A cargo storage module unit suitable for unmanned automatic airport of logistics distribution

Abstract

The application relates to a goods storage module unit suitable for unmanned automatic airport of logistics distribution, and belongs to the field of unmanned aerial vehicle logistics automation equipment. The goods man-machine interactive storage module is a man-machine interactive interface of the whole device, and through fusion of interactive software and hardware of a cargo hold, the goods receiving-storage-taking-and-placing function is realized. The logistics automatic transmission and distribution module bears the functions of automatically transporting and 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 the functions of efficient power matching optimization. The electrical control system is the main control core of the device, and is used for overall planning and instruction driving of cooperation of various modules. The multifunctional main frame is a mounting and bearing platform of all the modules, and has the characteristics of multifunction, high reliability and long service life. The whole device is high in automation degree, strong in universality, reliable and stable, and convenient to arrange and move.

Description

TECHNICAL FIELD

[0001] The application relates to a goods storage module unit suitable for a logistics distribution unmanned automatic airport, and belongs to the field of unmanned aerial vehicle logistics industry automation equipment. BACKGROUND

[0002] The logistics distribution unmanned aerial vehicle is also called unmanned aerial vehicle express, that is, express companies use unmanned aerial vehicles to transport small and medium-sized goods packages. The unmanned aerial vehicle is mainly applied to the logistics distribution field to quickly transport small and medium-sized goods and improve express delivery efficiency, especially for relatively remote areas in cities. The unmanned aerial vehicle can fly over obstacles such as fences and buildings and accurately deliver goods to the designated place. Meanwhile, in some underdeveloped areas of provinces and cities in China, there are still problems of delivery difficulties and high delivery costs. Therefore, the unmanned aerial vehicle logistics distribution mode can further expand the network coverage, reduce the cost and improve the service timeliness.

[0003] However, the current unmanned aerial vehicle logistics distribution mode still has some problems to be solved and overcome, such as unmanned aerial vehicle transportation of large load and long-distance branch lines, transportation of materials in special areas such as border posts and islands, unmanned aerial vehicle distribution of terminal distance, transportation of materials requiring special preservation and the like. Especially in the application requirements of goods transportation, management, inventory, stacking and the like of some small single-point unmanned automatic logistics warehouses, a modular, universal, intelligent and rapid and convenient solution and practical device has not yet been formed.

[0004] The unmanned automatic airport refers to a special parking place specially designed for unmanned aerial vehicles. When not working, the unmanned aerial vehicle waits in the automatic airport; when working, the airport hatch is opened, and the unmanned aerial vehicle automatically flies out to work. The unmanned automatic airport realizes direct deployment of the unmanned aerial vehicle to the work site, solves the on-site operation problem of manually carrying and flying the unmanned aerial vehicle. The biggest advantage of the unmanned automatic airport is to enhance the emergency operation capability of the unmanned aerial vehicle, and the operation efficiency is also greatly improved. In recent years, with the accelerated development of the intelligent unmanned logistics distribution system, as an important branch of the logistics distribution unmanned aerial vehicle system, the unmanned automatic airport field for the logistics distribution system has also developed rapidly, and many high-tech products have emerged as the times require.

[0005] Therefore, in order to solve the demand problems of some small single-point unmanned automatic logistics warehouses, on the basis of the current unmanned automatic airport, in view of the actual application situation that the multi-rotor unmanned aerial vehicle is used for small and medium-sized goods transportation in the logistics distribution system of the urban area, a logistics distribution storage module unit combined with the unmanned automatic airport is urgently developed and prepared in the unmanned logistics distribution industry. The goods storage module unit of the logistics distribution unmanned automatic airport is an important part of the multi-rotor unmanned aerial vehicle parking / flying and taking / placing goods, which is used to quickly dock the unmanned automatic airport platform and mainly realizes the goods transmission and storage functions. SUMMARY

[0006] The technical solution of the present application is: a cargo storage module unit suitable for a logistics distribution unmanned automatic airport, which is well connected with the unmanned automatic airport to realize the functions of receiving, storing and transporting cargo by the logistics distribution unmanned aerial vehicle system. The device has the advantages of high automation, strong universality, reliability and stability, easy arrangement and movement, can carry a large weight, and has simple man-machine interaction, and can be widely applied to the intelligent unmanned logistics distribution system.

[0007] The technical solution of the present application is: a cargo storage module unit suitable for a logistics distribution unmanned automatic airport, which is well connected with the unmanned automatic airport to realize the functions of receiving, storing and transporting cargo by the logistics distribution unmanned aerial vehicle system. The device has the advantages of high automation, strong universality, reliability and stability, easy arrangement and movement, can carry a large weight, and has simple man-machine interaction, and can be widely applied to the intelligent unmanned logistics distribution system.

[0008] The multifunctional main frame is a mounting and bearing part, which provides a cargo access channel for storing and extracting cargo, and installs the man-machine interactive storage module, the logistics automatic transmission and distribution module and the electrical control system therein.

[0009] The man-machine interactive storage module stores cargo and provides a man-machine interactive interface, which provides storage cargo information to the user and receives operation information from the user, and sends the storage cargo information and the operation information of the user to the electrical control system.

[0010] The electrical control system controls the logistics automatic transmission and distribution module to move the cargo in the man-machine interactive storage module out of the cargo access channel or store the cargo in the man-machine interactive storage module from the cargo access channel according to the operation information of the user combined with the cargo information; the cargo access channel is connected with a standard unmanned aerial vehicle airport and is arranged below the unmanned aerial vehicle airport to realize the receiving, storing and transporting of the cargo by the logistics distribution unmanned aerial vehicle.

