Integrated logistics drone

Abstract

An integrated logistics drone of the present invention includes a main body, an arm and a wing, wherein the main body includes an intermediate load-bearing portion, a frame fixedly arranged on the upper portion of the intermediate load-bearing portion, a main body cover plate, and a cargo hold constructed below the intermediate load-bearing portion, wherein the frame and the cover plate constitute an electric control cabin, and the arm includes an arm frame fixedly connected to the frame, and an arm cover plate fixedly connected to the arm frame, an arm cavity is formed in the arm to fix the electric control board, and heat dissipation holes are provided on the arm cover plate corresponding to the electric control board. The model of the logistics drone of the present invention has a reasonable layout of each module, and each module is fixed by a reasonable structure, so that the reasonable use of the space of the whole machine can be achieved without affecting the performance of each module; the aircraft cargo hold is no longer installed on the aircraft in the form of a mount, but is integrated with the aircraft.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to an integrated logistics unmanned aerial vehicle. Background Art

[0002] UAVs are a rapidly developing flying device that has the advantages of flexibility, quick response, unmanned flight, and low operating requirements. They can be widely used in agriculture, exploration, photography, border patrol and other fields. Since UAVs are generally used in aerial photography, unmanned reconnaissance and other fields, they have low requirements for structural reliability and load capacity, and are difficult to be used in transportation, express delivery and other fields that require high structural reliability.

[0003] For example, CN 205633055 U discloses a drone, which includes a fuselage and at least one arm connected to the fuselage. A frame is arranged inside the fuselage, and the frame includes a plurality of connecting rods, wherein at least one end of at least some of the connecting rods is connected to the arm.

[0004] Although the above patent connects the connecting rod to the machine arm, which can effectively distribute the force of the connecting rod to the machine arm, it still has the following disadvantages:

[0005] 1. The integrity is not strong. Necessary protection is required for items when transported by drones, and the positioning effect of batteries, etc. is not good.

[0006] 2. The arm is too long, resulting in a large overall size. Summary of the invention

[0007] The purpose of the present invention is to overcome the deficiencies of the prior art and provide an integrated logistics drone that effectively improves integrity and reduces height and wind resistance.

[0008] The present invention is achieved through the following technical solutions:

[0009] An integrated logistics UAV comprises a main body, an arm and a wing, wherein the main body comprises an intermediate load-bearing portion, a frame fixedly arranged on the upper portion of the intermediate load-bearing portion, a main body cover plate, and a cargo hold constructed below the intermediate load-bearing portion, wherein the frame and the cover plate constitute an electric control cabin, and the arm comprises an arm frame fixedly connected to the frame, and an arm cover plate fixedly connected to the arm frame, an arm cavity is formed in the arm to fix an electric control board, and heat dissipation holes are provided on the arm cover plate corresponding to the electric control board.

[0010] In the above technical solution, the cargo hold includes two side panels relatively arranged below the middle load-bearing portion, and at least one side door correspondingly arranged between the two side panels.

[0011] In the above technical solution, a support tube is vertically fixed at the end of the arm, a carrier plate is arranged in the support tube at intervals up and down, and propellers are fixed on the carrier plates respectively. The propellers include a motor and rotors coaxially arranged correspondingly up and down.

[0012] In the above technical solution, the propeller is provided with a blade position detection mechanism corresponding to the propeller, and the blade position detection mechanism is controllably connected to the motor of the propeller so that the blade of the rotor stops at a set position.

[0013] In the above technical solution, the blade position detection mechanism includes a magnetic ring fixedly arranged corresponding to the rotating shaft of the rotor, a magnetic encoder or two Hall sensors arranged at 90° arranged corresponding to the magnetic ring, and the magnetic encoder or Hall sensor is fixed on a circuit board or a motor base.

[0014] In the above technical solution, a lifting mechanism is provided in the cargo hold, which includes a shell fixedly mounted on the bottom of the side panel and a lifting handle for lifting and unloading cargo boxes, a self-locking servo for driving the lifting handle to rotate horizontally is provided in the shell, and a pressure sensor is provided at the free end of the lifting handle.

[0015] In the above technical solution, the electric control cabin includes a battery compartment located at the middle upper opening for accommodating a positioning battery box, and a power supply compartment and a control compartment located at the front and rear sides of the battery compartment respectively.

