WO2020062243A1 - 存取货系统及在其内传递货物的方法与在其内分离及组合电池与货物的方法 - Google Patents

存取货系统及在其内传递货物的方法与在其内分离及组合电池与货物的方法 Download PDF

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Publication number
WO2020062243A1
WO2020062243A1 PCT/CN2018/109094 CN2018109094W WO2020062243A1 WO 2020062243 A1 WO2020062243 A1 WO 2020062243A1 CN 2018109094 W CN2018109094 W CN 2018109094W WO 2020062243 A1 WO2020062243 A1 WO 2020062243A1
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Prior art keywords
cargo
goods
access port
battery
storage
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PCT/CN2018/109094
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English (en)
French (fr)
Inventor
周鹏跃
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周鹏跃
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Publication date
Application filed by 周鹏跃 filed Critical 周鹏跃
Priority to PCT/CN2018/109094 priority Critical patent/WO2020062243A1/zh
Publication of WO2020062243A1 publication Critical patent/WO2020062243A1/zh

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    • 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

Definitions

  • the present invention relates to a cargo storage system and a method for transferring cargo therein, and a method for separating and combining batteries and cargo therein.
  • Last-mile delivery using smart transport vehicles such as drones and autonomous vehicles is considered a solution, however, if humans are used to transport smart vehicles such as drones and unmanned vehicles, Loading and unloading of goods is not only inefficient, but also has potential safety hazards. Therefore, an automated cargo storage system is needed to cooperate with intelligent transportation vehicles such as drones and unmanned vehicles to realize automatic transfer and temporary storage of goods.
  • a cargo storage system includes:
  • a cabinet which is provided with a first access port for automatically transferring goods with the drone and a second access port for automatically transferring goods with other ground devices, and a plurality of storage positions are arranged in the cabinet, A plurality of the storage bits communicate with the first access port and the second access port through a transport lane;
  • a handling component is disposed in the handling lane and can be moved relative to the cabinet in the handling lane to store goods at the first access port or the second access port to the storage location Or take out the goods in the storage position and send them to the first access port or the second access port.
  • FIG. 1 is an assembly schematic diagram of a cargo storage system, a drone, and other ground devices according to an embodiment of the present invention
  • Figure 2 is an exploded view of Figure 1;
  • FIG. 3 is an exploded view of the cargo storage system in FIG. 1;
  • FIG. 4 is a schematic structural diagram of the cargo storage system in FIG. 1; FIG.
  • FIG. 5 is a schematic structural diagram of the vertical handling component in FIG. 3;
  • FIG. 5 is a schematic structural diagram of the vertical handling component in FIG. 3;
  • FIG. 6 is an assembly schematic diagram of a vertical handling component, a horizontal handling component, and a cargo
  • FIG. 7 is an exploded view of FIG. 6;
  • FIG. 8 is an assembly schematic diagram of the vertical handling component and the horizontal handling component shown in FIG. 6;
  • FIG. 9 is an exploded schematic view of a charging component and a battery
  • FIG. 10 is an assembly schematic diagram of a charging component and a battery
  • FIG. 11 is an assembly schematic diagram of FIG. 5 and FIG. 10 and the cargo
  • FIG. 12 is a schematic structural diagram of a cabinet of a cargo storage system according to another embodiment of the present invention.
  • FIG. 13 is a schematic structural diagram of a component of an unmanned vehicle for a cargo storage system corresponding to FIG. 12; FIG.
  • FIG. 14 is an assembly schematic diagram of a cargo storage system and a building wall according to another embodiment of the present invention.
  • FIG. 15 is an exploded view of FIG. 14;
  • FIG. 16 is an assembly diagram of a cargo storage system and other ground devices according to another embodiment of the present invention.
  • FIG. 17 is an exploded view of FIG. 16;
  • FIG. 18 is a flowchart of a method for transferring cargo in a cargo storage system according to an embodiment of the present invention.
  • FIG. 19 is a flowchart of a method for transferring goods in a cargo storage system according to an embodiment of the present invention.
  • FIG. 20 is a flowchart of a method for separating a battery from a cargo in a cargo storage system according to another embodiment of the present invention.
  • FIG. 21 is a flowchart of a method for combining a battery and a cargo in a cargo storage system according to an embodiment of the present invention.
  • an embodiment of the present invention provides a cargo storage system 10 including a cabinet 100, a handling component (including a vertical handling component 200 and a horizontal handling component 300), a charging component 400, and a deployment component 500. And 600 landing and landing platforms for drones.
  • the cabinet 100 is provided with a first access port 102 and a second access port 104.
  • the first access port 102 is used to automatically transfer the goods 13 to the drone 11, and the second access
  • the port 104 is used to automatically transfer cargo 13 with other ground devices 12.
  • the other ground devices 12 may be unmanned vehicles (autonomous driving vehicles), or automatic cargo loading and unloading stations for ground delivery robots.
  • the cabinet 100 is provided with a plurality of storage positions 110, a plurality of storage positions 110 and a first access port 102 and the second access port 104 communicate with each other through the conveyance path 120.
  • the transporting module (including the vertical transporting module 200 and the horizontal transporting module 300) is disposed in the transporting path 120 and can be moved relative to the cabinet 100 in the transporting path 120 to move the first access port 102 or the second access port 104
  • the cargo 13 at the place is unloaded from the drone 11 or other ground device 12 and stored in the storage position 110, or the cargo 13 in the storage position 110 is taken out and sent to the first access port 102 or the second access port 104 Wait for the drone 11 or other ground device 12 to load, or transfer the cargo 13 directly between the first access port 102 or the second access port 104.
  • the aforementioned cargo storage system 10 can cooperate with intelligent transportation vehicles such as drones and unmanned vehicles to realize the automatic transfer and temporary storage of goods, which not only improves the efficiency of cargo handling and transfer, but also avoids intelligent transportation vehicles such as unmanned Hidden safety hazards caused by direct contact between the machine 11 and people.
  • intelligent transportation vehicles such as drones and unmanned vehicles to realize the automatic transfer and temporary storage of goods, which not only improves the efficiency of cargo handling and transfer, but also avoids intelligent transportation vehicles such as unmanned Hidden safety hazards caused by direct contact between the machine 11 and people.
  • the handling assembly includes a vertical handling assembly 200.
  • the vertical handling assembly 200 can move the goods 13 in a vertical direction, and can load the goods 13 into or remove the goods 13 from the storage place 110.
  • the vertical handling assembly 200 can also partially extend out of the first access port 102 and transfer the goods 13 to and from the drone 11.
