Goods storage module unit suitable for logistics distribution unmanned automatic airport

Abstract

The invention relates to a cargo storage module unit suitable for a logistics distribution unmanned automatic airport, and belongs to the field of unmanned aerial vehicle logistics industry automation equipment. The cargo man-machine interaction storage module is a man-machine interaction interface of the whole device, and the functions of receiving, storing, taking and placing cargoes are achieved through fusion of interaction software and cargo hold hardware. The logistics automatic transmission and distribution module has the function of automatically transporting, storing and taking goods between the cargo hold and the unmanned aerial vehicle airport. The intelligent power supply system module is an energy supply system of the whole device and has an efficient power matching optimization function. The electrical control system is a main control core of the device and carries out overall planning and instruction driving on cooperation of all the modules. The multifunctional main body frame is an installation bearing platform of all the modules and has the advantages of being multifunctional, high in reliability and long in service life. The whole device is high in automation degree, high in universality, reliable, stable and convenient to arrange and move.

Description

Technical Field

[0001] The invention relates to a cargo storage module unit suitable for an unmanned automatic airport for logistics distribution, and belongs to the field of automated equipment for unmanned aerial vehicle logistics industry. Background Art

[0002] Logistics delivery drones are also called drone express, which means that express delivery companies use unmanned aerial vehicles to deliver small and medium-sized cargo packages. Drones are mainly used in the field of logistics and distribution to quickly deliver small and medium-sized goods and improve the efficiency of express delivery, especially for relatively remote areas of cities. Drones can fly over obstacles such as fences and buildings and accurately deliver goods to designated locations. At the same time, some provinces and cities in my country still have difficulties in delivery and high delivery costs in underdeveloped areas of transportation. Therefore, choosing drone logistics delivery can further expand network coverage, reduce costs, and improve service timeliness.

[0003] However, there are still some problems to be solved and overcome in the current drone logistics distribution mode, such as drone transportation of large loads, medium and long-distance feeder lines, material transportation in special areas such as border outposts and islands, drone delivery at terminal distances, and transportation of materials that require special preservation, etc. In particular, in the application needs of freight storage, management, inventory, and stacking in a certain type of small single-point drone automatic logistics storage center, a modular, universal, intelligent, fast and convenient solution and practical device has not yet been formed.

[0004] An unmanned automatic airport refers to a dedicated parking place designed specifically for drones. When not working, the drone stays on standby in the automatic airport; when working, the airport door opens and the drone automatically flies out to operate. Unmanned automatic airports enable drones to be directly deployed to the work site, solving the on-site operation problems of manually carrying and flying drones. The biggest advantage of unmanned automatic airports is that they enhance the emergency operation capabilities of drones, and the operating efficiency has also been greatly improved. In recent years, with the accelerated development of intelligent unmanned logistics distribution systems, as an important branch of logistics distribution drone systems, the field of unmanned automatic airports for logistics distribution systems has also developed rapidly, and many high-tech products have emerged.

[0005] Therefore, in order to solve the demand problem of the above-mentioned small single-point UAV automatic logistics storage center, based on the current unmanned automatic airport, a logistics distribution storage module unit combined with unmanned automatic airport is urgently needed to be developed and researched in the unmanned logistics distribution industry, aiming at the actual application of the logistics distribution system in urban areas using multi-rotor UAVs to transport small and medium-sized goods. The cargo storage module unit of the unmanned automatic airport for logistics distribution is an important component of the multi-rotor UAV parking / flying, picking up / putting goods, which is used to quickly dock with the unmanned automatic airport platform, and mainly realizes the functions of cargo transmission and storage and retrieval. Summary of the invention

[0006] The technical problem solved by the present invention is: to meet the needs of unmanned logistics distribution systems and overcome the gaps in the prior art, a cargo storage module unit suitable for unmanned automatic airports for logistics distribution is provided, which is well connected with the unmanned automatic airport to realize the functions of receiving, storing and transporting cargo by the logistics distribution drone system. The device has the advantages of high degree of automation, strong versatility, reliability and stability, easy layout and movement, can carry a large weight, and has simple human-computer interaction. It can be widely used in intelligent unmanned logistics distribution systems.

[0007] The technical solution of the present invention is: a cargo storage module unit suitable for unmanned automatic airports for logistics distribution, characterized by: comprising a cargo human-machine interaction storage module, a logistics automatic transmission and distribution module, an intelligent power supply system module, an electrical control system, a multifunctional main frame and several auxiliary devices;

[0008] The multifunctional main frame is the installation and bearing part, providing the only cargo storage and access channel for storing and retrieving cargo, in which the human-machine interaction storage module, the logistics automatic transmission and distribution module and the electrical control system are installed;

[0009] The human-computer interaction storage module stores goods, provides a human-computer interaction interface, provides the user with stored goods information and receives the user's operation information, and sends the stored goods information and the user's operation information to the electrical control system;

[0010] The electrical control system controls the automatic logistics transmission and distribution module to move the goods in the human-computer interaction storage module out of the goods storage and access channel, or to store the goods from the goods storage and access channel into the human-computer interaction storage module according to the user's operation information and the goods information; the goods storage and access channel is docked with the standard drone airport and is placed under the drone airport to realize the receipt, storage and transportation of goods by the logistics distribution drone.

[0011] Preferably, the human-computer interaction storage module includes a honeycomb storage box and an intelligent human-computer interaction unit; the honeycomb storage box is a honeycomb warehouse for storing goods, and weighing instruments and monitoring instruments are arranged in the honeycomb storage box to collect and store basic information of the goods in each box; the intelligent human-computer interaction unit uses a touch screen as a carrier to provide real-time feedback to the user on the storage status of the goods, and at the same time receives various operation information from the user and transmits it to the electrical control system.

[0012] Preferably, the logistics automatic transmission and distribution module includes a two-axis transport device, a main track transport device, a local self-rotating transport device, and a local push-up transport device;

[0013] The two-axis transport device is installed on the main rail transport device to complete the first type of action of running from one end of the main rail transport device to the other end; the two-axis transport device body includes a two-axis transport mechanism to complete the second type of action of transporting the goods from the bottom layer to the top layer of the honeycomb storage box, and the third type of action of taking out and pushing the goods from any honeycomb storage box; the local self-rotating transport device includes a self-rotating transport mechanism to realize the fourth type of action of transferring the goods between the honeycomb storage boxes placed on both sides of the main rail transport device; the local push-up transport device makes up for the deficiency of the overall device in the transport height, and completes the fifth type of action of the goods being completely pushed out of the cargo access channel at the upper end of the multi-functional main frame.

