An unmanned helicopter cargo constant-speed continuous dropping device and a control method thereof

Abstract

The application discloses an unmanned helicopter cargo constant-speed continuous dropping device and a control method thereof. The cargo constant-speed continuous dropping device comprises a transport box, a constant-speed dropping device, an electrical connector and a bottom hatch electric push rod. The transport box is installed on the unmanned helicopter. The constant-speed dropping device is installed in the transport box. The bottom hatch electric push rod is installed on the inner side of the transport box and controls the opening and closing of the bottom hatch of the transport box. The electrical connector is installed on the outer surface of the transport box. One end of the electrical connector is connected with the electrical system of the unmanned helicopter. The other end of the electrical connector is connected with the bottom hatch electric push rod and the constant-speed dropping device. The transport box and multiple electric hooks realize the cargo box transport function, thereby ensuring the flight safety. The multiple electric hooks and the slow descending device realize the constant-speed dropping function of the cargo, thereby preventing the cargo from being damaged. On the basis of the above functions, the control logic method of the electric hook is reasonably designed, thereby realizing the continuous dropping function of the cargo.

Description

TECHNICAL FIELD

[0001] 5The application belongs to the field of unmanned helicopter cargo transportation and delivery, and particularly relates to an unmanned helicopter cargo constant-speed continuous delivery device and a control method thereof. BACKGROUND

[0002] As an aerial platform, unmanned helicopters have a wide application prospect in the field of medium and short distance cargo transportation, especially in the precise delivery of living materials and combat materials in areas without landing conditions such as mountains, plateaus, border sentry posts and islands. In order to realize cargo transportation and air drop, a cargo hanging device for delivery needs to be designed on the unmanned helicopter. When the unmanned helicopter flies to the designated delivery location and hovers, the cargo hanging device is opened, and the cargo delivery is completed.

[0003] At present, unmanned helicopter cargo transportation mainly includes box landing transportation, hanging transportation, air direct throwing and rope descending cargo, but the box landing transportation must have unmanned helicopter landing site conditions; the hanging transportation has certain safety risks for unmanned helicopter flight; the impact force generated when the air direct throwing cargo lands is easy to damage the cargo; the rope descending cargo can only realize single piece cargo delivery mode, and the transportation cargo capacity is limited and the efficiency is low. SUMMARY

[0004] The purpose of the present application is to solve the above technical problems. The present application provides an unmanned helicopter cargo constant-speed continuous delivery device and a control method thereof. The box transportation function of the cargo is realized by the transportation box and the multiple groups of electric hooks, and the flight safety is ensured. The constant-speed delivery function of the cargo is realized by the multiple groups of electric hooks and the slow descending device, so as to prevent the damage of the cargo. On the basis of the above functions, the continuous delivery function of the cargo is realized by reasonably designing the control logic method of the electric hook. Thus, the functions of efficient and safe transportation, accurate delivery and the like of the unmanned helicopter are realized, and the unmanned transportation of living materials and military materials can be applied.

[0005] The technical scheme of the present application is as follows:

[0006] An unmanned helicopter cargo constant-speed continuous delivery device, wherein the cargo constant-speed continuous delivery device comprises a transportation box 100, a constant-speed delivery device 200, an electrical connector 300 and a bottom hatch electric push rod 105. The transportation box 100 is installed on the unmanned helicopter, the constant-speed delivery device 200 is installed in the transportation box 100, the bottom hatch electric push rod 105 is installed on the inner side of the transportation box 100, the bottom hatch electric push rod 105 controls the opening and closing of the bottom hatch 104 of the transportation box 100, the electrical connector 300 is installed on the outer surface of the transportation box 100, one end of the electrical connector 300 is connected with the electrical system of the unmanned helicopter, and the other end of the electrical connector 300 is connected with the bottom hatch electric push rod 105 and the constant-speed delivery device 200.

