Cargo drone cargo rapid loading and unloading apparatus and method

Abstract

The application discloses freight unmanned aerial vehicle goods rapid loading and unloading equipment and method, relates to freight unmanned aerial vehicle loading and unloading technical field, and provides convenient goods loading and unloading mode, and can flexibly make loading and unloading facility construction scheme according to site characteristics, including semi-automatic loading and unloading platform and full-automatic loading and unloading platform, the semi-automatic loading and ununload platform includes loading and unloading platform assembly and a group of lifting platform cars, and the loading and unloading mechanism of container goods is arranged on the loading and unloading platform assembly, the lifting platform car is used to load and unload goods to the cargo hold of the freight unmanned aerial vehicle body, and the modular loading and unloading facility can be quickly built near the material warehouse, the logistics distribution center or even the highway service area;The full-automatic loading and unloading platform includes an above-ground hangar assembly and an underground automatic material transportation and loading system, can be directly constructed in a large material warehouse or a logistics distribution center as a component part, can greatly simplify the freight unmanned aerial vehicle goods loading and unloading process, improve the degree of automation, and improve the loading and unloading efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of cargo drone loading and unloading, and in particular to equipment and methods for rapid cargo loading and unloading of cargo drones. Background Art

[0002] Existing cargo drones mainly include fixed-wing drones and rotary-wing drones.

[0003] Fixed-wing drones primarily use a cabin-based transport method, with supplies delivered to cargo airports via trains, buses, and other transportation vehicles. Loading is completed at the airport, and drones transport the supplies to the destination airport. After unloading, vehicles then transfer the supplies to the location designated by the party requesting the supplies. Rotary-wing drones primarily use a hanging / hook-based transport method and are typically used for short-distance point-to-point cargo transportation, transporting supplies directly from a distribution point to a destination. In actual freight scenarios, fixed-wing drones are primarily used for long-distance transport with larger payloads, while rotary-wing drones are primarily used for shorter-distance transport with smaller payloads. The performance and cargo handling methods of these two types of drones differ significantly, and both suffer from complex loading and unloading processes, low automation, and low efficiency in actual use. Summary of the Invention

[0004] In order to solve the above-mentioned technical problems of cargo drone loading and unloading, the present invention provides a cargo drone rapid cargo loading and unloading device and method. The following technical solutions are adopted:

[0005] Freight drone cargo rapid loading and unloading equipment, including semi-automatic loading and unloading platforms and fully automatic loading and unloading platforms. The semi-automatic loading and unloading platform includes a loading and unloading platform assembly and a set of lifting platform vehicles. The containerized cargo loading and unloading mechanism is set on the loading and unloading platform assembly. The lifting platform vehicle is used to load and unload cargo into the cargo hold of the freight drone body.

[0006] The fully automatic loading and unloading platform includes an above-ground hangar component and an underground material automatic transportation and loading system. The above-ground hangar component is used to guide the cargo drone body to the loading and unloading station, and the underground material automatic transportation and loading system is used to automatically transport the cargo and complete the loading and unloading of the cargo in the drone body cargo hold.

[0007] Both the semi-automatic loading and unloading platform and the fully automatic loading and unloading platform are equipped with a cargo drone positioning mechanism, which achieves accurate positioning of the cargo drone body by guiding and fixing the landing gear tires;

[0008] There is a loading and unloading port at the bottom of the drone body.

[0009] Through the above technical solution, a loading and unloading port is provided at the bottom of the UAV cabin. After the UAV completes landing, it is limited and positioned under the guidance of the loading and unloading platform components of the semi-automatic loading and unloading platform. With the cooperation of a group of lifting platform vehicles, semi-automatic loading and unloading can be completed, which is efficient, simple in process and requires little equipment investment.

[0010] When completing loading and unloading on the fully automatic loading and unloading platform, the cargo drone body can be limited and positioned under the guidance of the hangar components on the ground. The underground material automatic transportation and loading system can automatically complete the loading and unloading of goods. The process can be fully automated, greatly improving the cargo loading and unloading efficiency of the cargo drone.

[0011] Optionally, the loading and unloading platform assembly includes a loading and unloading area entrance ramp, a loading and unloading area exit ramp and a loading and unloading platform, wherein the loading and unloading area entrance ramp and the loading and unloading area exit ramp are respectively located on both sides of the loading and unloading platform, and the loading and unloading platform assembly as a whole is a detachable steel frame structure, and the upper surface and sides of the detachable steel frame structure are covered with panels, and the loading and unloading platform is provided with a loading and unloading port, and a loading and unloading vehicle passage is provided under the loading and unloading port.

[0012] The semi-automatic loading and unloading platform assembly, based on the aforementioned technical solution, is a temporary loading and unloading facility. It features a platform design elevated above the ground, primarily consisting of a platform base and loading and unloading area modules. The platform base comprises an entrance ramp, an exit ramp, and the loading and unloading platform. The platform base is a detachable steel frame structure with paneling on the top and sides, and a vehicle access channel is located beneath the loading and unloading platform.

[0013] Optionally, the cargo UAV positioning mechanism includes a front landing gear positioning slider, a pair of front slide rails, a pair of main landing gear positioning sliders, a pair of rear slide rails and a limiting wheel block, and the front landing gear positioning slider, a pair of front slide rails, a pair of main landing gear positioning sliders, a pair of rear slide rails and the limiting wheel block are respectively arranged on the loading and unloading platform, the front landing gear positioning slider is used to position the front landing gear tires of the cargo UAV body, and is located on a pair of front slide rails and moves back and forth, a pair of main landing gear positioning sliders is used to position a pair of main landing gear tires of the cargo UAV body, and is located on a pair of rear slide rails and moves back and forth, the limiting wheel block is located on the front landing gear positioning slider and the main landing gear positioning slider, and when the landing gear tires enter the correct position of the corresponding slider, the limiting wheel block rises to realize the positioning and limiting of the three landing gear tires of the cargo UAV body.

[0014] Through the above technical solution, when the cargo drone needs to be limited and positioned, the front landing gear tire of the cargo drone body falls into the front landing gear positioning slider, and when a pair of main landing gear tires fall into a pair of main landing gear positioning sliders respectively, the limiting wheel block rises, and the limiting of the three landing gear tires can be achieved, which is highly efficient, safe and reliable.

