control component, receiving and responding to control commands from the control component to drive the mechanical gripper to move; and / or

[0021] An electromagnetic attraction component, located on the bottom side of the machine body, includes a power supply and an electromagnet electrically connected to the power supply. The power supply output terminal is equipped with a switching circuit, which is controlled and connected to the control component. The switching circuit receives and responds to the control command of the control component to generate an electromagnetic attraction force of a set intensity below the machine body.

[0022] The above technical solutions employ mechanical and / or electromagnetic attraction methods to grasp goods, which is convenient and fast. Furthermore, the grasping method can be flexibly changed as needed, or a combination of both methods can be used to achieve more stable and reliable grasping results.

[0023] Furthermore, the rotor assembly includes multiple rotors and their drive motors, each of which is controlled and connected to the control assembly;

[0024] The power preset component includes:

[0025] The goods weight acquisition unit is configured to connect to the goods identification component, receive and generate or directly acquire goods quality data based on goods information;

[0026] The product shape acquisition unit is configured to connect to the product recognition component, receive and acquire the aerodynamic shape data of the product based on the product information;

[0027] The rotor power balancing unit is configured to be connected to the cargo weight acquisition unit and the cargo shape acquisition unit. Based on the cargo mass data and aerodynamic shape data, it automatically generates or controls the components to acquire the output power data of each rotor and the power output change rate within a set time period.

[0028] Through the above technical solution, the drone can flexibly and appropriately adjust and preset the output power of each rotor and the rate of change of the output power of each drive motor during transportation based on the quality and aerodynamic shape data of the goods. This allows for faster and more stable delivery of goods, avoiding violent shaking of the drone and goods during flight transportation.

[0029] Furthermore, the control component includes:

[0030] The second storage module is configured to store a second relational model for storing the relationship between product information, grabbing method, and power output mode;

[0031] The data processing module is configured to connect to the goods recognition component, receive goods information, and generate and output grasping method and power output mode data based on the second relationship model;

[0032] The instruction interaction module receives the grasping method and power output mode data, generates and outputs corresponding control instructions to the goods grasping component and the power preset component.

[0033] Through the above technical solution, the control component can output precise control commands based on the cargo information collected by the drone, and control the drone's grasping action and output power during transportation.

[0034] A warehouse storage rack includes a frame, a controller, turnover boxes disposed on the frame for storing goods, an access panel disposed on or adjacent to the frame, and a conveying assembly for conveying the turnover boxes between the frame and the access panel.

[0035] The turnover box is equipped with a marker to facilitate drone identification of goods information and a gripping lock structure to facilitate drone grabbing of the turnover box;

[0036] The controller is connected to an external control center and receives external command signals to control the operation of the transmission component.

[0037] The drones mentioned above are all used for storing and retrieving goods in warehouses.

[0038] The above technical solution utilizes drones to place goods onto the storage panel for storage or to retrieve goods from the storage panel for delivery. In conjunction with the shelves, it enables rapid storage and retrieval of goods stored on the shelves.

[0039] Furthermore, the turnover box includes a top plate, a bottom plate, and a frame disposed between the two, with at least one side of the frame having an opening for placing goods.

[0040] The gripping and locking structure includes gripping slots on the periphery of the top plate for the drone cargo gripping component to grip the turnover box; and / or magnetic blocks disposed on the upper surface of the top plate;

[0041] Multiple lifting channels for raising the turnover box are provided around the periphery of the base plate.

[0042] Using the above technical solutions, drones can easily grab turnover boxes; and for turnover boxes containing goods of different weights, a combination of mechanical and magnetic grabbing methods can be used to achieve more stable and reliable goods transportation.

[0043] Furthermore, a first pressure sensor is provided on the top of the gripping slot of the turnover box for detecting the pressure between the drone's mechanical gripper and the gripping slot;

[0044] A second pressure sensor is installed at the bottom of the turnover box;

[0045] The turnover box is also equipped with a status confirmation unit for confirming the contact status between the drone and the turnover box. The status confirmation unit is connected to the first pressure sensor and the second pressure sensor. When the pressure detection value of the first pressure sensor exceeds the set value and the pressure detection value of the second pressure sensor is lower than the set value, a clamping confirmation signal is output to the controller and / or the drone.

[0046] Through the above technical solution, the turnover box can confirm its own status. When the turnover box is successfully lifted, it will output a clamping confirmation signal to the drone and / or the controller on the shelf. After that, the drone will start flying to deliver the goods, ensuring the smooth progress of the delivery process.

