CN116812151A - Unmanned aerial vehicle for storing and taking goods, goods shelf and goods storage conveying system - Google Patents

Abstract

The application discloses an unmanned aerial vehicle for storing and taking goods, a goods shelf and a storage goods conveying system, wherein the unmanned aerial vehicle comprises a machine body and a rotor wing assembly, and further comprises: the goods identification component is arranged on the machine body, and is used for identifying and outputting goods information based on the goods or the mark piece on the load-carrying object of the goods; the goods grabbing component is used for outputting a set action according to the goods information so as to grab the goods; the power preset assembly is used for adjusting the power output mode of the rotor assembly according to goods information preset time; the control assembly receives and responds to the goods information or command data output control commands of an external control center, controls actions of the goods grabbing assembly and the power presetting assembly, and can automatically identify the goods information and adopt a corresponding grabbing mode and running power based on the goods information by using the goods storing unmanned aerial vehicle, so that goods can be stably and rapidly transported, and the conveying efficiency of the goods in a warehouse is improved.

Description

Unmanned aerial vehicle for storing and taking goods, goods shelf and goods storage conveying system

Technical Field

The application relates to the technical field of warehouse management, in particular to an unmanned plane for warehouse goods storage and taking, a goods shelf and a warehouse goods conveying system.

Background

In a large-scale goods warehouse, the positioning and transporting efficiency of goods often affects the delivery efficiency of goods, and the delivery efficiency is one of the core competitiveness of electronic commerce, and how to shorten the positioning and access time of the stored goods is the focus of the competitive research and development of various large logistics and electronic commerce industries.

In the logistics warehouse of the self-contained electronic commerce enterprise, the goods are generally classified and placed on a goods shelf, and the goods are manually moved to a set area to be extracted after receiving an order. Because the warehouse area is very large and the goods storage of orders are scattered, workers need to repeatedly go to the goods area to pick up goods, so that the efficiency of the whole goods picking process after receiving the orders is very low, and the problem to be solved is also the current problem to be solved urgently.

Disclosure of Invention

Aiming at the problems that goods positioning and storing time in a warehouse are longer and the goods distribution efficiency of an electronic commerce is affected, the application aims at providing an unmanned aerial vehicle for storing goods and storing goods, which can automatically position storage positions and goods types by using the unmanned aerial vehicle and realize efficient storing and storing of the stored goods by matching with an intelligent goods shelf, and aims at providing a storage goods conveying system, wherein the specific scheme is as follows:

the utility model provides a warehouse goods access is with unmanned aerial vehicle, includes fuselage and rotor subassembly, still includes:

the goods identification component is configured on the machine body, and is used for identifying and outputting goods information based on the marks on the goods or the load-carrying objects of the goods;

the goods grabbing component is configured to output a set action to grab goods according to goods information;

the power presetting assembly is configured to be used for adjusting the power output mode of the rotor assembly according to goods information preset time;

the communication component is configured to be in communication connection with an external control center and is used for sending working state data of the unmanned aerial vehicle and receiving instruction data of the external control center;

the control assembly is configured to be in data connection with the goods identification assembly and in control connection with the goods grabbing assembly and the power presetting assembly, receives and responds to the goods information or command data output control commands of an external control center, and controls actions of the goods grabbing assembly and the power presetting assembly.

Through the technical scheme, the unmanned aerial vehicle for goods storage and retrieval can automatically identify goods information and adopt a corresponding grabbing mode and running power based on the goods information, and can stably and rapidly carry goods.

Further, the marker comprises an RFID tag, a graphic code, an external shape of an article or a carrier thereof, or a combination thereof;

the item identification assembly includes:

the first storage module is configured to store a first relation model between goods information and each marker;

the RFID identification module is configured to identify an RFID tag arranged on an article or a carrier thereof, and output article information based on the first relation model; and/or

The graphic code identification module is configured to be arranged on the machine body and used for identifying the graphic code and outputting goods information based on the first relation model; and/or

The image acquisition and identification module is configured to acquire an external shape image of an article or a carrier thereof, and identify and generate the article information based on the first relation model.

Through the technical scheme, the unmanned aerial vehicle can autonomously identify goods information based on the identification component arranged on the unmanned aerial vehicle body, so that corresponding goods can be accurately carried. By utilizing the identification component, the unmanned aerial vehicle can carry out long-distance non-contact identification on goods, and the time for identifying and outputting goods information by the unmanned aerial vehicle can be greatly shortened.

Further, the article gripping assembly includes:

the mechanical grabbing piece is arranged below the machine body and comprises a mechanical clamping jaw and a driving piece for driving the mechanical clamping jaw to move, wherein the driving piece is in control connection with the control assembly and is used for receiving and responding to a control instruction of the control assembly to drive the mechanical clamping jaw to move; and/or

The electromagnetic suction piece is configured at the bottom side of the machine body and comprises a power supply and an electromagnet electrically connected with the power supply, a switch circuit is arranged at the output end of the power supply, the switch circuit is in control connection with the control assembly, and electromagnetic suction with set intensity is generated below the machine body by receiving and responding to a control instruction of the control assembly.

Through the technical scheme, the mechanical mode and/or the electromagnetic absorption mode are adopted to grab the goods, the grabbing mode can be flexibly changed according to the needs, or the grabbing mode of combining the mechanical mode and/or the electromagnetic absorption mode is adopted to realize grabbing of the goods, and the grabbing effect is more stable and reliable.