[0016] In the above technical solution, a battery conduction terminal is provided on one side of the bottom of the battery compartment, a guide groove is provided on the side wall of the battery compartment, contacts and guide plates corresponding to the conduction terminal are provided on the battery box, and a self-locking mechanism is provided between the battery box and the body.

[0017] In the above technical solution, the bottom of the side panel is bent outward and extended to form a tripod, and a charging port is provided on the outer side of the tripod.

[0018] In the above technical solution, the skeleton is a carbon skeleton made of carbon fiber material, and its layout is divided into two layers, the upper layer is used to fix various antennas, and the lower layer is used to fix various modules of the flight control system. A layer of shielding material is laid on the upper skeleton to prevent the electromagnetic interference generated by the lower module from affecting the upper antenna.

[0019] The advantages and beneficial effects of the present invention are:

[0020] The model of the logistics drone of the present invention has a reasonable layout of each module, and uses a reasonable structure to fix each module, so that the space of the whole machine can be reasonably utilized without affecting the performance of each module; the aircraft cargo hold is no longer installed on the aircraft in the form of a mount, but is integrated with the aircraft, so as to compress the height space of the aircraft as much as possible, ensure the streamlined design of the aircraft, and reduce wind resistance. At the same time, the design tries to consider the flat design, and the height of the aircraft will not be increased due to the additional modules. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1-5 It is a schematic diagram of the structure of the integrated logistics drone of the present invention from various viewing angles.

[0022] Figure 6 It is a schematic diagram of the exploded structure of the integrated logistics UAV of the present invention.

[0023] Figure 7 It is a schematic diagram of the main structure of the integrated logistics drone of the present invention;

[0024] Figure 8-9 It is a schematic diagram of the structure of the warehouse from various angles.

[0025] Fig.10 It is a schematic diagram of the battery compartment structure.

[0026] Fig.11 It is a schematic diagram of the battery cross-section structure.

[0027] Fig.12 Schematic diagram of the arm layout structure.

[0028] For ordinary technicians in this field, other relevant drawings can be obtained based on the above drawings without any creative work. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is further described below in conjunction with specific embodiments.

[0030] Embodiment 1

[0031] The integrated logistics drone of the present invention includes a main body 1 and an arm 2. The main body includes an intermediate load-bearing part 11, such as an intermediate load plate or a flat intermediate load frame, or a plate with a middle opening, a skeleton 3 fixedly arranged on the upper part of the intermediate load-bearing part, a main body cover plate 4, and a cargo hold fixedly arranged below the intermediate load-bearing part. The skeleton and the cover plate constitute an electric control cabin.

[0032] Preferably, the skeleton is a carbon skeleton made of carbon fiber material, and its layout is divided into two layers, the upper layer is used to fix various antennas and the upper carbon skeleton can be disassembled, and the lower layer is used to fix various modules of the flight control system. After the modules of the flight control system are fixed, the upper carbon skeleton is fixed, and a layer of shielding material is laid on the upper layer to prevent the electromagnetic interference generated by the lower module from affecting the upper antenna. The internal carbon skeleton of this model has been effectively designed to reduce weight and strengthen the design to ensure the firmness of the whole machine. The internal carbon skeleton has also been reasonably split to achieve the fixation of various modules.

[0033] The model of the logistics drone of the present invention has a reasonable layout of each module, and uses a reasonable structure to fix each module, so that the space of the whole machine can be reasonably utilized without affecting the performance of each module; the aircraft cargo hold is no longer installed on the aircraft in the form of a mount, but is integrated with the aircraft to compress the height space of the aircraft as much as possible, ensure the streamlined design of the aircraft, and reduce wind resistance. At the same time, the design tries to consider the flat design, and the height of the aircraft will not be increased due to additional modules, so the electric control cabin is above the cargo hold to layout the flight control system, power supply system, smart battery and power system, etc.

[0034] As a preferred solution, the arm 2 includes an arm frame 20 fixedly connected to the frame, and an arm cover 21 fixedly connected to the arm frame, an arm cavity 22 is formed in the arm to fix the electric control board 23, and a heat dissipation hole 24 is provided on the arm cover corresponding to the electric control board. In order to cater to the flat design of the aircraft, the electric adjustment is arranged on the arm under the premise that there is no space in the fuselage, so that every part of the space of the aircraft is fully utilized. The electric control board 23 (electric adjustment) is fixed to the arm, and grooves are opened on the upper and lower sides of the arm to fully release the internal space of the body, and vents are opened on the front and rear parts of the electric adjustment to ensure that the heat generated by the electric adjustment can be quickly dissipated. At the same time, in order to improve the design strength, the arm is a herringbone structure with two inner ends fixedly connected to the frame. At the same time, in order to reduce wind resistance, the front and rear sides of the arm cover are both designed to protrude forward in the middle, and the heat dissipation holes are formed on the slopes on both sides.