[0007] Preferably, the transport box includes a lifting lug 101, a load-bearing frame 102, a side hatch 103, a bottom hatch 104, and a box skin 106. The load-bearing frame 102 is used for bearing and load transfer of the entire cargo constant-speed delivery device. The box skin 106 is covered on the outside of the load-bearing frame 102 to form a box. The box skin 106 determines its external dimensions and contour according to the overall aerodynamic performance requirements of the unmanned helicopter. The lifting lug 101 is screwed into the threaded hole on the top of the box by threading. The lifting lug 101 is used to be connected to the hook of the unmanned helicopter transport rack. The side hatch 103 is installed on the side of the box by means of a hinge, and the bottom hatch 104 is installed on the bottom of the box by means of a hinge. It is automatically opened and closed under the action of the bottom hatch electric push rod 105.

[0008] Preferably, the bottom hatch door electric push rod 105 adopts a telescopic actuation structure, receives an onboard control instruction to actuate, and pushes the bottom hatch door 104 to open and close.

[0009] Preferably, the constant speed delivery device 200 includes an anti-sway frame 201, an electric rope lock 202, an electric hook 203, a descender 204, a descending rope 205, and a rope coiler 206;

[0010] The anti-sway frame 201 is installed inside the transport box bearing frame 102. There are several electric hooks 203. The electric hooks 203 are installed on the top of the transport box bearing frame 102 by screw connection. The electric hooks 203 are electrically connected to the electrical connector 300.

[0011] The electric rope lock 202 is installed inside the transport box load-bearing frame 102, and the electric hook 203 is electrically connected to the electrical connector 300;

[0012] One end of the descent rope 205 is hooked on the electric rope lock 202, which is used to fix the descent rope 205 during cargo transportation and delivery. One end of the descent rope 205 passes through the descender 204 and is wound and fixed on the rope reel 206.

[0013] The rope reel 206 is installed inside the transport box load-bearing frame 102 and is used to wind and release the descent rope 205. When the cargo is dropped, the descent rope 205 is released under the action of the cargo weight.

[0014] Preferably, the anti-sway frame 201 is made of rubber material, and uses elastic deformation to limit the swing of the suspended transported goods; the descent rope 205 is made of multiple strands of nylon rope; and the rope reel 206 is a drum-type structure.

[0015] The electrical connector 300 is connected to the top socket of the transport box at one end and to the electrical system of the unmanned helicopter at the other end, for powering the bottom hatch door electric push rod 105, the electric hook 203 and the electric rope lock 202, sending the bottom hatch door 101 opening and closing instruction signals, and feeding back the working state signals of the bottom hatch door 101, the electric hook 203 and the electric rope lock 202.

[0016] The control method of the unmanned helicopter cargo constant-speed continuous dropping device comprises the following steps:

[0017] Step 1: self-checking of the unmanned helicopter cargo constant-speed continuous dropping device;

[0018] Step 2: the unmanned helicopter flies to the designated dropping site, descends to the specified height and hovers, and the ground control system sends a "cargo dropping" instruction;

[0019] Step 3: the unmanned helicopter electrical system sends an instruction signal to the transport box bottom hatch door electric push rod 105, so that the bottom hatch door electric push rod 105 actuates to push the bottom hatch door 104 to open, and the bottom hatch door 104 sends an output state signal to the unmanned helicopter electrical system after being opened to the position;

[0020] Step 4: after receiving the transport box bottom hatch door 104 opening to the position state signal, the unmanned helicopter electrical system first powers on the first electric hook 203, the first electric hook 203 opens, the cargo falls off and drives the slow descent device 204 to slide down the slow descent rope 205 under the action of gravity;

[0021] Step 5: the first electric hook 203 opens and feeds back a working state signal to the unmanned helicopter electrical system, if the first electric hook 203 feedback working state signal is normal, step 6 is executed, otherwise, the dropping task is terminated;

[0022] Step 6: after the first cargo lands, i.e. after the first electric hook 203 is powered on for an interval time t and the first electric hook 203 is fault-free, the second electric hook 203 is powered on, the electric hook 203 opens, and the second cargo falls off and lands slowly;

[0023] Step 7: the i-th electric hook 203 is powered on at an interval time t, the i-th electric hook 203 opens, and the i-th cargo falls off and lands slowly, where 3≤i≤n, and n is the total number of electric hooks 203;