  • FIG. 4 illustrates a state in which the vertical handling assembly 200 partially extends out of the first access port 102 and transfers the goods 13 to and from the drone 11.
  • the handling module further includes a horizontal handling module 300.
  • the horizontal handling module 300 is located below the vertical handling module 200, including the two cases in which the horizontal handling module 300 is located directly below or not directly below the vertical handling module 200.
  • the horizontal carrying module 300 can move the goods 13 in the horizontal direction, and can transfer the goods 13 with the vertical carrying module 200.
  • the horizontal handling assembly 300 can also partially extend out of the second access port 104 and transfer cargo with other ground devices 12. As shown in FIG. 2, FIG. 2 illustrates two horizontal conveying modules 300, one horizontal conveying module 300 is located in the cabinet 100, and the other horizontal conveying module 300 partially extends out of the second access port 104 and communicates with other ground devices 12. goods
  • the vertical carrying module 200 and the horizontal carrying module 300 are provided at the same time. While the vertical carrying module 200 moves the goods 13 down, the horizontal carrying module 300 moves directly below the vertical carrying module 200 to receive the vertical carrying module 200. The cargo 13, or while the horizontal transport module 300 moves the cargo 13 directly below the vertical transport module 200, the vertical transport module 200 descends to receive the cargo 13 on the horizontal transport module 300. The vertical handling module 200 or the horizontal handling module 300 may perform the next handling task of the goods 13 immediately after the goods are transferred. The vertical handling assembly 200 and the horizontal handling assembly 300 can move at the same time, thereby improving the handling efficiency of goods within the storage and retrieval system 10. It can be understood that, in other embodiments, the horizontal carrying assembly 300 may be omitted, and a horizontal carrying assembly capable of partially extending into the second access port 104 may be provided in the other ground device 12.
  • the conveying path 120 includes a vertical conveying path 122 and a horizontal conveying path 124.
  • the vertical conveying path 122 communicates with the first access port 102
  • the horizontal conveying path 124 communicates with the vertical conveying path 122 and the second access port. 104.
  • the vertical transport assembly 200 moves in the vertical direction in the vertical transport path 122
  • the horizontal transport assembly 300 moves in the horizontal direction in the horizontal transport path 124.
  • the vertical handling assembly 200 includes two opposite clamping plates 210, and the distance between the two clamping plates 210 is adjustable to clamp or release the goods 13, and the two clamping plates 210 are also Can be retracted to load or remove the goods 13 into or from the storage location 110.
  • the splint 210 can extend in the forward direction of the first direction to extend into the storage position 110 in the forward direction of the first direction, and then retract in the reverse direction of the first direction, and can also extend in the first direction.
  • Reverse projection in one direction extends into the storage bit 110 located in the reverse direction of the first direction, and then retracts in the forward direction of the first direction.
  • the first direction is an extending direction of the splint 210. Taking the embodiment shown in FIG. 2 as an example, that is, the splint 210 can both extend into the storage space 110 on the left side and into the storage space 110 on the right side.
  • the vertical handling assembly 200 further includes a base 220, a clamping mechanism 230, and a telescopic mechanism 240.
  • the base 220 is connected to the lifting component in the cabinet 100 so as to be moved in the vertical direction by the lifting component.
  • the clamping mechanism 230 is disposed on the base 220
  • the telescopic mechanism 240 is disposed on the clamping mechanism 230
  • two clamping plates 210 are disposed on the telescopic mechanism 240.
  • the surface of the splint 210 for contacting the goods 13 is a gripping surface 212 and the gripping surface 212 is a non-slip surface to increase the friction between the gripping surface 212 and the goods 20, thereby increasing the gripping stability.
  • the clamping surface 212 is provided with a plurality of protrusions arranged in parallel at intervals, thereby forming a non-slip surface.
  • the base 220 includes a first substrate 222 and two connection plates 224.
  • the two connection plates 224 are respectively disposed on two opposite sides of the first substrate 222.
  • the clamping mechanism 230 includes a sliding member 230a.
  • the sliding member 230a includes a screw rod 232 and two sliders 234.
  • the two sliders 234 slide through the screw rod 232, that is, the slider 234 can be opposite to the screw rod 232.
  • the screw rod 232 moves.
  • the number of the sliding members 230a is two, and the screw rods 232 of the two sliding members 230a are disposed in parallel and spaced apart, and two ends of the screw rods 232 are rotatably connected to the two connecting plates 224, respectively.
  • the telescopic mechanism 240 includes two mounting plates 242 spaced apart in parallel, and each mounting plate 242 is respectively connected to two sliders 234.
  • the two clamping plates 210 are respectively disposed on the two mounting plates 242, and the clamping plates 210 can expand and contract relative to the mounting plates 242 so as to be located between the two mounting plates 242 or extend out of the two mounting plates 242.
  • the screw rod 232 is a forward and backward screw rod, that is, the threads of the two ends of the screw rod 232 are opposite to each other, so that when the screw rod 232 rotates, the two sliders 234 sleeved on the two ends of the screw rod 232 can move along opposite directions simultaneously.
  • the two sliders 234 are moved toward each other (relatively) at the same time so as to clamp the goods.
  • the sliding member 230a further includes a guide rod 236, and two ends of the guide rod 236 pass through the slider 234 in sequence and are fixedly connected to the two connecting plates 224.
  • the vertical handling assembly 200 further includes a monitoring camera 250.
  • the monitoring camera 250 is disposed on a side of the clamping plate 210 adjacent to the clamping surface 212.
  • the monitoring camera 250 is used to monitor the internal condition of the storage space 110. Specifically, when a problem occurs in the storage and retrieval system 10, the control personnel can view the internal conditions of the storage location 110 through the monitoring camera 250, and the control personnel can also perform daily maintenance tasks on the storage location 110 through the monitoring camera 250 described above.
  • a through hole 2222 is provided in the middle of the first substrate 222 for the supply 13 to pass through.
  • the first substrate 222 moves downward in the vertical direction, so that the goods 13 on the horizontal carrying module 300 pass through holes 2222 for holding by the two clamping plates 210, or when the horizontal carrying module 300 is located below the first substrate 222, the first The base plate 222 moves downward in the vertical direction and approaches the horizontal carrying module 300 so that the goods 13 located on the first base plate 222 and released by the two plywood plates 210 are received by the horizontal carrying module 300 through the through hole 2222.
  • the horizontal handling assembly 300 includes a second substrate 310 and a cargo carrying platform 320 disposed on the second substrate 310.