[0035] Preferably, the cargo hold includes two side panels 5 that are oppositely arranged and are respectively integrated or fixedly connected with the middle load-bearing frame, and at least one side door 51 that is correspondingly arranged between the two side panels, preferably including two side doors 51 that are correspondingly arranged between the side panels 5, wherein the side panels include a frame 50 that is fixedly connected with the middle load-bearing portion, a plate body that is fixedly arranged between the frames, one side of the side door is hinged with the frame, and the other side is buckled with the frame corresponding to the other side, such as by a lock hook, etc. At the same time, the side door can be an integrated type or a two-fold door design, etc. The front and rear side doors are opened, and the bottom forms a form of an inlet and outlet channel, with three inlets and outlets, which effectively improves the convenience and adaptability of taking and putting goods.

[0036] At the same time, the bottom of the cargo hold is designed to be open, and a lifting mechanism 6 is arranged at the bottom of the side panel, wherein the lifting mechanism includes a shell fixedly mounted on the bottom edge of the side panel and a holding handle 61 for lifting and unloading the cargo box (when there is no cargo box, the holding handle is folded and close to the bottom edge of the side panel), a self-locking servo 60 for driving the holding handle to rotate horizontally is arranged in the shell, and a pressure sensor is arranged at the free end of the holding handle for feedback of the situation of the cargo box placed on the holding handle.

[0037] Furthermore, a clamping device for holding and fixing the cargo box is provided inside the cargo warehouse, and side wing plates for limiting the cargo box in the cargo warehouse are respectively provided on the inner sides of the two side plates. The upper ends of the side wing plates protrude inward in an arc shape and are made of steel bars with a certain elasticity. They have a clamping and positioning effect on the cargo warehouse, meet adaptability, and prevent the cargo box from shaking in the cargo warehouse.

[0038] An integrated warehouse and a lifting mechanism are used to realize the function of intelligent loading and unloading of cargo boxes. It is easy to use. The lifting mechanism is used to lift and unload the cargo boxes. A pressure sensor is used to check the loading and unloading status of the cargo boxes with high accuracy. A clamping device is used to hold the cargo boxes loaded into the warehouse to avoid the cargo boxes from tilting or falling during transportation. The intelligent warehouse can replace manual loading and unloading of cargo boxes, reducing a lot of labor costs.

[0039] Furthermore, the bottom of the frame 50 of the side panel is bent outward and extended to form a tripod 52, and a charging interface 53 is provided on the outside of the tripod. A wire groove is designed at the tripod 52 to facilitate the wiring of the modules on the tripod. The charging interface can realize automatic charging. Moreover, a wire groove is designed at the tripod of the aircraft to facilitate the wiring of the modules on the tripod.

[0040] Specifically, the charging mechanism in the middle of the tripod is a concave cavity with a quadrangular pyramid shape formed on the outside, and the cavity wall is a slope surface for easy guidance. The charging interface is electrically connected to the battery of the logistics drone. The concave cavity structure is provided to guide the insertion of the charging connector, and has a 1cm fault tolerance distance relative to the charging connector, which is used to ensure that the charging connector is inserted into the charging interface; the inner bottom surface of the charging interface is provided with a pin hole, and the charging connector is provided with a pin corresponding to the pin hole one by one, so as to facilitate the docking of the charging connector with the charging seat; the pin hole is a charging pin hole or a communication pin hole, and the pin is a charging pin or a communication pin.

[0041] Embodiment 2

[0042] Specifically, the electric control cabin includes a battery compartment 30 located at the middle upper opening for accommodating and positioning a battery box 36, a power supply compartment 31 and a control compartment 32 located at the front and rear sides of the battery compartment, respectively, a battery conduction terminal 33 is provided on one side of the bottom of the battery compartment, a guide groove 34 is provided on the side wall of the battery compartment, and a contact corresponding to the conduction terminal and a guide plate corresponding to the guide groove are provided on the battery box. The setting of the guide mechanism improves the convenience of assembly, and ensures its fixed stability, prevents it from shaking, and ensures stable and reliable electrical connection. The battery box 36 (intelligent battery) is located in the central position of the fuselage, and the power supply module and the flight control module of the aircraft are distributed on both sides of the intelligent battery to prevent the large current generated by the power supply module from affecting the flight control module.

