WO2020057293A1 - 配送站点及配送方法 - Google Patents

配送站点及配送方法 Download PDF

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Publication number
WO2020057293A1
WO2020057293A1 PCT/CN2019/100256 CN2019100256W WO2020057293A1 WO 2020057293 A1 WO2020057293 A1 WO 2020057293A1 CN 2019100256 W CN2019100256 W CN 2019100256W WO 2020057293 A1 WO2020057293 A1 WO 2020057293A1
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WO
WIPO (PCT)
Prior art keywords
cargo
goods
distribution
platform
drone
Prior art date
Application number
PCT/CN2019/100256
Other languages
English (en)
French (fr)
Inventor
汪钊
肖军
张亚方
陈英
张囝
张强
Original Assignee
北京京东尚科信息技术有限公司
北京京东世纪贸易有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京京东尚科信息技术有限公司, 北京京东世纪贸易有限公司 filed Critical 北京京东尚科信息技术有限公司
Priority to EP19862120.3A priority Critical patent/EP3838803A4/en
Priority to JP2021514397A priority patent/JP7497341B2/ja
Priority to US17/275,942 priority patent/US20210284450A1/en
Publication of WO2020057293A1 publication Critical patent/WO2020057293A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/005—Protective coverings for aircraft not in use
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/22—Ground or aircraft-carrier-deck installations for handling aircraft
    • B64F1/222—Ground or aircraft-carrier-deck installations for handling aircraft for storing aircraft, e.g. in hangars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/32—Ground or aircraft-carrier-deck installations for handling freight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F17/00—Coin-freed apparatus for hiring articles; Coin-freed facilities or services
    • G07F17/10—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for means for safe-keeping of property, left temporarily, e.g. by fastening the property
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2814/00—Indexing codes relating to loading or unloading articles or bulk materials
    • B65G2814/03—Loading or unloading means
    • B65G2814/0398—Loading or unloading means for aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G67/00—Loading or unloading vehicles

Definitions

  • the present disclosure relates to the field of logistics, and in particular, to a distribution site and method.
  • logistics In the distribution and automatic storage of goods, logistics is the organic combination of basic functions such as transportation, storage, loading and unloading, handling, distribution, and information processing to realize users during the physical flow of goods from the supply to the receiving place. Required process. Logistics plays a very important role in modern business.
  • a distribution site including:
  • a cargo receiving device at least partially disposed within the building, for receiving cargo unloaded by a drone on the drone tarmac;
  • a cargo sorting device is disposed in the building and is used to sort the received cargo into the storage space.
  • it further includes:
  • a first adjustment mechanism is provided on the drone tarmac and is used to adjust the position of the drone landing on the drone tarmac or adjust the unloaded cargo to the cargo receiving device. Receiving location.
  • the drone apron is located on the top of the building, and the receiving position of the cargo receiving device includes a cargo port on the top of the building that is docked with the cargo receiving device.
  • it further includes:
  • the shelter is movably disposed on the top of the building, and is used to shelter at least above the drone tarmac at a shelter position, or to leave the shelter position to expose the drone tarmac.
  • the receiving position of the cargo receiving device includes a cargo port on the top of the building that is docked with the cargo receiving device, and the shelter is further configured to cover the cargo at the shielding position. Opening, or leaving the blocking position to expose the cargo opening.
  • a sliding guide is provided between the shelter and the top of the building to guide the movement of the shelter on the top of the building.
  • the cargo receiving device includes:
  • At least one cargo platform with a cargo carrying area
  • a cargo transport mechanism having a cargo carrying area and moving between each cargo platform in the at least one cargo platform and a receiving position for unloaded cargo from a drone for unloading a drone from the drone tarmac The cargo is received and transported to the at least one cargo platform.
  • the at least one cargo platform is disposed below a receiving position of the cargo unloaded by the drone, and the cargo transport mechanism includes:
  • a lift having a lifting platform capable of carrying goods for carrying goods and adjusting the height position of the goods
  • a cargo moving device is provided on the elevator, the cargo platform, or in the building, and is configured to move cargo between the lifting platform and a cargo platform at a height where the lifting platform is located.
  • it further includes:
  • a cargo loading device is at least partially disposed in the building, and is configured to load the cargo in the building on a drone, so that the drone can deliver the cargo to a preset destination.
  • the cargo to be loaded on the drone in the building includes empty cargo boxes, abnormal cargo, or cargo to be distributed.
  • it further includes a cargo loading device that shares the at least one cargo platform and the cargo transport mechanism with the cargo receiving device.
  • the goods sorting device includes:
  • a track provided in the building and located between the storage space and the cargo receiving device
  • a mobile platform movable along said track
  • a multi-degree-of-freedom robotic arm is arranged on the moving platform and is used for grasping goods and moving to a target position for release.
  • the goods sorting device further includes:
  • a cargo temporary storage platform having a cargo carrying area and provided on the mobile platform;
  • the multi-degree-of-freedom robotic arm is configured to temporarily store the goods received from the goods receiving device on the goods temporary storage platform when the mobile platform moves to a position close to the goods receiving device, and When the mobile platform moves to a position close to the storage space, sort the goods on the cargo temporary storage platform to a corresponding position in the storage space; or move the mobile platform to a position near the distribution interface area When the delivery vehicle is temporarily stored in the goods temporary storage platform, and when the mobile platform is moved to a position close to the storage space, the goods on the goods temporary storage platform are stored in the storage space .
  • it further includes:
  • Distribution interface area used to provide a parking area for distribution vehicles used to perform cargo distribution
  • the goods sorting device is further configured to load goods in the storage space to the distribution vehicle.
  • the distribution vehicle is an unmanned ground distribution vehicle
  • the distribution interface area is located in the building
  • the building is provided with an external passage / door that communicates with the distribution interface area.
  • it further includes:
  • a second adjustment mechanism is provided in the delivery interface area and is used to adjust the position of the delivery vehicle entering the delivery interface area.
  • the second adjustment mechanism includes:
  • the rotating platform is rotatable about an axis perpendicular to the horizontal plane, and is used to adjust the angle of the distribution carrier carried above with respect to the cargo sorting device by rotating.
  • it further includes a distribution interface area configured to provide a parking area for a distribution vehicle for performing cargo distribution;
  • the track is also located between the storage space and the distribution interface area.
  • the goods sorting device further includes:
  • a cargo temporary storage platform having a cargo carrying area and provided on the mobile platform;
  • the multi-degree-of-freedom robotic arm is configured to temporarily store goods to be distributed in the storage space in the goods temporary storage platform when the mobile platform moves to a position close to the storage space, and When the platform moves to a position near the distribution interface area, the goods on the goods temporary storage platform are loaded onto the distribution carrier.
  • the goods sorting device further includes:
  • the cargo lifting mechanism has a lifting platform capable of carrying cargo, and is disposed on the mobile platform for lifting the cargo on the cargo temporary storage platform to the height of the corresponding cargo inlet of the delivery vehicle so that the multi- The DOF robot pushes the cargo horizontally into the cargo inlet.
  • it further includes:
  • a user self-lifting mechanism which has an operation interface and a self-lifting cargo port, and is arranged outside the building;
  • the cargo sorting device is further configured to sort the corresponding cargo in the storage space to the self-lifting cargo port according to a pickup instruction input by the user on the operation interface.
  • it further includes:
  • An automatic vending device which has an operation interface and a commodity outlet, and is arranged outside the building;
  • the goods sorting device is further configured to sort the corresponding goods in the storage space as sold goods to the goods outlet according to a purchase instruction input by the user on the operation interface.
  • it further includes:
  • a user delivery mechanism which has an operation interface and a cargo placement port, and is disposed outside the building;
  • the goods sorting device is further configured to sort the goods received by the goods placement port to a corresponding position in the storage space according to a shipping instruction input by the user on the operation interface.
  • it further includes:
  • a first vision device is disposed in the building and is used to identify the goods received by the goods receiving device, so that the goods sorting device sorts the goods.
  • it further includes:
  • a second vision device is disposed in the building, and is configured to identify a position of a delivery vehicle entering the delivery interface area, so that the second adjustment mechanism may determine the location of the delivery vehicle based on the recognition result of the second vision device.
  • the delivery vehicle is adjusted as described above.
  • an information display area is provided on the exterior wall of the building.
  • a distribution method based on the foregoing distribution site including:
  • the goods received by the goods receiving device are sorted into a storage space of a building by a goods sorting device.
  • it further includes:
  • the empty cargo boxes, abnormal goods or goods to be distributed in the building are loaded on a drone, so that the drone can deliver the goods to a preset destination.
  • it further includes:
  • the cargo sorting device takes out the goods to be delivered from the storage space according to the delivery task, and loads the goods into the delivery vehicle, In order for the delivery vehicle to go to a preset target location to perform the delivery task.
  • it further includes:
  • the goods sorting device takes out the goods carried by the delivery vehicle and stores them in the storage space.
