Helicopter container freight system and control method thereof

Abstract

The application provides a helicopter container freight system and a control method thereof. The method comprises the following steps: step 10: a central processor (20) of the freight system judges a current working mode of the helicopter container freight system; step 20: when the current working mode of the helicopter container freight system is a normal loading mode, the freight system is started; step 30: when the current working mode of the helicopter container freight system is a flight monitoring mode, the helicopter container freight system is monitored; step 40: when the current working mode of the helicopter container freight system is a normal unloading mode, an unloading system is started; step 50: when the helicopter encounters an emergency, an emergency release mode is started, a locking part is opened in an emergency, and goods are thrown in an emergency; and when a fire occurs in a cabin of the helicopter, an emergency fire extinguishing mode is started.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of special equipment of helicopters, and particularly relates to a helicopter container freight system and a control method thereof. BACKGROUND

[0002] Cargo transportation has been a basic combat mission of helicopters, and the transportation task of helicopters covers multiple scenes such as daily guarantee, rescue and disaster relief, and battlefield delivery, which covers sand and cement, equipment and materials, and rescue materials and weapon tanks. Therefore, the transportation capacity, loading and unloading efficiency and other technical indexes of helicopters are the core competitive points among various transport helicopters. Especially in the field of container freight transportation, the use scene of helicopters is often to undertake the container freight across the mountains and sea areas, that is, the role of "transportation of the last kilometer", and the loading and unloading, limiting and state monitoring capacity of the container freight determines the key combat performance of the transport helicopter.

[0003] Therefore, various transport helicopters are designed with various cabin freight transportation systems. From the simplest manual traction winch plus anti-wear roller to the air freight lock with an electric limiting device, many types of freight transportation system configurations have been applied on helicopters for container transportation. However, most of the existing freight transportation systems mainly realize the auxiliary traction function or the single container pallet locking function, and there is no freight transportation system that can plan the whole container freight transportation scene and link with multiple systems on the helicopter, which cannot meet the requirements of rapid loading and unloading and dynamic monitoring of goods in the complex combat task scene of the new era. SUMMARY

[0004] The application provides a helicopter container freight system and a control method thereof, which can meet the requirements of rapid loading and unloading and dynamic monitoring of goods in the complex combat task scene of the new era.

[0005] In a first aspect, the application provides a helicopter container freight system, which comprises a task management system control panel (10), a freight system central processor (20), an electromechanical management computer (30), a freight system monitoring component (40), a comprehensive display (50), a landing gear system (60), a flight control system (70), a floor light belt (80), a tail cabin door throwing system (90), a fire alarm monitoring box (100), an in-cabin fire extinguishing system (101), a freight system execution component (200), and an emergency release switch (300), wherein:

[0006] The task management system control panel (10) comprises a data input module, a video display module and a power-on switch;

[0007] The freight system monitoring component (40) comprises a video monitoring system (401) and a parking angle monitoring system (402); the freight system execution component (200) comprises an air transport electric lock (201), a terminal stopper (202) and a side guide rail light strip (203);

[0008] The landing gear system (60) is internally provided with a weight sensor, and the total weight before takeoff of the aircraft can be obtained.

[0009] The air transport electric lock (201) is a group of 6-12 pairs of electric locks, each of which is internally provided with a microswitch, which can feedback the opening and closing state of the air transport electric lock (201) and send it to the freight system central processor (20);

[0010] The air transport electric lock (201) is internally provided with an explosive cap mechanism, which can be electrically controlled to damage the air transport electric lock (201) for emergency opening.

[0011] The task management system control panel (10) is connected with the freight system central processor (20) and the electromechanical management computer (30) in sequence; the freight system central processor (20) is connected with the freight system execution component (200), the emergency release switch (300) and the freight system monitoring component (40) respectively; the electromechanical management computer (30) is connected with the comprehensive display (50), the landing gear system (60), the flight control system (70), the floor light strip (80), the tail cabin door throwing system (90) and the fire alarm monitoring box (100); the fire alarm monitoring box (100) is connected with the cabin fire extinguishing system (101).

[0012] Specifically, the side guide rail light strip (203) is an elongated light strip with an LED bulb every preset distance, which is bright or dark according to the signal input by the freight system central processor (20); when the containerized cargo is loaded, the side guide rail light strip (203) will light up the LED light on the front side of the position of the containerized cargo and its heading, and other LED lights will be turned off, thereby indicating the loading position of the containerized cargo.