[0014] Preferably, the main track transport device includes a first motor, a first screw module, a first guide rail, and an adapter plate slider; the first motor drives the first screw module to move, so that the adapter plate slider on the first screw module moves horizontally accurately along the first guide rail to the position of any honeycomb storage box; a two-axis transport device is installed on the adapter plate slider.

[0015] Preferably, the main rail transport device is laid at the bottom of the multifunctional main frame and arranged along the axis of the multifunctional main frame, and the axis is parallel to the honeycomb type storage box. The main rail transport device is respectively provided with a control soft limit function and a mechanical hard limit function. The control soft limit is achieved by controlling the first motor through the electrical control system software, and the mechanical hard limit is achieved by adding a mechanical limit block at the travel terminal of the main rail transport device.

[0016] Preferably, the two-axis transport device comprises a second motor, a second lead screw module, a second guide rail, a cargo pallet vertical slider, a balancing bracket, a third motor, a third lead screw module, a third guide rail, and a cargo pallet telescopic slider;

[0017] The second motor drives the second screw module to move, so that the vertical slider of the cargo pallet on the second screw module moves vertically along the second guide rail to the required height of any honeycomb type storage box, and the balance bracket is fixed on the vertical slider of the cargo pallet; the third motor installed on the balance bracket drives the third screw module to move, so that the telescopic slider of the cargo pallet on the third screw module performs telescopic movement along the third guide rail, thereby realizing the functions of storing the goods in the designated honeycomb type storage box and taking the goods from the designated position to the cargo storage and access channel.

[0018] Preferably, the local self-rotating transport device comprises a direct-drive turntable motor and a self-rotating platform;

[0019] The direct-drive turntable motor is fixedly mounted on the telescopic slider of the cargo pallet, on which a rotating platform is installed. The direct-drive turntable motor directly drives the rotating platform to rotate, thereby directly rotating the cargo on the turntable to the desired position.

[0020] Preferably, the local push-up and transport device is installed on a balancing bracket, including a fourth motor, a cargo pallet and an electric push rod; two fourth motors and a vertical electric push rod are placed on the diagonal sides below the cargo pallet; the fourth motors on both sides drive the electric push rods to move in the vertical direction, so that the cargo pallet can stably hold up the cargo, ensuring that the cargo can be completely pushed out of the cargo access channel at the top of the entire device.

[0021] Preferably, the intelligent power supply system module includes a controller, a generator, and an uninterruptible power supply; the controller is connected to the external power supply system, and when the external power supply system suddenly fails, the controller determines the power supply failure, and starts the generator in case of a power outage. In case of other failures, the connection between the external power supply system and the cargo storage module unit is disconnected, and the generator is started; the generator provides stable AC power within its capacity; when the generator capacity is exceeded and the external power supply system failure is still not eliminated, the controller starts the uninterruptible power supply, and the uninterruptible power supply continues to provide power supply; after the failure is eliminated, the controller controls the generator and the uninterruptible power supply to automatically suspend work.

[0022] Preferably, the electrical control system includes a basic space mapping software system, an inventory process control software system, and a pickup process control software system;

[0023] The basic space mapping software system establishes an overall space coordinate system, collects the coordinates of the current spatial position of the cargo pallet in real time and provides them to the inventory process control software system and the pickup process control software system, which respectively complete the storage and retrieval of the cargo according to the received inventory instructions and pickup instructions; the overall space coordinate system takes the midpoint of the stroke of the main track transport device as the origin, the first guide rail as the X-axis, as the coordinate axis for the horizontal movement direction of the first type of action; the second guide rail as the Y-axis, as the coordinate axis for the vertical movement direction of the second type of action; the third guide rail as the Z-axis, as the coordinate axis for the telescopic movement direction of the third type of action; the fixed space coordinate positions of any honeycomb storage box and cargo storage and access channel are stored internally as basic coordinate information;

[0024] Among them, the workflow of the inventory process control software system is as follows:

[0025] (a) after receiving the inventory instruction, generating an internal initialization path planning instruction set;

[0026] (b) by using the relative position information 1 formed by the position of the origin of any honeycomb storage box and the overall space coordinate system, combined with the relative position information 2 formed by the position of the origin and the position of the cargo access channel, the basic data of the two paths of the conventional path action planning and the backup path action planning are retrieved and generated from the initialization path planning instruction set;

[0027] (c) According to the real-time data collection of the basic spatial mapping software system, the self-check is used to determine whether the conventional path action planning is valid. If it is "valid", the automatic logistics transmission and distribution module is controlled to start working and execute the basic instructions of the conventional path action planning, and then go to (d). If it is "invalid", then jump to the following (e);

[0028] (d) After the routine path action planning instructions are completed, the real-time collected data of the basic space mapping software system is used to self-check whether the cargo pallet has arrived in the expected honeycomb storage box. If "yes", the inventory process is terminated. If "no", it returns to (a) and starts to generate the initialization path planning instruction set again;

[0029] (e) defining the conventional path generated in (b) as a failed path, storing it, and starting to execute the basic instructions of the backup path action planning;

[0030] (f) After the backup path action planning instruction is completed, the real-time collected data of the basic space mapping software system is used to self-check whether the cargo pallet has arrived at the designated cargo temporary storage location. If "yes", the inventory process is terminated. If "no", it returns to (a) and starts to generate the initialization path planning instruction set again;

[0031] The workflow of the pickup process control software system is as follows:

[0032] (1) After receiving the pickup instruction, generate an internal initialization path planning instruction set;

[0033] (2) Relative position information 1 formed by any honeycomb storage box and the origin of the coordinate system, combined with relative position information 2 formed by the origin and the cargo access channel, is used to retrieve and generate basic data for conventional path action planning from the initialization multi-path planning instruction set;

[0034] (3) According to the real-time data collected by the basic spatial mapping software system, the self-check is used to determine whether the path is valid. If it is "valid", the automatic logistics transmission and distribution module is controlled to start working, and the basic instructions of conventional path action planning are executed, and then go to (4). If it is "invalid", then jump to the following (5);

[0035] (4) After the routine path action planning instructions are completed, the real-time data collected by the basic space mapping software system is used to self-check whether the cargo pallet has reached the cargo access channel. If "yes", the pickup process is terminated. If "no", the process returns to (1) and starts to generate the initialization path planning instruction set again;

[0036] (5) Define the regular path generated in (2) as an invalid path and store it, and end the pickup process.