  • FIG. 1 is a schematic diagram of an external structure of some embodiments of a distribution site according to the present disclosure
  • FIG. 2 is a schematic diagram of an internal structure of some embodiments of a distribution site according to the present disclosure
  • FIG. 3 is an enlarged view of a circled part in FIG. 2;
  • FIG. 4 is a schematic diagram of a cargo sorting device loading goods to a delivery vehicle in some embodiments of a distribution site according to the present disclosure
  • FIG. 5 is a detailed structural diagram of a cargo sorting device in some embodiments of a distribution site according to the present disclosure.
  • a specific device when it is described that a specific device is located between the first device and the second device, there may or may not be an intervening device between the specific device and the first device or the second device.
  • the specific device When it is described that a specific device is connected to another device, the specific device may be directly connected to the other device without an intervening device, or may have an intervening device without being directly connected to the other device.
  • the embodiments of the present disclosure provide a distribution site and a distribution method to reduce dependence on labor.
  • the distribution site in this embodiment includes: a building 1, a cargo receiving device 4, and a cargo sorting device 5.
  • the building 1 has a storage space 6 for storing goods and a drone apron 12 for docking the drone 2.
  • the building 1 may be a building structure fixedly immovable on the ground, or a movable mobile building structure, or a combination structure of an immovable building structure and a mobile building structure.
  • the cargo receiving device 4 is at least partially disposed in the building 1 and is configured to receive the cargo unloaded by the drone 2 on the drone tarmac 12.
  • the drone 2 can be docked on the drone tarmac 12 and can unload or load goods to or from the distribution site. Compared with the way in which the drone drops the cargo, this unloading method can unload the cargo more safely and reliably, and is convenient for the drone 2 to load the cargo.
  • a goods sorting device 5 is provided in the building 1 for sorting the received goods into the storage space 6. After the cargo receiving device 4 receives the cargo from the drone 2, the cargo sorting device 5 can sort the cargo to a corresponding position in the storage space in the building 1.
  • the goods here can be packaged goods or containers containing at least one item, or empty containers.
  • a drone is used to deliver goods to a distribution site, and the goods receiving device in the distribution site is used to receive the goods unloaded on the drone tarmac, and then the received goods are sorted into a storage space by a goods sorting device. in.
  • this reduces the manual reliance on transporting to and from the distribution site, and on the other hand, improves the flexibility of the logistics distribution process through drones.
  • a first adjustment mechanism may be provided on the drone tarmac 12 for The drone 2 landing on the man-machine apron 12 performs position adjustment.
  • the first adjustment mechanism may also adjust the cargo unloaded by the drone 2 to a receiving position of the cargo receiving device 4.
  • the first adjustment mechanism may include a push plate that can be moved laterally along the surface of the drone tarmac 12 to adjust the drone 2 or the cargo to an appropriate position by pushing the bottom support frame or the cargo of the drone 2.
  • the push plate can be driven by a motor, hydraulic cylinder or air cylinder.
  • the first adjustment mechanism may further include a mechanical structure for adjusting the position by means of pulling or lifting, such as a boom for traction through a traction rope, and the like.
  • a drone apron 12 may be located on top of the building 1.
  • the receiving position of the cargo receiving device 4 may include a cargo port 16 provided on the top of the building 1 and docking with the cargo receiving device 4.
  • the cargo port 16 may be located on the side of the helipad 12, so that the first adjustment mechanism adjusts the cargo unloaded by the drone 2 to the cargo port 16.
  • a rain shelter 11 is provided on the top side of the distribution site so that pedestrians can shelter from the rain under the rain shelter 11.
  • a shelter 13 can also be provided on the top of the distribution site.
  • the shelter 13 can be moved on top of the building 1 and can be sheltered above the drone tarmac 12 in a sheltered position, so as to prevent rain, snow, sand and other severe weather from eroding parts of the distribution site. Damaged.
  • the shelter 13 can also be used to cover the cargo port 16 at the shelter position.
  • the shelter 13 In order to use the drone tarmac 12 normally, the shelter 13 can be moved away from the shielding position to expose the drone tarmac 12.
  • the shelter 13 can also expose the cargo port 16 by leaving the shelter position.
  • the shelter 13 can be driven by a motor, a hydraulic cylinder or an air cylinder.
  • a sliding guide 13 a may be provided between the shelter 13 and the top of the building 1.
  • the sliding guide 13 a can guide the movement of the shelter 13 on the top of the building 1.
  • a driving mechanism may be further provided on the shielding shed 13 for automatically driving the shielding shed 13 to slide between a blocking position and a non-blocking position.
  • the shelter 13 can also be used as a backup drone apron. When the shelter 13 cannot be opened due to a failure or multiple drones are delivered at the same time, some drones can be temporarily parked at the shelter 13.
  • the cargo receiving device 4 includes at least one cargo platform and a cargo transport mechanism.
  • Cargo platforms 42 and 42 at different heights are shown in FIG. 3. Different cargo platforms can be used for different purposes. For example, a higher cargo platform can be used as a sorting station, and a lower one or more cargo platforms can be used as temporary storage spaces for goods, empty containers or abnormal goods.
  • the abnormal goods here are the goods that do not conform to the order.
  • the goods that do not conform to the order include the inconsistency between the goods and the recorded goods in the order, or the inconsistent or default quality / quantity on the order.
  • Each cargo platform and cargo delivery agency has areas for carrying cargo.
  • the cargo transport mechanism moves between each cargo platform in the at least one cargo platform and a receiving position where the drone 2 unloads the cargo.
  • the cargo transport mechanism may receive the cargo unloaded by the drone 2 on the drone tarmac 12 and transport it to the at least one cargo platform.
  • the transport path of the cargo transport mechanism may be a vertical linear path to reduce the lateral space occupation, and may also be a spiral shape, a zigzag shape, or the like.
  • at least one cargo platform may be provided below the receiving position where the drone 2 unloads the cargo. If multiple cargo platforms are included, such as the cargo platforms 42 and 43 in FIG. 3, they can be respectively fixed at different heights below the cargo port 16 through pillars 41.
  • the cargo transport mechanism may include an elevator 44 and a cargo moving device.
  • the elevator 44 has a lifting platform capable of carrying goods, and is used for carrying goods and adjusting the height position of the goods.
  • the lifting platform of the elevator 44 can be installed on a guide bar 43 provided vertically, and can be raised or lowered by the driving mechanism.
  • a cargo moving device may be provided on the elevator 44 for moving cargo between the lifting platform and a cargo platform at a height where the lifting platform is located. For example, when the lifting platform carries the cargo to the height of a certain cargo platform, the cargo can be moved to the cargo platform through a cargo moving device on the elevator, such as a belt or a push rod. When the empty lifting platform moves to a cargo platform carrying cargo, the cargo can be moved to the lifting platform by a cargo moving device on the elevator, such as a belt or a drawbar. In other embodiments, the cargo moving device may also be disposed on the cargo platform or in the building 1 and is independent of the lifting platform or the cargo platform.
  • the distribution site can also transport the goods out through the drone, for example, empty cargo boxes, abnormal goods or goods to be delivered to the preset destination by the drone.
  • the distribution site may further include a cargo loading device, which is at least partially disposed in the building 1 for loading the cargo in the building 1 on a drone 2 so that drone 2 can deliver the goods to a preset destination.
  • a cargo loading device which is at least partially disposed in the building 1 for loading the cargo in the building 1 on a drone 2 so that drone 2 can deliver the goods to a preset destination.
  • This also includes drones that transfer goods to be delivered from a distribution site to another distribution site or the customer's receiving area.
  • the drone 2 can transport them back to the shipping warehouse for reloading or inspection operations.
  • the cargo loading device and the cargo receiving device 4 may share the at least one cargo platform and the cargo transport mechanism. In other embodiments, the cargo loading device may be independent of the cargo receiving device.
  • the cargo sorting device 5 may include a track 51, a moving platform 53, and a multi-degree-of-freedom robot arm 52.
  • the rail 51 may be provided on a floor or a side wall in the building 1.
  • a rail 51 may be provided between the storage space 6 and the cargo receiving device 4.
  • the moving platform 53 moves movably along the rail 51.
  • the multi-degree-of-freedom robotic arm 52 is disposed on the moving platform 53 and is used for grasping goods and moving to a target position for release.
  • the multi-degree-of-freedom robot arm 52 may include a plurality of arm sections, and the end arm section may be provided with an end picker 59.
  • the track 51 may include a track base, a linear guide 58, and a rack 57.
  • the track base can be fixed on the floor surface of the building, and can also be fixed on the side wall, ceiling or internal facilities of the building as required.
  • the linear guide 58 is fixed on the track base and cooperates with the bottom surface of the moving platform 53.
  • the rack 57 is fixed to the rail base and can mesh with a gear in a gear drive mechanism provided on the moving platform 53. In this way, the moving platform 53 can be moved linearly on the rail 51 under the driving of the gear driving mechanism.
  • the cargo sorting device 5 further includes a cargo temporary storage platform 54.
  • the cargo temporary storage platform 54 has an area for carrying cargo, and is disposed on the mobile platform 53.