[0011] Preferably, the man-machine interactive storage module comprises a honeycomb storage box and an intelligent man-machine interactive unit; the honeycomb storage box is a honeycomb warehouse for storing cargo, and weighing instruments and monitoring instruments are arranged in the honeycomb storage box to collect and store the basic information of the cargo in each box; the intelligent man-machine interactive unit takes a touch screen as a carrier to feedback the storage condition of the cargo to the user in real time, receives various operation information from the user, and transmits the operation information to the electrical control system.

[0012] Preferably, the logistics automatic transmission and distribution module comprises a two-axis transportation device, a main track transportation device, a local self-rotation transportation device and a local push-lift transportation device.

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

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

[0015] Preferably, the main track transport device is laid at the bottom of the multifunctional main body frame and arranged along the axis of the multifunctional main body frame, the axis is parallel to the honeycomb type storage box, the main track transport device is respectively provided with a control soft limiting function and a mechanical hard limiting function, the control soft limiting function is realized by the software control system of the electrical control system, and the mechanical hard limiting function is realized by adding a mechanical limiting block at the stroke terminal of the main track transport device.

[0016] Preferably, the two-axis transport device includes a second motor, a second screw rod module, a second guide rail, a goods tray vertical sliding block, a balance support, a third motor, a third screw rod module, a third guide rail and a goods tray telescopic sliding block.

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

[0018] Preferably, the local self-rotation transport device includes a direct-drive rotary table motor and a self-rotation platform.

[0019] The direct-drive rotary table motor is fixed on the goods tray telescopic sliding block, and the self-rotation platform is installed thereon, the direct-drive rotary table motor directly drives the self-rotation platform to rotate, so that the goods on the rotary table are directly rotated to the required position.

[0020] Preferably, the local pushing and lifting transport device is installed on the balance support, comprising a fourth motor, a goods tray and an electric push rod; two fourth motors and a vertical electric push rod are placed on the diagonal sides below the goods tray; the fourth motors on both sides drive the electric push rod to move in the vertical direction, so that the goods tray can stably hold the goods and ensure that the goods can be completely pushed out of the goods access channel opening at the top of the entire device.

[0021] Preferably, the intelligent power supply system module comprises a controller, a generator and an uninterruptible power supply; the controller is connected with an external power supply system; when the external power supply system suddenly fails, the controller judges the power supply failure; when the power fails, the generator is started; when the remaining faults occur, the connection between the external power supply system and the goods storage module unit is disconnected, and the generator is started; the generator provides stable alternating current within the capacity range; when the capacity range of the generator is exceeded and the external power supply system failure is still not eliminated, the controller starts the uninterruptible power supply to continue to provide power supply; after the fault is eliminated, the controller controls the generator and the uninterruptible power supply to automatically suspend work.

[0022] Preferably, the electrical control system comprises a basic space mapping software system, a storage process control software system and a goods taking process control software system.

[0023] The basic space mapping software system establishes an overall space coordinate system, collects the current space position coordinates of the goods tray in real time and provides them to the storage process control software system and the goods taking process control software system, and the storage process control software system and the goods taking process control software system respectively complete the storage and taking of goods according to the received storage instructions and goods taking instructions; the overall space coordinate system takes the midpoint of the travel of the main rail transport device as the origin, takes the first guide rail as the X axis as the coordinate axis of the horizontal movement direction of the first type of action; takes the second guide rail as the Y axis as the coordinate axis of the vertical movement direction of the second type of action; takes the third guide rail as the Z axis as the coordinate axis of the telescopic movement direction of the third type of action; internally stores the fixed space coordinate positions of the arbitrary honeycomb type storage box and the goods access channel opening as basic coordinate information.

[0024] The working process of the storage process control software system is as follows:

[0025] (a) After receiving the storage instruction, an internal initialization path planning instruction set is generated;

[0026] (b) According to the relative position information 1 formed by the arbitrary honeycomb type storage box and the origin position of the overall space coordinate system, and the relative position information 2 formed by the origin position and the position of the goods access channel opening, the basic data of the two paths of the regular path action planning and the standby path action planning are generated from the initialization path planning instruction set;

[0027] (c) according to the real-time data acquisition data self-checking judgment of the basic space mapping software system, whether the routine path action planning is effective, if "effective" then control logistics automatic transmission distribution module to start working, execute the basic instructions of routine path action planning, turn to (d), if "invalid" then jump to the following (e);

[0028] (d) after the completion of the routine path action planning instructions, according to the real-time data acquisition data self-checking judgment of the basic space mapping software system, whether the goods tray reaches the expected honeycomb storage box, if "yes" then end the storage process, if "no" then return to (a) to start generating initialization path planning instruction set;

[0029] (e) the routine path generated in (b) is defined as a failure path and stored, and the basic instructions of the backup path action planning are executed;

[0030] (f) after the completion of the backup path action planning instructions, according to the real-time data acquisition data self-checking judgment of the basic space mapping software system, whether the goods tray reaches the designated goods temporary storage, if "yes" then end the storage process, if "no" then return to (a) to start generating initialization path planning instruction set;

[0031] The working process of the taking process control software system is as follows:

[0032] (1) after receiving the taking instruction, generate the internal initialization path planning instruction set;

[0033] (2) through the relative position information 1 composed of any honeycomb storage box and the origin position of the coordinate system, combined with the relative position information 2 composed of the origin position and the goods access channel position, start searching and generating the basic data of the routine path action planning from the initialization multi-path planning instruction set;

[0034] (3) according to the real-time data acquisition data self-checking judgment of the basic space mapping software system, whether the path is effective, if "effective" then control logistics automatic transmission distribution module to start working, execute the basic instructions of routine path action planning, turn to (4), if "invalid" then jump to the following (5);

[0035] (4) after the completion of the routine path action planning instructions, according to the real-time data acquisition data self-checking judgment of the basic space mapping software system, whether the goods tray reaches the goods access channel, if "yes" then end the taking process, if "no" then return to (1) to start generating initialization path planning instruction set;

[0036] (5) the routine path generated in (2) is defined as a failure path and stored, and the taking process is ended.