[0037] Preferably, in the inventory process and the picking process, the conventional path action planning includes: the logistics automatic transmission and distribution module controls the two-axis transport device and the main track transport device to simultaneously complete the command actions along the horizontal direction of the X-axis and the vertical direction of the Y-axis according to the received motion instructions, thereby realizing the coupling of the first type of action and the second type of action; according to the real-time spatial position coordinates of the cargo pallet and the completion status of the first and second types of actions, the two-axis transport device is controlled to select an opportunity to complete the command action in the Z-axis telescopic direction of storing the goods in the cargo box or taking the goods out of the cargo box, thereby realizing the coupling of the third type of action with the first and second types of actions; according to the position of the honeycomb storage box, the local self-rotating transport device is simultaneously controlled to complete its own directional rotation, thereby realizing the coupling of the fourth type of action with the first, second and third types of actions; according to the real-time spatial position coordinates of the cargo pallet, the distance between the goods and the cargo storage and access channel during the picking process is calculated, and the local pushing and lifting transport device is controlled to select an opportunity to complete the motion stroke of the pushing and lifting action, thereby realizing the coupling of the fifth type of action with the first, second, third and fourth types of actions.

[0038] Preferably, the cargo storage module unit also includes auxiliary devices, including monitoring cameras, environmental monitors, dual-mode electrical interfaces, and smoke exhaust and ventilation channels; the monitoring cameras and environmental monitors are both installed on the inner top surface of the multifunctional main frame; the monitoring camera monitors the entire process of cargo grabbing and conveying, cargo loading and unloading and storage, as well as the operation of the generator and uninterruptible power supply; the environmental monitor includes temperature and humidity detection and early warning and smoke concentration detection and early warning functions, which can monitor the temperature, humidity and smoke concentration in the multifunctional main frame in real time and warn of environmental abnormalities; the dual-mode electrical interface realizes the dual power supply function of the two external electrical interfaces of the cargo storage module unit, one realizes the power supply connection between the cargo storage module unit and the conventional external power supply system, and is used for the power supply condition of the cargo storage module unit in the single working mode; the other realizes the power supply connection between the cargo storage module unit and the unmanned automatic airport; the smoke exhaust and ventilation channel is arranged at the bottom of the multifunctional main frame, and has an effective smoke exhaust and ventilation function to keep the interior of the multifunctional main frame and the stored cargo safe and clean.

[0039] The beneficial effects of the present invention are:

[0040] (1) The present invention integrates the five main systems of cargo human-machine interaction storage module, logistics automatic transmission and distribution module, intelligent power supply system module, electrical control system, and multifunctional main frame and several auxiliary devices in an integrated form with a high degree of integration. It provides an intelligent and simple human-machine interaction function interface for operators who send goods, and efficiently realizes automatic functions such as automatic grabbing and loading and unloading, automatic transmission and distribution, and has the functions of intelligent power supply, intelligent control, intelligent monitoring and decision-making. The overall device has high space utilization, and the integrated form is easy to disassemble and maintain, which well meets the modularization and integration characteristics of the product.

[0041] (2) The present invention has strong versatility. Through the standard quick installation interface in the structure and the dual-mode electrical interface in the electrical system, it can be directly connected to the unmanned automatic airport platform as needed, and can also complete the logistics distribution function independently. The entire device does not affect other modules of the unmanned automatic airport logistics distribution system, and has the universal characteristics of being able to flexibly and maneuverably deploy transportation and quickly connect to the unmanned automatic airport platform.

[0042] (3) The present invention has a relatively sensitive degree of intelligence, and contains an intelligent control software system inside to realize the overall intelligent software algorithm control of the cargo storage module unit; at the same time, it has a real-time monitoring device inside and can be connected to the system remote command center, and has the intelligent features of status self-check reporting alarm, operation failure reporting alarm, internal and external environment automatic reporting alarm, and has good human-computer interaction function

[0043] (4) The present invention has good environmental adaptability and reliability. Through the overall encapsulated structure, it can be used for a long time in harsh outdoor environments, and can prevent rain, snow, sand and dust weather, and prevent ants and insects from invading. The horizontal angle of the overall device can be adjusted through the support base. The device can be powered scientifically for a long time through the intelligent power supply system module. Through the monitoring camera, environmental monitor, and smoke exhaust and ventilation channel device, multiple auxiliary functions such as safety monitoring and smoke exhaust and heat dissipation can be realized. The device is stable and reliable, can withstand large loads, has a relatively long working life, and has good service capability and quality reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a three-dimensional layout and structural schematic diagram of the device of the present invention;

[0045] Figure 2 It is a structural schematic diagram of the human-computer interaction storage module of the present invention;

[0046] Figure 3 It is a structural schematic diagram of the automatic logistics transmission and distribution module of the present invention;

[0047] Figure 4 It is a structural schematic diagram of the intelligent power supply system module of the present invention;

[0048] Figure 5 It is a structural schematic diagram of the electrical control system of the present invention;

[0049] Figure 6 is a schematic diagram of the multifunctional main frame of the present invention;

[0050] Figure 7 It is a structural schematic diagram of the support base of the present invention;

[0051] Figure 8It is a structural schematic diagram of the main track transportation device of the present invention;

[0052] Fig. 9 is a schematic diagram of a two-axle transport device of the present invention;

[0053] Fig.10 It is a structural schematic diagram of the local rotation transport device of the present invention;

[0054] Fig.11 It is a structural schematic diagram of the local push-up and transportation device of the present invention;

[0055] Fig.12 Schematic diagram of the auxiliary device of the present invention.

[0056] Fig.13 It is the logic diagram of the inventory process control software system of the present invention;

[0057] Fig.14 This is a logic diagram of the pickup process control software system of the present invention. DETAILED DESCRIPTION

[0058] The present invention will be further described below in conjunction with the accompanying drawings.