Further, the rotor wing assembly comprises a plurality of rotor wings and driving motors thereof, and each driving motor is in control connection with the control assembly;

the power preset component comprises:

the goods weight acquisition unit is configured to be in data connection with the goods identification component and is used for receiving and generating or directly acquiring goods quality data based on goods information;

the goods appearance obtaining unit is configured to be in data connection with the goods identification component and is used for receiving and obtaining pneumatic appearance data of goods based on goods information;

and the rotor wing power balance unit is configured to be in data connection with the goods weight acquisition unit and the goods appearance acquisition unit, and based on the goods quality data and the pneumatic appearance data, the output power data of each rotor wing and the power output change rate in a set period are automatically generated or acquired from the control component.

Through the technical scheme, the unmanned aerial vehicle can flexibly and properly adjust and preset the output power of each rotor wing and the change rate of the output power of each driving motor in the transportation process according to the quality of the goods and the pneumatic shape data of the goods, so that the goods can be conveyed more rapidly and stably, and the unmanned aerial vehicle and the goods are prevented from shaking violently in the flight conveying process.

Further, the control assembly includes:

the second storage module is configured to store a second relation model of the association relation among the goods information, the grabbing mode and the power output mode;

the data processing module is configured to be in data connection with the goods identification component, receives goods information, and generates and outputs grabbing mode and power output mode data based on the second relation model;

and the command interaction module receives the grabbing mode and the power output mode data, and generates and outputs a corresponding control command to the goods grabbing component and the power preset component.

Through the technical scheme, the control assembly can output accurate control instructions according to the goods information acquired by the unmanned aerial vehicle, and control grabbing actions of the unmanned aerial vehicle and output power during transportation.

The storage goods shelf comprises a shelf body, a controller, a turnover box arranged on the shelf body and used for storing goods, an access panel arranged on the shelf body or arranged adjacent to the shelf body, and a conveying assembly used for conveying the turnover box between the shelf body and the access panel;

the turnover box is provided with a marker for enabling the unmanned aerial vehicle to conveniently recognize goods information and a grabbing lock structure for enabling the unmanned aerial vehicle to conveniently grab the turnover box;

the controller is in signal connection with an external control center, receives an external instruction signal and controls the action of the transmission assembly;

the unmanned aerial vehicle adopts the unmanned aerial vehicle for storing and taking the warehouse goods.

Through the technical scheme, the unmanned aerial vehicle is utilized to place the goods on the access panel for storage or snatch the goods from the access panel for delivery, and the goods stored on the goods shelf can be quickly stored and taken out by matching with the goods shelf.

Further, the turnover box comprises a top plate, a bottom plate and a frame arranged between the top plate and the bottom plate, wherein at least one side of the frame is provided with an opening for placing goods;

the grabbing lock structure comprises grabbing grooves which are formed in the peripheral side of the top plate and are convenient for the unmanned aerial vehicle goods grabbing components to grab the turnover box; and/or a magnetic block arranged on the upper surface of the top plate;

the periphery of the bottom plate penetrates through the bottom plate and is provided with a plurality of lifting channels for lifting the turnover box.

Through the technical scheme, the unmanned aerial vehicle can very conveniently grasp the turnover box; and, to the turnover case of placing different quality goods, can adopt mechanical snatch and magnetic attraction formula to snatch the mode that combines together and realize more reliable and stable goods transportation.

Further, a first pressure sensor for detecting the pressure between the mechanical clamping jaw of the unmanned aerial vehicle and the grabbing groove is arranged at the top of the grabbing groove of the turnover box;

the bottom of the turnover box is provided with a second pressure sensor;

the transfer box is further provided with a state confirmation unit for confirming the contact state of the unmanned aerial vehicle and the transfer box, the state confirmation unit is in signal connection with the first pressure sensor and the second pressure sensor, and when the pressure detection value of the first pressure sensor exceeds a set value and the pressure detection value of the second pressure sensor is lower than the set value, a clamping confirmation signal is output to the controller and/or the unmanned aerial vehicle.

Through the technical scheme, the turnover box can confirm the state of the turnover box, and after the turnover box is lifted smoothly, a clamping confirmation signal is output to a controller on the unmanned aerial vehicle and/or a goods shelf, and then the unmanned aerial vehicle starts to fly to convey goods, so that smooth proceeding of the conveying process is ensured.

Further, the frame body is formed by overlapping a plurality of cross beams and longitudinal beams in an staggered manner, and a storage space for placing the turnover box is formed between the cross beams and the longitudinal beams;

the cross beam and the longitudinal beam which are positioned on the side surface of the frame body are provided with sliding rails along the length direction of the cross beam and the longitudinal beam, the conveying assembly comprises a conveying trolley which is arranged along the sliding rails in a sliding manner, the conveying trolley is in control connection with the controller, and the conveying trolley receives and responds to a control signal of the controller to slide along the sliding rails to a set position;

the upper surface of the conveying trolley is provided with a mechanical telescopic arm along the horizontal direction, the mechanical telescopic arm is in control connection with the controller, and a control signal controlled by the control assembly stretches towards or away from the storage space and penetrates through or away from the lifting channel;

a lifting device for lifting the height of the mechanical telescopic arm is arranged between the conveying trolley body and the mechanical telescopic arm, and is in control connection with the controller, and the lifting device receives and responds to a control signal output by the controller to control the horizontal height of the mechanical telescopic arm;

the access panel is arranged at the top of the frame body and is arranged adjacent to the sliding rail;

in an initial state, the horizontal height of the mechanical telescopic arm is consistent with the height of a lifting channel on a turnover box stored in the storage space.