[0037] Preferably, in the inventory process and the taking process, the conventional path action plan comprises: the logistics automatic transmission and distribution module controls the two-axis transportation device and the main track transportation device to simultaneously complete the instruction action along the X-axis horizontal direction and the Y-axis vertical direction according to the received motion instruction, so as to realize the coupling of the first type of action and the second type of action; the two-axis transportation device is controlled to complete the instruction action of the Z-axis telescopic direction for storing or taking out the goods from the goods box according to the real-time spatial position coordinates of the goods tray and the completion of the first type of action and the second type of action, so as to realize the coupling of the third type of action and the first type of action and the second type of action; the local self-rotation transportation device is controlled to complete the direction rotation of itself according to the position of the honeycomb storage box, so as to realize the coupling of the fourth type of action and the first type of action, the second type of action and the third type of action; the distance between the goods and the goods storage and taking channel is calculated according to the real-time spatial position coordinates of the goods tray in the taking process, and the local push-lifting transportation device is controlled to complete the motion stroke of the push-lifting action at an appropriate time, so as to realize the coupling of the fifth type of action and the first type of action, the second type of action, the third type of action and the fourth type of action.

[0038] Preferably, the goods storage module unit further comprises an auxiliary device, which comprises a monitoring camera, an environment monitor, a double-working-condition electrical interface and a smoke exhaust passage; the monitoring camera and the environment monitor are both installed on the inner top surface of the multifunctional main frame; the monitoring camera monitors the whole process of goods grabbing and conveying, goods loading and unloading and storing, and the operation of the generator and the uninterruptible power supply; the environment monitor comprises temperature and humidity detection and early warning and smoke concentration detection and early warning functions, and can realize real-time monitoring and environment abnormal early warning of the temperature, humidity and smoke concentration in the multifunctional main frame; the double-working-condition electrical interface realizes the function of double power supply conditions of the two external electrical interfaces of the goods storage module unit, one of which realizes the power supply connection between the goods storage module unit and the conventional external power supply system, and is used for the power supply condition in the single working mode of the goods storage module unit; the other realizes the power supply connection between the goods storage module unit and the unmanned automatic airport; the smoke exhaust passage is arranged at the bottom of the multifunctional main frame, has an effective smoke exhaust function, and maintains the safety and cleanliness of the inside of the multifunctional main frame and the stored goods.

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

[0040] (1) The present application integrates the goods man-machine interactive storage module, the logistics automatic transmission and distribution module, the intelligent power supply system module, the electrical control system, the multifunctional main frame and a plurality of auxiliary devices in an integrated form with high integration degree. The present application provides an intelligent and simple man-machine interactive function interface for the operator of the goods, realizes the automatic grabbing, loading and unloading and automatic transmission and distribution functions inside the device, and has the functions of intelligent power supply, intelligent control, intelligent monitoring and decision-making. The overall device has high space utilization, is convenient to disassemble, maintain and repair, and well meets the modularization and integration characteristics of the product.

[0041] (2) The application has strong versatility. Through the standard quick installation interface in structure and the duplex electrical interface in electricity, the unmanned automatic airport platform can be directly connected according to the needs, and the logistics distribution function can also be completed alone. The whole device does not affect other modules of the unmanned automatic airport logistics distribution system, has the versatility of flexible and mobile transportation, and quickly connects the unmanned automatic airport platform.

[0042] (3) The application has high intelligence. The intelligent control software system is contained in the inside, the overall intelligent software algorithm control of the goods storage module unit is realized, the real-time monitoring device is contained in the inside, the system remote command center can be accessed, the intelligent features of self-checking, running fault and internal and external environment automatic alarm are realized, and the good man-machine interaction function is realized.

[0043] (4) The application has good environmental adaptability and reliability. The whole device can be used in outdoor harsh environment for a long time, can prevent rain, snow, dust weather and insect biological invasion, the horizontal angle of the whole device can be adjusted through the supporting base, the device can be scientifically powered for a long time through the intelligent power supply system module, and the safety monitoring and smoke exhaust and other auxiliary functions can be realized through the monitoring camera, the environment monitor and the smoke exhaust channel device. The device is stable and reliable, can bear large load, has relatively long service life, and has good service ability and quality reliability. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 It is a three-dimensional layout and structural schematic diagram of the device of the application.

[0045] Figure 2 It is a structural schematic diagram of the man-machine interaction storage module of the application.

[0046] Figure 3 It is a structural schematic diagram of the logistics automatic transmission and distribution module of the application.

[0047] Figure 4 It is a structural schematic diagram of the intelligent power supply system module of the application.

[0048] Figure 5 It is a structural schematic diagram of the electrical control system of the application.