[0043] Correspondingly, the main cover plate includes a main cover 40 fixedly connected to the frame, a front cover 41 and a rear cover 42 respectively located at the front and rear of the battery compartment. It is made of fiberglass material, and its inner end is snap-connected or hinged to the main cover 40, and the outer end is fixed by magnetic attraction, which ensures beauty and is conducive to satellite signal transmission.

[0044] At the same time, in order to facilitate the replacement of batteries, a handle is provided on the top of the battery box 36. The smart battery can be plugged in and out in cooperation with the manipulator. At the same time, in order to ensure that the smart battery will not fall out of the aircraft when the aircraft is rolling, the top inner side of the battery box also has a self-locking mechanism, which includes a locking push plate 37 that can slide forward and backward and is provided on the upper surface of the battery, a locking rod 39 that is driven to extend or be located at the two ends of the side of the battery box through a connecting rod 38 and the locking push plate 37, and a corresponding lock hole 35 formed on the side wall of the battery compartment. A spring is provided between the locking rod and the body of the battery box to keep it extending outward, and at the same time, a guiding slope is formed on the lower surface of the end of the locking rod to achieve automatic locking during assembly. That is, when the battery enters the battery compartment, the locking rod will shrink and move inward, and after it is in place, the end of the locking rod will enter the lock hole 35 on the wall of the battery compartment to achieve battery locking.

[0045] Embodiment 3

[0046] The propeller of the present invention adopts a coaxial double-propeller layout, and adopts a reasonable upper and lower propeller spacing to maximize the force efficiency of each blade. Specifically, a support tube 25 is vertically fixedly arranged at the end of the arm, and a carrier plate 26 is arranged at intervals in the upper and lower parts of the support tube. The propellers are fixedly arranged on the carrier plates, and the propellers include a motor, and rotors 27 arranged coaxially in the upper and lower parts. Among them, the support tube is formed with multiple groups of positioning bayonet holes composed of upper and lower fixed platforms for positioning the carrier plate, and the carrier plate is correspondingly provided with a clamping part matching the positioning bayonet hole, and the clamping parts form a space for running through the positioning bayonet hole. The clamping part is correspondingly inserted into the positioning bayonet hole and then fixed circumferentially to complete the assembly and fixation, and a heat dissipation channel that passes through the upper and lower parts is formed.

[0047] Specifically, the motor seat of the upper propeller is fixedly connected to the upper carrier plate, the motor seat of the lower propeller is fixedly connected to the adapter carrier plate, and the adapter carrier plate is fixedly connected to the carrier plate.

[0048] Among them, the upper and lower parts are coaxial, and there are no holes on the side of the motor seat to allow the bolt tightening tool to enter. Therefore, in order to fix the upper and lower motors in place, a screwdriver can only be inserted from one direction below to fix the upper and lower motors. The assembly sequence is to first insert a screwdriver from below to fix the upper motor, then fix the lower motor to the adapter carbon plate first, and then fix the adapter carbon plate to the lower carbon plate of the motor seat. The middle hole of the adapter carbon plate is used to fix the motor, and the holes around the adapter plate are used to connect to the carbon plate on the motor seat. At the same time, an indicator light 28 is provided on the support tube. The support tube design can realize a simple circuit layout, and the indicator light can be conveniently set around the largest fuselage body for easy control and warning.

[0049] Correspondingly, the rotor is provided with a blade position detection mechanism, and the blade position detection mechanism is controllably connected to the motor of the rotor so that the blade can be docked at a set position. The motor position sensor includes a magnetic ring fixedly arranged corresponding to the rotating shaft of the rotor, a magnetic encoder or two Hall sensors arranged at 90° arranged corresponding to the magnetic ring, and the magnetic encoder or the Hall sensor is fixed on a circuit board.

[0050] The set position refers to the length direction of the blade being perpendicular or approximately perpendicular to the axial direction of the arm, such as the deviation between the center axis of the blade 1 and the axial direction of the arm is ±5°, preferably within ±1-3°.

[0051] By aligning the blades of each UAV rotor to the vertical direction of its arm, the blades are parked in the correct position, avoiding the increase in floor space caused by irregular blade parking, thereby reducing the increase in the volume of the UAV airport caused by the blade diameter, bringing convenience in space occupation for short-term or long-term parking or continued operation of the UAV after parking. In addition, the parking of the retractable blades avoids possible interference or collision with the blades by external factors, improving the overall safety and life of the UAV.