Through above-mentioned technical scheme, can utilize the transfer trolley and set up the transfer of turnover case above that is accomplished to mechanical telescopic arm, when the turnover case is located access panel, can utilize unmanned aerial vehicle to realize snatching fast and transporting of turnover case, promote the access efficiency of storage commodity circulation goods.

Further, the access panel and the turnover box are provided with the marker which is convenient for positioning and identifying the unmanned aerial vehicle, and the marker comprises the external shape of the goods and the turnover box thereof, an RFID label, a graphic code or any combination of the three.

Through the technical scheme, the goods identification component arranged on the unmanned aerial vehicle does not need to be contacted with the marker, and the identification process is efficient and accurate.

Further, the goods shelf is provided with an indicating piece for guiding the unmanned aerial vehicle to fly along a set path and a detecting piece for detecting whether a turnover box exists in each storage space;

the indicating piece comprises a radio frequency generating device arranged at the top of the goods shelf;

the detection piece comprises a graphic code scanning device, an RFID radio frequency identification device or an image identification device which are arranged in each storage space.

Through above-mentioned technical scheme, goods shelves themselves can provide the guide effect for unmanned aerial vehicle in the flight for unmanned aerial vehicle can arrive goods place region faster more accurately, simultaneously, through setting up the detection piece that detects turnover case or goods in the storing space, can let outside control center know the storage current situation of goods and the memory time of goods on the goods shelves, the retrospective of the future goods storage action of being convenient for.

A warehouse goods transfer system based on an unmanned aerial vehicle, comprising:

the unmanned plane for storing and taking the stored goods and the storage goods shelf for storing and taking the stored goods are as described above; and

the goods information input unit is configured to input one or more of the name, volume information, quality information, pneumatic shape information and goods category information of the goods;

the information association storage unit is configured to be used for associating and storing the goods information, the marker information on the goods or the corresponding turnover boxes thereof and the goods shelf information;

the control center is configured to be in signal connection with the unmanned aerial vehicle for storing and taking the stored goods and the storage goods shelf, and outputs control signals based on a set algorithm to control the motion state of the conveying trolley on the unmanned aerial vehicle and the storage goods shelf.

Through the technical scheme, the automatic and efficient conveying of the stored goods can be realized by utilizing the cooperation between the unmanned aerial vehicle and the goods shelf.

Compared with the prior art, the application has the following beneficial effects:

(1) By using the unmanned aerial vehicle for goods storage and retrieval, goods information can be automatically identified, corresponding grabbing modes and running power are adopted based on the goods information, goods can be stably and rapidly carried, and the conveying efficiency of the goods in a warehouse is improved;

(2) Through setting up the intelligent goods shelves that cooperatees with unmanned aerial vehicle and use, can realize getting on goods shelves automatically and put, need not artifical the participation, can promote the conveying efficiency of goods in the warehouse greatly.

Drawings

FIG. 1 is an overall schematic of a drone;

fig. 2 is a schematic structural view of an unmanned aerial vehicle article gripping assembly;

FIG. 3 is a schematic structural view of the transfer case;

FIG. 4 is a schematic illustration of the cooperation of the drone and the transfer case;

FIG. 5 is a schematic view of the structure of a pallet and a turnover box;

FIG. 6 is an enlarged partial schematic view of portion A of FIG. 5;

fig. 7 is a schematic view of the warehouse goods delivery system of the present application.

Reference numerals: 1. a body; 2. a rotor assembly; 3. an RFID tag; 4. mechanical clamping jaws; 5. a claw arm; 6. claw teeth; 7. a screw driving device; 8. a turnover box; 9. a top plate; 10. a bottom plate; 11. a frame; 12. a grabbing groove; 13. lifting the channel; 14. a cross beam; 15. a longitudinal beam; 16. a frame body; 17. a storage space; 18. a slide rail; 19. a transfer trolley; 20. a mechanical telescopic arm; 21. a screw rod; 22. an electric telescopic rod; 23. an access panel; 24. a control center; 25. unmanned aerial vehicle.

Detailed Description

The present application will be described in further detail with reference to examples and drawings, but the embodiments of the present application are not limited thereto.

It should be noted that, the goods according to the embodiments of the present application are mainly articles having a set shape and size after being packaged by a package box or an express box having a set size. The main body of the unmanned aerial vehicle 25 in the embodiment of the application adopts a four-axis unmanned aerial vehicle 25 design commonly used in the prior art. The specific scheme is as follows:

as shown in fig. 1, the unmanned plane 25 for storing and taking articles in a warehouse mainly comprises a machine body 1 and a rotor wing assembly 2, wherein the machine body 1 is provided with components such as a battery, a flight control module and the like; the rotor assembly 2 mainly comprises four shafts, a motor and blades, and the rotor assembly 2 is similar to the existing four-shaft unmanned aerial vehicle 25, and is different in that annular protection rings are arranged around the blades, so that the unmanned aerial vehicle 25 is prevented from colliding with surrounding objects when flying in a narrow space.

The difference from the existing unmanned aerial vehicle 25 is that the unmanned aerial vehicle 25 for storing and taking out warehouse goods according to the embodiment of the present application further includes: the system comprises an item identification component, an item grabbing component, a power presetting component, a communication component and a corresponding control component.