[0049] Figure 6 It is a schematic diagram of the multifunctional main frame of the application.

[0050] Figure 7 It is a structural schematic diagram of the supporting base of the application.

[0051] Figure 8Structure schematic diagram of main track transportation device of the present application;

[0052] Figure 9 Structure schematic diagram of two-axis transportation device of the present application;

[0053] Figure 10 Structure schematic diagram of local self-rotation transportation device of the present application;

[0054] Figure 11 Structure schematic diagram of local push-lift transportation device of the present application;

[0055] Figure 12 Structure schematic diagram of auxiliary device of the present application.

[0056] Figure 13 Logic diagram of inventory flow control software system of the present application;

[0057] Figure 14 Logic diagram of goods taking flow control software system of the present application. DETAILED DESCRIPTION

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

[0059] The present application proposes a goods storage module unit suitable for unmanned automatic airport of logistics distribution, and the system composition is as shown in Figures 1-12 The device comprises a goods man-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 a plurality of auxiliary devices 6.

[0060] The goods storage module unit mainly comprises the man-machine interactive storage module 1, the logistics automatic transmission and distribution module 2, the intelligent power supply system module 3, the electrical control system 4 and the multifunctional main frame 5. The man-machine interactive storage module 1 is fixedly connected with the multifunctional main frame 5 through a set mechanical interface, and is the only man-machine interface for receiving, storing and extracting goods in the whole device. The logistics automatic transmission and distribution module 2 is arranged in the interior of the multifunctional main frame 5, and serves to transmit and distribute goods from the device to the unmanned airport device above and connected therewith. The intelligent power supply system module 3 is arranged in the interior of the multifunctional main frame 5, and serves to reasonably and scientifically supply power to the whole device. The electrical control system 4 is arranged in the interior of the multifunctional main frame 5, and serves to electrically control the whole device. The multifunctional main frame 5 is the mounting and bearing part of the whole device, and contains mounting interfaces of the above modules, and is additionally provided with auxiliary functions such as reference leveling, maintenance detection, electrical transfer transmission and bearing unmanned airport. The whole device contains a mounting interface connected with a standard unmanned airport, is arranged below the unmanned airport, and realizes the functions of receiving, storing and transporting goods of the logistics distribution unmanned system.

[0061] As Figure 2 shown, the human-computer interaction storage module 1 mainly includes a honeycomb storage box 11 and an intelligent human-computer interaction unit 12; the honeycomb storage box 11 as a kind of honeycomb warehouse is the only human-computer interaction interface of user and overall device, the basic information of goods in each box is collected, stored by weighing instrument, monitoring instrument and other automatic devices in honeycomb storage box 11;Intelligent human-computer interaction unit 12 takes touch screen as carrier, real-time feedback to user the storage condition of goods, simultaneously receives each operation information from user, and is transmitted to electrical control system.

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

[0063] As Figure 4 shown, the intelligent power supply system module 3 includes controller, generator 31, uninterruptible power supply 32, for sudden power supply condition (including but not limited to, sudden circuit break of municipal power), intelligent discrimination and protection,

[0064] The controller is connected with the external power supply system. When the external power supply system suddenly fails, the controller judges the power supply failure. When the power is off, the generator is started. When the remaining faults occur, the connection between the external power supply system and the goods storage module unit is disconnected, and the generator is started. The generator provides stable AC power within the capacity range. When the generator capacity range is exceeded and the external power supply system failure is still not eliminated, the controller starts the uninterruptible power supply, which continues to provide power supply. After the fault is eliminated, the controller controls the generator and the uninterruptible power supply to automatically suspend work. In this example, the generator 31 provides 12 hours or more of stable 220V AC power for the system 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 0.5 hours or more until the power supply is restored to normal, and the generator 31 and the uninterruptible power supply 32 will automatically suspend work.

[0065] As shown in Figure 5 , the electrical control system 4 is installed in the man-machine interactive operation area. The electrical control system 4 adopts a telescopic drawer case form as a whole. When electrical maintenance and detection of the overall device control system are needed, the electrical control system 4 is directly pulled out and operated. The electrical control system 4 internally includes three software system frameworks of basic space mapping software system, storage process control software system and picking process control software system, realizing overall intelligent software algorithm control of the goods storage module unit.

[0066] The basic space mapping software system refers to that from the start of power supply of the goods storage module unit, the electrical control system 4 establishes the overall space coordinate system 411. The coordinate system takes the midpoint of the stroke of the main rail transportation device 22 as the origin, takes the first guide rail 223 as the X axis, as the coordinate axis of the horizontal motion direction realizing the first type of action; takes the second guide rail 213 as the Y axis, as the coordinate axis of the vertical motion direction realizing the second type of action; takes the third guide rail 218 as the Z axis, as the coordinate axis of the telescopic motion direction realizing the third type of action. The electrical control system 4 real-time collects and controls the space position coordinates of the current goods tray 242, realizes the transportation and access of the goods. The basic space mapping software system also includes the fixed space coordinate position of the arbitrary honeycomb type storage box 11 and the goods access channel, as the basic coordinate information.