[0015] Optionally, the semi-automatic loading and unloading platform and the fully-automatic loading and unloading platform are both provided with an automatic refueling module, which includes a base, an oil pipe rocker arm and a telescopic refueling probe. The base is fixed on the loading and unloading platform assembly, the bottom of the oil pipe rocker arm is set on the base, and the telescopic refueling probe is set on the top of the oil pipe rocker arm and rotates with the oil pipe rocker arm.

[0016] Through the above technical solution, the oil pipe rocker arm of the automatic refueling module can move the telescopic refueling probe to the top of the refueling port set on the back of the cargo drone body. After the telescopic refueling probe is extended, it can dock with the refueling port, completing the automatic refueling action while completing loading and unloading, saving the preparation time of the cargo drone body.

[0017] Optionally, the ground hangar assembly includes an automatic loading and unloading area entrance taxiway and an automatic loading and unloading area hangar, and the automatic loading and unloading area entrance taxiway is provided with a guide sign, and the guide sign is used to guide the navigation system of the cargo drone body. The automatic loading and unloading area hangar is set at the end of the automatic loading and unloading area entrance taxiway, and the cargo drone positioning mechanism is set on the loading and unloading area ground of the automatic loading and unloading area hangar.

[0018] Through the above technical solution, in order to avoid the impact of weather conditions on material loading and unloading tasks, the ground hangar component is a hangar-shaped building that can carry out all-weather material loading and unloading, and the guidance signs are navigation signs that can be recognized by the cargo drone flight control system.

[0019] Optionally, the underground material automatic transportation and loading system includes a group of automatic pallet trucks, pallet truck running markings and a slide-rail elevator. The bottom of the ground hangar component is provided with two layers of space, marked as the first negative floor and the second negative floor respectively. The first negative floor is the material transportation layer, and the pallet truck running markings are set on the first negative floor. A group of automatic pallet trucks transport container vehicles loaded with goods under the guidance of the pallet truck running markings. The second negative floor is the loading and unloading area. The slide-rail elevator is set on the second negative floor, which is used to unload the container vehicles transported by the cargo drone onto the automatic pallet truck, or to load the container vehicles transported by the automatic pallet truck into the cabin of the cargo drone body.

[0020] Through the above technical solution, the underground part is divided into two floors. The first underground floor is the material transportation floor. Automatic pallet trucks are used for material transportation. Each pallet truck can carry a standard container vehicle. The pallet truck intelligently identifies the pallet truck operation markings marked on the ground and transports the container vehicle boxes between the loading and unloading area and the cargo stacking area in the specified direction and route; the second underground floor is limited to the loading and unloading area and is used to install slide rail elevators.

[0021] Optionally, the slide rail elevator includes a slide rail, a slide rail walker, a base, a hydraulic pump, a scissor-type support frame, a lifting plate, a load-bearing frame, a positioning plate and a hydraulic arm. The slide rail is arranged on the ground of the second negative floor, the slide rail walker moves on the slide rail and can be fixed, the base is installed on the upper surface of the slide rail walker and moves with the slide rail walker, the hydraulic pump is installed on the base, the bottom of the scissor-type support frame is arranged on the base, the lifting plate is arranged on the top of the scissor-type support frame, the load-bearing frame is set on the ground of the first negative floor, and the upper surface is flush with the ground of the first negative floor, the positioning plate is embedded in the load-bearing frame and can move up and down in the vertical direction, and the upper surface of the positioning plate is marked with a positioning mark that can be identified by an automatic pallet truck. The hydraulic arm is arranged inside the scissor-type support frame and is hydraulically connected to the hydraulic pump, and when the piston rod of the hydraulic arm is extended or retracted, the scissor-type support frame is expanded or retracted to complete the lifting of the lifting plate.

[0022] Through the above technical scheme, the sliding rail lift adopts a scissor-type structure, which consists of a sliding rail walker, a base, a hydraulic pump, a scissor-type support frame, a lifting plate, a load-bearing frame, a positioning plate, and a hydraulic arm. The sliding rail is fixedly installed on the ground of the second negative floor. The base is installed on the sliding rail of the loading and unloading area through the sliding rail walker and can move along the sliding rail. The electrically driven hydraulic pump is installed in the base. By outputting or recovering hydraulic oil to the hydraulic arm, the scissor-type support frame is expanded or folded to complete the lifting of the lifting plate. The load-bearing frame is fixedly installed on the ground of the first negative floor, and its upper surface is flush with the ground of the first negative floor. It is used to bear the weight of three positioning plates and container carrier boxes. The internal dimensions of the load-bearing frame are exactly the same as the loading and unloading inlet and outlet under the belly of the drone; the positioning plate sinks and is embedded in the load-bearing frame, and the upper surface is flush with the upper surface of the load-bearing frame. It can move freely in the vertical direction. The upper surface of the positioning plate is marked with positioning marks that can be recognized by automatic pallet trucks, ensuring that the automatic pallet truck can accurately locate the loading position under the belly after driving onto the positioning plate.

[0023] Cargo UAV cargo loading and unloading methods are divided into semi-automatic loading and unloading methods and fully automatic loading and unloading methods;

[0024] The semi-automatic loading and unloading method comprises the following steps:

[0025] Step 1: The cargo drone slides onto the platform via a ramp. Guidance markers are set at the entrance ramp to the loading and unloading area. The flight control system of the cargo drone follows the guidance markers and moves to the top of the loading and unloading platform.

[0026] Step 2: Limit the tires of the cargo drone's landing gear;

[0027] Step 3: Position the cargo drone for loading and unloading. The front landing gear positioning slider and the pair of main landing gear positioning sliders are opened and moved on the pair of front slide rails and the pair of rear slide rails respectively, so that the cargo drone's cabin loading and unloading port is aligned with the loading and unloading port of the loading and unloading platform.

[0028] Step 4: Semi-automatic unloading: the empty lift truck enters the loading and unloading position from the entrance of the loading and unloading channel, raises the vehicle-mounted lift truck to unload the container in the cargo hold of the cargo drone, and transports the cargo away from the loading and unloading channel exit;

[0029] Step 5, semi-automatic loading, the lifting platform truck carrying the container vehicle enters the loading and unloading position from the entrance of the loading and unloading channel after the unloading and upgrading platform truck leaves, lifts the container vehicle to complete loading, and then leaves from the loading and unloading channel exit.

[0030] The fully automatic loading and unloading method comprises the following steps:

[0031] Step A: After landing, the cargo drone will glide along the direction guide signs toward the hangar in the automatic loading and unloading area.