  • the multi-degree-of-freedom robotic arm 52 may be configured to temporarily store the goods received from the goods receiving device 4 on the goods temporary storage platform 54 when the moving platform 53 moves to a position close to the goods receiving device 4.
  • the multi-degree-of-freedom robotic arm 52 sorts the goods on the cargo temporary storage platform 54 to the corresponding positions in the storage space 6.
  • a first vision device 91 may be provided inside the building 1, and the goods receiving device 4 is received by the first vision device 91 The goods are identified so that the goods sorting device 5 sorts the goods.
  • the distribution site may further include a distribution interface area for providing a parking area of the distribution vehicle 3 for performing cargo distribution.
  • the goods sorting device 5 may load the goods in the storage space 6 into the delivery carrier 3 when the delivery carrier 3 is parked in the delivery interface area, or sort the goods in the delivery carrier 3 to the Storage space 6.
  • the delivery vehicle 3 may be an unmanned ground delivery vehicle (such as an unmanned vehicle or a remote-controlled car).
  • the distribution interface area may be located in the building 1, and the building 1 is provided with an aisle / door 14 externally communicating with the distribution interface area.
  • the door 14 can be automatically opened when the delivery vehicle 3 enters and exits the delivery station, and closed at other times.
  • a second adjustment mechanism 7 may be included in the distribution site.
  • the second adjustment mechanism 7 may be disposed in the delivery interface area, and is used to adjust the position of the delivery vehicle 3 entering the delivery interface area.
  • the delivery site may further include: a second vision device 92, which is disposed in the building 1 and is used for the delivery vehicle entering the delivery interface area.
  • the position of 3 is recognized, so that the second adjustment mechanism 7 can accurately adjust the position of the delivery vehicle 3 according to the recognition result of the second vision device 92.
  • the goods sorting apparatus 5 can load the goods on the delivery carrier 3 more accurately.
  • the second adjustment mechanism 7 may include a rotating platform provided on a floor of the delivery interface area. After the distribution carrier 3 is moved to the rotary platform, the rotary platform can be rotated about an axis perpendicular to the horizontal plane, so that the angle of the distribution carrier 3 above the cargo sorting device 5 can be adjusted by rotation to facilitate the goods. load.
  • the direction of the wheel movement of the delivery vehicle 3 is different from the direction of the cargo inlet 31 provided on the delivery vehicle 3, the delivery vehicle 3 needs to be rotated to a specific angle by a rotating platform so that the cargo inlet 31 faces the building 1 inside, thereby facilitating the cargo sorting device 5 to load cargo into the cargo inlet 31.
  • the rotating platform can rotate the delivery vehicle 3 to a direction that facilitates the wheels to exit the delivery station.
  • different sides that need to be loaded with goods can also be sequentially rotated to the corresponding direction through a rotating platform, thereby making the loading process more convenient and automated.
  • the track 51 may also be provided between the storage space 6 and the distribution interface area. This facilitates the mobile platform 53 to operate between the storage space 6 and the distribution interface area.
  • the multi-degree-of-freedom robot arm 52 may be configured to store the storage when the mobile platform 53 moves to a position close to the storage space 6. The goods to be distributed in the space 6 are temporarily stored in the goods temporary storage platform 54.
  • the multi-degree-of-freedom robotic arm 52 can load the goods on the goods temporary storage platform 54 to the distribution carrier 3.
  • the multi-degree-of-freedom robotic arm 52 may be configured to move the delivery vehicle when the mobile platform 53 moves to a position near the delivery interface area. 3 temporarily stores the goods temporary storage platform 54, and when the mobile platform 53 moves to a position close to the storage space 6, stores the goods on the goods temporary storage platform 54 into the storage space 6.
  • the goods sorting device 5 may further include a goods lifting mechanism 56.
  • the cargo lifting mechanism 56 has a lifting platform 55 capable of carrying cargo, and is provided on the moving platform 53.
  • the lifting platform 55 can lift the cargo on the cargo temporary storage platform 54 to the height of the corresponding cargo inlet 31 of the distribution carrier 3, so that the multi-degree-of-freedom robotic arm 52 pushes the cargo horizontally into the cargo inlet. 31, thereby simplifying the loading process of goods.
  • the cargo lifting mechanism 56 can also be used for the multi-degree-of-freedom robotic arm 52 to push the cargo horizontally into the cargo compartment of the storage space.
  • the goods stored at the delivery site and received from the drone 2 can be delivered to the destination or the target user through the delivery vehicle 3, and can also be picked by the user, that is, the user obtains the goods directly from the delivery site.
  • the distribution site may further include a user self-lifting mechanism 82.
  • the user self-lifting mechanism 82 has an operation interface and a self-lifting cargo port 16, and is disposed outside the building 1.
  • the user can go to the designated distribution site according to the notification received by the short message, WeChat or other methods, and enter the pickup instruction into the operation interface according to the notification.
  • the goods sorting device 5 can sort the corresponding goods in the storage space 6 to the self-lifting goods port 16 according to the loading instruction input by the user on the operation interface.
  • the distribution site may further include an automatic vending device 83.
  • the vending device 83 has an operation interface and a commodity outlet, and is installed outside the building 1.
  • the goods sorting device 5 may sort the corresponding goods in the storage space 6 as sold products according to the purchase instruction entered by the user on the operation interface. To the goods export.
  • the distribution site may further include a user shipping mechanism, which has an operation interface and a cargo placement port, and is disposed outside the building 1.
  • the goods sorting device 5 may sort the goods received by the goods placement port to the goods according to the shipping instruction entered by the user on the operation interface.
  • Corresponding position in storage space 6. the cargo can be loaded on the drone 2 by the cargo loading device and then transported to the preset destination, or the cargo can be loaded on the distribution carrier by the cargo sorting device and transported to the preset destination.
  • an information display area 81 may be provided on the outer wall of the building 1 for displaying static or dynamic advertisements, notifications, programs, and the like.
  • the present disclosure also provides corresponding distribution methods.
  • the distribution method includes: when the drone 2 carrying the cargo is docked to the drone tarmac 12, the cargo receiving device 4 unloads the drone 2 from the drone tarmac 12 The goods are received; the goods received by the goods receiving device 4 are sorted into the storage space 6 of the building 1 by a goods sorting device 5.
  • the drone 2 can send the goods to be delivered to the designated delivery site via the air according to the system's deployment instructions.
  • the system can communicate with the distribution site to obtain the storage status in the distribution site in order to arrange the drone 2 for cargo deployment in time.
  • the drone 2 can also communicate with the distribution site to confirm whether the distribution site currently has a docking condition.
  • the delivery site cannot receive normally (for example, the cargo receiving device is damaged or the apron cannot be docked, etc.), the drone 2 can wait or return in the air.
  • the drone 2 When the drone 2 delivers the cargo to the drone tarmac 12 and releases the cargo, the drone 2 may dock on the drone tarmac 12 or take off again and go to another destination.
  • the cargo port 16 When the cargo is unloaded on the drone tarmac 12, the cargo port 16 can be opened for receiving, and at this time, the elevator 44 of the cargo transport mechanism in FIG. 1 can be raised to the height of the cargo port 16.
  • the goods In order to move the goods into the building, the goods can be adjusted to the lifting platform of the elevator 44 by using the first adjusting mechanism. Referring to FIG. 3, the elevator 44 lowers the lifting platform to the height of a certain cargo platform 43, and then uses the cargo moving device to move the cargo A2 to the cargo platform.
  • the distribution method may further include: empty cargo box, abnormal cargo, or unused cargo in the building 1.
  • the delivered goods are loaded on the drone 2 so that the drone 2 can deliver the goods to a preset destination.
  • the cargo sorting device 5 Before loading the empty cargo box, abnormal cargo or goods to be delivered on the drone 2, the cargo sorting device 5 can be used to sort the empty cargo box, abnormal cargo or goods to be delivered (such as the cargo A1 in FIG. 3). Onto one or some cargo platforms 42. In this way, after the elevator 44 can adjust the lifting platform to the height of the cargo platform 42, the cargo A1 is moved to the lifting platform by the cargo moving device. The elevator 44 then raises the lifting platform to the cargo port 16 and can adjust the cargo A1 to a position where the drone 2 can be loaded by the first adjustment mechanism to complete the cargo loading process described above.
  • the first vision device 91 provided in the building 1 can be used to identify the goods to obtain information such as the shape, size, and position of the goods. After this information is provided to the cargo sorting device 5, the multi-degree-of-freedom robotic arm 52 in the cargo sorting device 5 can smartly and accurately grasp the corresponding goods according to the obtained information, and directly sort to the corresponding position in the storage space. Or temporarily placed on the goods temporary storage platform 54.
  • the goods sorting device 5 can reduce or avoid frequent movement of the moving platform 53, thereby increasing the service life of its movement mechanism.
  • the multi-degree-of-freedom robotic arm 52 can grip one or more goods on the goods temporary storage platform 54 one by one into the goods compartment of the storage space 6.