  • the cargo carrying platform 320 is passed through Through hole 2222.
  • the cargo storage system 10 further includes a charging component 400 for charging the battery 14 of the drone 11.
  • the charging component 400 is disposed in the storage space 110. .
  • the charging assembly 400 includes a U-shaped groove structure 410 for mounting the battery 14.
  • the U-shaped groove structure 410 includes two opposite side plates 412 and a top plate 414 connected to the two side plates 412.
  • the top plate 414 is provided with a charging interface 420 that is electrically connected to the electrical connection port 14a of the battery 14, and the side plate 412 is provided with a buckle 430 that is engaged with the card slot 14b on the battery 14.
  • the charging component 400 is disposed on the top of the storage position 110, and the distance between the charging component 400 and the bottom of the storage position 110 is greater than or equal to the thickness of the combination formed by the battery 14 and the goods 13.
  • the vertical handling module 200 receives the unloaded unloaded unmanned aerial vehicle 11 from the first access port 102, and the combination of the battery 14 and the cargo 13 is combined. At this time, the vertical handling module 200 holds the cargo 13. . Then, the vertical carrying assembly 200 sends the assembly into the storage position 110 through the telescopic mechanism 240, so that the assembly is located below the charging assembly 400 and spaced from the charging assembly 400. The vertical carrying assembly 200 moves upward along the conveying path 120 to make the assembly The middle battery 14 is docked with the charging assembly 400.
  • the battery 14 is provided with a cargo holding member 14c, and a box 13 of the cargo 13 is provided with a groove 13a.
  • the cargo holding member 14c extends into the groove 13a, and the battery 14 is in a clamping state. It is connected to the goods 13 and forms a combined body. After the cargo holding member 14c is detached from the groove 13a, the battery 14 is separated from the cargo 13.
  • the specific structure of the battery 14 and the cargo 13 please refer to the Chinese patent with application number CN201721648894.0 and publication number CN207800682U.
  • the vertical carrying assembly 200 moves upward in the vertical direction until the battery 14 of the assembly projects into the U-shaped groove structure 410, the electrical connection port 14a of the battery 14 is electrically connected to the charging interface 420 of the charging assembly 400, and the card slot 14b of the battery 14 It is connected with the buckle 430 of the charging component 400, so as to charge the battery 14 replaced by the drone 11.
  • the battery 14 then releases the cargo 13 and the battery 14 is separated from the cargo 13.
  • the vertical handling module 200 moves the goods 13 to place the goods 13 at the bottom of the same storage location 110 for storage, or transfer the goods 13 to the bottom of another storage location 110 for storage, or transfer the goods 13 to the horizontal handling module 300.
  • the vertical carrying assembly 200 sends the goods 13 to be loaded onto the drone 11 into a storage position 110 having a fully-charged battery 14.
  • the vertical carrying assembly 200 moves upwards in a vertical direction until the goods 13 and the battery 14 are combined to form Combination.
  • the charging assembly 400 releases the battery 14, the vertical carrying assembly 200 moves the assembly downward in the vertical direction, and the charging assembly 400 is separated from the battery 14.
  • the assembly 200 is vertically moved to the first access port 102 and the battery 14 is extended into the battery compartment at the bottom of the drone 11 for the drone 11 to load the assembly.
  • a plurality of storage bits 110 are arranged in two columns along the horizontal direction, that is, a plurality of storage bits 110 are arranged in multiple layers along the vertical direction, and each layer has only two storage bits 110. Taking the perspective shown in FIG. 3 as an example Each of the left and right sides of each layer is provided with a storage bit 110. Relative to the setting of multiple columns of storage bits 110, each layer has multiple storage bits 110, two columns of storage bits 110, and each layer of two storage bits 110. This can effectively reduce the overall cabinet 100
  • the floor area expands the selection range of the installation site of the cargo storage system 10.
  • the conveying path 120 is a vertical conveying path extending in the vertical direction and is located between two rows of storage positions 110.
  • the vertical conveying assembly 200 can be opposite to the cabinet 100 in the vertical conveying path. Move vertically.
  • the cabinet 100 includes a first cabinet 130, a second cabinet 140, a first closing plate 150 and a second closing plate 160.
  • the first cabinet 130 and the second cabinet 140 are respectively provided with a row of storage spaces 110 arranged in a vertical direction.
  • the first closing plate 150 and the second closing plate 160 are arranged in parallel and spaced apart.
  • the two sides are respectively connected to the first cabinet 130 and the second cabinet 140, and the opposite sides of the second closing plate 160 are respectively connected to the first cabinet 130 and the second cabinet 140.
  • the first cabinet 130, the second cabinet 140, the first closing plate 150 and the second closing plate 160 are enclosed to form a conveying path 120, and the top of the conveying path 120 is the first access port 102.
  • the second access port 104 is opened on a side plate of the second cabinet 140 away from the first cabinet 130 and / or a side plate of the first cabinet 140 away from the second cabinet 130.
  • a plurality of storage 110 bits are arranged in a plurality of columns in a horizontal direction and are disposed along two sides of the conveying path 120.
  • the cargo storage system 10 can be designed as a fixed or mobile type (that is, it can move on the ground). In one embodiment, the cargo storage system 10 can autonomously move on the ground.
  • the cargo storage system 10 may be a component of an unmanned vehicle.
  • the cabinet 100 is provided with a third access port 106 for transferring goods 13 to the ground user.
  • the third access opening 106 is opened on a side plate of the second cabinet 140 and / or the first cabinet 130 and the first closing plate 150.
  • the horizontal handling module 300 can also move the goods 13 to the vicinity of the third access port 106 to wait for the user to remove the goods 13 or receive the goods 13 to be stored by the user and transfer them to the vertical handling module 200.
  • At least one storage position 110 is an empty case storage position 110 a.
  • the empty case storage position 110 a is used to store an empty container in a folded state, and the empty case storage position 110 a is provided.
  • An unfolding component 500 is provided for unfolding an empty cargo box in a folded state for the handling component to carry.
  • the user can trigger the unfolding component 500 of the empty box storage position 110a storing the empty box of the corresponding size according to the size of the goods to be sent. Empty cabinet.
  • the conveying module transfers the unfolded empty box to the vicinity of the third access port 106.
  • the user takes out the unfolded empty box and loads the goods into the unfolded empty box. After packing, the third storage box is packed.
  • the access port 106 is stored in the storage and retrieval system 10.
  • the cargo storage system 10 is connected to the building 15.