[0032] Step B: limiting the tires of the cargo UAV landing gear;

[0033] Step C: Positioning the cargo drone for loading and unloading: The front landing gear positioning slider and a pair of main landing gear positioning sliders are opened and moved on the front and rear slide rails respectively, so that the cargo drone's cabin loading and unloading port is aligned with the loading and unloading port of the loading and unloading platform;

[0034] Step D: The empty automatic pallet truck located on the underground floor drives from the entrance on one side of the loading and unloading channel to the bottom of the loading and unloading port under the guidance of the pallet truck running markings, and brakes and positions itself on the corresponding positioning plate under the guidance of the positioning mark;

[0035] Step E: The rail walker of the rail elevator moves to move the entire rail elevator to the corresponding container position below the loading and unloading port at the bottom of the cargo drone cabin;

[0036] Step F: The piston rod of the hydraulic arm of the slide rail lift extends, lifting the positioning plate and the automatic pallet truck upward until the container mounted at the corresponding position in the drone's cargo hold is automatically unlocked and unhooked. After the container is firmly supported by the automatic pallet truck, the piston rod of the hydraulic arm retracts, and the automatic pallet truck carrying the container returns to the basement level.

[0037] Step G: The automatic pallet truck carrying the containerized tool drives from the exit on the other side of the loading and unloading channel to the cargo warehouse or stacking area under the guidance of the pallet truck running markings;

[0038] Step H: After unloading is completed, the automatic pallet truck loaded with the container is loaded. The operation and positioning method of the automatic pallet truck and the slide rail elevator are the same as steps D and E;

[0039] Step I: The piston rod of the hydraulic arm of the slide rail lift extends, lifting the positioning plate and the automatic pallet truck to the mounting height. The drone is automatically mounted at the corresponding position in the cargo hold. The piston rod of the hydraulic arm retracts, and the empty automatic pallet truck returns to the basement floor.

[0040] In step J, the automatic pallet truck drives from the exit on the other side of the loading and unloading channel to the unloading preparation area under the guidance of the pallet truck running marking line.

[0041] The above technical solution provides a convenient method for loading and unloading cargo, and the construction plan of loading and unloading facilities can be flexibly formulated according to the characteristics of the site. Specific plans include fully automatic and semi-automatic loading and unloading. When using semi-automatic loading and unloading, modular loading and unloading facilities can be quickly established near material warehouses, logistics distribution centers, and even highway service areas. When using fully automatic loading and unloading, permanent loading and unloading facilities can be built directly into large material warehouses or logistics distribution centers as an integral part.

[0042] Optionally, the positioning of the tires of the cargo UAV landing gear includes the following steps:

[0043] When the front landing gear tire of the cargo drone body falls into the front landing gear positioning slider, and a pair of main landing gear tires fall into a pair of main landing gear positioning sliders respectively, the limiting wheel block rises to limit the three landing gear tires. At this time, the cargo drone body is in a parking brake state.

[0044] Optionally, after the UAV is positioned, the oil pipe rocker arm is started, and the telescopic refueling probe is aimed at the refueling port on the back of the cargo UAV body, and automatic refueling is performed while loading and unloading. After refueling is completed, the telescopic refueling probe is reset. After loading and unloading and automatic refueling are completed, the limit wheel chocks are retracted, and the flight control system of the cargo UAV body slides out according to the preset program until it reaches the take-off mark line, and completes take-off according to instructions.

[0045] In summary, the present invention includes at least one of the following beneficial technical effects:

[0046] The present invention provides equipment and methods for rapid loading and unloading cargo for cargo drones, provides a convenient cargo loading and unloading method, and can flexibly formulate a loading and unloading facility construction plan according to the characteristics of the site. Specific plans may include semi-automatic and fully automatic types. When using the semi-automatic loading and unloading method, modular loading and unloading facilities can be quickly built near material warehouses, logistics distribution centers, and even highway service areas, which can greatly simplify the cargo loading and unloading process of cargo drones, improve the degree of automation, and improve the loading and unloading efficiency. When using the fully automatic loading and unloading method, permanent loading and unloading facilities can be directly built in large material warehouses or logistics distribution centers as a component. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is a structural schematic diagram of the semi-automatic loading and unloading platform of the present invention;

[0048] Figure 2 It is a schematic structural diagram of the loading and unloading platform of the semi-automatic loading and unloading platform of the present invention;

[0049] Figure 3 This is a structural diagram of the positioning mechanism of the loading and unloading and platform cargo drone of the present invention;

[0050] Figure 4 This is a schematic diagram of the semi-automatic cargo loading and unloading process of the present invention Figure 1 ;

[0051] Figure 5 This is a schematic diagram of the semi-automatic cargo loading and unloading process of the present invention Figure 2 ;

[0052] Figure 6 This is a schematic diagram of the semi-automatic cargo loading and unloading process of the present invention Figure 3 ;

[0053] Figure 7 This is a schematic diagram of the ground facilities of the fully automatic loading and unloading platform of the present invention;

[0054] Figure 8 This is a schematic diagram of the internal structure of the fully automatic loading and unloading platform of the present invention;

[0055] Figure 9 This is a schematic structural diagram of the slide rail elevator of the present invention;

[0056] Figure 10 This is a schematic diagram of the lifting state of the slide rail type elevator of the present invention;

[0057] Figure 11 This is a schematic diagram of the slide rail lift of the present invention in a folded state;

[0058] Figure 12 This is a schematic diagram of the fully automatic cargo loading and unloading process of the present invention Figure 1 ;

[0059] Figure 13 This is a schematic diagram of the fully automatic cargo loading and unloading process of the present invention Figure 2 ;

[0060] Figure 14 This is a schematic diagram of the fully automatic cargo loading and unloading process of the present invention Figure 3 ;

[0061] Figure 15 This is a schematic diagram of the fully automatic cargo loading and unloading process of the present invention Figure 4 ;

[0062] Figure 16 This is a schematic diagram of the fully automatic cargo loading and unloading process of the present invention Figure 5 ;

[0063] Figure 17This is a schematic diagram of the fully automatic cargo loading and unloading process of the present invention Figure 6 ;

[0064] Explanation of reference numerals: 19, loading and unloading area entrance ramp; 20, loading and unloading area exit ramp; 21, loading and unloading platform; 22, automatic refueling module; 23, detachable steel frame structure; 24, loading and unloading platform base panel; 25, loading and unloading area module; 26, front landing gear positioning slider; 27, main landing gear positioning slider; 28, guide mark; 30, base; 31, oil pipe rocker; 32, telescopic refueling probe; 33, front landing gear positioning slide; 34, main landing gear positioning slide; 35, limit wheel Block; 36. Lifting platform vehicle; 37. Automatic loading and unloading area hangar; 38. Entrance taxiway of automatic loading and unloading area; 39. Loading and unloading area floor; 40. B1 floor; 41. B2 floor; 42. Automatic pallet truck; 43. Pallet truck running marking line; 44. Slide rail lift; 45. Slide rail; 46. Slide rail walker; 47. Base; 48. Hydraulic pump; 49. Scissor-type support frame; 50. Lifting plate; 51. Load-bearing frame; 52. Positioning plate; 53 Hydraulic arm; 54. Positioning mark. DETAILED DESCRIPTION

[0065] The present invention will be further described in detail below with reference to the accompanying drawings.