  • the distribution method may further include: dispatching a delivery vehicle 3 to the delivery site; when the delivery vehicle 3 enters a delivery interface area of the delivery site, the goods sorting device 5 According to the distribution task, the goods to be distributed are taken out of the storage space 6 and loaded into the distribution vehicle 3, so that the distribution vehicle 3 goes to a preset destination to perform the distribution task.
  • the delivery vehicle 3 (such as an unmanned ground delivery vehicle) receives the delivery task distributed by the system, it can go to the corresponding delivery site in time. When it arrives at the distribution site, it can communicate with the distribution site to enable the distribution site to open the channel / door 14 so that the distribution vehicle 3 can enter the distribution interface area inside the building 1.
  • the distribution site may also automatically detect or authenticate the incoming distribution vehicle 3 to determine whether it is qualified to enter, and open the aisle / door 14 after being qualified.
  • the channel / door 14 can be closed in time to prevent unauthorized persons from taking the opportunity to enter.
  • the second vision device 92 can identify the location of the distribution vehicle 3 entering the distribution interface area. By identifying the position information obtained, the second adjustment mechanism can adjust the position of the delivery vehicle 3 so that the imported goods are in a position convenient for loading. If the delivery vehicle 3 has multiple loading sides, the second adjustment mechanism can adjust the position of the delivery vehicle 3 multiple times.
  • the multi-degree-of-freedom robot arm 52 of the cargo sorting device 5 can pick up the cargo from the storage space and load it directly into the distribution carrier 3, or it can also realize the grabbing and loading of a batch of multiple goods by means of the cargo temporary storage platform 54 .
  • a cargo lifting mechanism 56 can also be provided on the cargo sorting device. The lifting platform of the cargo lifting mechanism 56 can be used to lift the cargo to be loaded to a height corresponding to the cargo inlet 31 of the delivery vehicle 3, and the multi-degree-of-freedom robot arm 52 can It is relatively easy to push the cargo level into the cargo inlet 31 to achieve cargo loading.
  • the second adjustment mechanism can adjust the position of the delivery vehicle 3 so that it is in a position convenient for driving out of the delivery site.
  • a delivery vehicle 3 (such as an unmanned ground delivery vehicle) can also be used to perform the process of replenishing goods to a delivery site. That is, in other embodiments, the distribution method may further include: when the distribution carrier 3 carrying the goods is docked at the distribution interface area of the distribution site, the goods sorting device 5 carries the goods carried by the distribution carrier 3 The goods are taken out and stored in the storage space 6.
  • the goods sorting device 5 When the user goes to the distribution site to pick up, ship or purchase goods, he can use the goods sorting device 5 to carry out the goods or goods according to the relevant instructions entered by the user on the operation interface (such as a delivery instruction, a delivery instruction, or a purchase instruction). Pass.
  • the self-lifting cargo port, the cargo placing port and the commodity outlet can be shared or independently set.
  • Each operation panel can be set independently, and can also be used for user self-lifting mechanism, user shipping mechanism and vending device.
  • the cargo sorting device can use the multi-degree-of-freedom robotic arm 52 and the cargo temporary storage platform 54 to realize the transfer of one or more goods or commodities between the storage space and the self-lifting cargo port, the cargo placement port or the commodity outlet.

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Abstract

一种配送站点及配送方法。配送站点包括：建筑物(1)，具有用于存放货物的存储空间(6)和用于停靠无人机(2)的无人机停机坪(12)；货物接收装置(4)，至少部分地设置在所述建筑物(1)内，用于对无人机(2)在所述无人机停机坪(12)卸载的货物进行接收；和货物分拣装置(5)，设置在所述建筑物(1)内，用于将被接收的货物分拣到所述存储空间(6)中。