[0024] Step 8: after the n-th cargo lands, i.e. after the n-th electric hook 203 is powered on for an interval time t and the n electric hooks 203 are fault-free, the unmanned helicopter electrical system powers on the electric rope lock 202, the electric rope lock 202 opens, and the slow descent rope 205 falls off relying on its own weight;

[0025] Step 9: After the slow descent rope 205 is completed, the unmanned helicopter electrical system sends an instruction signal to the transport box bottom hatch door electric push rod 105, and the bottom hatch door electric push rod 105 is actuated to push the bottom hatch door 104 to close, and the bottom hatch door 104 is closed to the position and a state signal is fed back to the unmanned helicopter electrical system;

[0026] Step 10: After receiving the state signal of the transport box bottom hatch door 104 closing to the position, the unmanned helicopter electrical system completes the task of constant speed cargo dropping.

[0027] Preferably, in step 2, the instruction signal sent by the unmanned helicopter electrical system to the transport box bottom hatch door electric push rod 105 is a DC 28V voltage signal, and the voltage signal duration is 0.5±0.1s; the state signal fed back by the bottom hatch door 104 after opening to the position is a DC 28V voltage signal, and the voltage signal duration is 0.5±0.1s;

[0028] In step 3, the unmanned helicopter electrical system supplies a DC 28.5V voltage to the first electric hook 203 for 1s±0.1s;

[0029] In step 6, the unmanned helicopter electrical system supplies a DC 28.5V voltage to the second electric hook 203 for 1s±0.1s;

[0030] In step 7, the unmanned helicopter electrical system supplies a DC 28.5V voltage to the i-th electric hook 203 for 1s±0.1s;

[0031] In step 8, the unmanned helicopter electrical system supplies a DC 28.5V voltage to the electric rope lock 202 for 1s±0.1s;

[0032] In step 9, the unmanned helicopter electrical system supplies a DC 28V voltage signal to the transport box bottom hatch door electric push rod 105, and the voltage signal duration is 1±0.1s; the state signal fed back by the bottom hatch door 104 after opening to the position is a DC 28V voltage signal, and the voltage signal duration is 1±0.1s.

[0033] The present application has the following advantages:

[0034] The present application provides an unmanned helicopter cargo constant speed continuous dropping device and a control method thereof, which can realize the functions of cargo transportation, constant speed continuous dropping and state monitoring, improve the cargo transportation efficiency of the unmanned helicopter, reduce the probability of cargo dropping damage, and reduce the safety risk of transporting and dropping the cargo.

[0035] Specifically, the present application has the following advantages:

[0036] 1. The cargo constant-speed continuous delivery device integrates cargo transportation, constant-speed continuous delivery and state monitoring functions, and is easy to install and operate.

[0037] 2. The cargo constant-speed continuous delivery mechanism is integrated and installed in the transport box by designing a rectified external transport box, thereby reducing the aerodynamic resistance and achieving overall rapid installation.

[0038] 3. The constant-speed delivery of the cargo is realized by the slow descent device and the slow descent rope.

[0039] 4. The multi-group hanging and sequential delivery function of the cargo is realized by the multi-group electric hooks and the reasonable design of the on-machine control method.

[0040] 5. The monitoring of the entire cargo delivery task is realized by collecting the working state signals of the electric hooks and the transport box bottom hatch. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 A schematic diagram of an unmanned helicopter cargo constant-speed continuous delivery device Figure 1 ;

[0042] Figure 2 A schematic diagram of an unmanned helicopter cargo constant-speed continuous delivery device Figure 2 ;

[0043] Figure 3 A schematic diagram of a transport box Figure 1 ;

[0044] Figure 4 A schematic diagram of a transport box Figure 2 ;

[0045] Figure 5 A schematic diagram of a constant-speed delivery device

[0046] Figure 6 An electrical connector interface definition diagram

[0047] Figure 7 Cargo constant-speed continuous delivery process (5 groups of cargo loading)

[0048] Figure 8 Cargo constant-speed continuous delivery process (1st group of cargo delivery)

[0049] Figure 9 Cargo constant-speed continuous delivery process (2nd group of cargo delivery)

[0050] Figure 10 Cargo constant-speed continuous delivery control flowchart DETAILED DESCRIPTION

[0051] With reference to the accompanying drawings: the specific embodiments of the present application will be described clearly and completely, obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present application.