[0059] The present invention proposes a cargo storage module unit suitable for unmanned automatic airports for logistics distribution. The system is composed of Figure 1-Figure 12 The device includes a cargo human-machine interactive storage module 1, a logistics automatic transmission and distribution module 2, an intelligent power supply system module 3, an electrical control system 4, a multifunctional main frame 5 and several auxiliary devices 6;

[0060] The cargo storage module unit is mainly composed of five systems: human-machine interaction storage module 1, logistics automatic transmission and distribution module 2, intelligent power supply system module 3, electrical control system 4, and multifunctional main frame 5; the human-machine interaction storage module 1 is fixedly connected with the multifunctional main frame 5 through a set mechanical interface, and is the only human-machine interface in the overall device for receiving, storing, and extracting goods. The logistics automatic transmission and distribution module 2 is placed inside the multifunctional main frame 5, and plays the role of transmitting and distributing the goods from the device to the drone airport device connected to it above; the intelligent power supply system module 3 is placed inside the multifunctional main frame 5, and plays the role of reasonable and scientific power supply to the entire device; the electrical control system 4 is placed inside the multifunctional main frame 5, and plays the role of electrical control of the entire device. The multifunctional main frame 5 is the installation and bearing part of the entire device, which contains the installation interfaces of the above modules, and also comes with auxiliary functions such as benchmark leveling, maintenance and inspection, electrical transfer transmission, and supporting drone airports. The entire device includes an installation interface for docking with a standard drone airport, which is placed below the drone airport to realize the functions of receiving, storing, and transporting goods by the logistics distribution drone system.

[0061] like Figure 2 As shown, the human-machine interaction storage module 1 mainly includes a honeycomb storage box 11 and an intelligent human-machine interaction unit 12; the honeycomb storage box 11, as a honeycomb warehouse, is the only human-machine interaction interface between the user and the entire device. Through the weighing instrument, monitoring instrument and other automated devices in the honeycomb storage box 11, the basic information of the goods in each box is collected and stored; the intelligent human-machine interaction unit 12 uses a touch screen as a carrier to provide real-time feedback on the storage status of the goods to the user, and at the same time receives various operation information from the user and transmits it to the electrical control system.

[0062] like Figure 3 As shown, the logistics automatic transmission and distribution module 2 mainly includes a two-axis transport device 21, a main track transport device 22, a local self-rotating transport device 23, and a local push-up transport device 24. The two-axis transport device 21 is installed on the main track transport device 22, and can complete the first type of action of running from one end of the main track transport device 22 to the other end. The two-axis transport device 21 body includes a two-axis transport mechanism, which can complete the second type of action of transporting goods from the bottom layer to the top layer of the honeycomb storage box 11, and the third type of action of taking out and pushing goods from any honeycomb storage box 11. The local self-rotating transport device 23 body includes a self-rotating transport mechanism, which can fully realize the fourth type of action of transferring goods between two opposite honeycomb storage boxes 11. The local push-up transport device 24 makes up for the deficiency of the overall device in the transport height, and completes the fifth type of action of the goods being completely pushed out of the upper transport port of the overall device. It is jointly executed by the two-axis transport device 21, the main track transport device 22, the local self-rotation transport device 23 and the local push-up transport device 24. Through the intelligent software algorithm in the electrical control system 4, the real-time coupling of the above five types of actions can be finally completed, and the transportation and storage and retrieval of goods between the honeycomb storage box 11 and the standard drone airport can be flexibly and maneuverably realized.

[0063] like Figure 4 As shown, the intelligent power supply system module 3 includes a controller, a generator 31, and an uninterruptible power supply 32, which can intelligently identify and protect against sudden power supply situations (including but not limited to sudden power outages).

[0064] The controller is connected to the external power supply system. When the external power supply system suddenly fails, the controller determines the power supply failure. In the case of a power failure, the generator is started. In the case of other failures, the connection between the external power supply system and the cargo storage module unit is disconnected and the generator is started. The generator provides stable AC power within the capacity range. When the generator capacity is exceeded and the external power supply system failure is still not eliminated, the controller starts the uninterruptible power supply, and the uninterruptible power supply continues to provide power supply. After the failure is eliminated, the controller controls the generator and the uninterruptible power supply to automatically suspend work. In this example, the generator 31 provides the system with stable 220V AC power for more than 12 hours without interruption. At the same time, with the auxiliary function of the uninterruptible power supply 32, the system will continue to maintain power supply for more than 0.5 hours until the power supply returns to normal. The generator 31 and the uninterruptible power supply 32 will automatically suspend work.

[0065] like Figure 5 As shown, the electrical control system 4 is installed in the human-machine interactive operation area. The electrical control system 4 is in the form of a retractable drawer chassis. When the electrical maintenance and inspection of the overall device control system is required, the electrical control system 4 is directly pulled out and operated. The electrical control system 4 contains three software system frameworks: the basic space mapping software system, the inventory process control software system, and the picking process control software system, to realize the overall intelligent software algorithm control of the cargo storage module unit.

[0066] The basic space mapping software system means that the electrical control system 4 establishes the overall space coordinate system 411 from the moment the cargo storage module unit is powered on. The coordinate system takes the midpoint of the stroke of the main track transport device 22 as the origin, the first guide rail 223 as the X-axis, and the coordinate axis for the horizontal movement direction of the first type of action; the second guide rail 213 as the Y-axis, and the coordinate axis for the vertical movement direction of the second type of action; the third guide rail 218 as the Z-axis, and the coordinate axis for the telescopic movement direction of the third type of action. The electrical control system 4 collects and controls the current spatial position coordinates of the cargo pallet 242 in real time to realize the transportation and access of the cargo. The basic space mapping software system also contains the fixed spatial coordinate positions of any honeycomb storage box 11 and the cargo access channel as basic coordinate information.