Description

配送站点及配送方法
相关申请的交叉引用
本申请是以CN申请号为201811106610.4，申请日为2018年9月21日的申请为基础，并主张其优先权，该CN申请的公开内容在此作为整体引入本申请中。
技术领域
本公开涉及物流领域，尤其涉及一种配送站点及配送方法。
背景技术
在商品的配送和自动化存储中，物流是在货物从供应地到接收地的实体流动过程中，根据实际需要对运输、储存、装卸、搬运、配送、信息处理等基本功能进行有机结合来实现用户要求的过程。物流在现代商务中扮演着十分重要的角色。
在物流领域中，转库运输及货物提取是非常重要的环节。该环节的成本占整个物流成本很大比例，因此对其进行技术优化一直是行业内致力研发的方向。相关技术的配送站点一般为在城市中建立的多个网点，每个网点配置相关工作人员，由人力负责货物的转运或者帮助客户提取货物。
发明内容
在本公开的一个方面，提供一种配送站点，包括：
建筑物，具有用于存放货物的存储空间和用于停靠无人机的无人机停机坪；
货物接收装置，至少部分地设置在所述建筑物内，用于对无人机在所述无人机停机坪卸载的货物进行接收；和
货物分拣装置，设置在所述建筑物内，用于将被接收的货物分拣到所述存储空间中。
在一些实施例中，还包括：
第一调整机构，设置在所述无人机停机坪，用于对在所述无人机停机坪降落的无人机进行位置调整，或者将无人机卸载的货物调整到所述货物接收装置的接收位置。
在一些实施例中，所述无人机停机坪位于所述建筑物的顶部，所述货物接收装置的接收位置包括在所述建筑物的顶部设置的对接所述货物接收装置的货物口。
在一些实施例中，还包括：
遮挡棚，可移动地设置在所述建筑物的顶部，用于在遮挡位置至少遮挡在所述无人机停机坪的上方，或者离开所述遮挡位置以露出所述无人机停机坪。
在一些实施例中，所述货物接收装置的接收位置包括在所述建筑物的顶部设置的对接所述货物接收装置的货物口，所述遮挡棚还用于在所述遮挡位置遮挡所述货物口，或者离开所述遮挡位置以露出所述货物口。
在一些实施例中，在所述遮挡棚与所述建筑物的顶部之间设有滑动导轨，用于引导所述遮挡棚在所述建筑物的顶部的移动。
在一些实施例中，所述货物接收装置包括：
至少一个货物平台，具有货物承载区域；和
货物运送机构，具有货物承载区域，并运动在所述至少一个货物平台中各个货物平台和无人机卸载的货物的接收位置之间，用于对无人机在所述无人机停机坪卸载的货物进行接收，并运送到所述至少一个货物平台。
在一些实施例中，所述至少一个货物平台设置在无人机卸载的货物的接收位置的下方，所述货物运送机构包括：
升降机，具有可承载货物的升降平台，用于承载货物，并调整货物的高度位置；和
货物移动装置，设置在所述升降机、所述货物平台上或者所述建筑物内，用于在所述升降平台与所述升降平台所在高度的货物平台之间移动货物。
在一些实施例中，还包括：
货物装载装置，至少部分地设置在所述建筑物内，用于将所述建筑物内的货物装载在无人机上，以便无人机将货物运送到预设目标地点。
在一些实施例中，所述建筑物内待装载在无人机的货物包括空货箱、异常货物或待配送的货物。
在一些实施例中，还包括货物装载装置，所述货物装载装置与所述货物接收装置共用所述至少一个货物平台和所述货物运送机构。
在一些实施例中，所述货物分拣装置包括：
轨道，设置在所述建筑物内，且位于所述存储空间和所述货物接收装置之间；
移动平台，可移动地沿所述轨道运行；和
多自由度机械臂，设置在所述移动平台上，用于抓取货物，并移动到目标位置进 行释放。
在一些实施例中，所述货物分拣装置还包括：
货物暂存平台，具有货物承载区域，并设置在所述移动平台上；
所述多自由度机械臂被配置为在所述移动平台移动到靠近所述货物接收装置的位置时，将从所述货物接收装置接收的货物暂存在所述货物暂存平台，以及在所述移动平台移动到靠近所述存储空间的位置时，将所述货物暂存平台上的货物分拣到所述存储空间的对应位置；或者在所述移动平台移动到靠近所述配送接口区域的位置时，将所述配送载具暂存在所述货物暂存平台，以及在所述移动平台移动到靠近所述存储空间的位置时，将所述货物暂存平台上的货物存入所述存储空间。
在一些实施例中，还包括：
配送接口区域，用于提供用于执行货物配送的配送载具的停放区域；
所述货物分拣装置还被配置为将所述存储空间中的货物装载到所述配送载具。
在一些实施例中，所述配送载具为无人地面配送载具，所述配送接口区域位于所述建筑物内，所述建筑物设有外部与所述配送接口区域连通的通道/门。
在一些实施例中，还包括：
第二调整机构，设置在所述配送接口区域，用于对进入所述配送接口区域的配送载具进行位置调整。
在一些实施例中，所述第二调整机构包括：
旋转平台，绕垂直于水平面的轴线可旋转，用于通过转动调整上方承载的所述配送载具相对于所述货物分拣装置的角度。
在一些实施例中，还包括配送接口区域，被配置为提供用于执行货物配送的配送载具的停放区域；
其中，所述轨道还位于所述存储空间和所述配送接口区域之间。
在一些实施例中，所述货物分拣装置还包括：
货物暂存平台，具有货物承载区域，并设置在所述移动平台上；
所述多自由度机械臂被配置为在所述移动平台移动到靠近所述存储空间的位置时，将所述存储空间中待配送的货物暂存在所述货物暂存平台，以及在所述移动平台移动到靠近所述配送接口区域的位置时，将所述货物暂存平台上的货物装载到所述配送载具。
在一些实施例中，所述货物分拣装置还包括：
货物升降机构，具有可承载货物的升降平台，并设置在所述移动平台上，用于所述货物暂存平台上的货物提升到所述配送载具的对应货物进口的高度，以便所述多自由度机械臂将货物水平推入所述货物进口。
在一些实施例中，还包括：
用户自提机构，具有操作界面和自提货物口，并设置在所述建筑物的外侧；
所述货物分拣装置还被配置为根据用户在所述操作界面输入的提货指令，将所述存储空间中对应的货物分拣到所述自提货物口。
在一些实施例中，还包括：
自动售货装置，具有操作界面和商品出口，并设置在所述建筑物的外侧；
所述货物分拣装置还被配置为根据用户在所述操作界面输入的购买指令，将所述存储空间中对应的货物作为已出售的商品分拣到所述商品出口。
在一些实施例中，还包括：
用户发货机构，具有操作界面和货物放置口，并设置在所述建筑物的外侧；
所述货物分拣装置还被配置为根据用户在所述操作界面输入的发货指令，将所述货物放置口接收的货物分拣到所述存储空间中的对应位置。
在一些实施例中，还包括：
第一视觉装置，设置在所述建筑物内，用于对所述货物接收装置接收的货物进行识别，以便所述货物分拣装置对货物进行分拣。
在一些实施例中，还包括：
第二视觉装置，设置在所述建筑物内，用于对进入所述配送接口区域的配送载具的位置进行识别，以便所述第二调整机构根据所述第二视觉装置的识别结果对所述配送载具进行位置调整。
在一些实施例中，在所述建筑物的外墙设有信息展示区域。
在本公开的一个方面，提供一种基于前述的配送站点的配送方法，包括：
当携带货物的无人机停靠到无人机停机坪时，通过货物接收装置对无人机在所述无人机停机坪卸载的货物进行接收；
通过货物分拣装置将所述货物接收装置接收的货物分拣到建筑物的存储空间中。
在一些实施例中，还包括：
将所述建筑物内的空货箱、异常货物或待配送的货物装载在无人机上，以便无人机将货物运送到预设目标地点。
在一些实施例中，还包括：
将配送载具调度到所述配送站点；
在所述配送载具进入所述配送站点的配送接口区域时，所述货物分拣装置根据配送任务，将待配送的货物从所述存储空间中取出，并装载到所述配送载具中，以便所述配送载具前往预设目标地点执行所述配送任务。
在一些实施例中，还包括：
当携带货物的配送载具停靠在所述配送站点的配送接口区域时，所述货物分拣装置将所述配送载具携带的货物取出，并存入所述存储空间。
附图说明
构成说明书的一部分的附图描述了本公开的实施例，并且连同说明书一起用于解释本公开的原理。
参照附图，根据下面的详细描述，可以更加清楚地理解本公开，其中：
图1是根据本公开配送站点的一些实施例的外部结构示意图；
图2是根据本公开配送站点的一些实施例的内部结构示意图；
图3是图2中圆圈部分的放大图；
图4是根据本公开配送站点的一些实施例中货物分拣装置向配送载具装载货物的示意图；
图5是根据本公开配送站点的一些实施例中货物分拣装置的具体结构示意图。
应当明白，附图中所示出的各个部分的尺寸并不是按照实际的比例关系绘制的。此外，相同或类似的参考标号表示相同或类似的构件。
具体实施方式
现在将参照附图来详细描述本公开的各种示例性实施例。对示例性实施例的描述仅仅是说明性的，决不作为对本公开及其应用或使用的任何限制。本公开可以以许多不同的形式实现，不限于这里所述的实施例。提供这些实施例是为了使本公开透彻且完整，并且向本领域技术人员充分表达本公开的范围。应注意到：除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、材料的组分、数字表达式和数值应被解释为仅仅是示例性的，而不是作为限制。
本公开中使用的“第一”、“第二”以及类似的词语并不表示任何顺序、数量或 者重要性，而只是用来区分不同的部分。“包括”或者“包含”等类似的词语意指在该词前的要素涵盖在该词后列举的要素，并不排除也涵盖其他要素的可能。“上”、“下”、“左”、“右”等仅用于表示相对位置关系，当被描述对象的绝对位置改变后，则该相对位置关系也可能相应地改变。
在本公开中，当描述到特定器件位于第一器件和第二器件之间时，在该特定器件与第一器件或第二器件之间可以存在居间器件，也可以不存在居间器件。当描述到特定器件连接其它器件时，该特定器件可以与所述其它器件直接连接而不具有居间器件，也可以不与所述其它器件直接连接而具有居间器件。