[0013] Specifically, the floor light strip (80) is a group of vertical heading light strips with a strip every preset distance; when the containerized cargo is loaded, the light strip closest to the end of the containerized cargo in the floor light strip (80) will be lit up, which is used to assist in indicating the placement position of the containerized cargo in the helicopter.

[0014] In the second aspect, the application provides a helicopter containerized freight system control method, which comprises the following steps:

[0015] Step 10: The freight system central processor (20) judges the current working mode of the helicopter containerized freight system;

[0016] Step 20: when the working mode of the helicopter container freight system is normal loading mode, the freight system is started;

[0017] Step 30: when the working mode of the helicopter container freight system is flight monitoring mode, the flight monitoring of the helicopter container freight system is performed;

[0018] Step 40: when the working mode of the helicopter container freight system is normal unloading mode, the unloading system is started;

[0019] Step 50: when the helicopter encounters emergency, the emergency release mode is started, the locking part is urgently opened, and the goods are urgently thrown; when the cabin of the helicopter catches fire, the emergency fire extinguishing mode is started.

[0020] Specifically, step 20 includes:

[0021] Step 201: the helicopter container freight system is started, and power-on self-checking is performed;

[0022] Step 202: the number of pallets and the weight center of gravity of the goods are input, and the loading scheme is solved;

[0023] Step 203: the loading scheme is stored and displayed;

[0024] Step 204: the goods are loaded according to the generated scheme and locked by the air freight electric lock, and the loading is completed;

[0025] Step 205: the loaded goods are finally detected before take-off, and the loading is ended.

[0026] Specifically, the method for performing center of gravity calculation in step 202 is:

[0027] The freight system central processing unit (20) lists the total center of gravity in each order according to the exhaustive method according to the temporarily stored weight center of gravity of the X container goods in the memory of the freight system central processing unit (20), and sequentially solves the distance sum of each total center of gravity from each boundary line in the preset center of gravity envelope;

[0028] If the distance sum has a value greater than 0, the maximum value corresponding to the scheme is selected as the optimal scheme, and the loading order of the container goods is obtained;

[0029] If the distance sum has no value greater than 0, an alarm signal is output to the task management system control panel (10), indicating that there is no suitable loading scheme, and the goods need to be reloaded.

[0030] Specifically, step 30 includes:

[0031] The video information in the video monitoring system (401) is collected and stored and displayed.

[0032] Specifically, step 40 comprises:

[0033] According to the existing loading scheme, the unloading scheme is generated and displayed, and the air transport electric lock is controlled to open in sequence to complete the unloading.

[0034] In summary, the application provides a helicopter container freight system and a control method thereof. The task management system control panel and the freight system central processor are used to control the components of the freight system in a reasonable and orderly manner, meeting the requirements of helicopter container freight transportation. On this basis, a control method for dynamic interaction between the freight system and the on-board electromechanical management computer, comprehensive display and other devices is designed, which not only meets the requirements of rapid loading and unloading of container freight, but also meets the requirements of dynamic interconnection, real-time monitoring and rapid response to emergency tasks between systems. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 A structural diagram of a helicopter container freight system is provided for the application;

[0036] Figure 2 A flowchart of a helicopter container freight control method in normal loading mode is provided for the application;

[0037] Figure 3 A center of gravity calculation flowchart is provided for the application.

[0038] Among them, 10-task management system control panel, 20-freight system central processor, 30-electromechanical management computer, 40-freight system monitoring components, 50-comprehensive display, 60-landing gear system, 70-flight control system, 80-floor light strip, 90-tail cabin door throwing system, 100-fire alarm monitoring box, 101-in-cabin fire extinguishing system, 200-freight system execution components, 201-air transport electric lock, 202-end stopper, 203-side guide rail light strip, 300-emergency release switch. DETAILED DESCRIPTION

[0039] Example 1

[0040] As shown in Figure 1 The application provides a helicopter container freight system, which includes a task management system control panel (10), a freight system central processor (20), an electromechanical management computer (30), a freight system monitoring component (40), a comprehensive display (50), a landing gear system (60), a flight control system (70), a floor light strip (80), a tail cabin door throwing system (90), a fire alarm monitoring box (100), an in-cabin fire extinguishing system (101), a freight system execution component (200), and an emergency release switch (300), wherein:

[0041] The task management system control panel (10) comprises a data input module, a video display module and a power-on switch.