[0067] Inventory process control software system workflow logic Fig.13 As shown, the details are as follows:

[0068] (a) after receiving the inventory instruction, generating an internal initialization path planning instruction set;

[0069] (b) by using the relative position information 1 (X-axis position coordinates, Z-axis position coordinates) formed between any honeycomb storage box 11 and the origin position of the coordinate system, combined with the relative position information 2 (Y-axis position coordinates) formed between the origin position and the cargo access channel position, the multi-path planning instruction set begins to retrieve and generate basic data for two paths, namely, the conventional path action planning and the backup path action planning;

[0070] (c) judging whether the path is valid based on the real-time data collected by the basic spatial mapping software system. If it is "valid", the logistics automatic transmission and distribution module 2 starts working and executes the basic instructions of the conventional path action planning. If it is "invalid", jump to the following (e);

[0071] (d) After the routine path action planning instruction is completed, the real-time collected data of the basic space mapping software system is used for self-checking to determine whether the cargo pallet 242 has arrived in the expected honeycomb storage box 11. If "yes", the inventory process is terminated. If "no", the process returns to (a) and starts to generate the initialization path planning instruction set again;

[0072] (e) defining the conventional path generated in (b) as a failed path, storing it, and starting to execute the basic instructions of the backup path action planning;

[0073] (f) After the backup path action planning instruction is completed, the real-time collected data of the basic space mapping software system is used to self-check whether the cargo pallet 242 has arrived at the designated cargo temporary storage location. If "yes", the inventory process is terminated. If "no", the process returns to (a) and starts to generate the initialization path planning instruction set again;

[0074] The workflow logic of the pickup process control software system is as follows Fig.14 As shown, the details are as follows:

[0075] (a) After receiving the pickup instruction, generate an internal initialization path planning instruction set;

[0076] (b) by using the relative position information 1 (X-axis position coordinates, Z-axis position coordinates) formed between any honeycomb storage box (11) and the origin position of the coordinate system, combined with the relative position information 2 (Y-axis position coordinates) formed between the origin position and the cargo access channel position, the multi-path planning instruction set starts to retrieve and generate basic data for conventional path action planning;

[0077] (c) judging whether the path is valid based on the real-time data collected by the basic spatial mapping software system. If it is "valid", the logistics automatic transmission and distribution module 2 starts working and executes the basic instructions of the conventional path action planning. If it is "invalid", jump to the following (e);

[0078] (d) After the routine path action planning instruction is completed, the real-time data collected by the basic space mapping software system is used to self-check whether the cargo pallet 242 has reached the cargo access channel. If "yes", the cargo pickup process is terminated. If "no", the process returns to (a) and starts to generate the initialization path planning instruction set again;

[0079] (e) Define the regular path generated in (b) as an invalid path and store it, and end the pickup process.

[0080] The initialization path planning instruction set in the above-mentioned storage and retrieval process refers to: based on the basic coordinate information data of any honeycomb storage box and cargo storage and retrieval channel stored by the basic space mapping software system, as well as the current space coordinate information data of the cargo pallet collected in real time, the storage / retrieval process control software system generates a number of array matrices corresponding to the above coordinate information (the array matrix contains data information such as the serial number and coordinate value that can refer to each coordinate point); according to the current array matrix information, permutation and combination calculations are performed to form an initial-scale multi-path planning array matrix set internally; finally, the above data matrix set is decoded and compiled to generate a number of motion action instructions that can control the operation of the logistics automatic transmission and distribution module, that is, the initialization path planning instruction set.

[0081] The method of retrieving and generating basic data of conventional path action planning from the initialization multi-path planning instruction set has certain intelligent human-computer interaction characteristics. According to the parameters in the initialization path planning instruction set, a variety of retrieval methods are provided (for example, retrieval based on the shortest time, retrieval based on the shortest path, retrieval based on the minimum energy consumption, etc.), and feedback is given to the intelligent human-computer interaction unit, and the operator can actively select a retrieval method on the touch screen.

[0082] In the inventory process and the picking process, the conventional path action planning mainly refers to: the logistics automatic transmission and distribution module 2 controls the two-axis transport device 21 and the main track transport device 22 to simultaneously complete the command actions along the horizontal direction of the X-axis and the vertical direction of the Y-axis according to the motion instructions sent by the electrical control system 4, thereby realizing the coupling of the first type of action and the second type of action; according to the real-time spatial position coordinates of the cargo pallet 242 and the completion status of the first and second types of actions, the two-axis transport device 21 is controlled to complete the command actions in the Z-axis telescopic direction of storing the goods in the cargo box or taking the goods out of the cargo box at an appropriate time, thereby realizing the coupling of the third type of action with the first and second types of actions; according to the position of the honeycomb storage box 11, the local self-rotating transport device 23 is controlled to complete its own directional rotation at the same time, thereby realizing the coupling of the fourth type of action with the first, second and third types of actions; according to the real-time spatial position coordinates of the cargo pallet 242, the distance between the goods and the cargo storage and access channel during the picking process is calculated, and the local pushing and lifting transport device 24 is controlled to complete the motion stroke of the pushing and lifting action at an appropriate time, thereby realizing the coupling of the fifth type of action with the first, second, third and fourth types of actions.

[0083] The failure paths mainly include the following situations: the honeycomb storage box 11 works abnormally, the basic information of the goods collected by the honeycomb storage box 11 is empty, the logistics automatic transmission and distribution module 2 fails to work, and the goods storage and access channel is blocked.

[0084] All the above inventory process and picking process information are fed back to the touch screen through the intelligent human-computer interaction unit 12, which facilitates the information interaction between man and machine and realizes the execution of various wishes of the operator.

[0085] like Figure 6 As shown, the multifunctional main frame 5 is an integral form with an integrated appearance and modular installation. The main frame 5 serves as a supporting structure of the whole device, and carries the cargo human-machine interaction storage module 1, the logistics automatic transmission and distribution module 2, the intelligent power supply system module 3, the electrical control system 4 module and other auxiliary devices 6. The cargo human-machine interaction storage module 1 is installed on the front and rear sides of the multifunctional main frame 5, and the cabinet door of the honeycomb storage box 11 and the touch screen of the intelligent human-machine interaction unit 12 are exposed to the outside of the main frame 5. The logistics automatic transmission and distribution module 2 and the intelligent power supply system module 3 are all installed inside the main frame 5 and supported by the internal steel beams. The electrical control system 4 is inserted on the guide rail of the main frame 5 and can be pulled and operated arbitrarily in the form of a retractable drawer chassis. The main frame 5 mainly includes an upper shell 51 and a bottom support base 52; the shell 51 and the support base 52 can be quickly installed. The top of the main frame 5 is provided with a cargo access channel 53 that is connected to the unmanned automatic airport, which is the only channel for the cargo to be transported from the whole device to the unmanned automatic airport. A maintenance hatch 54 of the whole device is provided on the side of the main frame 5 for maintenance personnel to enter and use when a failure occurs inside the whole device.