本公开使用的所有术语(包括技术术语或者科学术语)与本公开所属领域的普通技术人员理解的含义相同，除非另外特别定义。还应当理解，在诸如通用字典中定义的术语应当被解释为具有与它们在相关技术的上下文中的含义相一致的含义，而不应用理想化或极度形式化的意义来解释，除非这里明确地这样定义。
对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为说明书的一部分。
相关技术的配送站点一般为在城市中建立的多个网点，每个网点配置相关工作人员，由人力负责货物的转运或者帮助客户提取货物。经观察和研究发现，相关技术中虽然存在使用无人机/无人车进行货物配送的应用方式，但这种应用方式仍依赖于人工参与，致使成本较高，效率较低，且货物配送的成功与否还一定程度上受限于操作人员的素质。
有鉴于此，本公开实施例提供一种配送站点及配送方法，降低对人工的依赖。
如图1所示，是根据本公开配送站点的一些实施例的外部结构示意图。参考图1及图2-图4，本实施例的配送站点包括：建筑物1、货物接收装置4和货物分拣装置5。建筑物1具有用于存放货物的存储空间6和用于停靠无人机2的无人机停机坪12。建筑物1可以是固定建造在地面不可移动的建筑结构，也可以是可移动的移动式建筑结构，或者是不可移动的建筑结构与移动式建筑结构的结合结构等。
货物接收装置4至少部分地设置在所述建筑物1内，用于对无人机2在所述无人机停机坪12卸载的货物进行接收。无人机2可停靠在无人机停机坪12上，能够向配送站点卸载货物或者从该配送站点装载货物。相比于无人机抛下货物的方式，这种卸货方式能够更加安全可靠地卸载货物，且便于实现无人机2装载货物。
货物分拣装置5设置在所述建筑物1内，用于将被接收的货物分拣到所述存储空 间6中。货物接收装置4从无人机2接收货物后，货物分拣装置5可将货物分拣到建筑物1内的存储空间的对应位置。这里的货物可以为包装好的货品或盛装至少一件货品的货箱，也可以为空货箱等。
本实施例通过无人机向配送站点内运送货物，利用配送站点中的货物接收装置对无人机停机坪上卸载的货物进行接收，再通过货物分拣装置将接收的货物分捡到存储空间中。这样一方面降低了向配送站点运输、在配送站点中进行货物装卸的人工依赖，另一方面也通过无人机提高了物流配送过程的灵活性。
考虑到无人机2在降落在无人机停机坪12的位置可能不是非常精确，因此在一些实施例中，无人机停机坪12上可设置第一调整机构，用于对在所述无人机停机坪12降落的无人机2进行位置调整。该第一调整机构也可以将无人机2卸载的货物调整到所述货物接收装置4的接收位置。第一调整机构可以包括可沿无人机停机坪12表面横向运动的推板，通过推挤无人机2的底支撑架或货物来使无人机2或货物调整到适当的位置。该推板可通过电机、液压缸或气缸进行驱动。在另一些实施例中，第一调整机构还可以包括通过拉拽或起吊方式调整位置的机械结构，例如通过牵引绳进行牵引的吊臂等。
在图1中，无人机停机坪12可位于所述建筑物1的顶部。货物接收装置4的接收位置可包括在所述建筑物1的顶部设置的对接所述货物接收装置4的货物口16。该货物口16可位于停机坪12一侧，以便第一调整机构对无人机2卸载的货物调整到货物口16。
参考图1，配送站点的顶部侧边设有遮雨棚11，以便行人在遮雨棚11下避雨。配送站点的顶部还可设有遮挡棚13。该遮挡棚13能够在所述建筑物1的顶部移动，并能够在遮挡位置遮挡在所述无人机停机坪12的上方，以免雨、雪、沙尘等恶劣天气对配送站点的部件造成侵蚀损毁。遮挡棚13除了遮挡无人机停机坪12还可以用于在遮挡位置遮挡货物口16。为了正常使用无人机停机坪12，可以使遮挡棚13离开遮挡位置，以露出所述无人机停机坪12。遮挡棚13还可以通过离开遮挡位置来露出所述货物口16。遮挡棚13可通过电机、液压缸或气缸进行驱动。
在所述遮挡棚13与所述建筑物1的顶部之间可以设置滑动导轨13a。滑动导轨13a可引导所述遮挡棚13在所述建筑物1的顶部的移动。根据需要，在遮挡棚13上还可设置驱动机构，用于自动驱动遮挡棚13在遮挡位置和非遮挡位置之间滑移。另外，遮挡棚13还可作为备用的无人机停机坪，在遮挡棚13因故障无法打开或者同时 有多个无人机送货过来时，部分无人机可暂时停靠在遮挡棚13。
参考图2和图3，在一些实施例中，货物接收装置4包括：至少一个货物平台和货物运送机构。图3中示出了在不同高度的货物平台42和42。不同的货物平台可作为不同用途，例如较高的货物平台可作为分拣工位，较低的一个或多个货物平台可作为货物、空货箱或异常货物的暂存位。这里的异常货物为与订单不符的货物，例如货物与订单不符包括货物与订单所记录商品不一致，或者与订单上承诺或默认的质量/数量不一致等。
各个货物平台和货物运送机构均具有用于承载货物的区域。货物运送机构运动在所述至少一个货物平台中各个货物平台和无人机2卸载货物的接收位置之间。货物运送机构可对无人机2在所述无人机停机坪12卸载的货物进行接收，并运送到所述至少一个货物平台上。
货物运送机构的运送路径可以为竖直线性路径，以减少横向的空间占用，也可以为螺旋形、之字形等。对于竖直线性路径，至少一个货物平台可设置在无人机2卸载货物的接收位置的下方。如果包括多个货物平台，例如图3中的货物平台42和43，则可以通过支柱41分别固定在货物口16下方的不同高度。
在图3中，货物运送机构可包括：升降机44和货物移动装置。升降机44具有可承载货物的升降平台，用于承载货物，并调整货物的高度位置。升降机44的升降平台可安装在竖直设置的导向杆43上，并在驱动机构的驱动下上升或下降。
货物移动装置可设置在所述升降机44上，用于在所述升降平台与所述升降平台所在高度的货物平台之间移动货物。举例来说，当升降平台承载着货物运动到某一货物平台的高度时，可通过升降机上的货物移动装置，例如皮带或者推杆等，将货物移动到该货物平台上。空着的升降平台运动到某个承载有货物的货物平台时，可通过升降机上的货物移动装置，例如皮带或者拉杆等，将货物移动到升降平台上。在另一些实施例中，货物移动装置还可以设置在货物平台上，或者设置在建筑物1内，而独立于升降平台或货物平台。
配送站点除了接收无人机卸载的货物之外，还可以将货物通过无人机向外输送，例如通过无人机将空货箱、异常货物或待配送地货物运到预设目标地点。相应的，在一些实施例中，配送站点还可包括货物装载装置，该货物装载装置至少部分地设置在所述建筑物1内，用于将所述建筑物1内的货物装载在无人机2上，以便无人机2将货物运送到预设目标地点。这里也包括无人机将配送站点内待配送的货物转送到另一 个配送站点或者用户的收货区域。
对于空货箱或异常货物来说，无人机2可将其运回发货仓库，以便进行重新装货或者检查的操作。货物装载装置与所述货物接收装置4可以共用所述至少一个货物平台和所述货物运送机构。在另一些实施例中，货物装载装置也可以独立于货物接收装置。
参考图2和图5，在一些实施例中，货物分拣装置5可包括：轨道51、移动平台53和多自由度机械臂52。轨道51可设置在所述建筑物1内的地板或侧壁上。为了方便移动平台53在存储空间6和货物接收装置4之间运行，可将轨道51设置在所述存储空间6和所述货物接收装置4之间。移动平台53可移动地沿所述轨道51运行。多自由度机械臂52设置在所述移动平台53上，用于抓取货物，并移动到目标位置进行释放。多自由度机械臂52可包括多个臂节，且末臂节可设有端拾器59。
在图5中，轨道51可包括轨道底托、直线导轨58和齿条57。轨道底托可固定在建筑物的地板表面，根据需要也可以固定在建筑物的侧壁、顶棚或内部设施上。直线导轨58固定在轨道底托上，并与移动平台53的底面配合。齿条57固定在轨道底托上，能够与设置在移动平台53上的齿轮驱动机构中的齿轮啮合。这样，在齿轮驱动机构的带动下可以使移动平台53在轨道51上沿直线移动。
参考图5，在一些实施例中，货物分拣装置5还包括货物暂存平台54。该货物暂存平台54具有用于承载货物的区域，并设置在所述移动平台53上。多自由度机械臂52可以被配置为在所述移动平台53移动到靠近所述货物接收装置4的位置时，将从所述货物接收装置4接收的货物暂存在所述货物暂存平台54。而在所述移动平台53移动到靠近所述存储空间6的位置时，多自由度机械臂52将所述货物暂存平台54上的货物分拣到所述存储空间6的对应位置。
为了使多自由度机械臂52能够准确的抓取货物，参考图2和图3，在建筑物1内部可设置第一视觉装置91，利用该第一视觉装置91对所述货物接收装置4接收的货物进行识别，以便所述货物分拣装置5对货物进行分拣。
参考图1-2和图4，在一些实施例中，配送站点还可包括配送接口区域，用于提供用于执行货物配送的配送载具3的停放区域。货物分拣装置5可以在配送载具3停放在配送接口区域时，将存储空间6中的货物装载到所述配送载具3，或者将所述配送载具3中的货物分拣到所述存储空间6。这里的配送载具3可选为无人地面配送载具(例如无人驾驶车辆或者远程遥控小车等)。
配送接口区域可位于所述建筑物1内，所述建筑物1设有外部与所述配送接口区域连通的通道/门14。门14可在配送载具3出入配送站点时自动开启，在其他时间关闭。在配送站点中可包括第二调整机构7。该第二调整机构7可设置在所述配送接口区域，用于对进入所述配送接口区域的配送载具3进行位置调整。
为了使配送载具3的装载过程更加顺利，参考图2，配送站点还可包括：第二视觉装置92，设置在所述建筑物1内，用于对进入所述配送接口区域的配送载具3的位置进行识别，以便所述第二调整机构7根据所述第二视觉装置92的识别结果对所述配送载具3进行精准的位置调整。另外，也能够使货物分拣装置5更准确地将货物装载到配送载具3上。