[0052] In order to detect the position of each blade after the drone lands, first control each rotor to rotate at a low speed or stop, and then use the motor position measurement sensor mechanism to detect the position of the blade and then control the correct position. It should be noted that the control of the low-speed rotation of each rotor can be a low-speed rotation during the landing process of the drone, so as to achieve the synchronization of landing and blades, or the blades can be driven to rotate at a very low speed after the drone is completely docked to detect and drive the blade position and dock at the set position, or after the blades are completely docked and stop rotating, the blades are driven directly to the set position according to the detected current position information of the blades.

[0053] In order to detect the position of the blade, the motor position sensor includes a magnetic ring fixedly arranged corresponding to the rotating shaft of the rotor, and two Hall sensors (a first Hall sensor 5 and a second Hall sensor 6) arranged at 90 degrees corresponding to the magnetic ring.

[0054] Specifically, a magnetic ring is installed directly below the rotor shaft, such as the motor shaft, and its NS pole is found through a magnetometer. A Hall sensor is installed at a position 35 mm away from the magnetic ring, such as on a circuit board or motor seat. The magnetic ring rotates with the motor, but the circuit board is fixed. When the motor rotates, the magnetic field strength above the Hall sensor will change. The Hall sensor detects this change, and the field strength above the Hall sensor will also change, causing the voltage on the Hall sensor to change. That is, the motor position (that is, the actual position of the blade) can be measured by detecting the voltage change of the Hall sensor. Using AD conversion, the voltage measured by the Hall element is input into the flight control system to control the motor position, that is, to achieve positive position.

[0055] Among them, since the change of the magnetic ring is a sinusoidal curve, but in each π, one value corresponds to two angles, it is impossible to determine the angle. Therefore, another Hall sensor is needed to further determine which angle it is. Combined with the sine-cosine relationship, the actual position of the blade and the position angle of the blade can be well judged.

[0056] The specific analysis steps include: on the turntable marked with angles, turn the motor, and after the flight control obtains the ADC data corresponding to the two Hall sensors at the corresponding positions, it is converted to voltage through the sampling circuit, and the conversion results are recorded. After the data is normalized using the MATLAB mathematical tool, the relationship between the motor position and the ADC sampling data of the two Hall sensors is obtained. From the results of the sampled data analysis, at different positions of the magnetic ring, the voltage relationship corresponding to the two Hall sensors is a sine-cosine relationship. Moreover, the phase angle difference between the cosine curve and the sine curve is exactly 90 degrees, and the phase difference is exactly the same as the placement position difference. Therefore, the relative position of the motor can be known according to the position of the magnetic ring. And ensure that the motor does not interfere with the magnetic ring, and can fit an ideal sine curve.

[0057] When the logistics drone lands on the airport parking platform, all blades need to be in the correct position. The specific control method is as follows:

[0058] 1) With the clockwise direction as the positive direction and the counterclockwise direction as the negative direction, the measured angles of the two Hall sensors at a specific moment are normalized to ±π and the positive and negative values ​​after normalization are used to determine the positive and negative values ​​of the blade angle at that specific moment, that is, to determine the phase of the blade at that specific moment. The quadrant judgment can be performed based on the positive and negative values ​​of the angle values ​​detected by the two Hall sensors, as shown in Table 1 below.

[0059]

[0060] 2) Compare the sine values ​​of the normalized measured angles of the two Hall sensors to obtain the tangent value corresponding to the blade angle at a specific moment;

[0061] 3) determining the position angle at a specific moment according to the phase of the blade at a specific moment and the magnitude of the tangent value;

[0062] 4) Control the motor and make the position angle reach the correct position angle corresponding to the blade being in the correct position; for example, the forward and reverse rotation of the motor can be controlled according to the difference between the position angle and the correct position angle.

[0063] The specific time is the time when the alignment process is started after the propellers stop after the drone stops, or the time when the alignment process is started when the drone rotates at a low speed. The sine and cosine functions have low resolution near the extreme values, while the tangent function just makes up for these two shortcomings. There are extreme values ​​at ±π / 2, but the calculated tan(89°) is 57.29, which is a normal floating point number and can effectively meet the alignment accuracy requirements.