[0047] Furthermore, the frame is composed of multiple crossbeams and longitudinal beams that are interlocked, forming a storage space between the crossbeams and longitudinal beams for placing the turnover boxes.

[0048] The crossbeams and longitudinal beams located on the side of the frame are provided with slide rails along their length direction. The conveying assembly includes a conveying trolley that slides along the slide rails. The conveying trolley is connected to the controller and receives and responds to the controller's control signal to slide along the slide rails to a set position.

[0049] The upper surface of the conveying trolley is provided with a mechanical telescopic arm in the horizontal direction. The mechanical telescopic arm is connected to the controller and is controlled by the control signal of the control component to extend or retract toward or away from the storage space, passing through or away from the lifting channel.

[0050] A lifting device for raising the height of the mechanical telescopic arm is provided between the body of the conveying trolley and the mechanical telescopic arm. The lifting device is connected to the controller and receives and responds to the control signal output by the controller to control the horizontal height of the mechanical telescopic arm.

[0051] The access panel is located on the top of the frame and is adjacent to the slide rail;

[0052] In the initial state, the horizontal height of the mechanical telescopic arm is consistent with the height of the lifting channel on the turnover box stored in the storage space.

[0053] The above technical solution allows for the transfer of turnover boxes using a conveyor trolley and a mechanical telescopic arm mounted on it. When the turnover box is located on the storage panel, a drone can be used to quickly grab and transport the turnover box, thereby improving the storage and retrieval efficiency of warehousing and logistics goods.

[0054] Furthermore, the storage panel and turnover box are equipped with markers that facilitate drone positioning and identification. The markers include the external shape of the goods and their turnover box, RFID tags, graphic codes, or any combination of the above three.

[0055] With the above technical solution, the cargo identification component installed on the drone does not need to come into contact with the marker, and the identification process is efficient and accurate.

[0056] Furthermore, the shelf is equipped with an indicator to guide the drone to fly along a set path, and a detection device to detect whether there are turnover boxes in each storage space.

[0057] The indicator includes a radio frequency generator located at the top of the shelf;

[0058] The detection devices include graphic barcode scanning devices, RFID radio frequency identification devices, or image recognition devices installed in each storage space.

[0059] Through the above technical solutions, the shelf itself can provide guidance for the drone during flight, enabling the drone to reach the area where the goods are located more quickly and accurately. At the same time, by setting up detection turnover boxes or detection devices for goods in the storage space, the external control center can know the current storage status of the goods on the shelf and the storage time of the goods, which facilitates the traceability of subsequent goods storage actions.

[0060] A drone-based warehouse goods delivery system includes:

[0061] As mentioned above, drones for storing and retrieving warehouse goods and warehouse storage racks; and

[0062] The product information entry unit is configured to enter one or more combinations of product name, volume information, quality information, aerodynamic shape information, and product type information;

[0063] The information association storage unit is configured to associate and store product information, product or corresponding turnover box label information, and shelf information.

[0064] The control center is configured to connect with the drones used for storing and retrieving goods in the warehouse and the warehouse storage shelves, and output control signals based on a set algorithm to control the movement of the drones and the conveyor trolleys on the shelves.

[0065] The above technical solutions enable the automated and efficient transfer of warehouse goods through the cooperation between drones and shelving units.

[0066] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0067] (1) By using a cargo storage and retrieval drone, it can automatically identify cargo information and adopt the corresponding grasping method and operating power based on the cargo information, so as to stably and quickly transport the cargo and improve the efficiency of cargo transmission in the warehouse.

[0068] (2) By setting up intelligent shelves that work with drones, goods can be automatically picked up and placed on the shelves without human intervention, which can greatly improve the efficiency of goods transfer in the warehouse. Attached Figure Description

[0069] Figure 1 This is an overall schematic diagram of the drone;

[0070] Figure 2 A schematic diagram of the structure of a drone cargo-grabbing component;

[0071] Figure 3 This is a schematic diagram of the structure of the turnover box;

[0072] Figure 4A schematic diagram illustrating the combination of a drone and a turnover box;

[0073] Figure 5 This is a structural diagram of the shelving and turnover boxes;

[0074] Figure 6 for Figure 5 A magnified view of part A in the middle;

[0075] Figure 7 This is a schematic diagram of the warehouse goods conveying system of the present invention.