参考图2，第二调整机构7可以包括设置在配送接口区域的地板上的旋转平台。配送载具3运动到该旋转平台上之后，旋转平台可绕垂直于水平面的轴线旋转，以便通过转动调整上方的所述配送载具3相对于所述货物分拣装置5的角度，以方便货物装载。举例来说，配送载具3的车轮运动方向与配送载具3上设置的货物进口31的朝向不同，则需要通过旋转平台将配送载具3转动到特定角度，以使货物进口31朝向建筑物1的内部，从而方便货物分拣装置5向货物进口31进行货物装载。而当货物装载完毕，旋转平台可将配送载具3转动到方便车轮驶出配送站点的方向。另外，对于具有多个用于承载货物的侧面的配送载具3，也可通过旋转平台将需要装载货物的不同侧面依次转动到对应的方向，从而使装载过程更加便利和自动化。
参考图4，轨道51也可设置在所述存储空间6和所述配送接口区域之间。这样方便移动平台53在存储空间6和配送接口区域之间运行。对于配送载具3从配送站点装载货物，并向外派送的过程，多自由度机械臂52可被配置为在所述移动平台53移动到靠近所述存储空间6的位置时，将所述存储空间6中待配送的货物暂存在所述货物暂存平台54。而当所述移动平台53移动到靠近所述配送接口区域的位置时，多自由度机械臂52可将所述货物暂存平台54上的货物装载到所述配送载具3。
对于配送载具3装载货物并运入配送站点的过程，多自由度机械臂52则可被配置为在所述移动平台53移动到靠近所述配送接口区域的位置时，将所述配送载具3暂存在所述货物暂存平台54，以及在所述移动平台53移动到靠近所述存储空间6的位置时，将所述货物暂存平台54上的货物存入所述存储空间6。
为了使货物更方便地装载到配送载具3中，参考图4和图5，货物分拣装置5还可包括货物升降机构56。该货物升降机构56具有可承载货物的升降平台55，并设置 在所述移动平台53上。该升降平台55可将所述货物暂存平台54上的货物提升到所述配送载具3的对应货物进口31的高度，这样所述多自由度机械臂52将货物水平推入所述货物进口31，从而简化货物的装载过程。货物升降机构56也可用于多自由度机械臂52将货物水平推入存储空间的货物格。
配送站点所存储的和从无人机2接收的货物除了通过配送载具3向目标地点或目标用户进行配送之外，还可以由用户选择自行提取，即用户直接从配送站点获取货物。参考图1，在一些实施例中，配送站点还可包括：用户自提机构82。该用户自提机构82具有操作界面和自提货物口16，并设置在所述建筑物1的外侧。用户可根据其受到的短信、微信或其他方式的通知前往指定的配送站点，并按照通知向操作界面输入提货指令。而货物分拣装置5可以根据用户在所述操作界面输入的提货指令，将所述存储空间6中对应的货物分拣到所述自提货物口16。相比于现有的自提货物柜，其只需要单一或少量的自提货物口16即可实现配送站点中存储的多个货物的自提功能，节省用户自提机构82在建筑物外墙的占用面积。
除了提取货物，用户也可以通过配送站点进行商品购买。在一些实施例中，参考图1，配送站点还可包括：自动售货装置83。该自动售货装置83具有操作界面和商品出口，并设置在所述建筑物1的外侧。当用户在操作界面输入针对于特定商品的购买指令时，货物分拣装置5可根据用户在所述操作界面输入的购买指令，将所述存储空间6中对应的货物作为已出售的商品分拣到所述商品出口。
此外，用户还可以通过配送站点发货。在一些实施例中，配送站点还可包括用户发货机构，具有操作界面和货物放置口，并设置在所述建筑物1的外侧。当用户在操作界面输入针对于自带货物的发货指令时，货物分拣装置5可根据用户在所述操作界面输入的发货指令，将所述货物放置口接收的货物分拣到所述存储空间6中的对应位置。这样，在之后可由所述货物装载装置将货物装载到无人机2上，并运送到预设目标地点，或者通过货物分拣装置将货物装载到配送载具上，并运送到预设目标地点。
为了充分利用配送站点的外部空间，还可以在建筑物1的外墙设有信息展示区域81，用于展示静态或动态广告、通知、节目等。
基于本公开的上述配送站点的各实施例，本公开还提供了对应的配送方法。例如在一些实施例中，配送方法包括：当携带货物的无人机2停靠到无人机停机坪12时，通过货物接收装置4对无人机2在所述无人机停机坪12卸载的货物进行接收；通过货物分拣装置5将所述货物接收装置4接收的货物分拣到建筑物1的存储空间6中。
参考图1，无人机2可根据系统的调配指令将需要配送的货物经空中送往指定的配送站点。系统可与配送站点进行通信，以获得配送站点内的存储状况，以便及时地安排无人机2进行货物调配。无人机2在前往配送站点时，也可与配送站点进行通信，以确认该配送站点当前是否具备停靠条件。当配送站点无法正常接收(例如货物接收装置损坏或停机坪不能停靠等)时，无人机2可在空中等待或者返回。
当无人机2将货物运送到无人机停机坪12后释放货物，无人机2可在无人机停机坪12上停靠或者重新起飞并去往另一目标地点。当货物在无人机停机坪12上卸下时，货物口16可开启进行接收，此时图1中货物运送机构的升降机44可升高到货物口16的高度。为了将货物运动到建筑物内，可利用第一调整机构将货物调整到升降机44的升降平台上。参考图3，升降机44再将升降平台降至某个货物平台43的高度，然后利用货物移动装置将货物A2移动到该货物平台上。
对于建筑物1内有空货箱或异常货物需要送往相应的处理场所，则在另一些实施例中，配送方法还可以包括：将所述建筑物1内的空货箱、异常货物或待配送的货物装载在无人机2上，以便无人机2将货物运送到预设目标地点。
在无人机2上装载空货箱、异常货物或待配送的货物之前，可利用货物分拣装置5将空货箱、异常货物或待配送的货物(例如图3中的货物A1)分拣到某个或某些货物平台42上。这样升降机44可将升降平台调整到该货物平台42的高度后，通过货物移动装置将货物A1移动到升降平台上。升降机44再将升降平台提升到货物口16，并可通过第一调整机构将货物A1调整到无人机2可装载的位置，以完成上述货物装载过程。
对于单件货物或者盛有多件货物的货箱，可利用建筑物1内设置的第一视觉装置91对货物进行识别，来获取货物的形状、尺寸及位置等信息。这些信息提供给货物分拣装置5后，货物分拣装置5中的多自由度机械臂52可以根据得到的信息灵巧而准确的抓取对应的货物，并直接分拣到存储空间的对应位置，或者暂放到货物暂存平台54上。
利用货物暂存平台54，货物分拣装置5可以减少或避免移动平台53的频繁移动，从而提高其运动机构的使用寿命。多自由度机械臂52可将货物暂存平台54上的一个或多个货物逐个抓放到存储空间6的货格内。
在另一些实施例中，配送方法还可以包括：将配送载具3调度到所述配送站点；在所述配送载具3进入所述配送站点的配送接口区域时，所述货物分拣装置5根据配 送任务，将待配送的货物从所述存储空间6中取出，并装载到所述配送载具3中，以便所述配送载具3前往预设目标地点执行所述配送任务。
举例来说，配送载具3(例如无人地面配送载具)在接收到系统派发的配送任务时，可及时前往对应的配送站点。当其到达配送站点时，可与该配送站点进行通信，使配送站点开启通道/门14，以便配送载具3进入建筑物1内部的配送接口区域。配送站点也可以自动对到来的配送载具3进行检测或鉴权，以确定其是否具备进入的资格，在符合资格后开启通道/门14。
配送站点3停到配送接口区域后，通道/门14可及时关闭，以免有非授权人员借机进入。对于具有第二视觉装置92的配送站点来说，第二视觉装置92可以对进入所述配送接口区域的配送载具3的位置进行识别。通过识别得到的位置信息，第二调整机构可对配送载具3进行位置调整，使其装货的货物进口处于方便装载的位置。如果配送载具3有多个装载的侧面，则第二调整机构可以对配送载具3的位置进行多次调整。
货物分拣装置5的多自由度机械臂52可以从存储空间中抓取货物并直接装载到配送载具3中，也可以借助于货物暂存平台54实现一批多个货物的抓取和装载。在货物分拣装置上还可以设置货物升降机构56，利用货物升降机构56的升降平台将待装载的货物举升到配送载具3的货物进口31对应的高度，则多自由度机械臂52可以比较轻松的将货物水平推入到货物进口31内，实现货物装载。
当配送载具3已经装载完毕后，第二调整机构可对配送载具3进行位置调整，使其处于便于向配送站点外部驶出的位置。
配送载具3(例如无人地面配送载具)也可以用于执行向配送站点补入货物的过程。即在另一些实施例中，配送方法还可包括：当携带货物的配送载具3停靠在所述配送站点的配送接口区域时，所述货物分拣装置5将所述配送载具3携带的货物取出，并存入所述存储空间6。
对于用户前往配送站点进行货物自提、发货或者购买商品时，可根据用户在操作界面输入的相关指令(例如提货指令、发货指令或购买指令)，利用货物分拣装置5进行货物或商品的传递。这里的自提货物口、货物放置口和商品出口可共用，也可独立设置。各个操作面板可独立设置，也可兼用于用户自提机构、用户发货机构和自动售货装置。货物分拣装置可利用多自由度机械臂52和货物暂存平台54在存储空间与自提货物口、货物放置口或商品出口之间实现一件或多件货物或商品的传送。
本说明书中多个实施例采用递进的方式描述，各实施例的重点有所不同，而各个实施例之间相同或相似的部分相互参见即可。对于方法实施例而言，由于其整体以及涉及的步骤与装置实施例中的内容存在对应关系，因此描述的比较简单，相关之处参见装置实施例的部分说明即可。
至此，已经详细描述了本公开的各实施例。为了避免遮蔽本公开的构思，没有描述本领域所公知的一些细节。本领域技术人员根据上面的描述，完全可以明白如何实施这里公开的技术方案。
虽然已经通过示例对本公开的一些特定实施例进行了详细说明，但是本领域的技术人员应该理解，以上示例仅是为了进行说明，而不是为了限制本公开的范围。本领域的技术人员应该理解，可在不脱离本公开的范围和精神的情况下，对以上实施例进行修改或者对部分技术特征进行等同替换。本公开的范围由所附权利要求来限定。

Claims (30)