[0067] The working flow logic of the storage process control software system is as shown in Figure 13 , and is as follows:

[0068] (a) After receiving the storage instruction, an internal initialization path planning instruction set is generated;

[0069] (b) Through the relative position information 1 (X-axis position coordinate, Z-axis position coordinate) formed by the relative position information 1 (X-axis position coordinate, Z-axis position coordinate) of any honeycomb storage box 11 and the coordinate system origin position, combined with the relative position information 2 (Y-axis position coordinate) formed by the origin position and the goods access channel position, the basic data of the two paths of the conventional path action planning and the standby path action planning are searched and generated in the multi-path planning instruction set;

[0070] (c) According to the real-time acquisition data self-checking of the basic space mapping software system, it is judged whether the path is effective. If it is "effective", the logistics automatic transmission and distribution module 2 starts to work, executes the basic instructions of the conventional path action planning, and if it is "invalid", it jumps to the following (e);

[0071] (d) After the completion of the conventional path action planning instructions, according to the real-time acquisition data self-checking of the basic space mapping software system, it is judged whether the goods tray 242 reaches the expected honeycomb storage box 11. If "yes", the storage process is ended, and if "no", it returns to (a) to start to generate the initialization path planning instruction set again;

[0072] (e) The conventional path defined in (b) is defined as an invalid path and stored, and the basic instructions of the standby path action planning are started to be executed;

[0073] (f) After the completion of the standby path action planning instructions, according to the real-time acquisition data self-checking of the basic space mapping software system, it is judged whether the goods tray 242 reaches the designated goods temporary storage. If "yes", the storage process is ended, and if "no", it returns to (a) to start to generate the initialization path planning instruction set again;

[0074] The work flow logic of the taking process control software system is shown in Figure 14 , and is as follows:

[0075] (a) After receiving the taking instruction, the internal initialization path planning instruction set is generated;

[0076] (b) Through the relative position information 1 (X-axis position coordinate, Z-axis position coordinate) formed by the relative position information 1 (X-axis position coordinate, Z-axis position coordinate) of any honeycomb storage box (11) and the coordinate system origin position, combined with the relative position information 2 (Y-axis position coordinate) formed by the origin position and the goods access channel position, the basic data of the two paths of the conventional path action planning and the standby path action planning are searched and generated in the multi-path planning instruction set;

[0077] (c) According to the real-time acquisition data self-checking of the basic space mapping software system, it is judged whether the path is effective. If it is "effective", the logistics automatic transmission and distribution module 2 starts to work, executes the basic instructions of the conventional path action planning, and if it is "invalid", it jumps to the following (e);

[0078] (d) After the routine path action planning instruction is completed, it is judged whether the goods pallet 242 reaches the goods access passage according to the real-time data self-checking of the basic space mapping software system, if yes, the goods taking process is ended, if no, it returns to (a) to start again to generate the initialization path planning instruction set;

[0079] (e) The routine path generated in (b) is defined as a failure path and stored, and the goods taking process is ended.

[0080] The initialization path planning instruction set in the above goods access process refers to that the goods storage / taking process control software system generates a plurality of array matrices corresponding to the coordinate information according to the coordinate information data of the basic space mapping software system, such as any honeycomb storage box and goods access passage, and the real-time acquisition of the current space coordinate information data of the goods pallet; according to the current array matrix information, permutation and combination calculation is performed to form an initial scale of a plurality of path planning array matrix sets; and finally the data matrix set is decoded and compiled to generate a plurality of motion action instructions capable of controlling the operation of the logistics automatic transmission and distribution module, i.e. the initialization path planning instruction set.

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

[0082] In the goods storage process and the goods taking process, the routine path action planning mainly refers to that the logistics automatic transmission and distribution module 2 controls the two-axis transportation device 21 and the main track transportation device 22 to complete the instruction action along the X-axis horizontal direction and the Y-axis vertical direction according to the motion instructions sent by the electrical control system 4, to realize the coupling of the first type of action and the second type of action; according to the real-time spatial position coordinates of the goods pallet 242 and the completion of the first type of action and the second type of action, the two-axis transportation device 21 is controlled to complete the instruction action of the Z-axis extension direction to store or take out the goods from the goods box at the right moment, to realize the coupling of the third type of action with the first type of action and the second type of action; according to the position of the honeycomb storage box 11, the local self-rotation transportation device 23 is controlled to complete its own direction rotation, to realize the coupling of the fourth type of action with the first type of action, the second type of action and the third type of action; according to the real-time spatial position coordinates of the goods pallet 242, the distance between the goods and the goods access passage in the goods taking process is calculated, and the local push-lift transportation device 24 is controlled to complete the motion stroke of the push-lift action at the right moment, to realize the coupling of the fifth type of action with the first type of action, the second type of action, the third type of action and the fourth type of action.

[0083] The failure path mainly includes the following cases: 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 works abnormally, and the goods access channel is blocked.

[0084] All the information of the storage process and the goods taking process is fed back to the touch screen through the intelligent man-machine interaction unit 12, so as to facilitate the information interaction between man and machine and realize the execution of various intentions of the operator.

[0085] As shown in Figure 6 , the multifunctional main frame 5 is in the form of an integrated and modular installation. The main frame 5 serves as a support structure of the whole machine device, and functions to bear the goods man-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 goods man-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 man-machine interaction unit 12 are exposed outside the main frame 5. The logistics automatic transmission and distribution module 2, the intelligent power supply system module 3 are all installed inside the main frame 5 and are supported by the internal steel beams. The electrical control system 4 is inserted into the guide rail of the main frame 5 and can be operated by being arbitrarily pulled out in the form of a telescopic drawer case. The main frame 5 mainly includes an upper shell 51 and a supporting base 52 at the bottom; the shell 51 and the supporting base 52 can be quickly installed. The top of the main frame 5 is provided with a goods access channel 53 for docking with the unmanned automatic airport, which is the only channel for the goods to be transported from the whole machine device to the unmanned automatic airport. The side of the main frame 5 is provided with a maintenance hatch 54 of the whole machine device, which is used for maintenance personnel to enter when the internal fault of the whole machine occurs.