[0076] Reference numerals: 1. Fuselage; 2. Rotor assembly; 3. RFID tag; 4. Mechanical gripper; 5. Gripper arm; 6. Gripper teeth; 7. Screw drive device; 8. Turnover box; 9. Top plate; 10. Bottom plate; 11. Frame; 12. Gripping slot; 13. Lifting channel; 14. Crossbeam; 15. Longitudinal beam; 16. Frame; 17. Storage space; 18. Slide rail; 19. Conveyor trolley; 20. Mechanical telescopic arm; 21. Screw; 22. Electric telescopic pole; 23. Storage panel; 24. Control center; 25. UAV. Detailed Implementation

[0077] The present invention will be further described in detail below with reference to the embodiments and figures, but the embodiments of the present invention are not limited thereto.

[0078] It should be noted that the goods addressed in this application embodiment are mainly objects of a predetermined shape and size packaged in a box or express delivery box of a predetermined size. The drone 25 in this application embodiment adopts a commonly used quadcopter drone 25 design in the prior art. The specific solution is as follows:

[0079] A type of unmanned aerial vehicle (UAV) 25 for storing and retrieving goods in a warehouse, such as Figure 1 As shown, it mainly includes a fuselage 1 and a rotor assembly 2. The fuselage 1 is equipped with components such as a battery and a flight control module. The rotor assembly 2 mainly includes a quadcopter, a motor, and blades. The rotor assembly 2 is similar to the existing quadcopter drone 25, except that the blades are surrounded by a ring-shaped protective ring to prevent the blades from colliding with surrounding objects when the drone 25 is flying in a confined space.

[0080] Unlike existing drones 25, the warehouse goods storage and retrieval drone 25 described in this application embodiment further includes: a goods identification component, a goods grasping component, a power preset component, a communication component, and a corresponding control component.

[0081] The cargo identification component is mounted on the fuselage 1 of the drone 25, identifying and outputting cargo information based on markers on the cargo or its carrier. In this embodiment, the markers include RFID tags 3, graphic codes, the external shape of the cargo or its carrier, or any combination of the three. The RFID tags 3 can be detected by an RFID reader within a defined spatial range. The graphic codes are preferably configured as QR codes, but can also be configured as barcodes. The external shape of the cargo or its carrier mainly refers to certain goods or carriers with specific shapes; the type of cargo can be identified using image recognition principles to obtain cargo information. In this embodiment, the cargo carrier is configured as a turnover box 8 for internal warehousing and logistics. The markers are preferably mounted on the turnover box 8, and the cargo information is associated with and stored with the markers when the cargo is placed in the turnover box 8.

[0082] The product information in this application includes one or more combinations of product name, volume information, weight information, aerodynamic shape information, and product type information. In practical applications, the above product information can be further improved as needed, such as adding information on product management personnel.

[0083] Corresponding to the marking element used in the embodiments of this application, the goods identification component in the embodiments of this application includes a first storage module and one or more combinations of an RFID identification module, a graphic code identification module, and an image acquisition and identification module.

[0084] The first storage module includes a storage chip module disposed in the body 1, configured to store a first relationship model between product information and various markers. The markers stored in the above process refer to characteristic information data used to represent the markers, such as the marker's ID information. The first relationship model is preferably a two-dimensional data lookup table, which allows for quick retrieval of product information associated with the marker ID information once it is identified.

[0085] The RFID identification module is located below the fuselage 1 and includes an RFID reader configured to identify RFID tags 3 affixed to goods or turnover boxes 8, outputting goods information based on the aforementioned first relationship model. In practice, the RFID identification distance range is typically 0-1.5m, while the UHF RFID identification distance can be further increased. Obviously, by utilizing the cooperation of RFID tags 3 and the reader, the UAV 25 can accurately identify the tag information from a long distance during flight, thereby obtaining goods information.

[0086] The graphic code recognition module is configured as a scanning device, such as a barcode scanner, installed on the body 1, which recognizes the graphic code and outputs product information based on the first relational model.

[0087] The image acquisition and recognition module includes an image acquisition device and a recognition unit. The image acquisition device can be the camera built into the current UAV 25, configured to acquire images of the external shape of the goods or their carriers. The recognition unit uses image recognition software to recognize the images acquired by the image acquisition device, and then obtains the goods information based on the first relational model.

[0088] In all the above technical solutions, the drone 25 can autonomously identify cargo information based on the identification components set on the fuselage 1, and the drone 25 does not need to come into contact with the cargo or its carrier during the entire process, which can greatly shorten the time for the drone 25 to identify and obtain cargo information.

[0089] The product grabbing component is configured to output a set action to grab the product based on the product information. For example... Figure 2 As shown in the embodiments of this application, the goods gripping component includes a mechanical gripping component and / or an electromagnetic suction component.