[0086] like Figure 7 As shown, new jack-type adjustable anchor bolt bottom brackets 521 are added at the four corners of the bottom of the support base 52, and each base can bear a preload of up to 750kg; level gauges 522 are respectively installed on the long and wide sides of the bottom of the chassis to coordinate and calibrate the horizontal tilt angle of the base. The height adjustment and angle adjustment functions of the overall system can be achieved by manually adjusting the height of each adjustable anchor bolt bottom bracket 521 (angle adjustment range ±5°).

[0087] like Figure 8As shown, the main rail transport device 22 includes components such as a first motor 221, a first screw module 222, a first guide rail 223, and an adapter plate slider 224. The main working mode of the main rail transport device 22 is that the first motor 221 drives the first screw module 222 to move, so that the adapter plate slider 224 on the first screw module 222 moves horizontally along the first guide rail 223 accurately to the position of any honeycomb storage box 11, and the total movement stroke is about 2000mm, which can fully realize the function of storing and retrieving goods.

[0088] The main rail transport device 22 is laid at the bottom of the entire device, arranged along the central axis of the entire device, and has a certain distance from the honeycomb storage box 11, so that the logistics automatic transmission and distribution module 2 can complete the transportation of goods to the required location through the synchronous coupling movement of five types of actions. In addition, the main rail transport device 22 is respectively provided with a control soft limit function and a mechanical hard limit function. The control soft limit is realized by the software control of each drive motor control system, and the mechanical hard limit is realized by installing a mechanical limit block 225 with a certain strength and life at the travel terminal of the main rail transport device 22, ultimately achieving safety protection of the entire transportation system.

[0089] like Fig. 9 As shown, the two-axis transport device 21 includes a second motor 211, a second lead screw module 212, a second guide rail 213, a cargo pallet vertical slider 214, a steel balance bracket 215, a third motor 216, a third lead screw module 217, a third guide rail 218, a cargo pallet telescopic slider 219 and other parts. The main working mode of the two-axis transport device 21 is that the second motor 211 drives the second lead screw module 212 to move, so that the cargo pallet vertical slider 214 on the second lead screw module 212 moves vertically along the second guide rail 213 accurately to the required height of any honeycomb storage box 11, and the total movement stroke is about 400mm; at the same time, the third motor 216 drives the third lead screw module 217 to move, so that the cargo pallet telescopic slider 219 on the third lead screw module 217 moves along the third guide rail 218 accurately to the cargo packaging box, and the total movement stroke is about 400mm, which can realize the function of placing the cargo at the designated cargo position in the honeycomb storage box 11.

[0090] like Fig.10 As shown, the local self-rotating transport device 23 includes ultra-thin direct-drive turntable motor 231, self-rotating platform 232 and other components. For the local self-rotating transport device 23, its total height is about 60mm. The ultra-thin direct-drive turntable motor 231 directly drives the self-rotating platform to rotate, so that the upper transport device is directly rotated to the required position. The total movement stroke is about 0° to 180°, which can fully realize the function of transporting goods between the honeycomb storage boxes 11 on the opposite sides of the front and rear. The self-rotating platform 232 has a size of 670mm×487mm and is fixedly connected to the telescopic slider 219 of the cargo pallet.

[0091] like Fig.11 As shown, the local lifting transport device 24 includes a fourth motor 241, a cargo tray 242, an electric push rod 243 and other components, and the total stroke is about 400 mm. Two fourth motors 241 and vertical electric push rods 243 are placed on the diagonal sides below the cargo tray 242. The fourth motors 241 on both sides drive the electric push rods 243 to move in the vertical direction, so that the cargo tray 242 (with a size of about 150 mm × 85 mm × 8 mm) can stably hold up the cargo packaging box, ensuring that the cargo packaging box can be completely pushed out of the cargo access channel 53 at the top of the entire device, so as to make up for the shortcoming of the two-axis transport device 21 in terms of transportation height.

[0092] like Fig.12 As shown, the auxiliary device 6 includes a monitoring camera 61, an environmental monitor 62, a dual-mode electrical interface 63, and a smoke exhaust ventilation channel 64. The monitoring camera 61 and the environmental monitor 62 are both installed on the internal top surface of the entire device. The monitoring camera 61 can rotate 360 ​​degrees and can monitor the entire process of cargo grabbing and conveying, cargo loading and unloading and storage, as well as the operation of the generator 31 and the uninterruptible power supply 32. The environmental monitor 62 includes temperature and humidity detection and early warning and smoke concentration detection and early warning functions, which can monitor the temperature, humidity and smoke concentration in the entire device in real time and warn of environmental abnormalities. The dual-mode electrical interface 63 realizes the dual power supply function of the two external electrical interfaces of the entire device. One realizes the power supply connection between the entire device and conventional civil mains and other peripheral electrical systems, which is used for the power supply condition of the device in the single working mode; the other realizes the power supply connection between the entire device and the unmanned automatic airport, which is used for the power supply condition of the device participating in the whole system of the unmanned automatic airport for logistics distribution. The smoke exhaust and ventilation channel 64 is arranged at the bottom of the entire device, and has an effective smoke exhaust and ventilation function to keep the interior of the device and the stored goods safe and clean.

[0093] In this embodiment, the overall size of the device is approximately 2.9m×2.4m×1.2m, and its own weight is approximately 1.5 tons, which is convenient for overall transportation, placement, relocation, maintenance and other operations.

[0094] In this embodiment, in the effective rated working mode of the device, the cargo is convenient to store and retrieve, and the transportation is fast. According to evaluation, the time from manually turning on the working mode of the device to storing the cargo in the honeycomb storage box (11) generally does not exceed 30 seconds; the time from the device receiving the cargo delivery instruction to the cargo being transported to the cargo storage and retrieval channel (53) and entering the unmanned automatic airport module generally does not exceed 25 seconds.