[0042] The freight system monitoring component (40) comprises a video monitoring system (401) and a parking angle monitoring system (402); the freight system execution component (200) comprises an air transport electric lock (201), a terminal stopper (202) and a side guide rail light strip (203);

[0043] The landing gear system (60) is internally provided with a weight sensor, so that the total weight of the aircraft before takeoff can be obtained.

[0044] The air transport electric lock (201) is a group of 6-12 pairs of electric locks, each of which is internally provided with a micro switch, which can feedback the opening and closing state of the air transport electric lock (201) and send it to the freight system central processor (20);

[0045] The air transport electric lock (201) is internally provided with an explosive cap mechanism, which can be electrically controlled to damage the air transport electric lock (201) for emergency opening.

[0046] The task management system control panel (10) is connected with the freight system central processor (20) and the electromechanical management computer (30) in sequence; the freight system central processor (20) is connected with the freight system execution component (200), the emergency release switch (300) and the freight system monitoring component (40) respectively; the electromechanical management computer (30) is connected with the comprehensive display (50), the landing gear system (60), the flight control system (70), the floor light strip (80), the tail cabin door throwing system (90) and the fire alarm monitoring box (100); the fire alarm monitoring box (100) is connected with the cabin fire extinguishing system (101).

[0047] Specifically, the side guide rail light strip (203) is an elongated light strip with an LED bulb every 254 mm, which can be brightened or darkened according to the signal input by the freight system central processor (20). When a containerized cargo is loaded, the side guide rail light strip (203) will light up the LED lights on the front side of the position of the containerized cargo and its heading, and other LED lights will be turned off, thereby indicating the loading position of the containerized cargo.

[0048] Specifically, the floor light strip (80) is a group of vertical heading light strips with a strip every 1016 mm, and there are 7-10 strips in total. When a containerized cargo is loaded, the nearest light strip to the end of the containerized cargo in the floor light strip (80) will be lit up, which is used to assist in indicating the placement position of the containerized cargo in the helicopter.

[0049] Embodiment two

[0050] The application provides a helicopter container freight control method, which is applied to a helicopter container freight system and comprises the following steps.

[0051] Step 10: The freight system central processor (20) judges the current working mode of the helicopter container freight system;

[0052] Step 20: When the current working mode of the helicopter container freight system is the normal loading mode, the freight system is started;

[0053] Step 30: When the current working mode of the helicopter container freight system is the flight monitoring mode, the flight monitoring of the helicopter container freight system is performed;

[0054] Step 40: When the current working mode of the helicopter container freight system is the normal unloading mode, the unloading system is started;

[0055] Step 50: When the helicopter encounters an emergency, the emergency release mode is started, the locking part is opened in emergency, and the goods are thrown in emergency; when the cabin of the helicopter catches fire, the emergency fire extinguishing mode is started.

[0056] For example, the emergency includes engine damage of the helicopter, attack on the helicopter, and instantaneous air flow difficult to control.

[0057] Specifically, as shown in Figure 2 Step 20 comprises the following steps.

[0058] Step 201: The helicopter container freight system is started, and the power-on self-checking is performed;

[0059] When the normal loading mode is adopted, the freight system is started, the task management system control panel (10) is powered on, the system self-checking command is sent to the freight system central processor (20), the power-on signals of the freight system execution component (200) and the freight system monitoring component (40) are collected by the freight system central processor (20), the state signal of the electromechanical management computer (30) is collected, the states of the freight system execution component (200), the freight system monitoring component (40) and the electromechanical management computer (30) are judged, and the states of the systems controlled by the freight system execution component (200), the freight system monitoring component (40) and the electromechanical management computer (30) are normal. Subsequently, the task management system control panel (10) outputs the information that the power-on self-checking is normal through the video display module.

[0060] Step 202: The number of pallets and the weight center of gravity of the goods are inputted, and the loading scheme is calculated;

[0061] The task management system control panel (10) gives the number of pallets through the self-provided data input module and sends the data into the freight system central processor (20) to make a judgment. If the number of pallets exceeds the preset threshold, the task management system control panel (10) will give an error alarm through the self-provided video display module. If the number of pallets is within the threshold, the video display module will prompt the input of the weight center of each pallet in the order of the pallets. Then the task management system control panel (10) gives the weight center of each pallet through the self-provided data input module. The task management system control panel (10) sends the data into the freight system central processor (20). If the total weight of the pallets exceeds the preset weight threshold, the task management system control panel (10) will give an error alarm through the self-provided video display module. If the total weight of the pallets is within the threshold, the center of gravity is calculated and the loading sequence of the pallets is obtained. Then the freight system central processor (20) collects the parking angle data of the parking angle monitoring system (402) and queries the loading scheme in the built-in database of the electromechanical management computer (30) according to the data, and sends the display information of the scheme to the task management system control panel (10) for display. At the same time, the freight system central processor (20) also sends a start signal to the end stopper (202), and the end stopper (202) is opened after receiving the signal to limit the farthest position of the loading of the containerized cargo.