[0066] The embodiments of the present invention disclose equipment and methods for rapid loading and unloading cargo for a cargo drone.

[0067] Reference Figures 1-17 , cargo drone cargo rapid loading and unloading equipment, including semi-automatic loading and unloading platforms and fully automatic loading and unloading platforms, the semi-automatic loading and unloading platform includes a loading and unloading platform assembly and a set of lifting platform vehicles 36, the container cargo loading and unloading mechanism is set on the loading and unloading platform assembly, and the lifting platform vehicle 36 is used to load and unload cargo into the cargo hold of the cargo drone body;

[0068] The fully automatic loading and unloading platform includes an above-ground hangar component and an underground material automatic transport and loading system. The above-ground hangar component is used to guide the cargo drone to the loading and unloading station, while the underground material automatic transport and loading system is used to automatically transport the cargo and complete the loading and unloading of the cargo in the drone's cargo hold.

[0069] Both the semi-automatic loading and unloading platform and the fully automatic loading and unloading platform are equipped with a cargo drone positioning mechanism, which guides and fixes the landing gear tires to achieve accurate positioning of the cargo drone body;

[0070] There is a loading and unloading port at the bottom of the drone body.

[0071] A loading and unloading port is provided at the bottom of the UAV cabin. After the UAV completes landing, it is limited and positioned under the guidance of the loading and unloading platform components of the semi-automatic loading and unloading platform. With the cooperation of a set of lifting platform vehicles 36, semi-automatic loading and unloading can be completed, which is efficient, simple in process and requires little equipment investment.

[0072] When completing loading and unloading on the fully automatic loading and unloading platform, the cargo drone body can be limited and positioned under the guidance of the hangar components on the ground. The underground material automatic transportation and loading system can automatically complete the loading and unloading of goods. The process can be fully automated, greatly improving the cargo loading and unloading efficiency of the cargo drone.

[0073] The loading and unloading platform assembly includes a loading and unloading area entrance ramp 19, a loading and unloading area exit ramp 20 and a loading and unloading platform 21. The loading and unloading area entrance ramp 19 and the loading and unloading area exit ramp 20 are respectively located on both sides of the loading and unloading platform 21. The loading and unloading platform assembly as a whole is a detachable steel frame structure 23. The upper surface and side surfaces of the detachable steel frame structure 23 are covered with panels 24. The loading and unloading platform 21 is provided with a loading and unloading port, and a loading and unloading vehicle passage is provided below the loading and unloading port.

[0074] The semi-automatic loading and unloading platform assembly is a temporary loading and unloading facility. It features a platform design elevated above the ground and primarily consists of a platform base and loading and unloading area modules 25. The platform base comprises an entrance ramp 19, an exit ramp 20, and a loading and unloading platform 21. The platform base is a detachable steel frame structure 23, with panels 24 covering the top and sides. A loading and unloading vehicle access is located beneath the loading and unloading platform.

[0075] The cargo UAV positioning mechanism includes a front landing gear positioning slider 26, a pair of front slide rails 33, a pair of main landing gear positioning sliders 27, a pair of rear slide rails 34 and a limiting wheel block 35. The front landing gear positioning slider 26, a pair of front slide rails 33, a pair of main landing gear positioning sliders 27, a pair of rear slide rails 34 and a limiting wheel block 35 are respectively arranged on the loading and unloading platform 21. The front landing gear positioning slider 26 is used to position the front landing gear tires of the cargo UAV body, and is located on the pair of front slide rails 33 and moves back and forth. The pair of main landing gear positioning sliders 27 is used to position the pair of rear landing gear tires of the cargo UAV body, and is located on the pair of rear slide rails 34 and moves back and forth. The limiting wheel block 35 is located on the front landing gear positioning slider 26 and the pair of main landing gear positioning sliders 27. When the landing gear tires enter the correct position of the corresponding slider, the limiting wheel block 35 rises to realize the positioning and limiting of the three landing gear tires of the cargo UAV body.

[0076] When the cargo drone needs to be limited and positioned, the front landing gear tire of the cargo drone body falls into the front landing gear positioning slider 26, and a pair of main landing gear tires fall into a pair of main landing gear positioning sliders 27 respectively, and the limiting wheel block 35 is raised, so that the limiting of the three landing gear tires can be achieved, which is highly efficient, safe and reliable.

[0077] Both the semi-automatic loading and unloading platform and the fully automatic loading and unloading platform are equipped with an automatic refueling module, which includes a base 30, an oil pipe rocker arm 31 and a telescopic refueling probe 32. The base 30 is fixed on the loading and unloading platform assembly, the bottom of the oil pipe rocker arm 31 is set on the base 30, and the telescopic refueling probe 32 is set on the top of the oil pipe rocker arm 31 and rotates with the oil pipe rocker arm 31.

[0078] The oil pipe rocker arm 31 of the automatic refueling module can move the telescopic refueling probe 32 to the top of the refueling port set on the back of the cargo drone body. After the telescopic refueling probe 32 is extended, it can dock with the refueling port, completing the automatic refueling action while completing loading and unloading, saving the preparation time of the cargo drone body.

[0079] The ground hangar assembly includes an automatic loading and unloading area entrance taxiway 38 and an automatic loading and unloading area hangar 37. A guide sign 28 is provided on the automatic loading and unloading area entrance taxiway 38. The guide sign 28 is used to guide the navigation system of the cargo drone body. The automatic loading and unloading area hangar 37 is set at the end of the automatic loading and unloading area entrance taxiway 38. The cargo drone positioning mechanism is set on the loading and unloading area ground 39 of the automatic loading and unloading area hangar 37.

[0080] To prevent weather conditions from affecting material loading and unloading tasks, the ground hangar component is a hangar-shaped building that can carry out all-weather material loading and unloading. The guidance mark 28 is a navigation mark that can be recognized by the cargo drone flight control system.