  • a side of the cabinet 100 for connecting with the external wall of the building 15 is provided with a fourth access opening 108.
  • 100 transmits the goods 13 to the user in the building 15 through the fourth access port 108.
  • an outer wall of the building 15 connected with the cabinet 100 is provided with an opening communicating with the fourth access port 108. In this way, users in the building 15 can directly access the goods 13 without going out of the building 15.
  • the cabinet 100 is arranged close to the outer wall of the building 15 or is partially embedded in the building 15.
  • the number of the fourth access openings 108 is multiple, and the plurality of fourth access openings 108 respectively connect different floor spaces in the building 15 and the storage levels 110 at a suitable height on the same floor. In this way, users can directly access the goods 13 in different floor spaces within the building 15.
  • the first access port 102, the second access port 104, the third access port 106, and the fourth access port 108 are respectively provided with a shielding door 170 for shielding.
  • the door 170 can be opened and closed automatically. Therefore, when the cargo 13 needs to be transmitted through the access port, the shielding door 170 is automatically opened, and after the transfer of the cargo 13 is completed, the shielding door 170 is automatically closed, that is, when the cargo 13 is not required to be transmitted through the access port, the shielding door 170 is closed. , Thereby ensuring the safety of the goods 13 in the access system 10.
  • the cargo storage system 10 further includes a drone take-off and landing platform 600.
  • the drone take-off and landing platform 600 is provided on the top of the cabinet 100, and the first access port 102 is provided on the top of the cabinet 100. , And runs through the drone take-off and landing platform 600 to transfer cargo 13 with the drone 11 parked on the drone take-off and landing platform 600.
  • the drone 11 in the flight state when the drone 11 in the flight state can keep relatively stationary with the cabinet 100, the drone 11 can realize the transfer of the cargo 13 to and from the cabinet 100 without landing. At this time, the UAV landing platform 600 can be omitted.
  • the other ground device 12 may be an automatic cargo loading and unloading station for a ground delivery robot.
  • the other ground device 12 may be an unmanned vehicle (autonomous driving vehicle).
  • an embodiment of the present invention provides a method for transferring goods in a cargo storage system, including the following steps:
  • step S710 a cargo storage system is provided.
  • step S720 while the vertical conveyance component moves the goods down, the horizontal conveyance component moves directly below the vertical conveyance component to receive the goods on the vertical conveyance component.
  • an embodiment of the present invention provides a method for transferring goods in a storage and retrieval system, including the following steps:
  • step S730 a cargo storage system is provided.
  • step S740 while the horizontal transport module moves the goods directly below the vertical transport module, the vertical transport module descends to receive the goods on the horizontal transport module.
  • an embodiment of the present invention provides a method for separating a battery from a cargo in a cargo storage system, including the following steps:
  • Step S810 a cargo storage system is provided.
  • step S820 the vertical handling component receives a combination of the battery and the cargo unloaded by the drone, and sends the combination into a storage space.
  • the battery is located between the charging component and the cargo and spaced from the bottom of the charging component.
  • step S830 the vertical carrying component is moved upward in the vertical direction until the battery and the charging component are electrically and fixedly connected.
  • step S840 the battery releases the cargo.
  • the battery releases the cargo, and the vertical handling assembly moves the cargo to the bottom of the storage space or the horizontal handling assembly.
  • an embodiment of the present invention provides a method for combining a battery and a cargo in a cargo storage system, including the following steps:
  • step S910 a cargo storage system is provided.
  • step S920 the vertical handling component sends the goods to be loaded to the drone into the storage place where the battery to be charged is located, and the goods are located below the battery and spaced from the battery.
  • step S930 the vertical handling component moves upward in the vertical direction until the goods and the battery are combined to form a combined body.
  • Step S940 the charging component releases the battery.
  • step S950 the vertical transport assembly moves the assembly to the first access port and extends the battery into the bottom battery compartment of the drone for the drone to load the assembly.

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  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

一种存取货系统（10），包括柜体（100），开设有用于与无人机（11）自动传递货物（13）的第一存取口（102）与用于与其它地面装置（12）自动传动货物（13）的第二存取口（104），柜体（100）内设置有若干存储位（110），若干存储位（110）与第一存取口（102）及第二存取口（104）通过搬运道（120）连通。搬运组件（200，300）设置于搬运道（120）内，并可在搬运道（120）内相对柜体（100）移动，以将第一存取口（102）或第二存取口（104）处的货物（13）存储至存储位（110）内，或将存储位（110）内的货物（13）取出并送至第一存取口（102）或第二存取口（104）。

Description

存取货系统及在其内传递货物的方法与在其内分离及组合电池与货物的方法 技术领域
本发明涉及一种存取货系统及在其内传递货物的方法与在其内分离及组合电池与货物的方法。
背景技术
随着快递市场保持快速发展，但在快递市场快速发展的同时，市场也面临着多种问题。特别是在末端投递方面，“最后一公里”已经成为制约快递行业发展的瓶颈。一方面是由城市新型综合办公区的出现，个性化需求旺盛，对快递服务提出了更高的要求；另一方面，是快递行业发展水平较低，网点布局不合理，快递服务与消费需求不能有效的衔接。
使用无人机和无人车(自动驾驶车辆)等智能运输载具进行最后一公里送货被视为一种解决方案，然而，如果使用人力对无人机和无人车等智能运输载具进行货物的装载和取放，不但效率低，而且还存在安全隐患。所以需要一种自动化的存取货系统与无人机和无人车等智能运输载具配合，用来实现货物的自动化中转和临时存储。
发明内容
一种存取货系统，包括：
柜体，所述柜体开设有用于与无人机自动传递货物的第一存取口及用于 与其它地面装置自动传动货物的第二存取口，所述柜体内设置有若干存储位，若干所述存储位与所述第一存取口及所述第二存取口通过一搬运道连通；以及
搬运组件，设置于所述搬运道内，并可在所述搬运道内相对所述柜体移动，以将所述第一存取口或所述第二存取口处的货物存储至所述存储位内，或将所述存储位内的货物取出并送至所述第一存取口或所述第二存取口。
本发明的一个或多个实施例的细节在下面的附图和描述中提出。本发明的其它特征、目的和优点将从说明书、附图以及权利要求书变得明显。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他实施例的附图。
图1为本发明一实施例的存取货系统与无人机及其它地面装置的组装示意图；
图2为图1的分解图；
图3为图1中的存取货系统的分解图；
图4为图1中的存取货系统的结构示意图；
图5为图3中的竖直搬运组件的结构示意图；
图6为竖直搬运组件、水平搬运组件及货物的组装示意图；
图7为图6的分解图；
图8为图6所示的竖直搬运组件与水平搬运组件的组装示意图；
图9为充电组件与电池的分解示意图；
图10为充电组件与电池的组装示意图；
图11为图5、图10及货物的组装示意图；
图12为本发明另一实施例的存取货系统的柜体的结构示意图；
图13为与图12对应的存取货系统为无人车的组件的结构示意图；
图14为本发明另一实施例的存取货系统与建筑墙体的组装示意图；
图15为图14的分解图；
图16为本发明另一实施例的存取货系统与其它地面装置的组装示意图；
图17为图16的分解图；
图18为本发明一实施例提供的在存取货系统内传递货物的方法的流程图；
图19为本发明一实施例提供的在存取货系统内传递货物的方法的流程图；
图20为本发明另一实施例提供的在存取货系统内分离电池与货物的方法的流程图；
图21为本发明一实施例提供的在存取货系统内组合电池与货物的方法的流程图。
具体实施方式
为了便于理解本发明，下面将参照相关附图对存取货系统及在其内传递货物的方法与在其内分离及组合电池与货物的方法进行更全面的描述。附图中给出了存取货系统及在其内传递货物的方法与在其内分离及组合电池与货 物的方法的首选实施例。但是，存取货系统及在其内传递货物的方法与在其内分离及组合电池与货物的方法可以以许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对存取货系统及在其内传递货物的方法与在其内分离及组合电池与货物的方法的公开内容更加透彻全面。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在涂布装置的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