[0086] As shown in Figure 7 , the supporting base 52 is additionally provided with a new type of jack type adjustable foot bolt bottom support 521 at the bottom of the four corners, and each bottom support can bear up to 750 kg. The level meter 522 is installed on the long and wide sides of the bottom of the chassis, respectively, to coordinate and calibrate the horizontal inclination angle of the bottom support. The height of each adjustable foot bolt bottom support 521 is manually adjusted to realize the height adjustment and angle adjustment function (angle adjustment range ± 5°) of the whole system.

[0087] As shown in Figure 8As shown, the main track conveying device 22 comprises a first motor 221, a first screw module 222, a first guide rail 223, an adapter plate slider 224 and other components. The main track conveying device 22 mainly works in the following way: 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 to the position of any honeycomb storage box 11, with a total movement stroke of about 2000 mm, thereby fully realizing the function of accessing goods.

[0088] The main track conveying device 22 is laid on the bottom of the whole device, arranged along the central axis of the whole device, and spaced apart from the honeycomb storage box 11, so that the logistics automatic conveying and distribution module 2 moves through the synchronous coupling movement of the five types of actions to complete the transportation of goods to the required position. In addition, the main track conveying device 22 is respectively provided with a control soft limit function and a mechanical hard limit function. The control soft limit is realized by software control of the drive motor control system, and the mechanical hard limit is realized by adding a mechanical limit block 225 with certain strength and service life at the stroke terminal of the main track conveying device 22, thereby finally achieving the safety protection of the whole conveying system.

[0089] As shown in Figure 9 , the two-axis conveying device 21 comprises a second motor 211, a second screw module 212, a second guide rail 213, a goods tray vertical slider 214, a steel balance support 215, a third motor 216, a third screw module 217, a third guide rail 218, a goods tray telescopic slider 219 and other components. The two-axis conveying device 21 mainly works in the following way: the second motor 211 drives the second screw module 212 to move, so that the goods tray vertical slider 214 on the second screw module 212 moves vertically along the second guide rail 213 to the required height of any honeycomb storage box 11, with a total movement stroke of about 400 mm; at the same time, the third motor 216 drives the third screw module 217 to move, so that the goods tray telescopic slider 219 on the third screw module 217 moves along the third guide rail 218 to the position of the goods packaging box, with a total movement stroke of about 400 mm, thereby realizing the function of placing goods into the designated position of the honeycomb storage box 11.

[0090] As shown in Figure 10 , the local self-rotation conveying device 23 comprises an ultra-thin direct-drive rotary table motor 231 and a self-rotation platform 232. The total height of the local self-rotation conveying device 23 is about 60 mm, and the ultra-thin direct-drive rotary table motor 231 directly drives the self-rotation platform to rotate, so that the upper conveying device directly rotates to the required position, with a total movement stroke of about 0°-180°, thereby fully realizing the function of transporting goods between the honeycomb storage boxes 11 at the front and back positions. The self-rotation platform 232 has a size of 670 mm x 487 mm and is fixedly connected with the goods tray telescopic slider 219.

[0091] As shown in Figure 11 , the local push-up transport device 24 includes fourth motors 241, a cargo tray 242, and an electric push rod 243, and the total stroke is about 400 mm. Two fourth motors 241 and a vertical electric push rod 243 are placed on the opposite sides below the cargo tray 242. The fourth motors 241 on both sides drive the electric push rod 243 to move in the vertical direction, so that the cargo tray 242 (about 150 mm x 85 mm x 8 mm in size) can stably hold the cargo packaging box, ensuring that the cargo packaging box can be completely pushed out of the entire device top cargo access passage 53, to make up for the lack of the two-axis transport device 21 in the transport height.

[0092] As shown in Figure 12 , the auxiliary device 6 includes a monitoring camera 61, an environment monitor 62, a double-working-condition electrical interface 63, and a smoke exhaust passage 64. The monitoring camera 61 and the environment 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, and the operation of the generator 31 and the uninterruptible power supply 32. The environment monitor 62 includes temperature and humidity detection and warning and smoke concentration detection and warning functions, and can monitor the temperature, humidity and smoke concentration in the entire device in real time and provide environmental abnormality warning. The double-working-condition electrical interface 63 realizes the function of double power supply conditions of the two external electrical interfaces of the entire device, one of which realizes the power supply connection between the entire device and the conventional commercial power and other peripheral electrical systems, and 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, and is used for the power supply condition of the device participating in the entire system work of the logistics distribution unmanned automatic airport. The smoke exhaust passage 64 is arranged at the bottom of the entire device, has an effective smoke exhaust function, and maintains the safety and cleanliness of the interior of the device and the stored goods.

[0093] In this embodiment, the overall size of the device is about 2.9 m x 2.4 m x 1.2 m, and the self-weight is about 1.5 tons, which is convenient for overall handling, placement, displacement, maintenance and other operations.

[0094] In this embodiment, in the effective rated working mode of the device, the goods are convenient to store and access, and the transportation is fast. According to the evaluation, the time from manually starting the working mode of the device to storing the goods in the honeycomb storage box (11) is generally not more than 30 s; the time from receiving the delivery goods instruction by the device to transporting the goods to the goods access passage (53) into the unmanned automatic airport module is generally not more than 25 s.