[0090] A mechanical gripper is located below the machine body 1, including a mechanical gripper 4 and a drive unit that drives the mechanical gripper 4. The drive unit is connected to a control component and receives and responds to control commands from the control component to drive the mechanical gripper 4. Specifically, the mechanical gripper 4 includes two gripper arms 5. One end of each gripper arm 5 is connected to the other end via a pivot shaft at a predetermined distance from the end of the gripper arm 5. The other ends of the gripper arms 5 are bent towards each other to form gripper teeth 6. Based on this structure, when the ends of the two gripper arms 5 are connected and move closer or further apart, the two gripper teeth at the other end will move closer or further apart to a greater extent. In this embodiment, the drive unit uses a screw drive device 7. The ends of the two gripper arms 5 away from the gripper teeth 6 are respectively slidably mounted on the screw 21 of the screw drive device 7 via two sliders. The internal threads of the two sliders are arranged in opposite directions. Thus, when the screw 21 rotates clockwise or counterclockwise, the two sliders will move towards or away from each other, thereby driving the gripper teeth 6. Similarly, as... Figure 2 As shown, the threads on the lead screw 21 can be set to be either forward or reverse. In this case, it is only necessary to set a gripping groove 12 for the mechanical gripper 4 to grip the goods on the side wall of the goods carrier, such as the goods turnover box 8, so that the mechanical gripper 4 on the drone 25 can easily grip and fix it.

[0091] The electromagnetic suction device is located on the bottom side of the fuselage 1, including a power supply and an electromagnet electrically connected to the power supply. A switching circuit is provided at the power supply output end, and the switching circuit is connected to the control component. It receives and responds to control commands from the control component to generate an electromagnetic suction force of a set intensity below the fuselage 1. The power supply can be directly from the battery built into the drone 25, and the switching circuit can be implemented using a relay, a common technology in the prior art, ensuring stability and reliability. The advantage of this solution is that it can quickly and stably lift goods or their loads using electromagnetic suction, eliminating the need for precise positioning during the grasping process and making pick-up and drop very convenient.

[0092] In certain implementations, a combination of mechanical gripping and electromagnetic attraction can be used to grasp goods, resulting in a more stable and reliable gripping effect.

[0093] In this embodiment, to make the take-off, landing, and flight of the UAV 25 more stable, a power preset component is also provided for adjusting the power output mode of the rotor assembly 2 in advance based on the cargo information. The significance of the power preset component is that it can respond to changes in power demand that occur during take-off, landing, or flight in advance, making the flight smoother and faster. Compared with the self-balancing system built into the UAV 25, it has higher processing efficiency and faster response.

[0094] As detailed, rotor assembly 2 includes four rotors and their drive motors, each of which is connected to a control assembly.

[0095] The power preset components mainly include a cargo weight acquisition unit, a cargo shape acquisition unit, and a rotor power balancing unit.

[0096] The cargo weight acquisition unit is configured to connect to the cargo identification component, receiving and generating or directly acquiring cargo weight data based on cargo information. The cargo shape acquisition unit is configured to connect to the cargo identification component, receiving and acquiring aerodynamic shape data of the cargo based on cargo information. The rotor power balancing unit is configured to connect to both the cargo weight acquisition unit and the cargo shape acquisition unit, automatically generating or controlling the acquisition of output power data for each rotor and the rate of change of power output within a set time period based on cargo weight data and aerodynamic shape data. With the above technical solution, the UAV 25 can flexibly and appropriately adjust and preset the output power of each rotor and the rate of change of output power of each drive motor during transportation based on the cargo weight and aerodynamic shape data. This allows for faster and more stable cargo delivery, preventing violent shaking of the UAV 25 and the cargo during flight transportation.

[0097] The communication component is configured to communicate with the external control center 24 to send the working status data of the UAV 25 and receive the command data of the external control center 24. In practice, a Bluetooth wireless communication module or a 4G communication module can be used.

[0098] The control component is configured to be data-connected to the goods recognition component and control-connected to the goods grasping component and power preset component. It receives and responds to goods information or instruction data from the external control center 24, outputting control commands to control the actions of the goods grasping component and power preset component. In this embodiment, the control component can be an external FPGA control module, which has high-speed data processing capabilities and anti-interference capabilities, enabling it to process received data, including image data, at high speed and output corresponding control commands.

[0099] The entire control unit includes or is externally connected to a second storage module, a data processing module, and an instruction interaction module.