[0062] Step 203: store the loading scheme and display;

[0063] After the loading scheme is queried, the freight system central processor (20) sends the loading scheme to the electromechanical management computer (30) for storage. At the same time, the electromechanical management computer (30) also sends the scheme to the comprehensive display (50) for display, so that the driver can understand the specific information of the cargo in the rear cabin.

[0064] After the loading scheme is displayed, the loading position of each containerized cargo and the control switch of the air freight electric lock (201) will be displayed on the task management system control panel (10) in turn. At the same time, the freight system central processor (20) also outputs the pallet sequence information to the control side guide rail light strip (203) and the electromechanical management computer (30). The electromechanical management computer (30) synchronously sends the pallet sequence information to the floor light strip (80).

[0065] Step 204: load the cargo according to the generated scheme and lock it through the air freight electric lock. The loading is completed.

[0066] When the container cargo reaches the indicated position, the control switch of the air lock (201) on the task management system control panel (10) sends a signal to the freight system central processor (20), which then controls the air lock (201) near the container cargo to be locked. After a delay of 1.5 seconds, the freight system central processor (20) collects the state information of the air lock (201) just controlled, and if it is inconsistent with the preset state, a fault signal is input to the task management system control panel (10) for alarm. If it is consistent with the preset state, the loading of the next container cargo is performed according to the same rule until the loading is completed.

[0067] Step 205: Final pre-takeoff detection is performed on the loaded cargo, and the loading is completed.

[0068] After all the container cargos are loaded, the freight system central processor (20) collects the state information of all air locks (201) again, and if it is inconsistent with the preset state, the inconsistent lock information is sent to the task management system control panel (10) for display. If it is consistent with the preset state, a signal is sent to the electromechanical management computer (30) to collect the total load of the aircraft, and the electromechanical management computer (30) receives the signal, collects the signal of the weight sensor on the landing gear system (60) and processes it, and then sends it back to the freight system central processor (20). If the data exceeds the preset maximum weight threshold of 5%, an alarm signal is sent to the task management system control panel (10) to display the cargo overweight information and prompt the possible difference between the actual weight and the input weight.

[0069] If the weight does not exceed the preset maximum weight threshold of 5%, the freight system execution components (200) are powered off, and the state signal of the current air lock (201) and the loading completion signal are sent to the electromechanical management computer (30), which stores the state signal of the current air lock (201) and controls the floor light strip (80) to be turned off, ending the loading task.

[0070] More specifically, the method for executing the center of gravity calculation in step 202 is as follows:

[0071] The freight system central processor (20) lists the total center of gravity in each order according to the exhaustive method for the X container cargos temporarily stored in its own memory, and sequentially solves the total center of gravity in the preset center of gravity envelope distance from each side line. If there is a value greater than 0, the maximum value corresponding to the scheme is selected as the optimal scheme to obtain the loading order of the container cargos. If there is no value greater than 0, an alarm signal is output to the task management system control panel (10) indicating that there is no suitable loading scheme and the cargo needs to be reloaded.

[0072] Specifically, step 30 includes collecting video information in the video monitoring system (401) and sending it for storage and display.

[0073] In the flight monitoring mode, the freight system central processor (20) only collects the video signal in the video monitoring system (401) and sends it to the task management system control panel (10) and the electromechanical management computer (30) after transcoding, and then the video module of the task management system control panel can display the monitoring video for the cabin personnel to monitor the cargo status. The electromechanical management computer (30) sends the video signal to the integrated display (50) for display for the crew to monitor the cargo status.

[0074] Specifically, step 40 includes generating and displaying an unloading scheme according to the existing loading scheme, and controlling the air freight electric lock to open in sequence to complete unloading.