The goods identification component is configured on the unmanned aerial vehicle 25 fuselage 1, and based on goods or the marker on its bearing, the goods information is identified and output. In an embodiment of the application the marker comprises an RFID tag 3, a graphic code, the external shape of the article or its carrier or any combination of the three. The RFID tag 3 can be perceived by the RFID identifier within a set space. The graphic code is preferably configured as a two-dimensional code, and may also be configured as a bar code. The external shape of the goods or the bearing objects thereof mainly refers to certain goods or bearing objects with specific shapes, and the types of the goods can be distinguished by utilizing the image recognition principle so as to obtain the goods information. In the embodiment of the application, the goods carrier is configured as a turnover box 8 for the interior of the warehouse logistics, the marking piece is preferably arranged on the turnover box 8, and the goods information is stored in association with the marking piece when the goods are placed in the turnover box 8.

In the application, the goods information comprises one or a plurality of combinations of the names, the volume information, the quality information, the pneumatic shape information and the goods type information of the goods, and in practical application, the goods information can be further perfected according to the needs, such as adding the management personnel information of the goods, and the like.

Corresponding to the marker adopted in the embodiment of the application, the goods identification component in the embodiment of the application comprises a first storage module and one or more combinations of an RFID identification module, a graphic code identification module and an image acquisition identification module.

The first storage module comprises a storage chip module arranged in the body 1 and is configured to store the goods information and a first relation model between the marks. The flag stored in the above process refers to feature information data for representing the flag, such as ID information of the flag. The first relational model is preferably a two-dimensional data lookup table, and when the tag ID information is identified, the item information associated with the tag ID information can be quickly retrieved.

The RFID identification module is disposed below the body 1, and includes an RFID identifier configured to identify an RFID tag 3 disposed on an article or a circulation box 8, and output article information based on the aforementioned first relationship model. In practice, the distance range of RFID identification is usually 0-1.5m, the ultra-high frequency RFID identification distance can be further increased, and obviously, by utilizing the cooperation of the RFID tag 3 and the identifier, the unmanned aerial vehicle 25 can accurately identify in a long distance in the flight process to obtain the marker information, thereby obtaining the cargo information.

The graphic code recognition module is configured as a code scanning device, such as a code scanning gun, arranged on the machine body 1, recognizes the graphic code and outputs goods information based on the first relation model.

The image acquisition and recognition module comprises an image acquisition device and a recognition unit, the image acquisition device can adopt a camera of the current unmanned aerial vehicle 25 and is configured to acquire an external shape image of the goods or the load thereof, the recognition unit utilizes image recognition software to recognize the image acquired by the image acquisition device, and then goods information is obtained based on the first relation model.

Above-mentioned each technical scheme, unmanned aerial vehicle 25 all can independently discern goods information based on the recognition component who sets up on fuselage 1 to unmanned aerial vehicle 25 need not to contact with goods or its bear the weight of in the whole in-process, can shorten unmanned aerial vehicle 25 discernment and obtain the time of goods information greatly.

The article grabbing component is configured to output a setting action to grab an article according to article information. As shown in fig. 2, in an embodiment of the present application, the article gripping assembly includes a mechanical gripping member and/or an electromagnetic suction member.

The mechanical grabbing piece is arranged below the machine body 1 and comprises a mechanical clamping jaw 4 and a driving piece for driving the mechanical clamping jaw 4 to move, wherein the driving piece is in control connection with the control assembly and is used for receiving and responding to a control instruction of the control assembly to drive the mechanical clamping jaw 4 to move. In detail, the mechanical clamping jaw 4 includes two claw arms 5, one ends of the two claw arms 5 are set to be in a cross rotation connection with an end part through a rotating shaft, and the other ends of the two claw arms 5 are bent towards each other to form claw teeth 6. In the embodiment of the application, the driving piece adopts the screw rod driving device 7, one ends of the two claw arms 5 far away from the claw teeth 6 are respectively arranged on the screw rod 21 of the screw rod driving device 7 in a sliding way through the two sliding blocks, and the internal thread opening directions of the two sliding blocks are opposite, so that when the screw rod 21 rotates forwards or reversely, the two sliding blocks respectively do opposite or far away from movement to realize the driving of the claw teeth 6, and as shown in fig. 2, the threads on the screw rod 21 can be arranged in a forward and reverse way. At this time, only the grabbing grooves 12 for grabbing by the mechanical clamping jaws 4 are required to be arranged on the side wall of the goods carrying object, such as the goods turnover box 8, and the mechanical clamping jaws 4 on the unmanned aerial vehicle 25 can be used for grabbing and fixing the goods carrying object easily.

The electromagnetic suction piece is configured at the bottom side of the machine body 1 and comprises a power supply and an electromagnet electrically connected with the power supply, a switch circuit is arranged at the output end of the power supply, the switch circuit is in control connection with the control component, and electromagnetic suction with set intensity is generated below the machine body 1 by receiving and responding to a control instruction of the control component. The power supply can directly adopt a battery of the unmanned aerial vehicle 25, and the switch circuit can be realized by adopting a relay common in the prior art, so that the power supply is stable and reliable. The advantage of above-mentioned scheme lies in that, utilize electromagnetic attraction can be quick stable to inhale goods or its carrier, snatch the process unmanned aerial vehicle 25 and need not accurate location, get and put also very convenient.

In a specific embodiment, the mechanical grabbing and electromagnetic sucking combined mode can be adopted to grab the goods, and grabbing effects are stable and reliable.

In the embodiment of the application, in order to make the take-off, landing and flying of the unmanned aerial vehicle 25 more stable, a power preset component for adjusting the power output mode of the rotor component 2 according to the goods information preset time is further provided. The power preset component has the significance that the power preset component can respond to the power demand change in the take-off and landing or flight process in advance, so that the flight becomes more stable and rapid, and compared with the unmanned aerial vehicle 25, the self-balancing system has higher processing efficiency and faster response.