[0052] One embodiment of the present application is: a unmanned helicopter cargo constant speed continuous delivery device, characterized in that the cargo constant speed continuous delivery device is composed of a transport box 100, a constant speed delivery device 200 and an electrical connector 300.

[0053] The transport box is composed of a lifting lug 101, a bearing frame 102, a side hatch 103, a bottom hatch 104, a bottom hatch electric push rod 105 and a box skin 106.

[0054] The lifting lug 101 is screwed into the threaded hole at the top of the transport box body by threading, and the lifting lug 101 adopts a double lifting lug structure form in accordance with the requirements of the national military standard, which is used to connect with the unmanned helicopter transport rack hook, and can quickly modify the unmanned helicopter to realize the function of transporting goods.

[0055] The bearing frame 102 is used for bearing and load transmission of the entire cargo constant speed delivery device.

[0056] The side hatch 103 is installed on the box by means of hinge, which can be opened and closed manually, and mechanically locked, serving as a ground loading cargo passage.

[0057] The bottom hatch 104 is installed on the box by means of hinge, and is automatically opened and closed under the action of the bottom hatch electric push rod 105, serving as a cargo air delivery passage.

[0058] The bottom hatch electric push rod 105 is installed inside the transport box and connected with the bottom hatch 104, adopts a telescopic actuator structure, receives control instructions from the machine to actuate and push the bottom hatch 104 to open and close.

[0059] The box skin 106 is a transport box 100 profile part, and its outer dimensions and contour can be determined according to the overall aerodynamic performance requirements of the unmanned helicopter.

[0060] The constant speed delivery device 200 is composed of an anti-swing frame 201, an electric rope lock 202, an electric hook 203, a slow descent device 204, a slow descent rope 205 and a rope winding device 206.

[0061] The anti-swing frame 201 is installed on the bearing frame 102 of the transport box, and the frame body material is made of rubber material, which utilizes elastic deformation to limit the swing of the suspended transport goods.

[0062] The electric hook 203 is installed on the top of the transport box bearing frame 102 by screwing, and a plurality of electric hooks 203 can be installed according to the transport demand and the effective size of the transport box 100, and the electric hook 203 has two modes of manual mechanical opening and electric control opening. The manual mechanical opening function is used when the ground is loaded with goods; the electric control opening mode is that the electric hook 203 is powered on to open, and the function of hovering in the air and automatically dropping goods can be realized.

[0063] The electric rope lock 202 has the same principle as the electric hook 203, and has two modes of manual mechanical opening and electric control opening. When loading goods, one end of the slow descent rope 205 is hooked on the electric rope lock 202, which is used for fixing the slow descent rope 205 during the transport and drop of the goods; after the drop of the goods is completed, the electric rope lock is opened by electric control, and the slow descent rope 205 is thrown.

[0064] The slow descent device 204 is internally provided with two groups of pulleys, and the slow descent rope 205 passes between the pulleys. The slow descent device 204 is connected with the goods, and when the goods descend, the slow descent device 204 is driven to descend along the slow descent rope 205 to generate friction resistance. The friction resistance is adjusted by adjusting the relative position between the pulleys, so that the slow descent speed of goods of different weights can be adjusted.

[0065] The slow descent rope 205 is made of a plurality of nylon ropes, and the slow descent rope 205 passes through the slow descent device 204 and is used in cooperation with the slow descent device 204 to provide friction force for the goods during the drop to realize the function of constant-speed drop. The length of the slow descent rope 205 needs to be greater than the height of the unmanned helicopter during the hovering and drop of the goods, so that the goods can directly descend along the slow descent rope 205 to the ground.

[0066] The disc rope device 206 is designed as a roller type and is installed in the transport box and is used for winding and unwinding the slow descent rope 205. When the goods are dropped, the slow descent rope 205 is released under the weight of the goods.

[0067] The electric connector 300 is connected with the socket on the top of the transport box at one end and is connected with the electric system of the unmanned helicopter at the other end, and is used for supplying power to the bottom hatch door electric push rod 105, the electric hook 203 and the electric rope lock 202, sending the opening and closing instruction signals of the bottom hatch door 101, and feeding back the working state signals of the bottom hatch door 101, the electric hook 203 and the electric rope lock 202.