[0100] The second storage module is configured to store a second relational model that links product information, grasping methods, and power output modes. This second relational model preferably uses a two-dimensional lookup table for quick data retrieval. The second storage module is preferably implemented using an external RAM storage chip. The data processing module is configured to connect to the product recognition component, receive product information, and generate and output grasping method and power output mode data based on the second relational model.

[0101] The command interaction module receives data on the grasping method and power output mode, generates and outputs corresponding control commands to the goods grasping component and the power preset component. The command interaction module mainly includes control signal format conversion and output control. For different controlled terminals, the above control signals require different command formats and output methods adapted to the controlled terminals, i.e., control commands.

[0102] In conjunction with the aforementioned unmanned aerial vehicle (UAV) 25 for storing and retrieving warehouse goods, this application also proposes a warehouse goods storage rack, such as... Figure 3 and Figure 5 As shown, the system includes a frame 16, a controller, turnover boxes 8 disposed on the frame 16 for storing goods, a storage and retrieval panel 23 disposed on or adjacent to the frame 16, and a conveying assembly for transferring the turnover boxes 8 between the frame 16 and the storage and retrieval panel 23. The controller is connected to an external control center 24 via a designated communication unit, such as a Bluetooth communication module, and receives external command signals to control the operation of the conveying assembly.

[0103] like Figure 3As shown, the turnover box 8 is equipped with markings to facilitate the identification of goods information by the aforementioned drone 25, as well as a gripping and locking structure to facilitate the drone 25's gripping of the turnover box 8. Specifically, the turnover box 8 includes a top plate 9, a bottom plate 10, and a frame 11 disposed between the two. At least one side of the frame 11 has an opening for placing goods. The turnover box 8 is made entirely of lightweight, rigid plastic. The gripping and locking structure includes gripping slots 12 on the periphery of the top plate 9 to facilitate the drone 25's goods gripping component to grip the turnover box 8, and / or magnetic blocks disposed on the upper surface of the top plate 9. The gripping slots 12 or magnetic blocks cooperate with the goods gripping component on the drone 25 to facilitate the drone 25's gripping of the turnover box 8, achieving stable transportation of goods.

[0104] like Figure 3 As shown, similar to the pallet structure in the prior art, the bottom plate 10 of the turnover box 8 has multiple lifting channels 13 extending through its perimeter for lifting the turnover box 8. The upper surface of the bottom plate 10 is provided with a placement groove to facilitate fixing the goods placed in the turnover box 8 and prevent them from sliding out of the turnover box 8 during transfer.

[0105] A first pressure sensor is installed at the top of the gripping slot 12 of the turnover box 8 to detect the pressure between the mechanical gripper 4 of the drone 25 and the gripping slot 12. A second pressure sensor is installed at the bottom of the turnover box 8. The turnover box 8 also has a status confirmation unit to confirm the contact state between the drone 25 and the turnover box 8. The status confirmation unit is connected to the first and second pressure sensors. When the pressure detection value of the first pressure sensor exceeds a set value and the pressure detection value of the second pressure sensor is lower than the set value, a gripping confirmation signal is output to the controller and / or the drone 25. In practice, the status confirmation unit can be implemented using a circuit, such as two two-input comparators connected to two reference voltages respectively. The pressure detection values ​​of the first and second pressure sensors are compared, and two comparison results are output. A two-input AND gate circuit is then used to determine the comparison results. Only when both pressure detection values ​​meet the requirements is the gripping confirmation signal output, after which the drone 25 begins to fly and transport goods.

[0106] like Figure 5As shown, the frame 16 is formed by the interlocking of multiple crossbeams 14 and longitudinal beams 15, creating storage spaces 17 for placing turnover boxes 8. Slide rails 18 are provided along the length of the crossbeams 14 and longitudinal beams 15 located on the sides of the frame 16. The conveying assembly includes a conveying trolley 19 that slides along the slide rails 18. The conveying trolley 19 is connected to a controller and has a built-in drive motor, control unit, and communication unit connected to the controller. It receives and responds to control signals from the controller, sliding along the slide rails 18 to a set position. To make the movement of the conveying trolley 19 more precise, positioning tags, such as RFID tags, can be placed on the slide rails 18 below each storage space 17. Correspondingly, an RFID device connected to the control unit signal can be placed on the conveying trolley 19. When the conveying trolley 19 moves to the set position, it can detect the aforementioned RFID tag, thereby confirming the accuracy of the position.