  1. 一种配送站点，包括：
    建筑物(1)，具有用于存放货物的存储空间(6)和用于停靠无人机(2)的无人机停机坪(12)；
    货物接收装置(4)，至少部分地设置在所述建筑物(1)内，用于对无人机(2)在所述无人机停机坪(12)卸载的货物进行接收；和
    货物分拣装置(5)，设置在所述建筑物(1)内，用于将被接收的货物分拣到所述存储空间(6)中。
  2. 根据权利要求1所述的配送站点，还包括：
    第一调整机构，设置在所述无人机停机坪(12)，用于对在所述无人机停机坪(12)降落的无人机(2)进行位置调整，或者将无人机(2)卸载的货物调整到所述货物接收装置(4)的接收位置。
  3. 根据权利要求1所述的配送站点，其中，所述无人机停机坪(12)位于所述建筑物(1)的顶部，所述货物接收装置(4)的接收位置包括在所述建筑物(1)的顶部设置的对接所述货物接收装置(4)的货物口(16)。
  4. 根据权利要求1所述的配送站点，还包括：
    遮挡棚(13)，可移动地设置在所述建筑物(1)的顶部，用于在遮挡位置至少遮挡在所述无人机停机坪(12)的上方，或者离开所述遮挡位置以露出所述无人机停机坪(12)。
  5. 根据权利要求4所述的配送站点，其中，所述货物接收装置(4)的接收位置包括在所述建筑物(1)的顶部设置的对接所述货物接收装置(4)的货物口(16)，所述遮挡棚(13)还用于在所述遮挡位置遮挡所述货物口(16)，或者离开所述遮挡位置以露出所述货物口(16)。
  6. 根据权利要求4所述的配送站点，其中，在所述遮挡棚(13)与所述建筑物(1)的顶部之间设有滑动导轨(13a)，用于引导所述遮挡棚(13)在所述建筑物(1)的顶部的移动。
  7. 根据权利要求1所述的配送站点，其中，所述货物接收装置(4)包括：
    至少一个货物平台(42，43)，具有用于承载货物的区域；和
    货物运送机构，具有用于承载货物承载的区域，并运动在所述至少一个货物平台 (42，43)中各个货物平台(42，43)和无人机(2)卸载的货物的接收位置之间，用于对无人机(2)在所述无人机停机坪(12)卸载的货物进行接收，并运送到所述至少一个货物平台(42，43)。
  8. 根据权利要求7所述的配送站点，其中，所述至少一个货物平台(42，43)设置在无人机(2)卸载的货物的接收位置的下方，所述货物运送机构包括：
    升降机(44)，具有可承载货物的升降平台，用于承载货物，并调整货物的高度位置；和
    货物移动装置，设置在所述升降机(44)、所述货物平台(42，43)上或者所述建筑物(1)内，用于在所述升降平台与所述升降平台所在高度的货物平台(42，43)之间移动货物。
  9. 根据权利要求1所述的配送站点，还包括：
    货物装载装置，至少部分地设置在所述建筑物(1)内，用于将所述建筑物(1)内的货物装载在无人机(2)上，以便无人机(2)将货物运送到预设目标地点。
  10. 根据权利要求9所述的配送站点，其中，所述建筑物(1)内待装载在无人机(2)的货物包括空货箱、异常货物或待配送的货物。
  11. 根据权利要求7所述的配送站点，还包括货物装载装置，所述货物装载装置与所述货物接收装置(4)共用所述至少一个货物平台(42，43)和所述货物运送机构。
  12. 根据权利要求1所述的配送站点，其中，所述货物分拣装置(5)包括：
    轨道(51)，设置在所述建筑物(1)内，且位于所述存储空间(6)和所述货物接收装置(4)之间；
    移动平台(53)，可移动地沿所述轨道(51)运行；和
    多自由度机械臂(52)，设置在所述移动平台(53)上，用于抓取货物，并移动到目标位置进行释放。
  13. 根据权利要求12所述的配送站点，其中，所述货物分拣装置(5)还包括：
    货物暂存平台(54)，具有用于承载货物的区域，并设置在所述移动平台(53)上；
    所述多自由度机械臂(52)被配置为在所述移动平台(53)移动到靠近所述货物接收装置(4)的位置时，将从所述货物接收装置(4)接收的货物暂存在所述货物暂存平台(54)，以及在所述移动平台(53)移动到靠近所述存储空间(6)的位置时， 将所述货物暂存平台(54)上的货物分拣到所述存储空间(6)的对应位置。
  14. 根据权利要求1所述的配送站点，还包括：
    配送接口区域，用于提供用于执行货物配送的配送载具(3)的停放区域；
    所述货物分拣装置(5)还被配置为将所述存储空间(6)中的货物装载到所述配送载具(3)，或者将所述配送载具(3)中的货物分拣到所述存储空间(6)。
  15. 根据权利要求14所述的配送站点，其中，所述配送载具(3)为无人地面配送载具，所述配送接口区域位于所述建筑物(1)内，所述建筑物(1)设有外部与所述配送接口区域连通的通道/门(14)。
  16. 根据权利要求14所述的配送站点，还包括：
    第二调整机构(7)，设置在所述配送接口区域，用于对进入所述配送接口区域的配送载具(3)进行位置调整。
  17. 根据权利要求16所述的配送站点，其中，所述第二调整机构(7)包括：
    旋转平台，绕垂直于水平面的轴线可旋转，用于通过转动调整上方承载的所述配送载具(3)相对于所述货物分拣装置(5)的角度。
  18. 根据权利要求12所述的配送站点，还包括配送接口区域，被配置为提供用于执行货物配送的配送载具(3)的停放区域；
    其中，所述轨道(51)还位于所述存储空间(6)和所述配送接口区域之间。
  19. 根据权利要求18所述的配送站点，其中，所述货物分拣装置(5)还包括：
    货物暂存平台(54)，具有货物承载区域，并设置在所述移动平台(53)上；
    所述多自由度机械臂(52)被配置为在所述移动平台(53)移动到靠近所述存储空间(6)的位置时，将所述存储空间(6)中待配送的货物暂存在所述货物暂存平台(54)，以及在所述移动平台(53)移动到靠近所述配送接口区域的位置时，将所述货物暂存平台(54)上的货物装载到所述配送载具(3)；或者在所述移动平台(53)移动到靠近所述配送接口区域的位置时，将所述配送载具(3)暂存在所述货物暂存平台(54)，以及在所述移动平台(53)移动到靠近所述存储空间(6)的位置时，将所述货物暂存平台(54)上的货物存入所述存储空间(6)。
  20. 根据权利要求19所述的配送站点，其中，所述货物分拣装置(5)还包括：
    货物升降机构(56)，具有可承载货物的升降平台(55)，并设置在所述移动平台(53)上，用于所述货物暂存平台(54)上的货物提升到所述配送载具(3)的对应货物进口(31)的高度，以便所述多自由度机械臂(52)将货物水平推入所述货物 进口(31)。
  21. 根据权利要求1所述的配送站点，还包括：
    用户自提机构(82)，具有操作界面和自提货物口(16)，并设置在所述建筑物(1)的外侧；
    所述货物分拣装置(5)还被配置为根据用户在所述操作界面输入的提货指令，将所述存储空间(6)中对应的货物分拣到所述自提货物口(16)。
  22. 根据权利要求1所述的配送站点，还包括：
    自动售货装置(83)，具有操作界面和商品出口，并设置在所述建筑物(1)的外侧；
    所述货物分拣装置(5)还被配置为根据用户在所述操作界面输入的购买指令，将所述存储空间(6)中对应的货物作为已出售的商品分拣到所述商品出口。
  23. 根据权利要求1所述的配送站点，还包括：
    用户发货机构，具有操作界面和货物放置口，并设置在所述建筑物(1)的外侧；
    所述货物分拣装置(5)还被配置为根据用户在所述操作界面输入的发货指令，将所述货物放置口接收的货物分拣到所述存储空间(6)中的对应位置。
  24. 根据权利要求1所述的配送站点，还包括：
    第一视觉装置(91)，设置在所述建筑物(1)内，用于对所述货物接收装置(4)接收的货物进行识别，以便所述货物分拣装置(5)对货物进行分拣。
  25. 根据权利要求16所述的配送站点，还包括：
    第二视觉装置(92)，设置在所述建筑物(1)内，用于对进入所述配送接口区域的配送载具(3)的位置进行识别，以便所述第二调整机构(7)根据所述第二视觉装置(92)的识别结果对所述配送载具(3)进行位置调整。
  26. 根据权利要求1所述的配送站点，其中，在所述建筑物(1)的外墙设有信息展示区域(81)。
  27. 一种基于权利要求1～26任一所述的配送站点的配送方法，包括：
    当携带货物的无人机(2)停靠到无人机停机坪(12)时，通过货物接收装置(4)对无人机(2)在所述无人机停机坪(12)卸载的货物进行接收；
    通过货物分拣装置(5)将所述货物接收装置(4)接收的货物分拣到建筑物(1)的存储空间(6)中。
  28. 根据权利要求27所述的配送方法，还包括：
    将所述建筑物(1)内的空货箱、异常货物或待配送的货物装载在无人机(2)上，以便无人机(2)将货物运送到预设目标地点。
  29. 根据权利要求27所述的配送方法，还包括：
    将配送载具(3)调度到所述配送站点；
    在所述配送载具(3)进入所述配送站点的配送接口区域时，所述货物分拣装置(5)根据配送任务，将待配送的货物从所述存储空间(6)中取出，并装载到所述配送载具(3)中，以便所述配送载具(3)前往预设目标地点执行所述配送任务。
  30. 根据权利要求27所述的配送方法，还包括：
    当携带货物的配送载具(3)停靠在所述配送站点的配送接口区域时，所述货物分拣装置(5)将所述配送载具(3)携带的货物取出，并存入所述存储空间(6)。
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