[0068] Another embodiment of the present application provides a control method for the unmanned helicopter goods constant-speed continuous drop device, which utilizes the unmanned helicopter goods constant-speed continuous drop device as described above, and the method comprises the following steps:

[0069] The power switch is adjusted to power on the goods constant-speed continuous drop device, the self-checking switch on the transport box 100 is pressed, the drop device is self-checked, and the self-checking state information is fed back;

[0070] The cargo constant-speed continuous delivery device 200 is loaded with goods, and when the unmanned helicopter flies to the designated delivery location, it hovers at a specified height. The ground control system sends a "cargo delivery" command;

[0071] The unmanned helicopter electrical system sends a command signal (28V, 0.5±0.1s) to the transport box bottom hatch electric push rod 105, causing the electric push rod 105 to actuate and push the bottom hatch 104 open. When the bottom hatch 104 is fully open, it will feed back an output (28V, 0.5±0.1s) status signal;

[0072] After receiving the bottom hatch 104 open to the position status signal, the unmanned helicopter electrical system first powers on the first electric hook 203 (DC 28.5V, 1s±0.1s). The electric hook 203 opens, the goods fall off, and under the action of gravity, the slow descent device 204 slides down the slow descent rope 205. The unmanned helicopter hovers at a height of h, and the average slow descent speed is v. The slow descent landing time is t=h / v;

[0073] The electric hook 203 opens and feeds back a working status signal to the unmanned helicopter electrical system. A high level indicates that the electric hook 203 is malfunctioning, and a low level indicates that the electric hook 203 is working normally;

[0074] After the first cargo lands, i.e., after the first electric hook 203 is powered on for a time interval t and the first electric hook 203 is functioning properly, the second electric hook 203 is powered on (DC 28.5V, 1s±0.1s). The electric hook 203 opens, and the second cargo falls and slowly descends to the ground;

[0075] The third, fourth, and fifth electric hooks 203 are powered on (DC 28.5V, 1s±0.1s) at intervals of t. The third, fourth, and fifth electric hooks 203 open, and the third, fourth, and fifth goods fall and slowly descend to the ground;

[0076] After the fifth cargo lands, i.e., after the fifth electric hook 203 is powered on for a time interval t and all five electric hooks 203 are functioning properly, the electric rope lock 202 is powered on (DC 28.5V, 1s±0.1s). The electric rope lock 202 opens, and the slow descent rope 205 falls off by its own weight;

[0077] After the slow descent rope is completed, the unmanned helicopter electrical system sends a command signal (28V, 1±0.1s) to the transport box bottom hatch electric push rod 105, causing the electric push rod to actuate and push the bottom hatch 104 closed. When the bottom hatch 104 is fully closed, it will feed back an output (28V, 1±0.1s) status signal;

[0078] After receiving the bottom hatch 104 closed to the position status signal, the unmanned helicopter electrical system completes the constant-speed cargo delivery task.

[0079] The present application is a component of a special transport box of an unmanned transport helicopter, and is a key part of fast transport, fixed-point and fixed-speed continuous delivery. The front and rear fairing transport box structure can reduce the aerodynamic resistance of the unmanned helicopter in flight, and can also reduce the transport safety risk in flight; the design of multiple groups of electric hooks can realize batch delivery of goods, reduce the influence of the weight and center of gravity of the unmanned helicopter after the goods are delivered, and also can improve the carrying capacity of the helicopter; the use of the slow descent device and the slow descent rope can effectively protect the delivered goods from being damaged during landing; the use of the standard double lifting lug mounting structure and the modular design are beneficial to simple and fast installation.