请参见图1和图2，本发明一实施例提供一种存取货系统10，包括柜体100、搬运组件(包括竖直搬运组件200以及水平搬运组件300)、充电组件400、展开组件500以及无人机起降平台600。
如图2及图3所示，柜体100开设有第一存取口102与第二存取口104，第一存取口102用于与无人机11自动传递货物13，第二存取口104用于与其它地面装置12自动传递货物13。其中，其它地面装置12可以为无人车(自动驾驶车辆)，或者地面送货机器人的货物自动装卸站等，柜体100内设置有若干存储位110，若干存储位110与第一存取口102及第二存取口104通过搬运道120连通。
搬运组件(包括竖直搬运组件200以及水平搬运组件300)设置于搬运道120内，并可在搬运道120内相对柜体100移动，以将第一存取口102或第二存取口104处的货物13从无人机11或其它地面装置12上卸载并存储至存储位110内，或将存储位110内的货物13取出并送至第一存取口102或第 二存取口104以待无人机11或其它地面装置12装载，或将货物13在第一存取口102或第二存取口104之间直接传递。
上述存取货系统10能与无人机和无人车等智能运输载具配合实现货物的自动化中转和临时存储，既提高了货物装卸和中转的效率，又避免了智能运输载具比如无人机11与人直接接触导致的安全隐患。
在一实施例中，搬运组件包括竖直搬运组件200，竖直搬运组件200能在竖直方向上移动货物13，并能将货物13送入存储位110或从存储位110取出货物13。且竖直搬运组件200还能够部分伸出第一存取口102并与无人机11相互传递货物13。如图4所示，图4示意了竖直搬运组件200部分伸出第一存取口102并与无人机11相互传递货物13的状态。
在一实施例中，搬运组件还包括水平搬运组件300，水平搬运组件300位于竖直搬运组件200下方，包括水平搬运组件300位于竖直搬运组件200正下方与非正下方两种情况。水平搬运组件300能在水平方向上移动货物13，并能与竖直搬运组件200相互传递货物13。且水平搬运组件300还能够部分伸出第二存取口104并与其它地面装置12传递货物。如图2所示，图2示意了两个水平搬运组件300，一个水平搬运组件300位于柜体100内，另一个水平搬运组件300部分伸出第二存取口104并与其它地面装置12传递货物
同时设置竖直搬运组件200与水平搬运组件300，在竖直搬运组件200移动货物13下降的同时，水平搬运组件300移动至竖直搬运组件200的正下方，以接收竖直搬运组件200上的货物13，或者在水平搬运组件300移动货物13至竖直搬运组件200的正下方的同时，竖直搬运组件200下降，以接收水平搬运组件300上的货物13。竖直搬运组件200或水平搬运组件300在传递完货物后可以随即执行下一个货物13的搬运任务。竖直搬运组件200与水 平搬运组件300可以同时移动，从而提高货物在存取货系统10内部的搬运效率。可以理解，在其他实施例中，水平搬运组件300可以省略，而选择在其它地面装置12内设置能部分伸入第二存取口104的水平搬运组件。
在一实施例中，搬运道120包括竖直搬运道122与水平搬运道124，竖直搬运道122连通第一存取口102，水平搬运道124连通竖直搬运道122与第二存取口104。竖直搬运组件200在竖直搬运道122内沿竖直方向移动，水平搬运组件300在水平搬运道124内沿水平方向移动。
在一实施例中，如图5所示，竖直搬运组件200包括相对的两块夹板210，两块夹板210之间的间距可调，以夹持或释放货物13，且两块夹板210还能伸缩，以将货物13送入存储位110或从存储位110取出。
在实际应用中，当需要从存储位110取出货物13时，先调节两块夹板210之间的间距，使得两块夹板210均与存储位110的侧壁与货物13之间的间隙正对，然后使得两块夹板210伸出，并伸入存储位110内，再次调节两块夹板210之间的间距，以夹紧货物13，然后两块夹板210缩回，使得货物13从存储位110转移到搬运道120。当需要将货物13送入存储位110时，先使得两块夹板210伸出，并伸入存储位110内，再调节两块夹板210之间的间距，以释放货物13，然后两块夹板210缩回，使得夹板210从存储位110转移到搬运道120。
在一实施例中，夹板210既能沿第一方向的正向伸出，以伸入位于第一方向的正向上的存储位110，然后沿第一方向的反向缩回，又能沿第一方向的反向伸出，以伸入位于第一方向的反向上的存储位110，然后沿第一方向的正向缩回。其中，第一方向即为夹板210的延伸方向。以图2所示实施例为例，也即夹板210既能伸入左侧的存储位110内，又能伸入右侧的存储位 110内。
在一实施例中，竖直搬运组件200还包括基座220、夹紧机构230以及伸缩机构240。基座220与柜体100内的升降组件连接，以在升降组件的带动下沿竖直方向移动。夹紧机构230设于基座220上，伸缩机构240设于夹紧机构230上，两块夹板210设于伸缩机构240上。
在一实施例中，夹板210用于与货物13接触的表面为夹持表面212，夹持表面212为防滑表面，以增加夹持表面212与货物20之间的摩擦力，从而增加夹持稳固性。具体地，夹持表面212设置有多条平行间隔排布的凸起，从而形成防滑表面。
在一实施例中，基座220包括第一基板222及两块连接板224，两块连接板224分别设于第一基板222的相对的两侧。夹紧机构230包括滑动件230a，滑动件230a包括丝杆232及两个滑块234，两个滑块234滑动穿设于丝杆232上，也即滑块234能在丝杆232上相对于丝杆232移动。滑动件230a的数目为两个，两个滑动件230a的丝杆232平行间隔设置，且丝杆232的两端分别与两块连接板224转动连接。伸缩机构240包括两块平行间隔设置的安装板242，每一安装板242分别与两个滑块234连接。两个夹板210分别设于两个安装板242上，夹板210能相对于安装板242伸缩，以位于两块安装板242之间或伸出至两块安装板242外。
在一实施例中，丝杆232为正反牙丝杆，即丝杆232两端的螺纹方向相反，从而当丝杆232转动，套接于丝杆232两端的两个滑块234能同时沿相反的方向移动，从而当需要两个夹板210夹持货物13时，两个滑块234同时相向(相对)移动，从而实现对货物的夹持，当需要两个夹板210释放货物13时，两个滑块234同时背向(相反)移动，从而实现对货物的释放。在一 实施例中，滑动件230a还包括导向杆236，导向杆236的两端分别依次穿过滑块234后，与两块连接板224固定连接。
在一实施例中，竖直搬运组件200还包括监控摄像头250，监控摄像头250设于夹板210的与夹持表面212相邻的侧面上，监控摄像头250用于监控存储位110的内部情况。具体地，当上述存取货系统10出现问题时，控制人员能够通过监控摄像头250查看存储位110的内部情况，而且控制人员还可以通过上述监控摄像头250对存储位110执行日常的检修任务。
在一实施例中，如图5-图8所示，第一基板222的中部开设有用于供货物13通过的通孔2222，当水平搬运组件300位于第一基板222下方时，第一基板222沿竖直方向向下移动，以使得位于水平搬运组件300上的货物13穿设通孔2222以供两块夹板210夹持，或当水平搬运组件300位于第一基板222下方时，第一基板222沿竖直方向向下移动靠近水平搬运组件300，以使得位于第一基板222上、被两块夹板210释放的货物13穿过通孔2222被水平搬运组件300承接。
在一实施例中，水平搬运组件300包括第二基板310及设于第二基板310上的货物承载台320，当第二基板310与第一基板222紧贴时，货物承载台320穿设于通孔2222上。
在一实施例中，如图2以及图9-图11所示，存取货系统10还包括用于为无人机11的电池14充电的充电组件400，充电组件400设于存储位110内。