[0095] In this embodiment, the device has a high structural strength and strong applicability, and can operate at an unmanned automatic airport with a load mass of less than 2 tons.

[0096] In this embodiment, the manufacturing process of the device is simple and conventional. The surface is covered with 1.5 mm aluminum alloy sheet material, and the support frame is manufactured by welding and mechanical connection of 60×60 aluminum alloy profiles.

[0097] The results of the implementation example show that the device is placed under the unmanned automatic airport to realize a series of functions of the logistics distribution drone system such as receiving, storing and transporting goods.

[0098] Parts of the present invention that are not described in detail belong to common knowledge among those skilled in the art.

Claims

1. A cargo storage module unit suitable for unmanned automatic airports for logistics distribution, characterized in that : It includes cargo human-machine interaction storage module, logistics automatic transmission and distribution module, intelligent power supply system module, electrical control system, multifunctional main frame and several auxiliary devices; The multifunctional main frame is the installation and bearing part, providing the only cargo storage and access channel for storing and retrieving cargo, in which the human-machine interaction storage module, the logistics automatic transmission and distribution module and the electrical control system are installed; The human-computer interaction storage module stores goods, provides a human-computer interaction interface, provides the user with stored goods information and receives the user's operation information, and sends the stored goods information and the user's operation information to the electrical control system; The electrical control system controls the automatic logistics transmission and distribution module to move the goods in the human-computer interaction storage module out of the goods storage and access channel, or to store the goods from the goods storage and access channel into the human-computer interaction storage module according to the user's operation information and the goods information; the goods storage and access channel is docked with the standard drone airport and is placed under the drone airport to realize the receipt, storage and transportation of goods by the logistics distribution drone.

2. A cargo storage module unit suitable for an unmanned automatic airport for logistics distribution according to claim 1, characterized in that: The human-computer interaction storage module includes a honeycomb storage box and an intelligent human-computer interaction unit; the honeycomb storage box is a honeycomb warehouse used to store goods. Weighing instruments and monitoring instruments are set in the honeycomb storage box to collect and store basic information of the goods in each box; the intelligent human-computer interaction unit uses a touch screen as a carrier to provide real-time feedback on the storage status of the goods to the user, and at the same time receives various operation information from the user and transmits it to the electrical control system.

3. A cargo storage module unit suitable for an unmanned automatic airport for logistics distribution according to claim 2, characterized in that: The logistics automatic transmission and distribution module includes a two-axis transport device, a main track transport device, a local self-rotating transport device, and a local push-up transport device; The two-axis transport device is installed on the main rail transport device to complete the first type of action of running from one end of the main rail transport device to the other end; the two-axis transport device body includes a two-axis transport mechanism to complete the second type of action of transporting the goods from the bottom layer to the top layer of the honeycomb storage box, and the third type of action of taking out and pushing the goods from any honeycomb storage box; the local self-rotating transport device includes a self-rotating transport mechanism to realize the fourth type of action of transferring the goods between the honeycomb storage boxes placed on both sides of the main rail transport device; the local push-up transport device makes up for the deficiency of the overall device in the transport height, and completes the fifth type of action of the goods being completely pushed out of the cargo access channel at the upper end of the multi-functional main frame.

4. A cargo storage module unit suitable for an unmanned automatic airport for logistics distribution according to claim 3, characterized in that: The main track transport device includes a first motor, a first screw module, a first guide rail, and an adapter plate slider; the first motor drives the first screw module to move, so that the adapter plate slider on the first screw module moves horizontally accurately along the first guide rail to the position of any honeycomb storage box; a two-axis transport device is installed on the adapter plate slider.

5. A cargo storage module unit suitable for an unmanned automatic airport for logistics distribution according to claim 4, characterized in that: The main rail transport device is laid at the bottom of the multifunctional main frame and arranged along the axis of the multifunctional main frame, and the axis is parallel to the honeycomb storage box. The main rail transport device is respectively provided with a control soft limit function and a mechanical hard limit function. The control soft limit is achieved by controlling the first motor through the electrical control system software, and the mechanical hard limit is achieved by adding a mechanical limit block to the travel terminal of the main rail transport device.

6. The cargo storage module unit suitable for an unmanned automatic airport for logistics distribution according to claim 3, characterized in that: The two-axis transport device comprises a second motor, a second lead screw module, a second guide rail, a cargo pallet vertical slider, a balancing bracket, a third motor, a third lead screw module, a third guide rail, and a cargo pallet telescopic slider; The second motor drives the second screw module to move, so that the vertical slider of the cargo pallet on the second screw module moves vertically along the second guide rail to the required height of any honeycomb type storage box, and the balance bracket is fixed on the vertical slider of the cargo pallet; the third motor installed on the balance bracket drives the third screw module to move, so that the telescopic slider of the cargo pallet on the third screw module performs telescopic movement along the third guide rail, thereby realizing the functions of storing the goods in the designated honeycomb type storage box and taking the goods from the designated position to the cargo storage and access channel.

7. A cargo storage module unit suitable for an unmanned automatic airport for logistics distribution according to claim 6, characterized in that: The local self-rotating transport device includes a direct-drive turntable motor and a self-rotating platform; The direct-drive turntable motor is fixedly mounted on the telescopic slider of the cargo pallet, on which a rotating platform is installed. The direct-drive turntable motor directly drives the rotating platform to rotate, thereby directly rotating the cargo on the turntable to the desired position.

8. The cargo storage module unit suitable for an unmanned automatic airport for logistics distribution according to claim 7, characterized in that: The local push-up and transport device is installed on a balancing bracket, and includes a fourth motor, a cargo pallet and an electric push rod; two fourth motors and vertical electric push rods are placed on the diagonal sides below the cargo pallet; the fourth motors on both sides drive the electric push rods to move in the vertical direction, so that the cargo pallet can stably hold up the cargo, ensuring that the cargo can be completely pushed out of the cargo access channel at the top of the entire device.

9. The cargo storage module unit suitable for an unmanned automatic airport for logistics distribution according to claim 1, characterized in that: The intelligent power supply system module includes a controller, a generator, and an uninterruptible power supply; the controller is connected to the external power supply system. When a power failure occurs in the external power supply system, the controller determines the power failure. In the case of a power failure, the generator is started. In the case of other failures, the connection between the external power supply system and the cargo storage module unit is disconnected and the generator is started; the generator provides stable AC power within its capacity; When the generator capacity is exceeded and the external power supply system fault is still not eliminated, the controller starts the uninterruptible power supply, and the uninterruptible power supply continues to provide power supply; after the fault is eliminated, the controller controls the generator and the uninterruptible power supply to automatically stop working.