[0081] The underground material automatic transportation and loading system includes a group of automatic pallet trucks 42, pallet truck running markings 43 and a slide-rail elevator 44. There are two layers of space at the bottom of the ground hangar component, marked as the first underground floor and the second underground floor respectively. The first underground floor is the material transportation floor, and the pallet truck running markings 43 are set on the first underground floor. A group of automatic pallet trucks 42 transport container trucks loaded with goods under the guidance of the pallet truck running markings 43. The second underground floor is the loading and unloading area. The slide-rail elevator 44 is set on the second underground floor, which is used to unload the container trucks transported by the cargo drone onto the automatic pallet truck 42, or to load the container trucks transported by the automatic pallet truck 42 into the cabin of the cargo drone body.

[0082] The underground part is divided into two floors. The first underground floor is for material transportation. Automatic pallet trucks 42 are used for material transportation. Each pallet truck can carry a standard container vehicle. The pallet truck can intelligently identify the pallet truck running markings 43 marked on the ground and transport the container vehicle boxes between the loading and unloading area and the cargo stacking area in the specified direction and route. The second underground floor is limited to the loading and unloading area and is used to install a slide rail elevator 44.

[0083] The slide rail lift 44 includes a slide rail 45, a slide rail traveler 46, a base 47, a hydraulic pump 48, a scissor-type support frame 49, a lifting plate 50, a load-bearing frame 51, a positioning plate 52 and a hydraulic arm 53. The slide rail 45 is set on the ground of the negative second floor. The slide rail traveler 46 is located on the slide rail 45 and can be fixed. The base 47 is installed on the upper surface of the slide rail traveler 46 and moves with the slide rail traveler 46. The hydraulic pump 48 is installed on the base 47. The bottom of the scissor-type support frame 49 is set on the base 47. The lifting plate 50 is supported by a plurality of support frames. 0 is set on the top of the scissor-type support frame 49, the load-bearing frame 51 is set on the ground of the first negative floor, and the upper surface is flush with the ground of the first negative floor, the positioning plate 52 is embedded in the load-bearing frame 51, and can move up and down in the vertical direction, and the upper surface of the positioning plate 52 is marked with a positioning mark 54 that can be identified by the automatic pallet truck 42. The hydraulic arm 53 is set inside the scissor-type support frame 49 and is hydraulically connected to the hydraulic pump 48. When the piston rod of the hydraulic arm 53 is extended or retracted, the scissor-type support frame 49 is expanded or retracted to complete the lifting of the lifting plate 50.

[0084] The slide rail lift 44 adopts a scissor-type structure and is composed of a slide rail walker 46, a base 47, a hydraulic pump 48, a scissor-type support frame 49, a lifting plate 50, a load-bearing frame 51, a positioning plate 52, and a hydraulic arm 53. The slide rail is fixedly installed on the ground of the negative second floor. The base is installed on the slide rail 45 in the loading and unloading area through the slide rail walker 46 and can move along the slide rail. The electric-driven hydraulic pump 48 is installed in the base. By outputting or recovering hydraulic oil to the hydraulic arm 53, the scissor-type support frame 49 is expanded or folded to complete the lifting and lowering of the lifting plate 50. The frame 51 is fixedly installed on the ground of the first underground floor, and its upper surface is flush with the ground of the first underground floor. It is used to bear the weight of three positioning plates and the container carrier box. The internal dimensions of the load-bearing frame are completely consistent with the loading and unloading entrances and exits under the belly of the drone; the positioning plate 52 is sunken and embedded in the load-bearing frame 51, and its upper surface is flush with the upper surface of the load-bearing frame 51, and can move freely in the vertical direction. The upper surface of the positioning plate 52 is marked with a positioning mark 54 that can be recognized by the automatic cargo pallet truck 42, to ensure that the automatic cargo pallet truck 42 can accurately locate the loading position under the belly after driving onto the positioning plate 52.

[0085] Cargo UAV cargo loading and unloading methods are divided into semi-automatic loading and unloading methods and fully automatic loading and unloading methods;

[0086] The semi-automatic loading and unloading method includes the following steps:

[0087] Step 1: The cargo drone slides onto the platform via a ramp. A guide mark is set on the ramp 19 at the entrance to the loading and unloading area. The flight control system of the cargo drone follows the guide mark and moves to the top of the loading and unloading platform 21.

[0088] Step 2: Limit the tires of the cargo drone's landing gear;

[0089] Step 3: Position the cargo drone for loading and unloading. The front landing gear positioning slider 26 and the pair of main landing gear positioning sliders 27 are opened and move on the pair of front slide rails 33 and the pair of rear slide rails 34 respectively, so that the cargo drone's cabin loading and unloading port is aligned with the loading and unloading port of the loading and unloading platform 21.

[0090] Step 4: Semi-automatic unloading of cargo: the empty lift truck enters the loading and unloading position from the entrance of the loading and unloading passage, raises the vehicle-mounted lift truck to unload the container in the cargo hold of the cargo drone, and transports the cargo away from the loading and unloading passage exit;

[0091] Step 5, semi-automatic loading, the lifting platform vehicle 36 carrying the container vehicle waits for the unloading and upgrading platform vehicle to leave, enters the loading and unloading position from the loading and unloading channel entrance, lifts the container vehicle to complete the loading, and then leaves from the loading and unloading channel exit.

[0092] The fully automatic loading and unloading method includes the following steps:

[0093] Step A: After landing, the cargo drone glides along the guide mark 28 toward the automatic loading and unloading area hangar 37;

[0094] Step B: limiting the tires of the cargo UAV landing gear;

[0095] Step C: Positioning the cargo drone for loading and unloading: The front landing gear positioning slider 26 and the pair of main landing gear positioning sliders 27 are opened and move on the front slide rails 33 and the rear slide rails 34 respectively, so that the cargo drone's cabin loading and unloading port is aligned with the loading and unloading port of the loading and unloading platform 21;

[0096] Step D: The empty automatic pallet truck 42 located on the basement floor drives from the entrance of the loading and unloading channel to the bottom of the loading and unloading port under the guidance of the pallet truck running markings 43, and brakes and positions itself on the corresponding positioning plate 52 under the guidance of the positioning mark 54;

[0097] Step E: The rail walker 46 of the rail elevator 44 moves to move the entire rail elevator 44 to the corresponding container position below the loading and unloading port at the bottom of the cargo drone cabin;

[0098] Step F: The piston rod of the hydraulic arm 53 of the rail lift 44 extends, lifting the positioning plate 52 and the automatic pallet truck 42 upward until the container mounted at the corresponding position in the drone cargo hold is automatically unlocked and unhooked. After the container is firmly supported by the automatic pallet truck 42, the piston rod of the hydraulic arm 53 retracts, and the automatic pallet truck 42 carrying the container returns to the basement floor.