在一实施例中，充电组件400包括用于安装电池14的U型槽结构410，U型槽结构410包括相对的两块侧板412以及连接两块侧板412的顶板414，顶板414设于存储位110的顶部，顶板414设有与电池14的电连接口14a电 连接的充电接口420，侧板412设有与电池14上的卡槽14b卡接的卡扣430。
在一实施例中，充电组件400设于存储位110的顶部，充电组件400与存储位110的底部之间的间距大于或等于电池14与货物13形成的组合体的厚度。在一实施例中，竖直搬运组件200从第一存取口102接收到无人机11卸载的由电池14与货物13组合形成的组合体，此时，竖直搬运组件200夹持货物13。然后竖直搬运组件200通过伸缩机构240将组合体送入存储位110内，使得组合体位于充电组件400下方并与充电组件400间隔，竖直搬运组件200沿搬运道120向上移动以使组合体中的电池14与充电组件400对接。
在一实施例中，电池14上设有货物夹持件14c，货物13的箱体上设置有凹槽13a，货物夹持件14c伸入凹槽13a内，并处于夹持状态时，电池14与货物13连接并形成组合体。而货物夹持件14c从而凹槽13a内脱离后，电池14与货物13分离。电池14与货物13的具体结构，请参考申请号为CN201721648894.0，公开号为CN207800682U的中国专利。
当无人机装卸货物13，并同时需要更换电池14时：
(1)电池14与货物13分离的过程如下：
竖直搬运组件200沿竖直方向向上移动，直至组合体的电池14伸入U型槽结构410，电池14的电连接口14a与充电组件400的充电接口420电连接，电池14的卡槽14b与充电组件400的卡扣430卡接，从而实现对无人机11更换下来的电池14充电。然后电池14释放货物13，电池14与货物13分离。接着竖直搬运组件200移动货物13，以将货物13放置于同一存储位110的底部存放，或将货物13转移至另外一个存储位110的底部存放，或将货物13转移至水平搬运组件300。
(2)电池14与货物13组合的过程如下：
竖直搬运组件200将待装载至无人机11的货物13送入具有充满电的电池14的存储位110内，竖直搬运组件200沿竖直方向向上移动，直至货物13与电池14组合形成组合体。然后充电组件400释放电池14，竖直搬运组件200带着组合体沿竖直方向向下移动，充电组件400与电池14分离。接着竖直搬运组件200将组合体移动至第一存取口102处并使电池14伸入至无人机11底部电池仓中以待无人机11装载组合体。
在一实施例中，若干存储位110沿水平方向排列成两列，也即若干存储位110沿竖直方向排列成多层，每层只有两个存储位110，以图3所示视角为例，每层的左右两侧各布置一个存储位110。相对于设置多列存储位110，每层设置多个存储位110的设置方式，设置两列存储位110，每层设置两个存储位110这种设置方式，可以有效减少整个柜体100的占地面积，扩大存取货系统10安装场地的选择范围。相应地，在本实施例中，搬运道120为沿竖直方向延伸的竖直搬运道，并位于两列存储位110之间，竖直搬运组件200能在竖直搬运道内相对于柜体100沿竖直方向移动。
在一实施例中，柜体100包括第一柜体130、第二柜体140、第一封闭板150及第二封闭板160。第一柜体130与第二柜体140分别设置有一列沿竖直方向排布的存储位110，第一封闭板150与第二封闭板160平行间隔设置，且第一封闭板150的相对的两侧分别与第一柜体130与第二柜体140连接，第二封闭板160的相对的两侧分别与第一柜体130与第二柜体140连接。第一柜体130、第二柜体140、第一封闭板150及第二封闭板160围合形成搬运道120，搬运道120的顶端即为第一存取口102。第二存取口104开设于第二柜体140远离第一柜体130的侧板上和/或第一柜体140远离第二柜体130的侧板上。
在一实施例中，如图12所示，若干存储110位沿水平方向排列成多列并沿搬运道120两侧设置。此时，可以将存取货系统10设计为固定式或移动式(也即能在地面上移动)。在一实施例中，存取货系统10能自主在地面上移动，例如，如图13所示，存取货系统10可以为无人车的组件。
在一实施例中，如图2所示，柜体100开设有与地面用户传递货物13的第三存取口106。具体地，第三存取口106开设于第二柜体140和/或第一柜体130与第一封闭板150连接的侧板上。对应的，水平搬运组件300还能移动货物13至所述第三存取口106附近，以等待用户取走货物13，或者接收用户待存货物13并传递给竖直搬运组件200。在图3所示实施例中，第三存取口106为两个。
在一实施例中，如图2所示，至少一个存储位110为空箱体存储位110a，空箱体存储位110a用于存储处于折叠状态的货物空箱体，空箱体存储位110a设置有展开组件500，展开组件500用于展开处于折叠状态的货物空箱体，以供搬运组件搬运。在实际应用中，当需要寄件时，用户可以根据待寄出货物的尺寸，触发存储有相应尺寸空箱体的空箱体存储位110a的展开组件500，展开组件500被触发后，展开相应的空箱体。然后搬运组件将展开后的空箱体转移至第三存取口106附近，用户取出展开后的空箱体，并将货物装入展开后的空箱体内，打包好后，再通过第三存取口106存入存取货系统10内。
在一实施例中，如图14及图15所示，存取货系统10与建筑15连接，柜体100用于与建筑15外墙连接的一侧设置有第四存取口108，柜体100通过第四存取口108与建筑15内的用户传输货物13。具体地，建筑15与柜体100连接的外墙设有和第四存取口108连通的开口。如此，建筑15内的用户可以在不出建筑15的情况下，直接存取货物13。
在一实施例中，柜体100紧贴建筑15的外墙设置，或者部分嵌入建筑15内。
在一实施例中，第四存取口108的数目为多个，多个第四存取口108分别连通建筑15内的不同楼层空间与位于同一楼层合适高度的储物位110。如此，用户可以在建筑15内的不同楼层空间内直接存取货物13。
在一实施例中，如图2及图3所示，第一存取口102、第二存取口104、第三存取口106以及第四存取口108分别设置有屏蔽门170，屏蔽门170能自动打开与关闭。从而当需要通过存取口传输货物13时，屏蔽门170自动打开，而货物13传输完成后，屏蔽门170自动关闭，也即不需要通过存取口传输货物13时，屏蔽门170处于关闭状态，从而能确保存取货系统10内的货物13安全。
在一实施例中，上述存取货系统10还包括无人机起降平台600，无人机起降平台600设于柜体100的顶部，第一存取口102开设于柜体100的顶部，并贯穿无人机起降平台600，以与停放在无人机起降平台600上的无人机11传递货物13。
在一些实施例中，当处于飞行状态下的无人机11能与柜体100保持相对静止时，无人机11可以在不降落的状态下实现与柜体100之间的货物13传递，此时，无人机起降平台600可以省略。
在一实施例中，如图2所示，其它地面装置12可以为地面送货机器人的货物自动装卸站，图2所示地面送货机器人的货物自动装卸站的具体结构，请参考申请号为CN201810345318.1，公开号为CN108557452A的中国专利。
在一实施例中，如图16及图17所示，其它地面装置12可以为无人车(自动驾驶车辆)。
如图18所示，本发明一实施例提供一种在存取货系统内传递货物的方法，包括如下步骤：
步骤S710，提供存取货系统。
步骤S720，在竖直搬运组件移动货物下降的同时，水平搬运组件移动至竖直搬运组件的正下方，以接收竖直搬运组件上的货物。
如此，可以提高货物在存取货系统内部的搬运效率。
如图19所示，本发明一实施例提供一种在存取货系统内传递货物的方法，包括如下步骤：
步骤S730，提供存取货系统。
步骤S740，在水平搬运组件移动货物至竖直搬运组件的正下方的同时，竖直搬运组件下降，以接收水平搬运组件上的货物。
如此，可以提高货物在存取货系统内部的搬运效率。
如图20所示，本发明一实施例提供一种在存取货系统内分离电池与货物的方法，包括如下步骤：
步骤S810，提供存取货系统。