[0075] In the normal unloading mode, the freight system central processor (20) reads the last recorded loading scheme from the electromechanical management computer (30), obtains the loading sequence of the container cargo, and processes it in the system as the opposite unloading sequence of the container cargo, and sends it to the task management system control panel (10) for display. Then the freight system central processor (20) powers on the control freight system execution component (200), and controls the air freight electric lock (201) of each container cargo to open in sequence, and unloads the container cargo in sequence. Until all the cargo is unloaded, the unloading is completed.

[0076] Specifically, step 50 includes throwing and releasing the tail cabin door and the cargo in the cabin after receiving the emergency release signal to realize emergency release of the cargo.

[0077] In the emergency release mode, the emergency release switch (300) is started, and the freight system central processor (20) receives the release signal, first sends the emergency release signal to the electromechanical management computer (30), and at the same time starts a 500ms internal timer. After receiving the emergency release signal, the electromechanical management computer (30) sends a firing signal to the tail cabin door throwing system (90) to make the tail cabin door throwing system execute emergency throwing. At the same time, the current container cargo loading scheme and the emergency throwing signal are transmitted to the flight control system (70), and after receiving the emergency throwing signal, the flight control system (70) enters the emergency throwing flight attitude auxiliary control mode according to the transmitted cargo loading scheme, to ensure the flight stability under large center of gravity offset.

[0078] After the 500ms timer of the freight system central processor (20) ends, an emergency release signal is sent to the air freight electric lock (201) to start the explosive cap mechanism built-in the air freight electric lock (201) to open the locking part in emergency, and the cargo is thrown in emergency.

[0079] Specifically, the step 50 comprises: displaying the video signal and performing the emergency fire extinguishing operation after receiving the emergency fire extinguishing signal.

[0080] In the emergency fire extinguishing mode, the cabin is on fire, the fire alarm monitoring box (100) receives the fire information, sends the fire alarm signal to the electromechanical management computer (30), the electromechanical management computer (30) immediately calls the video monitoring system (401) signal to the freight system central processor (20) and sends it to the integrated display (50). At the same time, the electromechanical management computer (30) sends the fire extinguishing signal to the fire alarm monitoring box (100), and the fire alarm monitoring box (100) controls the cabin fire extinguishing system (101) to perform the emergency fire extinguishing action.

[0081] The technical features of the present application are as follows:

[0082] 1. A helicopter container freight system and its control method, normal loading mode, normal unloading mode, flight monitoring mode, emergency release mode and emergency fire extinguishing mode, which meets the execution requirements of container freight on the helicopter in various task actions, and multiple systems are linked, with good logic and implementability.

[0083] 2. The present application gives a reasonable center of gravity settlement scheme, which gives the optimal loading sequence of container freight by comparing with the self-center of gravity envelope of the helicopter, greatly saving the loading time;

[0084] 3. The present application designs auxiliary modules for container freight loading and unloading and state monitoring, such as video monitoring system, parking angle monitoring system, side guide rail light belt and floor light belt, which can more favorably help the driver and operator to control the freight information in all directions;

[0085] 4. The present application dynamically crosslinks the freight system central processor and the electromechanical management computer on the basis of function division, which can effectively save available information, improve the reliability and maintainability of the whole freight system, and reduce the problem of low computational efficiency caused by using only one main control chip;

[0086] 5. The present application gives a clear and feasible loading process, which greatly improves the practicability of the product.

[0087] In summary, the application provides a helicopter container freight system and a control method thereof. The same control is performed on the main function execution components such as the airborne electric lock and the end stopper and other auxiliary parts such as the video monitoring, the stop angle monitoring and the light strip through the task management system control panel. The signal real-time interaction of the helicopter display, the tail hatch, the landing gear, the flight control and other equipment is realized through the linkage of the freight system central processor and the electromechanical management computer. The emergency release and emergency fire extinguishing mode are designed to meet the rapid response requirements under various emergency conditions. The complete loading process and the center of gravity calculation process are also given to improve the practicability of the product. Through the application, the planning and rapid response capability of the helicopter in the container freight transportation field can be greatly improved, the control of the cargo state by the crew and the operator is effectively improved, and the flight safety is improved. The application has good engineering value and economic value.