10. The cargo storage module unit suitable for an unmanned automatic airport for logistics distribution according to claim 1, characterized in that: The electrical control system includes a basic space mapping software system, an inventory process control software system, and a pickup process control software system; The basic space mapping software system establishes an overall space coordinate system, collects the coordinates of the current spatial position of the cargo pallet in real time and provides them to the inventory process control software system and the pickup process control software system, which respectively complete the storage and retrieval of the cargo according to the received inventory instructions and pickup instructions; the overall space coordinate system takes the midpoint of the stroke of the main track transport device as the origin, the first guide rail as the X-axis, as the coordinate axis for the horizontal movement direction of the first type of action; the second guide rail as the Y-axis, as the coordinate axis for the vertical movement direction of the second type of action; the third guide rail as the Z-axis, as the coordinate axis for the telescopic movement direction of the third type of action; the fixed space coordinate positions of any honeycomb storage box and cargo storage and access channel are stored internally as basic coordinate information; Among them, the workflow of the inventory process control software system is as follows: (a) after receiving the inventory instruction, generating an internal initialization path planning instruction set; (b) by using the relative position information 1 formed by the position of the origin of any honeycomb storage box and the overall space coordinate system, combined with the relative position information 2 formed by the position of the origin and the position of the cargo access channel, the basic data of the two paths of the conventional path action planning and the backup path action planning are retrieved and generated from the initialization path planning instruction set; (c) Based on the real-time data collection of the basic spatial mapping software system, the system determines whether the conventional path action planning is valid. If it is "valid", the logistics automatic transmission and distribution module is controlled to start working and execute the basic instructions of the conventional path action planning, and then go to (d). If it is "invalid", it jumps to the following (e); (d) After the routine path action planning instructions are completed, the basic space mapping software system performs a self-check based on the real-time data collected to determine whether the cargo pallet has arrived in the expected honeycomb storage box. If "yes", the inventory process ends; if "no", the process returns to (a) and starts to generate the initialization path planning instruction set again; (e) defining the conventional path generated in (b) as a failed path, storing it, and starting to execute the basic instructions of the backup path action planning; (f) After the backup path action planning instruction is completed, the real-time collected data of the basic space mapping software system is used to self-check whether the cargo pallet has arrived at the designated cargo temporary storage location. If "yes", the inventory process is terminated. If "no", the process returns to (a) and starts to generate the initialization path planning instruction set again; The workflow of the pickup process control software system is as follows: (1) After receiving the pickup instruction, generate an internal initialization path planning instruction set; (2) Relative position information 1 formed by any honeycomb storage box and the origin of the coordinate system, combined with relative position information 2 formed by the origin and the cargo access channel, is used to retrieve and generate basic data for conventional path action planning from the initialization multi-path planning instruction set; (3) Based on the real-time data collected by the basic spatial mapping software system, the self-check is used to determine whether the path is valid. If it is "valid", the automatic logistics transmission and distribution module is controlled to start working, and the basic instructions of conventional path action planning are executed, and then the process goes to (4). If it is "invalid", the process goes to the following (5); (4) After the routine path action planning instructions are completed, the real-time data collected by the basic space mapping software system is used to self-check whether the cargo pallet has reached the cargo access channel. If "yes", the cargo pickup process is terminated. If "no", the process returns to (1) and starts to generate the initialization path planning instruction set again; (5) Define the regular path generated in (2) as an invalid path and store it, and end the pickup process.

11. A cargo storage module unit suitable for an unmanned automatic airport for logistics distribution according to claim 10, characterized in that: In the inventory process and the picking process, the conventional path action planning includes: the logistics automatic transmission and distribution module controls the two-axis transport device and the main track transport device to simultaneously complete the command actions along the horizontal direction of the X-axis and the vertical direction of the Y-axis according to the received motion instructions, thereby realizing the coupling of the first type of action and the second type of action; according to the real-time spatial position coordinates of the cargo pallet and the completion status of the first and second types of actions, the two-axis transport device is controlled to select an opportunity to complete the command action in the Z-axis telescopic direction of storing the goods in the cargo box or taking the goods out of the cargo box, thereby realizing the coupling of the third type of action with the first and second types of actions; according to the position of the honeycomb storage box, the local self-rotating transport device is simultaneously controlled to complete its own directional rotation, thereby realizing the coupling of the fourth type of action with the first, second and third types of actions; according to the real-time spatial position coordinates of the cargo pallet, the distance between the goods and the cargo storage and retrieval channel during the picking process is calculated, and the local pushing and lifting transport device is controlled to select an opportunity to complete the motion stroke of the pushing and lifting action, thereby realizing the coupling of the fifth type of action with the first, second, third and fourth types of actions.

12. The cargo storage module unit suitable for an unmanned automatic airport for logistics distribution according to claim 1, characterized in that: It also includes auxiliary devices, including monitoring cameras, environmental monitors, dual-mode electrical interfaces, and smoke exhaust and ventilation channels; the monitoring cameras and environmental monitors are both installed on the inner top surface of the multifunctional main frame; the monitoring cameras monitor the entire process of cargo grabbing and conveying, cargo loading and unloading and storage, as well as the operation of the generator and uninterruptible power supply; the environmental monitor includes temperature and humidity detection and early warning and smoke concentration detection and early warning functions, which can monitor the temperature, humidity and smoke concentration in the multifunctional main frame in real time and warn of environmental abnormalities; the dual-mode electrical interface realizes the dual power supply function of the two external electrical interfaces of the cargo storage module unit, one realizes the power supply connection between the cargo storage module unit and the conventional external power supply system, and is used for the power supply condition of the cargo storage module unit in the single working mode; the other realizes the power supply connection between the cargo storage module unit and the unmanned automatic airport; the smoke exhaust and ventilation channel is arranged at the bottom of the multifunctional main frame, and has an effective smoke exhaust and ventilation function to keep the interior of the multifunctional main frame and the stored cargo safe and clean.

Images