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

[0096] In the embodiment, the device manufacturing process is simple and conventional, the surface adopts 1.5mm aluminum alloy plate skin, and the support frame adopts 60*60 aluminum alloy profile welding and mechanical connection to realize the manufacturing.

[0097] The embodiment results show that the device is arranged below the unmanned automatic airport, and realizes a series of functions such as receiving, storing and transporting of goods by the unmanned aerial vehicle system for logistics distribution.

[0098] The part not described in detail in the application is common knowledge for those skilled in the art.

Claims

1. A cargo storage module unit suitable for unmanned automated airports for logistics distribution, characterized in that... The utility model relates to a kind of automatic logistics distribution system, including goods human-computer interaction storage module, logistics automatic transmission distribution module, intelligent power supply system module, electrical control system, multifunctional main frame and several auxiliary devices. The multifunctional main frame is installed, bearing part, provides the goods access passageway of only storing and extracting goods, and human-computer interaction storage module, logistics automatic transmission distribution module and electrical control system are installed in it. The human-computer interaction storage module stores goods, provides human-computer interaction interface, provides storage goods information to user and receives the operation information of user, and sends storage goods information and the operation information of user to electrical control system. The electrical control system controls logistics automatic transmission distribution module according to the operation information of user, and combines goods information, controls logistics automatic transmission distribution module to remove goods in human-computer interaction storage module from goods access passageway, or stores goods from goods access passageway into human-computer interaction storage module;The goods access passageway is connected with standard unmanned aircraft airport, is placed below unmanned aircraft airport, realizes that logistics distribution unmanned aircraft receives, stores, transports goods. Logistics automatic transmission distribution module includes two-axis transport device, main track transport device, local self-rotation transport device, local push-up transport device. Two-axis transport device is installed on main track transport device, completes the first type of action of running from one end to the other end by main track transport device;Two-axis transport device body includes two-axis transport mechanism, completes the second type of action of sending goods from the bottom layer to the top layer of honeycomb type storage box, and the third type of action of taking out and pushing goods from any honeycomb type storage box;Local self-rotation transport device includes self-rotation type transport mechanism, realizes the fourth type of action of transporting goods between honeycomb type storage box placed on the both sides of main track transport device;Local push-up transport device makes up the deficiency of overall device in transport height, completes the fifth type of action that goods is completely pushed out of the upper end goods access passageway of multifunctional main frame.

2. The cargo storage module unit for unmanned automatic airport for logistics distribution according to claim 1, characterized in that: Human-computer interaction storage module includes honeycomb type storage box and intelligent human-computer interaction unit;Honeycomb type storage box is a kind of honeycomb type warehouse, for storing goods, weighing instrument, monitoring instrument are arranged in honeycomb type storage box, and the basic information of goods in each box is collected and stored;Intelligent human-computer interaction unit takes touch screen as carrier, real-time feedback to user the storage condition of goods, simultaneously receives each operation information from user, and is transmitted to electrical control system.

3. The cargo storage module unit for unmanned automatic airport for logistics distribution according to claim 1, characterized in that: Main track transport device includes first motor, first screw module, first guide rail, adapter plate slider;First motor drives first screw module to move, so that adapter plate slider on first screw module moves accurately horizontally to the position of any honeycomb type storage box;Two-axis transport device is installed on the adapter plate slider.

4. The cargo storage module unit for unmanned automatic airport for logistics distribution according to claim 3, characterized in that: Main track transport device is laid in the bottom of multifunctional main frame, is arranged along the axis of multifunctional main frame, the axis is parallel to honeycomb type storage box, main track transport device is respectively provided with control soft limit function and mechanical hard limit function, control soft limit is realized by electrical control system software control first motor, and mechanical hard limit is realized by adding mechanical limit block at the stroke terminal of main track transport device.

5. The cargo storage module unit for unmanned automatic airport for logistics distribution according to claim 1, characterized in that: The two-axis transportation device comprises a second motor, a second screw module, a second guide rail, a goods tray vertical slider, a balance support, a third motor, a third screw module, a third guide rail and a goods tray telescopic slider. The second motor drives the second screw module to move, so that the goods tray vertical slider on the second screw module moves vertically along the second guide rail to a required height of any honeycomb storage box.

6. The cargo storage module unit for unmanned automatic airport for logistics distribution according to claim 5, characterized in that: The local self-rotation transportation device comprises a direct-drive rotary table motor and a self-rotation platform. The direct-drive rotary table motor is fixed on the goods tray telescopic slider, and the self-rotation platform is installed thereon.

7. The cargo storage module unit for unmanned automatic airport for logistics distribution according to claim 6, characterized in that: The local push-lift transportation device is installed on the balance support and comprises a fourth motor, a goods tray and an electric push rod.

8. The cargo storage module unit suitable for use in an unmanned automatic airport for logistics distribution of claim 1, wherein: The two fourth motors and the electric push rod in the vertical direction are placed on the opposite sides below the goods tray. The two fourth motors drive the electric push rod to move in the vertical direction, so that the goods tray can stably hold the goods and ensure that the goods can be completely pushed out of the goods access channel at the top of the device.