步骤S820，竖直搬运组件接收到无人机卸载的电池与货物形成的组合体，并将组合体送入存储位内，电池位于充电组件与货物之间，并与充电组件的底部间隔。
步骤S830，竖直搬运组件沿竖直方向向上移动，直至电池与充电组件电连接及固定连接。
步骤S840，电池释放货物。
电池释放货物，竖直搬运组件将货物移动至存储位底部或者水平搬运组件上。
如图21所示，本发明一实施例提供一种在存取货系统内组合电池与货物的方法，包括如下步骤：
步骤S910，提供存取货系统。
步骤S920，竖直搬运组件将待装载至无人机的货物送入完成充电的电池所在的存储位内，货物位于电池下方并与电池间隔。
步骤S930，竖直搬运组件沿竖直方向向上移动，直至货物与电池组合形成组合体。
步骤S940，充电组件释放电池。
步骤S950，竖直搬运组件将组合体移至第一存取口并使电池伸入无人机的底部电池舱中以待无人机装载组合体。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施例，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (20)

  1. 一种存取货系统，其特征在于，包括：
    柜体，所述柜体开设有用于与无人机自动传递货物的第一存取口及用于与其它地面装置自动传递货物的第二存取口，所述柜体内设置有若干存储位，若干所述存储位与所述第一存取口及所述第二存取口通过一搬运道连通；以及
    搬运组件，设置于所述搬运道内，并可在所述搬运道内相对所述柜体移动，以将所述第一存取口或所述第二存取口处的货物存储至所述存储位内，或将所述存储位内的货物取出并送至所述第一存取口或所述第二存取口。
  2. 根据权利要求1所述的存取货系统，其特征在于，所述搬运组件包括竖直搬运组件，所述竖直搬运组件能在竖直方向上移动货物，并能将货物送入所述存储位或从所述存储位取出货物，且所述竖直搬运组件还能够部分伸出所述第一存取口并与所述无人机相互传递货物。
  3. 根据权利要求2所述的存取货系统，其特征在于，所述搬运组件还包括水平搬运组件，所述水平搬运组件位于所述竖直搬运组件下方，所述水平搬运组件能在水平方向上移动货物，并能与所述竖直搬运组件传递货物，且所述水平搬运组件还能够部分伸出所述第二存取口并与所述其它地面装置相互传递货物。
  4. 根据权利要求3所述的存取货系统，其特征在于，所述竖直搬运组件包括相对的两块夹板，两块所述夹板之间的间距可调，以夹持或释放货物，且两块所述夹板还能伸缩，以将货物送入所述存储位或从所述存储位取出。
  5. 根据权利要求4所述的存取货系统，其特征在于，所述竖直搬运组件还包括基座，所述基座的中部开设有用于供货物通过的通孔，两块所述夹板 设于所述基座上，且两块所述夹板能缩回至所述基座内或伸出至所述基座外；
    当所述水平搬运组件位于所述基座正下方时，所述基座沿竖直方向向下移动，以使得位于所述水平搬运组件上的货物穿设所述通孔以供两块所述夹板夹持，或所述基座沿竖直方向向下移动靠近所述水平搬运组件，以使得位于所述基座上、被两块所述夹板释放的货物穿过所述通孔被所述水平搬运组件承接。
  6. 根据权利要求5所述的存取货系统，其特征在于，所述竖直搬运组件还包括夹紧机构以及伸缩机构；
    所述基座包括第一基板及两块连接板，两块所述连接板分别设于所述第一基板的相对的两侧，所述通孔开设于所述第一基板的中部，所述夹紧机构包括滑动件，所述滑动件包括丝杆及两个滑块，两个滑块滑动穿设于所述丝杆上，所述滑动件的数目为两个，两个所述滑动件的丝杆平行间隔设置，且所述丝杆的两端分别与两块所述连接板连接，所述伸缩机构包括两块平行间隔设置的安装板，每一所述安装板分别与两个所述滑块连接，两个所述夹板分别设于两个所述安装板上，所述夹板能相对于所述安装板伸缩，以位于两块所述安装板之间或伸出至两块所述安装板外；
    所述水平搬运组件包括第二基板及设于所述第二基板上的货物承载台，当所述第二基板与所述第一基板紧贴时，所述货物承载台穿设于所述通孔上。
  7. 根据权利要求3所述的存取货系统，其特征在于，所述柜体开设有与地面用户传递货物的第三存取口，所述水平搬运组件还能移动至所述第三存取口附近，以等待用户取走货物，或者接收用户待存货物并传递给所述竖直搬运组件。
  8. 根据权利要求2所述的存取货系统，其特征在于，所述存取货系统还 包括用于为无人机的电池充电的充电组件，所述充电组件设于所述存储位的顶部，所述充电组件与所述存储位的底部之间的间距大于或等于所述电池与货物的组合体的厚度。
  9. 根据权利要求8所述的存取货系统，其特征在于，所述充电组件包括U型槽结构，所述U型槽结构包括相对的两块侧板以及连接两块所述侧板的顶板，所述顶板设于所述存储位的顶部，所述顶板设有与所述电池电连接的充电接口，所述侧板设有与所述电池上的卡槽卡接的卡扣。
  10. 根据权利要求1所述的存取货系统，其特征在于，所述柜体开设有与地面用户传递货物的第三存取口。
  11. 根据权利要求1所述的存取货系统，其特征在于，若干所述存储位沿着水平方向排列成两列，所述搬运道位于两列所述存储位之间。
  12. 根据权利要求1所述的存取货系统，其特征在于，至少一个所述存储位为空箱体存储位，所述空箱体存储位用于存储处于折叠状态的货物空箱体，所述空箱体存储位设置有展开组件，所述展开组件用于展开处于折叠状态的货物空箱体，以供所述搬运组件搬运。
  13. 根据权利要求1所述的存取货系统，其特征在于，所述柜体能自主在地面上移动。
  14. 根据权利要求13所述的存取货系统，其特征在于，若干所述存储位沿水平方向排列成多列，并沿所述搬运道两侧设置。
  15. 根据权利要求1所述的存取货系统，其特征在于，所述柜体用于与建筑外墙连接的一侧开设有与建筑内的用户传递货物的第四存取口。
  16. 根据权利要求15所述的存取货系统，其特征在于，所述第四存取口的数目为多个，多个所述第四存取口分别连通建筑内的不同楼层空间与位于 同一楼层合适高度的所述储物位。
  17. 根据权利要求1所述的存取货系统，其特征在于，所述柜体开设有与地面用户传递货物的第三存取口，所述柜体用于与建筑外墙连接的一侧开设有与建筑内的用户传递货物的第四存取口；
    所述第一存取口、所述第二存取口、所述第三存取口以及所述第四存取口分别设置有屏蔽门，所述屏蔽门能自动打开与关闭。
  18. 一种在存取货系统内传递货物的方法，其特征在于，包括如下步骤：
    提供如权利要求3-7中任一项所述的存取货系统；以及
    在所述竖直搬运组件移动货物下降的同时，所述水平搬运组件移动至所述竖直搬运组件的正下方，以接收所述竖直搬运组件上的货物；
    或者，在所述水平搬运组件移动货物至所述竖直搬运组件的正下方的同时，所述竖直搬运组件下降，以接收所述水平搬运组件上的货物。
  19. 一种在存取货系统内分离电池与货物的方法，其特征在于，包括如下步骤：
    提供如权利要求8或9所述的存取货系统；
    所述竖直搬运组件接收到所述无人机卸载的由电池与货物形成的组合体，并将所述组合体送入所述存储位内，所述电池位于所述充电组件下方并与所述充电组件的底部间隔；
    所述竖直搬运组件沿竖直方向向上移动，直至所述电池与所述充电组件电连接及固定连接；以及
    所述电池释放所述货物。
  20. 一种在存取货系统内组合电池与货物的方法，其特征在于，包括如下步骤：
    提供如权利要求8或9所述的存取货系统；
    所述竖直搬运组件将待装载至所述无人机的货物送入完成充电的电池所在的存储位内，所述货物位于所述电池下方并与所述电池间隔；
    所述竖直搬运组件沿竖直方向向上移动，直至所述货物与所述电池组合形成组合体；
    所述充电组件释放所述电池；以及
    所述竖直搬运组件将所述组合体移至所述第一存取口并使所述电池伸入所述无人机的底部电池舱中以待无人机装载组合体。
PCT/CN2018/109094 2018-09-30 2018-09-30 存取货系统及在其内传递货物的方法与在其内分离及组合电池与货物的方法 WO2020062243A1 (zh)

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