[0099] Step G: The automatic pallet truck 42 carrying the containerized equipment drives from the exit on the other side of the loading and unloading channel to the cargo warehouse or stacking area under the guidance of the pallet truck running marking line 43;

[0100] Step H: After unloading is completed, the automatic pallet truck 42 loaded with the container is loaded. The operation and positioning method of the automatic pallet truck and the slide-type elevator 44 are the same as those in steps D and E.

[0101] Step I: The piston rod of the hydraulic arm 53 of the rail lift 44 extends, lifting the positioning plate 52 and the loaded automatic pallet trolley 42 upward to the mounting height. The drone is automatically mounted at the corresponding position in the cargo hold. The piston rod of the hydraulic arm 53 retracts, and the empty automatic pallet trolley 42 returns to the basement floor.

[0102] In step J, the automatic pallet truck 42 moves from the exit on the other side of the loading and unloading channel to the unloading preparation area under the guidance of the pallet truck running marking line 43.

[0103] It provides a convenient way to load and unload goods, and can flexibly formulate plans for the construction of loading and unloading facilities according to the characteristics of the site. Specific plans may include semi-automatic and fully automatic types. When using semi-automatic loading and unloading methods, modular loading and unloading facilities can be quickly built near material warehouses, logistics distribution centers, and even highway service areas; when using fully automatic loading and unloading methods, permanent loading and unloading facilities can be directly built in large material warehouses or logistics distribution centers as a component.

[0104] The cargo UAV landing gear tire limiter includes the following steps:

[0105] When the front landing gear tire of the cargo UAV body falls into the front landing gear positioning slider 26, and a pair of main landing gear tires fall into a pair of main landing gear positioning sliders 27 respectively, the limiting wheel block 35 rises to limit the three landing gear tires. At this time, the cargo UAV body is in a parking brake state.

[0106] After the UAV is positioned, the oil pipe rocker arm 31 is started, and the telescopic refueling probe 32 is aimed at the refueling port on the back of the cargo UAV body. Automatic refueling is performed while loading and unloading. After refueling is completed, the telescopic refueling probe 32 is reset. After loading and unloading and automatic refueling are completed, the limit wheel chock 35 is retracted, and the flight control system of the cargo UAV body slides out according to the preset program until it reaches the take-off mark line, and takes off according to the instructions.

[0107] The specific implementation principle of the cargo drone rapid loading and unloading equipment and method of the present invention is as follows:

[0108] Semi-automatic cargo loading and unloading process:

[0109] The cargo drone slides onto the loading and unloading platform assembly through the ramp; according to the corresponding guide marks of the loading and unloading platform assembly, the cargo drone is guided to slide to the loading and unloading area through its own automatic control equipment. When the landing gear tires slide into the corresponding front landing gear positioning slider 26 and a pair of main landing gear positioning sliders 27, the cargo drone automatic control equipment controls the cargo drone to brake and stop; two embedded limiting wheel chocks 35 are erected to achieve positioning and limiting of the three landing gear tires; the cargo drone in the parking brake state moves forward along the slide rail driven by the landing gear limiting wheel chocks, and stops after reaching the limit position of the front section of the slider. At this time, the loading and unloading channel at the bottom of the cargo compartment of the cargo drone accurately matches the loading and unloading channel of the loading and unloading platform assembly.

[0110] There are six lifting platform vehicles 36 waiting outside the loading and unloading platform assembly, three of which are empty vehicles responsible for unloading, and three have prepared container vehicles for loading; the three empty vehicles drive into the loading and unloading channel in the order of the middle position and the front and rear positions, and stop steadily after reaching the platform loading and unloading channel position; the lifting platform vehicle 36 starts the lifting platform and supports the cargo inside the cargo hold through the vehicle-mounted lifting platform. After the hanging beam on the top of the cargo hold of the freight drone detects that the load force is reduced to a certain value, the hanging beam hook is automatically unlocked, and the vehicle-mounted lifting platform is lowered to complete the unloading of the container vehicle box; after the three empty lifting platform vehicles 36 complete the unloading of the container vehicle, they drive out of the loading and unloading channel from the other side exit in turn.

[0111] Three other platform lifts 36, each equipped with a containerized container, then enter the vehicle lane in sequence, loading the containerized container in the middle, front, and rear positions. The six loading and unloading vehicles are designed for scenarios where the drone is fully loaded and can complete all unloading and loading operations in one operation. If the drone only unloads fully loaded cargo, loads empty cargo, or only partially loaded cargo, six loading and unloading vehicles are not required; only the corresponding number of loading and unloading vehicles is required.

[0112] After the cargo drone stops and stabilizes in the loading and unloading area, the oil pipe rocker arm 31 automatically rotates, aligning the telescopic refueling probe 32 with the top of the cargo drone's refueling area. The telescopic refueling probe extends downward and is inserted into the refueling port on the back of the cargo drone. Refueling is completed according to the refueling quantity demand data transmitted by the cargo drone. This process is carried out synchronously with the loading and unloading process. After refueling is completed, the telescopic refueling probe 32 is automatically retracted and rotated to its original position under the action of the rocker arm.

[0113] After completing loading and unloading and refueling, the limiting wheel chock 35 is automatically retracted, and the cargo drone slides out of the loading and unloading area according to the preset program, drives down the ramp to the airport taxiway to the take-off line, and completes take-off according to the instructions.

[0114] Fully automatic cargo loading and unloading process:

[0115] After the loaded cargo drone lands, it slides toward the loading and unloading area along the guide mark 28; the hangar door of the loading and unloading area is opened; the cargo drone slides into the loading and unloading area; according to the corresponding guide marks of the platform, the aircraft is guided to slide toward the loading and unloading area through its own automatic control equipment. When the landing gear tires slide into the corresponding front landing gear positioning slider 26 and a pair of main landing gear positioning sliders 27, the cargo drone automatic control equipment controls the cargo drone to brake and stop; the limit wheel block 35 is raised; driven by the limit wheel block 35, the cargo drone moves forward along the slide rail and stops after reaching the limit position of the front section of the slider. At this time, the loading and unloading channel at the bottom of the aircraft cargo hold is precisely aligned with the platform loading and unloading channel; the three empty automatic pallet trucks 42 located on the first floor drive from the entrance on one side of the loading and unloading channel to the bottom of the loading and unloading port according to the pallet truck running mark 43. The automatic pallet truck 42 accurately brakes and positions itself to the corresponding positioning disk 52, waiting for the slide rail elevator to lift.