[0107] Combination Figure 5 and Figure 6 As shown, a mechanical telescopic arm 20 is horizontally mounted on the upper surface of the conveyor trolley 19. The horizontal height of the mechanical telescopic arm 20 matches the height of the lifting channel 13 on the turnover box 8 stored in the storage space 17. The mechanical telescopic arm 20 is connected to a controller and extends or retracts towards or away from the storage space 17, passing through or away from the lifting channel 13, under the control signal of the control component. A lifting device is provided between the conveyor trolley 19 body and the mechanical telescopic arm 20 to raise the height of the mechanical telescopic arm 20. The lifting device is connected to the controller and receives and responds to the control signal output by the controller to control the horizontal height of the mechanical telescopic arm 20.

[0108] In this embodiment, the telescopic robotic arm is implemented using a lead screw drive device 7. Specifically, the lead screw drive device 7 includes a servo motor, a lead screw 21, and a slider sleeved on the lead screw 21. The axial direction of the lead screw 21 is aligned with the opening direction of the lifting channel 13 on the bottom plate 10 of the turnover box 8. The main body of the telescopic robotic arm 20 is fixedly connected to the slider on the lead screw drive device 7 and is driven by the lead screw drive device 7 to reciprocate along its own axial direction. Both the lead screw drive device 7 and the telescopic robotic arm are located on the same mounting plate.

[0109] The lifting device is configured as an electric telescopic rod 22 installed in the body of the conveyor trolley 19, and multiple electric telescopic rods 22 are configured. The telescopic ends of the multiple electric telescopic rods 22 are fixedly connected to different positions of the mounting plate to achieve smooth lifting and lowering of the mounting plate.

[0110] To facilitate the transfer of goods, the access panel 23 is located on the top of the frame 16 and next to the slide rail 18.

[0111] Based on the above technical solution, when it is necessary to access the turnover box 8 containing goods in the storage space 17, the controller first controls the conveyor trolley 19 to move to the location of the storage space 17. Since each storage space 17 has a corresponding positioning tag, the conveyor trolley 19 can accurately stop at the correct position. Then, the telescopic robotic arm is inserted into the lifting channel 13 opened on the bottom plate 10 of the turnover box 8, and the turnover box 8 is lifted to a set height by the electric telescopic rod 22. Then, the telescopic robotic arm is reversed, thereby taking the turnover box 8 out of the storage space 17. Then, the conveyor trolley 19 is controlled to move to the access panel 23, and the telescopic robotic arm places the turnover box 8 on the access panel 23. Similarly, when it is necessary to transfer the turnover box 8 on the access panel 23 to the storage space 17, a similar process can be used. The above automatic storage and retrieval method can improve the storage and retrieval efficiency of goods in warehousing logistics.

[0112] Since at least one access panel 23 is usually installed on a frame 16, in order for the drone 25 to be able to identify the corresponding access panel 23 or the turnover box 8 placed on the access panel 23, the access panel 23 and the turnover box 8 are provided with markers to facilitate the drone 25 to locate and identify them. The markers include the external shape of the goods and their turnover box 8, RFID tags 3, graphic codes, or any combination of the above three. The goods identification component installed on the drone 25 does not need to contact the markers, and the identification process is efficient and accurate.

[0113] The optimized shelving is equipped with indicators to guide the drone 25 along a set path, and detection devices to check whether each storage space 17 contains a turnover box 8. The indicators include a radio frequency generator located at the top of the shelving. The detection devices include graphic barcode scanners, RFID radio frequency identification devices, or image recognition devices located in each storage space 17. All of the above detection devices are connected to the controller signal and connected to the external control center 24 through the controller to provide real-time feedback on the storage status of the turnover boxes 8 and goods in the shelving.

[0114] Finally, this application also proposes a warehouse goods conveying system based on a drone 25, combined with... Figure 7 As shown, it includes the previously described unmanned aerial vehicle (UAV) 25 for storing and retrieving warehouse goods and warehouse goods storage shelves. It also includes: a goods information input unit, an information association storage unit, and a control center 24.

[0115] The product information entry unit is configured to enter one or more combinations of product name, volume information, quality information, aerodynamic shape information, and product type information. In practice, a computer human-computer interaction device can be used to enter the information data.

[0116] The information association storage unit includes a storage database configured to associate and store product information, product or its corresponding turnover box 8 label information, and shelf information, and provides corresponding data access interfaces.