In detail, the rotor assembly 2 comprises four rotors and their driving motors, each of which is in control connection with a control assembly.

The power presetting component mainly comprises a commodity weight obtaining unit, a commodity appearance obtaining unit and a rotor wing power balancing unit.

The goods weight obtaining unit is configured to be in data connection with the goods identification component and to receive and generate or directly obtain goods quality data based on the goods information. The goods appearance obtaining unit is configured to be in data connection with the goods identification component and is used for receiving and obtaining pneumatic appearance data of goods based on the goods information. The rotor power balance unit is configured to be in data connection with the commodity weight acquisition unit and the commodity appearance acquisition unit, and based on commodity quality data and pneumatic appearance data, output power data of each rotor and a power output change rate in a set period are automatically generated or acquired from the control component. According to the technical scheme, the unmanned aerial vehicle 25 can flexibly and properly adjust and preset the output power of each rotor wing and the change rate of the output power of each driving motor in the transportation process according to the quality of the goods and the pneumatic shape data of the goods, so that the goods can be conveyed more rapidly and stably, and severe shaking of the unmanned aerial vehicle 25 and the goods in the flying and conveying process is avoided.

The communication component is configured to be in communication connection with the external control center 24, and is used for sending the working state data of the unmanned aerial vehicle 25 and receiving the instruction data of the external control center 24, and in specific practice, the communication component can be implemented by adopting a bluetooth wireless communication module or a 4G communication module.

The control component is configured to be in data connection with the goods identification component and in control connection with the goods grabbing component and the power preset component, and to receive and output control instructions in response to goods information or instruction data of the external control center 24, and to control actions of the goods grabbing component and the power preset component. In the embodiment of the application, the control component can adopt an external FPGA control module which has high-speed data processing capability and anti-interference capability, can process received data including image data at high speed and output corresponding control instructions.

The whole control assembly comprises or is externally connected with a second storage module, a data processing module and an instruction interaction module.

The second storage module is configured to store a second relation model of the association relation among the goods information, the grabbing mode and the power output mode, and the second relation model also preferably adopts a two-dimensional data lookup table so as to quickly find out corresponding data. The second memory module is preferably implemented using an external RAM memory chip. The data processing module is configured to be in data connection with the goods identification component, receive goods information and generate and output grabbing mode and power output mode data based on the second relation model.

The command interaction module receives the grabbing mode and the power output mode data, and generates and outputs a corresponding control command to the goods grabbing component and the power preset component. The command interaction module mainly comprises control signal format conversion and output control, and for different controlled terminals, the control signals need different command formats and output modes which are adapted to the controlled terminals, namely control commands.

In cooperation with the unmanned aerial vehicle 25 for storing and taking out stored goods, the application also provides a storage goods shelf, which comprises a frame body 16, a controller, a turnover box 8 arranged on the frame body 16 and used for storing goods, an access panel 23 arranged on the frame body 16 or arranged adjacent to the frame body 16, and a conveying assembly used for conveying the turnover box 8 between the frame body 16 and the access panel 23, as shown in fig. 3 and 5. The controller is in data connection with the external control center 24 through a set communication unit, such as a bluetooth communication module, and receives external command signals to control the action of the transmission assembly.

As shown in fig. 3, the turn-around box 8 is provided with a marking member for facilitating the aforementioned unmanned aerial vehicle 25 to recognize the information of the goods, and a grabbing lock structure for facilitating the unmanned aerial vehicle 25 to grab the turn-around box 8. In detail, the transfer box 8 comprises a top plate 9, a bottom plate 10 and a frame 11 arranged between the two, wherein at least one side of the frame 11 is provided with an opening for placing goods. The turnover box 8 is integrally made of light hard plastic, the grabbing lock structure comprises grabbing grooves 12 which are formed in the periphery of the top plate 9 and are convenient for the unmanned aerial vehicle 25 to grab the turnover box 8 by means of the goods grabbing components, and/or magnetic blocks which are arranged on the upper surface of the top plate 9, the grabbing grooves 12 or the magnetic blocks are matched with the goods grabbing components on the unmanned aerial vehicle 25, so that the unmanned aerial vehicle 25 is convenient for grabbing the turnover box 8, and stable transportation of goods is achieved.

As shown in fig. 3, similar to the tray structure in the prior art, the peripheral side of the bottom plate 10 of the turn-around box 8 is provided with a plurality of lifting passages 13 for lifting the turn-around box 8 through the bottom plate 10. The upper surface of the bottom plate 10 is provided with a placement groove, which is convenient for fixing the goods placed in the turnover box 8, and prevents the goods from sliding out of the turnover box 8 in the transferring process.

The grabbing groove 12 top of turnover case 8 sets up the first pressure sensor that is used for detecting unmanned aerial vehicle 25 machinery clamping jaw 4 and grabbing the pressure size between the groove 12, and turnover case 8 bottom is provided with the second pressure sensor. The turnover box 8 is further provided with a state confirmation unit for confirming the contact state of the unmanned aerial vehicle 25 and the turnover box 8, the state confirmation unit is in signal connection with the first pressure sensor and the second pressure sensor, and when the pressure detection value of the first pressure sensor exceeds a set value and the pressure detection value of the second pressure sensor is lower than the set value, a clamping confirmation signal is output to the controller and/or the unmanned aerial vehicle 25. In specific practice, the state confirmation unit may be implemented by a circuit, for example, two-input comparators are connected to two reference voltages respectively, then two comparison results are output by comparing the pressure detection values of the first pressure sensor and the second pressure sensor, then the comparison results are determined by using two-input and gate circuits, the gripping confirmation signal is output only if the pressure detection values meet the requirements, and then the unmanned plane 25 flies to start conveying goods.