Claims

1. A helicopter containerized cargo transport system, characterized in that, The helicopter containerized cargo system includes a mission management system control panel (10), a cargo system central processing unit (20), an electromechanical management computer (30), cargo system monitoring components (40), an integrated display (50), a landing gear system (60), a flight control system (70), floor light strips (80), a tail door jettisoning system (90), a fire alarm monitoring box (100), an in-cabin fire suppression system (101), cargo system actuators (200), and an emergency release switch (300), among which: The task management system control panel (10) includes a data input module, a video display module, and a power switch; The freight system monitoring component (40) includes a video monitoring system (401) and a parking angle monitoring system (402); the freight system execution component (200) includes an air freight electric lock (201), an end stop (202), and a side rail light strip (203). The landing gear system (60) has a built-in weight sensor that can obtain the total weight of the aircraft before takeoff. The air freight electric lock (201) is a set of 6-12 pairs of electric locks. Each lock is equipped with a micro switch, which can provide feedback on the opening and closing status of the air freight electric lock (201) and send it to the central processing unit (20) of the cargo system. The air transport electric lock (201) has a built-in explosion cap mechanism, which can be electrically controlled to open the air transport electric lock (201) in a destructive emergency. The mission management system control panel (10) is connected in sequence to the cargo system central processing unit (20) and the electromechanical management computer (30); the cargo system central processing unit (20) is connected to the cargo system execution component (200), the emergency release switch (300) and the cargo system monitoring component (40) respectively; the electromechanical management computer (30) is connected to the integrated display (50), the landing gear system (60), the flight control system (70), the floor light strip (80), the tail door jettisoning system (90) and the fire alarm monitoring box (100) respectively; the fire alarm monitoring box (100) is connected to the cabin fire extinguishing system (101).

2. The helicopter containerized cargo transport system according to claim 1, characterized in that, The side rail light strip (203) is a long, thin light strip with an LED bulb at a preset distance. It is turned on and off according to the signal input from the central processing unit (20) of the cargo system. When the containerized cargo is loaded onto the aircraft, the side rail light strip (203) will light up the LED lights at the end of the containerized cargo and the front side of the cargo, while turning off the other LED lights, thereby indicating the loading position of the containerized cargo.

3. The helicopter containerized cargo transport system according to claim 1, characterized in that, The floor light strip (80) is a set of vertically oriented light strips with one strip every preset distance. When the containerized cargo is loaded onto the helicopter, the light strip in the floor light strip (80) closest to the end of the containerized cargo will light up to help indicate the placement position of the containerized cargo inside the helicopter.

4. A control method for a helicopter containerized cargo transport system, characterized in that, The method is applied to the helicopter containerized cargo transport system of claim 1, and the method includes: Step 10: The central processing unit (20) of the cargo system determines the current working mode of the helicopter container cargo system; Step 20: If the helicopter containerized cargo system is currently in normal loading mode, then start the cargo system; Step 30: If the helicopter container cargo system is currently in flight monitoring mode, then perform flight monitoring on the helicopter container cargo system. Step 40: If the helicopter container cargo system is currently in the normal unloading mode, then start the unloading system; Step 50: When the helicopter encounters an emergency, the emergency release mode is activated to open the locked parts and jettison the cargo; when a fire occurs inside the helicopter cabin, the emergency fire extinguishing mode is activated.

5. The method according to claim 4, characterized in that, Step 20 includes: Step 201: Start the helicopter containerized cargo system and perform a power-on self-test; Step 202: Input the number of pallets and the weight and center of gravity of the goods, and calculate the loading plan; Step 203: Store and display the loading scheme; Step 204: Load the goods according to the generated plan and lock them with an air freight electric lock to complete the loading process; Step 205: Conduct a final pre-flight inspection of the loaded cargo to complete the loading process.

6. The method according to claim 5, characterized in that, The method for performing the centroid calculation in step 202 is as follows: The central processing unit (20) of the freight system lists the total center of gravity of each of the X containers of cargo temporarily stored in its own memory in an exhaustive manner, and solves the total distance of each total center of gravity from each edge line within the preset center of gravity envelope in turn. If the sum of distances has a value greater than 0, the scheme corresponding to the maximum value is selected as the optimal scheme, and the loading order of the containerized cargo is obtained. If the total distance has no value greater than 0, an alarm signal is output to the task management system control panel (10) indicating that there is no suitable loading scheme and the goods need to be re-picked.

7. The method according to claim 4, characterized in that, Step 30 includes: Collect video information from the video surveillance system (401) and send it for storage and display.

8. The method according to claim 4, characterized in that, Step 40 includes: Generate and display an unloading plan based on the existing loading plan, and control the air transport electric locks to open in sequence to complete the unloading.

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