[0116] The slide rail elevator 44 completes the unloading of the three container carriers in the order of middle, front and rear, lifts the middle container carrier box, completes the unloading of the middle container carrier box, lifts the front container carrier box, completes the unloading of the front container carrier box, and lifts the rear container carrier box. After completing the unloading of all three container carriers 8, the other three automatic pallet trucks carrying container carrier boxes enter from the entrance of the unloading channel and move to the loading and unloading area.

[0117] The automatic pallet truck 42 carrying the container carrier box automatically moves to the stacking area according to the pallet truck running mark 43. The automatic pallet truck carrying the container carrier box drives from the entrance on one side of the loading and unloading channel to the bottom of the loading and unloading port according to the pallet truck running mark 43, accurately brakes and positions to the corresponding positioning plate 52, and the slide rail elevator 44 hangs the container carrier box in the order of middle, back and front.

[0118] After the middle container carrier box is completed, the rear container carrier box is mounted. After the rear container carrier box is completed, the front container carrier box is mounted. It is the same as the semi-automatic loading and unloading. While the materials are being loaded and unloaded, the automatic refueling module 22 completes the refueling according to the refueling demand data transmitted by the aircraft.

[0119] After loading and refueling, the retractable refueling probe 32 automatically retracts, the automated pallet truck leaves the loading and unloading area along the pallet truck running line 43, and the automated refueling module 22 rotates back to its original position. The landing gear slider's limited wheel chock 35 automatically retracts, the hangar exit door opens, and the drone, having completed loading and unloading, leaves the loading and unloading hangar and taxis toward the takeoff line.

[0120] The above are all preferred embodiments of the present invention, and are not intended to limit the scope of protection of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. Cargo drone cargo rapid loading and unloading equipment, characterized by: It includes a semi-automatic loading and unloading platform and a fully automatic loading and unloading platform, wherein the semi-automatic loading and unloading platform includes a loading and unloading platform assembly and a set of lifting platform vehicles (36), a containerized cargo loading and unloading mechanism is arranged on the loading and unloading platform assembly, and the lifting platform vehicle (36) is used to load and unload cargo into the cargo hold of the cargo drone body; The fully automatic loading and unloading platform includes an above-ground hangar component and an underground material automatic transportation and loading system. The above-ground hangar component is used to guide the cargo drone body to the loading and unloading station, and the underground material automatic transportation and loading system is used to automatically transport the cargo and complete the loading and unloading of the cargo in the drone body cargo hold. Both the semi-automatic loading and unloading platform and the fully automatic loading and unloading platform are equipped with a cargo drone positioning mechanism, which achieves accurate positioning of the cargo drone body by guiding and fixing the landing gear tires; There is a loading and unloading port at the bottom of the drone body; The loading and unloading platform assembly comprises a loading and unloading area entrance ramp (19), a loading and unloading area exit ramp (20) and a loading and unloading platform (21), wherein the loading and unloading area entrance ramp (19) and the loading and unloading area exit ramp (20) are respectively located on both sides of the loading and unloading platform (21), and the loading and unloading platform assembly as a whole is a detachable steel frame structure (23), and the upper surface and side surfaces of the detachable steel frame structure (23) are paved with panels (24), and the loading and unloading platform (21) is provided with a loading and unloading port, and a loading and unloading vehicle passage is provided below the loading and unloading port; The above-ground hangar assembly includes an automatic loading and unloading area entrance taxiway (38) and an automatic loading and unloading area hangar (37), wherein the automatic loading and unloading area entrance taxiway (38) is provided with a guide mark (28), and the guide mark (28) is used to guide the navigation system of the cargo drone body, the automatic loading and unloading area hangar (37) is arranged at the end of the automatic loading and unloading area entrance taxiway (38), and the cargo drone positioning mechanism is arranged on the loading and unloading area ground (39) of the automatic loading and unloading area hangar (37); The underground material automatic transportation and loading system includes a group of automatic pallet trucks (42), pallet truck running markings (43) and a slide-type elevator (44). The bottom of the above-ground hangar assembly is provided with two layers of space, which are marked as the first negative layer and the second negative layer respectively. The first negative layer is a material transportation layer. The pallet truck running markings (43) are set on the first negative layer. A group of automatic pallet trucks (42) transports container vehicles loaded with goods under the guidance of the pallet truck running markings (43). The second negative layer is a loading and unloading area. The slide-type elevator (44) is set on the second negative layer and is used to unload the container vehicles transported by the cargo drone body onto the automatic pallet truck (42), or to load the container vehicles transported by the automatic pallet truck (42) into the cabin of the cargo drone body. The slide rail lift (44) comprises a slide rail (45), a slide rail traveler (46), a base (47), a hydraulic pump (48), a scissor-type support frame (49), a lifting plate (50), a load-bearing frame (51), a positioning plate (52) and a hydraulic arm (53). The slide rail (45) is arranged on the ground of the second negative floor. The slide rail traveler (46) is located on the slide rail (45) and can be fixed. The base (47) is installed on the upper surface of the slide rail traveler (46) and moves with the slide rail traveler (46). The hydraulic pump (48) is installed on the base (47). The base (47) is provided at the bottom of the scissor-type support frame (49). 7), the lifting plate (50) is arranged on the top of the scissor-type support frame (49), the load-bearing frame (51) is arranged on the ground of the negative first floor, and the upper surface is flush with the ground of the negative first floor, the positioning plate (52) is embedded in the load-bearing frame (51), and can move up and down in the vertical direction, and the upper surface of the positioning plate (52) is marked with a positioning mark (54) that can be identified by the automatic pallet truck (42), the hydraulic arm (53) is arranged inside the scissor-type support frame (49), and is hydraulically connected to the hydraulic pump (48), and when the piston rod of the hydraulic arm (53) is extended or retracted, the scissor-type support frame (49) is expanded or retracted, completing the lifting of the lifting plate (50).