As shown in fig. 5, the frame 16 is formed by overlapping a plurality of cross beams 14 and longitudinal beams 15 in an interlaced manner, and a storage space 17 for placing the transfer case 8 is formed between the cross beams 14 and the longitudinal beams 15. The cross beam 14 and the longitudinal beam 15 positioned on the side of the frame body 16 are provided with sliding rails 18 along the length direction thereof. The conveying assembly comprises a conveying trolley 19 which slides along the sliding rail 18, the conveying trolley 19 is in control connection with the controller, a built-in driving motor, a control unit and a communication unit which is in communication connection with the controller, and the conveying assembly receives and responds to a control signal of the controller to slide along the sliding rail 18 to a set position. In order to make the moving position of the conveying trolley 19 more accurate, it is optimized that positioning tags, such as radio frequency tags, can be arranged on the sliding rail 18 below each storage space 17, and correspondingly, a radio frequency identification device in signal connection with the control unit can be arranged on the conveying trolley 19. The radio frequency tag can be detected when the transfer cart 19 moves to the set position, thereby confirming the accuracy of the position.

As shown in fig. 5 and 6, the mechanical telescopic arm 20 is arranged on the upper surface of the conveying trolley 19 along the horizontal direction, the horizontal height of the mechanical telescopic arm 20 is consistent with the height of the lifting channel 13 on the turnover box 8 stored in the storage space 17, the mechanical telescopic arm 20 is in control connection with the controller, and the control signal controlled by the control assembly stretches towards or away from the storage space 17 and passes through or away from the lifting channel 13. A lifting device for lifting the height of the mechanical telescopic arm 20 is arranged between the body of the conveying trolley 19 and the mechanical telescopic arm 20, and is in control connection with the controller, and the lifting device receives and responds to a control signal output by the controller to control the horizontal height of the mechanical telescopic arm 20.

In the embodiment of the application, the telescopic mechanical arm is realized by adopting a screw rod driving device 7, and the specific structure is as follows: the screw rod driving device 7 comprises a servo motor, a screw rod 21 and a sliding block sleeved on the screw rod 21, and the axial direction of the screw rod 21 is consistent with the opening direction of the lifting channel 13 on the bottom plate 10 of the turnover box 8. The main body of the mechanical telescopic arm 20 is fixedly connected with a sliding block on the screw rod driving device 7, and the screw rod driving device 7 drives the mechanical telescopic arm to reciprocate along the axial direction of the mechanical telescopic arm. The screw rod driving device 7 and the telescopic mechanical arm are all positioned on the same mounting plate.

The lifting device is configured as an electric telescopic rod 22 provided in the body of the transfer trolley 19, the number of electric telescopic rods 22 being configured as a plurality. The telescopic end parts of the plurality of electric telescopic rods 22 are fixedly connected with different positions of the mounting plate respectively so as to realize stable lifting of the mounting plate.

To facilitate the transfer of goods, the access panel 23 is disposed on top of the rack 16 beside the slide rails 18.

Based on the above technical scheme, when the turnover box 8 carrying goods in the storage space 17 needs to be accessed, firstly, the controller controls the conveying trolley 19 to move to the position where the storage space 17 is located, as each storage space 17 is correspondingly provided with a positioning label, the conveying trolley 19 can accurately stop at the correct position, then the telescopic mechanical arm is inserted into the lifting channel 13 formed in the bottom plate 10 of the turnover box 8, the turnover box 8 is lifted to a set height through the electric telescopic rod 22, then the telescopic mechanical arm is reversely driven, so that the turnover box 8 is taken out from the storage space 17, then the conveying trolley 19 is controlled to move to the position of the access panel 23, and the turnover box 8 is placed on the access panel 23 through the telescopic mechanical arm. Similarly, when the transfer case 8 on the access panel 23 needs to be transferred to the storage space 17, a similar method to the above-mentioned process is adopted, and the above-mentioned automatic access method can improve the access efficiency of the warehouse logistics goods.

Because at least one access panel 23 is usually arranged on one frame 16, in order to facilitate the unmanned aerial vehicle 25 to identify the corresponding access panel 23 or the turnover box 8 placed on the access panel 23, the access panel 23 and the turnover box 8 are provided with the mark pieces which facilitate the positioning and identification of the unmanned aerial vehicle 25, the mark pieces comprise the external shapes of the goods and the turnover box 8 thereof, the RFID tag 3, the graphic code or any combination of the three, and the goods identification component arranged on the unmanned aerial vehicle 25 does not need to be in contact with the mark pieces, so that the identification process is efficient and accurate.

Optimally, the goods shelf is provided with an indicating piece for guiding the unmanned aerial vehicle 25 to fly along a set path and a detecting piece for detecting whether the turnover box 8 exists in each storage space 17, and the indicating piece comprises a radio frequency generating device arranged at the top of the goods shelf. The detecting pieces comprise graphic code scanning devices, RFID radio frequency identification devices or image identification devices which are arranged in the storage spaces 17, the detecting pieces are connected with the controller in a signal mode and are connected with an external control center 24 in a data mode through the controller, and storage states of the turnover boxes 8 and goods in the goods shelves are fed back in real time.