9. The cargo storage module unit suitable for use in a logistics distribution unmanned airport of claim 3, wherein: The intelligent power supply system module comprises a controller, a generator and an uninterruptible power supply. When the power supply system fails, the controller judges the power supply failure, starts the generator when the power fails, and disconnects the connection between the external power supply system and the goods storage module unit and starts the generator when other faults occur. The generator provides stable AC power within the capacity range. When the power supply system fails and the generator capacity range is exceeded, the controller starts the uninterruptible power supply to continue to provide power supply. The electrical control system comprises a basic space mapping software system, a storage process control software system and a goods taking process control software system. The basic space mapping software system establishes an overall space coordinate system, collects the current space position coordinates of the goods tray in real time and provides them to the storage process control software system and the goods taking process control software system. The overall space coordinate system takes the midpoint of the main track transportation device as the origin, takes the first guide rail as the X axis as the coordinate axis of the horizontal movement direction of the first type of action, takes the second guide rail as the Y axis as the coordinate axis of the vertical movement direction of the second type of action, and takes the third guide rail as the Z axis as the coordinate axis of the telescopic movement direction of the third type of action. The internal storage of the fixed space coordinate positions of any honeycomb storage box and the goods access channel is used as the basic coordinate information. The working process of the storage process control software system is as follows: (a) After receiving the storage instruction, an internal initialization path planning instruction set is generated; (b) Based on the relative position information 1 between any honeycomb storage box and the origin position of the overall space coordinate system, and the relative position information 2 between the origin position and the position of the goods access channel, the basic data of the regular path action planning and the standby path action planning are generated from the initialization path planning instruction set; (c) According to the real-time acquisition data of the basic space mapping software system, it is judged whether the regular path action planning is valid. If "valid", the logistics automatic transmission and distribution module starts to work, executes the basic instructions of the regular path action planning, and goes to (d). If "invalid", it jumps to (e) below; (d) After the regular path action planning instruction is completed, it is judged whether the goods tray reaches the expected honeycomb storage box according to the real-time acquisition data of the basic space mapping software system. If "yes", the storage process is ended. If "no", it returns to (a) to start generating the initialization path planning instruction set again; (e) The regular path generated in (b) is defined as an invalid path and stored, and the basic instructions of the standby path action planning are executed; (f) After the standby path action planning instruction is completed, it is judged whether the goods tray reaches the designated goods temporary storage according to the real-time acquisition data of the basic space mapping software system. If "yes", the storage process is ended. If "no", it returns to (a) to start generating the initialization path planning instruction set again; The working process of the taking process control software system is as follows: (1) After receiving the taking instruction, an internal initialization path planning instruction set is generated; (2) Based on the relative position information 1 between any honeycomb storage box and the origin position of the coordinate system, and the relative position information 2 between the origin position and the position of the goods access channel, the basic data of the regular path action planning is generated from the initialization multi-path planning instruction set; (3) According to the real-time acquisition data of the basic space mapping software system, it is judged whether the path is valid. If "valid", the logistics automatic transmission and distribution module starts to work, executes the basic instructions of the regular path action planning, and goes to (4). If "invalid", it jumps to (5) below; (4) After the regular path action planning instruction is completed, it is judged whether the goods tray reaches the goods access channel according to the real-time acquisition data of the basic space mapping software system. If "yes", the taking process is ended. If "no", it returns to (1) to start generating the initialization path planning instruction set again; (5) The regular path generated in (2) is defined as an invalid path and stored, and the taking process is ended.

10. The cargo storage module unit for use in the unmanned automatic airport for logistics distribution according to claim 9, characterized in that: In the inventory process and the taking process, the conventional path action planning includes: the logistics automatic transmission and distribution module controls the two-axis transportation device and the main track transportation device to complete the instruction action along the X-axis horizontal direction and the Y-axis vertical direction according to the received motion instruction, realizes the coupling of the first type of action and the second type of action; according to the real-time spatial position coordinates of the goods tray and the completion of the first type and the second type of action, the two-axis transportation device is controlled to complete the instruction action of the Z-axis extension direction of the goods into the goods box or out of the goods box at the right moment, realizes the coupling of the third type of action and the first type, the second type of action; according to the position of the honeycomb storage box, the local self-rotation transportation device is controlled to complete the direction rotation of itself, realizes the coupling of the fourth type of action and the first type, the second type, the third type of action; according to the real-time spatial position coordinates of the goods tray, the distance between the goods and the goods storage access port in the taking process is calculated, the local push-lift transportation device is controlled to complete the motion stroke of the push-lift action at the right moment, realizes the coupling of the fifth type of action and the first type, the second type, the third type, the fourth type of action.

11. The cargo storage module unit for unmanned automatic airport for logistics distribution according to claim 1, characterized in that: It also includes an auxiliary device, the auxiliary device includes a monitoring camera, an environment monitor, a double working condition electrical interface, a smoke exhaust passage; the monitoring camera and the environment monitor are installed on the inner top surface of the multifunctional main frame; the monitoring camera monitors the whole process of goods grabbing and conveying, goods loading and unloading and storing, and the operation of the generator and the uninterruptible power supply; the environment monitor includes temperature and humidity detection and warning and smoke concentration detection and warning functions, which can monitor the temperature, humidity and smoke concentration in the multifunctional main frame in real time and give environmental abnormal warning; the double working condition electrical interface realizes the function of double power supply working condition of the two external electrical interfaces of the goods storage module unit, one realizes the power supply connection between the goods storage module unit and the conventional external power supply system, which is used for the power supply working condition of the goods storage module unit in the single working mode; the other realizes the power supply connection between the goods storage module unit and the unmanned automatic airport; the smoke exhaust passage is arranged at the bottom of the multifunctional main frame, which has effective smoke exhaust function, maintains the safety and cleanliness of the multifunctional main frame and the stored goods.

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