2. The cargo drone rapid loading and unloading equipment according to claim 1 is characterized by: The cargo unmanned aerial vehicle positioning mechanism comprises a front landing gear positioning slider (26), a pair of front slide rails (33), a pair of main landing gear positioning sliders (27), a pair of rear slide rails (34) and a limiting wheel block (35), wherein the front landing gear positioning slider (26), the pair of front slide rails (33), the pair of main landing gear positioning sliders (27), the pair of rear slide rails (34) and the limiting wheel block (35) are respectively arranged on a loading and unloading platform (21), and the front landing gear positioning slider (26) is used to position the front landing gear of the cargo unmanned aerial vehicle body. The invention relates to a pair of main landing gear tires, and is located on a pair of front slide rails (33) and moves forward and backward. A pair of main landing gear positioning sliders (27) are used to position a pair of main landing gear tires of the cargo UAV body, and are located on a pair of rear slide rails (34) and move forward and backward. The limiting wheel block (35) is located on the front landing gear positioning slider (26) and the main landing gear positioning slider (27). When the landing gear tires enter the correct position of the corresponding slider, the limiting wheel block (35) rises to realize the positioning and limiting of the three landing gear tires of the cargo UAV body.

3. The rapid cargo loading and unloading equipment for a cargo drone according to claim 2 is characterized by: The semi-automatic loading and unloading platform and the fully automatic loading and unloading platform are both provided with an automatic refueling module, the automatic refueling module comprising a base (30), an oil pipe rocker arm (31) and a telescopic refueling probe (32), the base (30) being fixed on the loading and unloading platform assembly, the bottom of the oil pipe rocker arm (31) being arranged on the base (30), the telescopic refueling probe (32) being arranged on the top of the oil pipe rocker arm (31) and rotating along with the oil pipe rocker arm (31).

4. A method for loading and unloading cargo using a cargo drone, characterized by: The cargo drone cargo rapid loading and unloading device according to any one of claims 1 to 3 is used for loading and unloading, and the loading and unloading methods are divided into semi-automatic loading and unloading methods and fully automatic loading and unloading methods; The semi-automatic loading and unloading method comprises the following steps: Step 1: The cargo drone body slides onto the platform via a ramp. A guide mark is set on the entrance ramp (19) of the loading and unloading area. The flight control system of the cargo drone body drives to the top of the loading and unloading platform (21) under the guidance of the guide mark. Step 2: Limit the tires of the cargo drone's landing gear; Step 3: The cargo drone body is positioned for loading and unloading. The front landing gear positioning slider (26) and the pair of main landing gear positioning sliders (27) are opened and moved on the pair of front slide rails (33) and the pair of rear slide rails (34) respectively, so that the cargo drone body's cabin loading and unloading port is aligned with the loading and unloading port of the loading and unloading platform (21); Step 4, semi-automatic unloading, the empty lifting platform vehicle (36) enters the loading and unloading position from the entrance of the loading and unloading passage, raises the vehicle-mounted lifting platform to unload the container in the cargo hold of the cargo drone body, and transports the cargo away from the exit of the loading and unloading passage; Step 5, semi-automatic loading, the lifting platform vehicle (36) carrying the container vehicle waits for the unloading and upgrading platform vehicle to leave, then enters the loading and unloading position from the loading and unloading channel entrance, lifts the container vehicle to complete loading, and then leaves from the loading and unloading channel exit; The fully automatic loading and unloading method comprises the following steps: Step A: After landing, the cargo drone glides along the guide mark (28) toward the automatic loading and unloading area hangar (37); Step B: limiting the tires of the cargo UAV landing gear; Step C, positioning the cargo drone body for loading and unloading, the front landing gear positioning slider (26) and a pair of main landing gear positioning sliders (27) are opened and moved on the front slide rail (33) and the rear slide rail (34) respectively, so that the cargo drone body's cabin loading and unloading port is aligned with the loading and unloading port of the loading and unloading platform (21); Step D: The empty automatic pallet truck (42) located on the underground floor drives from the entrance of the loading and unloading channel to the bottom of the loading and unloading port under the guidance of the pallet truck running marking (43), and brakes and positions itself on the corresponding positioning plate (52) under the guidance of the positioning mark (54); Step E: The slide rail walker (46) of the slide rail elevator (44) moves to move the entire slide rail elevator (44) to a corresponding container loading position below the loading and unloading port at the bottom of the cargo drone cabin; In step F, the piston rod of the hydraulic arm (53) of the rail lift (44) is extended to lift the positioning plate (52) and the automatic pallet truck (42) carried thereon upward until the container vehicle mounted at the corresponding position in the cargo hold of the drone is automatically unlocked and unhooked. After the container vehicle is firmly supported by the automatic pallet truck (42), the piston rod of the hydraulic arm (53) is retracted, and the automatic pallet truck (42) carrying the container vehicle returns to the ground on the first floor below ground. Step G, the automatic pallet truck (42) carrying the containerized equipment drives from the exit on the other side of the loading and unloading channel to the cargo warehouse or stacking area under the guidance of the pallet truck running marking line (43); Step H: After unloading is completed, the automatic pallet truck (42) loaded with the container is loaded. The operation and positioning method of the automatic pallet truck and the slide-type elevator (44) are the same as those in steps D and E; Step I: The piston rod of the hydraulic arm (53) of the rail lift (44) extends, lifting the positioning plate (52) and the automatic pallet trolley (42) carried thereon to the mounting height, and the corresponding position hook in the cargo hold of the UAV is connected to complete the automatic mounting, and the piston rod of the hydraulic arm (53) is retracted, and the empty automatic pallet trolley (42) returns to the ground on the first floor below ground; In step J, the automatic pallet truck (42) moves from the exit on the other side of the loading and unloading channel to the unloading preparation area under the guidance of the pallet truck running marking line (43).

5. The cargo loading and unloading method for a cargo drone according to claim 4, characterized in that: The cargo UAV landing gear tire limiter includes the following steps: When the front landing gear tire of the cargo UAV body falls into the front landing gear positioning slider (26), and the pair of main landing gear tires respectively fall into the pair of main landing gear positioning sliders (27), the limiting wheel block (35) rises to achieve the limiting of the three landing gear tires. At this time, the cargo UAV body is in a parking brake state.

6. The cargo loading and unloading method for a cargo drone according to claim 4, characterized in that: After the UAV is positioned, the oil pipe rocker arm (31) is started, and the telescopic refueling probe (32) is aligned with the refueling port on the back of the cargo UAV body, and automatic refueling is performed while loading and unloading. After the automatic refueling is completed, the telescopic refueling probe (32) is reset. After the loading and unloading and automatic refueling are completed, the limit wheel block (35) is retracted, and the flight control system of the cargo UAV body slides out according to the preset program until it reaches the take-off mark line, and takes off according to the command.

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