Finally, the application also provides a warehouse goods conveying system based on the unmanned aerial vehicle 25, which is shown in fig. 7, and comprises the unmanned aerial vehicle 25 for warehouse goods storage and retrieval and a warehouse goods storage rack. Further comprises: the item information entry unit, the information association storage unit, and the control center 24.

The goods information input unit is configured to be used for inputting one or more of the names, volume information, quality information, pneumatic shape information and goods category information of the goods, and in specific practice, a computer man-machine interaction device can be adopted to realize the input of information data.

The information association storage unit comprises a storage database configured to store the goods information, the marker information on the goods or the corresponding turnover boxes 8 thereof, and the goods shelf information in association, and provides a corresponding data access interface.

The control center 24 includes a server disposed in the control room and configured to be in data connection with the unmanned aerial vehicle 25 for storing and taking goods and the storage goods shelf via a set communication unit, so as to obtain working states of the unmanned aerial vehicle 25 and the storage goods shelf, and a set management algorithm is disposed in the control center, and the control center outputs control signals according to the working states of the unmanned aerial vehicle 25 and the storage goods shelf to control the movement states of the transfer trolley 19 on the unmanned aerial vehicle 25 and the storage goods shelf, so as to realize automatic storage and taking of goods.

Based on the warehouse goods conveying system, the staff only needs to input the goods information at the set position in the warehouse, such as the warehouse entrance, then binds the goods with the transfer box 8 information and places the goods into the transfer box 8, and the control center 24 can automatically store the goods to the corresponding position according to the current unmanned aerial vehicle 25 and the state of the goods shelf. The automatic operation can be realized when the goods are taken, and the storage efficiency of the stored goods can be greatly improved.

The above description is only a preferred embodiment of the present application, and the protection scope of the present application is not limited to the above examples, and all technical solutions belonging to the concept of the present application belong to the protection scope of the present application. It should be noted that modifications and adaptations to the present application may occur to one skilled in the art without departing from the principles of the present application and are intended to be within the scope of the present application.

Claims (12)

1. Unmanned aerial vehicle (25) for storage goods access, including fuselage (1) and rotor subassembly (2), its characterized in that still includes:

the goods identification component is configured on the machine body (1), and is used for identifying and outputting goods information based on the marks on goods or the carrier thereof;

the goods grabbing component is configured to output a set action to grab goods according to goods information;

the power presetting assembly is configured to be used for adjusting the power output mode of the rotor assembly (2) according to goods information preset time;

the communication component is configured to be in communication connection with an external control center (24) and is used for sending working state data of the unmanned aerial vehicle (25) and receiving instruction data of the external control center (24);

and the control assembly is configured to be in data connection with the goods identification assembly and in control connection with the goods grabbing assembly and the power preset assembly, receives and responds to the goods information or command data output control commands of an external control center (24), and controls actions of the goods grabbing assembly and the power preset assembly.

2. The unmanned aerial vehicle (25) for storage and retrieval of goods according to claim 1, wherein the marker comprises an RFID tag (3), a graphic code, an external shape of the goods or their carriers, or a combination thereof;

the item identification assembly includes:

the first storage module is configured to store a first relation model between goods information and each marker;

an RFID identification module configured to identify an RFID tag (3) provided on an article or its carrier, and output article information based on the first relationship model; and/or

The graphic code identification module is configured to be arranged on the machine body (1) and used for identifying the graphic code and outputting goods information based on the first relation model; and/or

The image acquisition and identification module is configured to acquire an external shape image of an article or a carrier thereof, and identify and generate the article information based on the first relation model.

3. The unmanned aerial vehicle (25) for storage and retrieval of goods according to claim 1, wherein the goods gripping assembly comprises:

the mechanical grabbing piece is arranged below the machine body (1) and comprises a mechanical clamping jaw (4) and a driving piece for driving the mechanical clamping jaw (4) to move, wherein the driving piece is in control connection with the control assembly and is used for receiving and responding to a control instruction of the control assembly to drive the mechanical clamping jaw (4) to move; and/or

The electromagnetic suction piece is configured at the bottom side of the machine body (1) and comprises a power supply and an electromagnet electrically connected with the power supply, a switch circuit is arranged at the output end of the power supply, the switch circuit is in control connection with the control assembly, and electromagnetic suction with set intensity is generated below the machine body (1) by receiving and responding to a control instruction of the control assembly.

4. The unmanned aerial vehicle (25) for storage and retrieval of goods according to claim 1, wherein the rotor assembly (2) comprises a plurality of rotors and driving motors thereof, each of the driving motors being in control connection with the control assembly;

the power preset component comprises:

the goods weight acquisition unit is configured to be in data connection with the goods identification component and is used for receiving and generating or directly acquiring goods quality data based on goods information;

the goods appearance obtaining unit is configured to be in data connection with the goods identification component and is used for receiving and obtaining pneumatic appearance data of goods based on goods information;

and the rotor wing power balance unit is configured to be in data connection with the goods weight acquisition unit and the goods appearance acquisition unit, and based on the goods quality data and the pneumatic appearance data, the output power data of each rotor wing and the power output change rate in a set period are automatically generated or acquired from the control component.

5. The unmanned aerial vehicle (25) for storage and retrieval of goods according to claim 1, wherein the control assembly comprises:

the second storage module is configured to store a second relation model of the association relation among the goods information, the grabbing mode and the power output mode;

the data processing module is configured to be in data connection with the goods identification component, receives goods information, and generates and outputs grabbing mode and power output mode data based on the second relation model;

and the command interaction module receives the grabbing mode and the power output mode data, and generates and outputs a corresponding control command to the goods grabbing component and the power preset component.