[0117] The control center 24 includes a server located in the control room, configured to connect with the drone 25 for storing and retrieving goods and the storage racks for storing goods via a set communication unit, obtain the working status of the drone 25 and the racks, and has a set management algorithm built in. Based on the current working status of the drone 25 and the racks, it outputs control signals to control the movement of the drone 25 and the conveyor trolley 19 on the racks, thereby realizing automatic storage and retrieval of goods.

[0118] Based on the aforementioned warehouse goods transfer system, staff only need to enter the goods information at a designated location in the warehouse, such as the warehouse entrance, then bind the goods to the information in the turnover box 8 and place the goods in the turnover box 8. The control center 24 can then automatically store the goods in the corresponding location based on the current status of the drone 25 and the shelves. Retrieving goods can also be automated, greatly improving the efficiency of warehouse goods storage and retrieval.

[0119] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A warehouse goods access unmanned aerial vehicle, comprising a fuselage (1) and a rotor assembly (2), characterized in that, Also comprising: a cargo identification component arranged on the fuselage (1) and configured to identify cargo information based on a marker on the cargo or its carrier and output the cargo information; a cargo grabbing component configured to output a set action to grab the cargo according to the cargo information; a power preset component configured to preset the power output mode of the rotor assembly (2) according to the cargo information; a communication component configured to be in communication connection with an external control center (24) and transmit the working state data of the unmanned aerial vehicle (25) and receive the instruction data of the external control center (24); a control component configured to be in data connection with the cargo identification component and control connection with the cargo grabbing component and the power preset component, receive and respond to the control instruction output by the cargo information or the instruction data of the external control center (24) to control the action of the cargo grabbing component and the power preset component; the rotor assembly (2) comprises a plurality of rotors and driving motors, and each driving motor is in control connection with the control component; the power preset component comprises: a cargo weight acquisition unit configured to be in data connection with the cargo identification component, receive and generate or directly acquire cargo quality data based on the cargo information; a cargo shape acquisition unit configured to be in data connection with the cargo identification component, receive and acquire the aerodynamic shape data of the cargo based on the cargo information; a rotor power balance unit configured to be in data connection with the cargo weight acquisition unit and the cargo shape acquisition unit, automatically generate or acquire the output power data of each rotor and the power output change rate within a set period based on the cargo quality data and the aerodynamic shape data.

2. The warehouse goods access drone of claim 1, wherein, The marker comprises an RFID tag (3), a graphic code, an external shape of the cargo or its carrier, or a combination thereof; The cargo identification component comprises: a first storage module configured to store a first relationship model between the cargo information and each marker; an RFID identification module configured to identify the RFID tag (3) provided on the cargo or its carrier, output the cargo information based on the first relationship model; and / or a graphic code identification module configured as a code scanning device arranged on the fuselage (1), identify the graphic code and output the cargo information based on the first relationship model; and / or an image acquisition identification module configured to acquire the image of the external shape of the cargo or its carrier, identify and generate the cargo information based on the first relationship model.

3. The warehouse goods access drone according to claim 1, characterized in that, The cargo grabbing component comprises: a mechanical grabbing part arranged below the fuselage (1) and comprising a mechanical gripper (4) and a driving part driving the movement of the mechanical gripper (4), the driving part being in control connection with the control component, receiving and responding to the control instruction of the control component to drive the movement of the mechanical gripper (4); and / or an electromagnetic suction part arranged on the bottom side of the fuselage (1) and comprising a power supply and an electromagnet electrically connected with the power supply, the output end of the power supply being provided with a switching circuit, the switching circuit being in control connection with the control component, receiving and responding to the control instruction of the control component to generate an electromagnetic suction force of a set strength below the fuselage (1).

4. The warehouse goods accessing drone according to claim 1, characterized in that, The control component comprises: A second storage module configured to store a second relationship model of an association relationship between goods information, a grabbing mode, and a power output mode; A data processing module configured to be in data connection with the goods identification component, receive the goods information, and generate and output the grabbing mode and the power output mode data based on the second relationship model; An instruction interaction module configured to receive the grabbing mode and the power output mode data, and generate and output corresponding control instructions to the goods grabbing component and the power preset component.

5. A storage goods storage rack characterized by, The storage shelf comprises a shelf body (16), a controller, a turnover box (8) arranged on the shelf body (16) for storing goods, an access panel (23) arranged on the shelf body (16) or adjacent to the shelf body (16), and a conveying assembly for conveying the turnover box (8) between the shelf body (16) and the access panel (23); The turnover box (8) is provided with a marker for identifying goods information by the unmanned aerial vehicle (25) and a grabbing lock structure for grabbing the turnover box (8) by the unmanned aerial vehicle (25); The controller is in signal connection with an external control center (24) and receives an external instruction signal to control the action of the conveying assembly; The unmanned aerial vehicle (25) is the unmanned aerial vehicle for accessing goods in storage as claimed in any one of claims 1-4.