[0064] The above uses sine value for calculation, of course, the corresponding cosine value can also be used, and when there is incomparability, that is, corresponding to ±π / 2, the corresponding tangent value can be directly assigned, such as directly assigning 57.29, or a larger reasonable value to improve accuracy.

[0065] At the same time, in order to obtain the correct angle corresponding to the correct position of the blade in step 4, first move the blade to the correct position, and use steps 1-3 above to obtain the angle corresponding to the correct position, which is the correct angle, and the correct angle is the initial setting value.

[0066] When a magnetic encoder is used, the specific control is similar to that described above and will not be described in detail.

[0067] For ease of explanation, spatial relative terms such as "upper", "lower", "left", "right" and the like are used in the embodiments to illustrate the relationship of one element or feature shown in the figure relative to another element or feature. It should be understood that, in addition to the orientation shown in the figure, the spatial terms are intended to include different orientations of the device in use or operation. For example, if the device in the figure is inverted, the element described as being "under" other elements or features will be positioned "on" other elements or features. Therefore, the exemplary term "under" can include both upper and lower orientations. The device can be positioned in other ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used here can be interpreted accordingly.

[0068] Furthermore, relational terms such as “first” and “second” and the like are merely used to distinguish one component from another having the same name, but do not necessarily require or imply any such actual relationship or order between these components.

[0069] The present invention is described above by way of example. It should be noted that, without departing from the core of the present invention, any simple deformation, modification or other equivalent replacement that can be made by those skilled in the art without inventive effort falls within the protection scope of the present invention.

Claims

1. An integrated logistics drone, characterized by: The invention comprises a main body, an arm and a wing, wherein the main body comprises an intermediate load-bearing part, a frame fixedly arranged on the upper part of the intermediate load-bearing part, a main body cover plate, and a cargo hold constructed below the intermediate load-bearing part, wherein the frame and the cover plate constitute an electric control cabin, the arm comprises an arm frame fixedly connected to the frame, and an arm cover plate fixedly connected to the arm frame, an arm cavity is formed in the arm to fix an electric control board, and heat dissipation holes are provided on the arm cover plate corresponding to the electric control board, a support tube is vertically fixedly arranged at the end of the arm, carrier plates are arranged at intervals up and down in the support tube, and propellers are fixedly arranged on the carrier plates respectively, the propellers comprise a motor, and rotors arranged coaxially correspondingly up and down, the propellers are correspondingly provided with a blade position detection mechanism, and the blade position detection mechanism is controllably connected to the motor of the propeller The blades of the rotor are connected so that they are parked at the set position. The blade position detection mechanism includes a magnetic ring fixedly arranged corresponding to the rotating shaft of the rotor, a magnetic encoder or two Hall sensors arranged at 90° corresponding to the magnetic ring, and the magnetic encoder or Hall sensor is fixed on a circuit board or a motor seat. The blades of each rotor of the drone are arranged in a direction perpendicular to its arm to achieve the correct parking of the blades. The cargo hold includes two side panels relatively arranged below the middle load-bearing portion, and at least one side door correspondingly arranged between the two side panels. A lifting mechanism is arranged in the cargo hold, which includes a shell fixedly mounted on the bottom of the side panel and a holding handle for lifting and unloading cargo boxes. A self-locking servo for driving the holding handle to rotate horizontally is arranged in the shell, and a pressure sensor is arranged at the free end of the holding handle.

2. The integrated logistics drone according to claim 1, characterized in that: The electric control cabin comprises a battery compartment located at the middle upper opening for accommodating a positioning battery box, and a power supply compartment and a control compartment located at the front and rear sides of the battery compartment respectively.

3. The integrated logistics drone according to claim 2, characterized in that: A battery conduction terminal is arranged on one side of the bottom of the battery compartment, a guide groove is arranged on the side wall of the battery compartment, a contact and a guide plate corresponding to the conduction terminal are arranged on the battery box, and a self-locking mechanism is arranged between the battery box and the body.

4. The integrated logistics drone according to claim 1, characterized in that: The bottom of the side plate is bent outward and extended to form a tripod, and a charging interface is arranged on the outer side of the tripod.

5. The integrated logistics drone according to claim 1, characterized in that: The skeleton is a carbon skeleton made of carbon fiber material, and its layout is divided into two layers, the upper layer is used to fix various antennas, and the lower layer is used to fix various modules of the flight control system. A layer of shielding material is laid on the upper skeleton to prevent electromagnetic interference generated by the lower module from affecting the upper antenna.

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