6. The storage goods shelf is characterized by comprising a shelf body (16), a controller, a turnover box (8) arranged on the shelf body (16) and used for storing goods, an access panel (23) arranged on the shelf body (16) or arranged adjacent to the shelf body (16), and a conveying component used for conveying the turnover box (8) between the shelf body (16) and the access panel (23);

the turnover box (8) is provided with a marker for facilitating the unmanned aerial vehicle (25) to recognize goods information and a grabbing lock structure for facilitating the unmanned aerial vehicle (25) to grab the turnover box (8);

the controller is in signal connection with an external control center (24), receives an external instruction signal and controls the action of the transmission assembly;

the unmanned aerial vehicles (25) adopt unmanned aerial vehicles (25) for storing and taking out warehouse goods according to any one of claims 1 to 5.

7. The warehouse goods storage rack according to claim 6, characterized in that the turnover box (8) comprises a top plate (9), a bottom plate (10) and a frame (11) arranged between the two, at least one side of the frame (11) is provided with an opening for placing goods;

the grabbing and locking structure comprises grabbing grooves (12) which are formed in the peripheral side of the top plate (9) and are used for enabling goods grabbing components of the unmanned aerial vehicle (25) to grab the turnover box (8); and/or a magnetic block arranged on the upper surface of the top plate (9);

the periphery of the bottom plate (10) penetrates through the bottom plate (10) and is provided with a plurality of lifting channels (13) for lifting the turnover box (8).

8. The unmanned aerial vehicle (25) based warehouse item transfer system of claim 7, wherein,

the top of a grabbing groove (12) of the turnover box (8) is provided with a first pressure sensor for detecting the pressure between a mechanical clamping jaw (4) of the unmanned aerial vehicle (25) and the grabbing groove (12);

the bottom of the turnover box (8) is provided with a second pressure sensor;

the turnover box (8) is further provided with a state confirmation unit for confirming the contact state of the unmanned aerial vehicle (25) and the turnover box (8), the state confirmation unit is in signal connection with the first pressure sensor and the second pressure sensor, and when the pressure detection value of the first pressure sensor exceeds a set value and the pressure detection value of the second pressure sensor is lower than the set value, a clamping confirmation signal is output to the controller and/or the unmanned aerial vehicle (25).

9. The warehouse goods storage rack as claimed in claim 7, characterized in that the rack body (16) is formed by a plurality of cross beams (14) and longitudinal beams (15) which are overlapped in a staggered manner, wherein a storage space (17) for placing the turnover box (8) is formed between the cross beams (14) and the longitudinal beams (15);

the cross beam (14) and the longitudinal beam (15) which are positioned on the side surface of the frame body (16) are provided with sliding rails (18) along the length direction of the cross beam and the longitudinal beam, the conveying assembly comprises a conveying trolley (19) which is arranged in a sliding manner along the sliding rails (18), the conveying trolley (19) is in control connection with the controller, and receives and responds to a control signal of the controller to slide along the sliding rails (18) to a set position;

the upper surface of the conveying trolley (19) is provided with a mechanical telescopic arm (20) along the horizontal direction, the mechanical telescopic arm (20) is in control connection with a controller, and a control signal controlled by a control assembly stretches towards or away from a storage space (17) and passes through or away from the lifting channel (13);

a lifting device for lifting the height of the mechanical telescopic arm (20) is arranged between the body of the conveying trolley (19) and the mechanical telescopic arm (20), and is in control connection with a controller, and the lifting device receives and responds to a control signal output by the controller to control the horizontal height of the mechanical telescopic arm (20);

the access panel (23) is arranged at the top of the frame body (16) and is adjacent to the sliding rail (18);

in an initial state, the horizontal height of the mechanical telescopic arm (20) is consistent with the height of a lifting channel (13) on a turnover box (8) stored in a storage space (17).

10. The warehouse goods storage rack according to claim 7, characterized in that the access panel (23) and the turnover box (8) are provided with a marker for facilitating the positioning and identification of the unmanned aerial vehicle (25), the marker comprising the external shape of the goods and the turnover box (8) thereof, an RFID tag (3), a graphic code or any combination of the three.

11. The storage rack for warehouse goods according to claim 10, characterized in that the rack is provided with an indicator for guiding the unmanned aerial vehicle (25) to fly along a set path and a detecting element for detecting whether the turnover box (8) is stored in each storage space (17);

the indicating piece comprises a radio frequency generating device arranged at the top of the goods shelf;

the detection piece comprises a graphic code scanning device, an RFID radio frequency identification device or an image identification device which are arranged in each storage space (17).

12. A warehouse goods transfer system based on an unmanned aerial vehicle (25), comprising:

a storage article access drone (25) according to any one of claims 1 to 5;

the storage rack of storage goods according to any one of claims 7-11; and

the goods information input unit is configured to input one or more of the name, volume information, quality information, pneumatic shape information and goods category information of the goods;

the information association storage unit is configured to be used for associating and storing the goods information, the marker information on the goods or the corresponding turnover boxes (8) and the goods shelf information;

the control center (24) is configured to be in signal connection with the unmanned aerial vehicle (25) for storing and taking the stored goods and the storage goods shelf, and output control signals based on a set algorithm to control the motion states of the unmanned aerial vehicle (25) and the conveying trolley (19) on the goods shelf.