6. The storage goods storage rack of claim 5, wherein, The turnover box (8) comprises a top plate (9), a bottom plate (10), and a frame (11) arranged between the top plate (9) and the bottom plate (10), at least one side of the frame (11) being provided with an opening for placing goods; The grabbing lock structure comprises a grabbing groove (12) arranged on the side of the top plate (9) for the unmanned aerial vehicle (25) to grab the turnover box (8); and / or a magnetic block arranged on the upper surface of the top plate (9); A plurality of lifting channels (13) for lifting the turnover box (8) are arranged through the bottom plate (10) on the side of the bottom plate (10).

7. The storage shelf for storing goods according to claim 6, wherein A first pressure sensor is arranged on the top of the grabbing groove (12) of the turnover box (8) for detecting the pressure between the mechanical gripper (4) of the unmanned aerial vehicle (25) and the grabbing groove (12); A second pressure sensor is arranged on the bottom of the turnover box (8); A state confirmation unit for confirming the contact state between the unmanned aerial vehicle (25) and the turnover box (8) is further arranged on the turnover box (8), the state confirmation unit being in signal connection with the first pressure sensor and the second pressure sensor, and outputting a gripping confirmation signal to the controller and / or the unmanned aerial vehicle (25) when the pressure detection value of the first pressure sensor exceeds a set value and the pressure detection value of the second pressure sensor is lower than a set value.

8. The storage good storage rack of claim 6, wherein, The shelf body (16) is formed by interlaced lapping of a plurality of cross beams (14) and longitudinal beams (15), and a storage space (17) for placing the turnover box (8) is formed between the cross beams (14) and the longitudinal beams (15). The horizontal beam (14) and the vertical beam (15) on the side of the frame body (16) are provided with a sliding rail (18) along the length direction thereof, the conveying assembly comprises a conveying trolley (19) arranged to slide along the sliding rail (18), the conveying trolley (19) is connected to the controller in a control mode, and slides to a set position along the sliding rail (18) in response to a control signal of the controller; The upper surface of the conveying trolley (19) is provided with a mechanical telescopic arm (20) in a horizontal direction, the mechanical telescopic arm (20) is connected to the controller in a control mode, and is controlled to extend towards or away from the storage space (17) in response to a control signal of the control assembly, and passes through or moves away from the lifting channel (13); The conveying trolley (19) is provided with a lifting device between the body and the mechanical telescopic arm (20) for lifting the height of the mechanical telescopic arm (20), the lifting device is connected to the controller in a control mode, and controls the horizontal height of the mechanical telescopic arm (20) in response to a control signal output by the controller; The access panel (23) is arranged on the top of the frame body (16) and adjacent to the sliding rail (18); In the initial state, the horizontal height of the mechanical telescopic arm (20) is consistent with the height of the lifting channel (13) on the tote (8) stored in the storage space (17).

9. The storage good storage rack of claim 6, wherein, The access panel (23) and the tote (8) are provided with a marker for positioning and identifying the unmanned aerial vehicle (25), the marker comprises the external shape of the goods and the tote (8), an RFID tag (3), a graphic code, or any combination of the three.

10. The storage good storage rack of claim 9, wherein, The goods shelf is provided with an indication for guiding the unmanned aerial vehicle (25) to fly along a set path, and a detection device for detecting whether there is a tote (8) in each storage space (17); The indication comprises a radio frequency generating device arranged at the top of the goods shelf; The detection device comprises a graphic code scanning device, an RFID radio frequency identification device, or an image recognition device arranged in each storage space (17).

11. An unmanned aerial vehicle based warehousing goods delivery system, characterized in that, Comprise: The unmanned aerial vehicle for accessing warehouse goods according to any one of claims 1-4; The warehouse goods storage rack according to any one of claims 6-10; And The goods information input unit is configured to input one or more combinations of the name, volume information, mass information, aerodynamic shape information, and goods category information of the goods; The information association storage unit is configured to store the goods information, the marker information on the goods or the corresponding tote (8), and the goods shelf information in association; The control center (24) is connected to the unmanned aerial vehicle (25) for accessing warehouse goods and the warehouse goods storage shelf in a signal mode, and outputs a control signal based on a set algorithm to control the motion state of the unmanned aerial vehicle (25) and the conveying trolley (19) on the goods shelf.

Images