[0080] The above is only a specific embodiment of the present application, and the present application is described in detail, and the part not described in detail is a conventional technology. However, the protection scope of the present application is not limited to this, any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. The protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An unmanned helicopter cargo constant speed continuous dropping device, characterized in that: The goods constant-speed continuous delivery device comprises a transport box (100), a constant-speed delivery device (200), an electrical connector (300) and a bottom hatch electric push rod (105), the transport box (100) is installed on an unmanned helicopter, the constant-speed delivery device (200) is installed in the transport box (100), the bottom hatch electric push rod (105) is installed on the inner side of the transport box (100) and controls the opening and closing of the bottom hatch (104) of the transport box (100), the electrical connector (300) is installed on the outer surface of the transport box (100), one end of the electrical connector (300) is connected with the electrical system of the unmanned helicopter, and the other end is connected with the bottom hatch electric push rod (105) and the constant-speed delivery device (200); The transport box comprises a bearing frame (102), and the bearing frame (102) is used for bearing and load transmission of the whole goods constant-speed delivery device; The constant-speed delivery device (200) comprises an anti-swing frame (201), an electric rope lock (202), an electric hook (203), a slow descent device (204), a slow descent rope (205) and a rope winding device (206); The anti-swing frame (201) is installed in the bearing frame (102) of the transport box, the electric hook (203) is provided in a plurality of numbers, the electric hook (203) is installed on the top of the bearing frame (102) of the transport box in a screwing mode, and the electric hook (203) is electrically connected with the electrical connector (300); The electric rope lock (202) is installed in the bearing frame (102) of the transport box, and the electric rope lock (202) is electrically connected with the electrical connector (300); One end of the slow descent rope (205) is hooked on the electric rope lock (202) and used for fixing the slow descent rope (205) during goods transportation and the delivery process, one end of the slow descent rope (205) passes through the slow descent device (204) and is wound and fixed on the rope winding device (206), two groups of pulleys are arranged in the slow descent device (204), the slow descent rope (205) passes through the pulleys, the slow descent device (204) is connected with goods, and when the goods descend, the slow descent device (204) is driven to descend along the slow descent rope (205) to generate friction resistance; The rope winding device (206) is installed in the bearing frame (102) of the transport box and is used for winding and unwinding the slow descent rope (205), and the slow descent rope (205) is released under the action of the weight of goods during goods delivery.

2. The unmanned helicopter cargo constant speed continuous dropping device according to claim 1, characterized in that: The transport box further comprises lifting lugs (101), side hatches (103), a bottom hatch (104) and a box skin (106), the box skin (106) is wrapped outside the bearing frame (102) to form a box body, the box skin (106) is determined according to the overall aerodynamic performance requirements of the unmanned helicopter, the lifting lugs (101) are screwed into the threaded holes in the top of the box body in a threaded mode, the lifting lugs (101) are used for being connected with the transport hangers of the unmanned helicopter, the side hatches (103) are installed on the side of the box body in a hinged mode, and the bottom hatch (104) is installed on the bottom of the box body in a hinged mode and is automatically opened and closed under the action of the bottom hatch electric push rod (105).

3. The unmanned helicopter cargo constant speed continuous dropping device according to claim 2, characterized in that: The bottom hatch door electric push rod (105) adopts a telescopic actuating structure, receives on-board control instructions to actuate, and pushes the bottom hatch door (104) to open and close.

4. The unmanned helicopter cargo constant speed continuous dropping device according to claim 3, characterized in that: The anti-swing frame (201) is made of rubber material, and utilizes elastic deformation to limit the swing of the suspended transport goods; the slow descent rope (205) is made of multiple nylon ropes; and the rope winding device (206) is a drum type structure.

5. The unmanned helicopter cargo constant speed continuous dropping device according to claim 4, characterized in that: The electrical connector (300) is connected to the top socket of the transport box at one end and connected to the electrical system of the unmanned helicopter at the other end, for supplying power to the bottom hatch door electric push rod (105), the electric hook (203) and the electric rope lock (202), sending the opening and closing instruction signals of the bottom hatch door (104), and feeding back the working state signals of the bottom hatch door (104), the electric hook (203) and the electric rope lock (202).

6. The method of claim 1-5, wherein the method is characterized by: The method comprises the following steps: Step 1: self-checking of the unmanned helicopter goods constant-speed continuous dropping device; Step 2: the unmanned helicopter flies to the designated dropping site, descends to the specified height and hovers, and the ground control system sends a "goods dropping" instruction; Step 3: the unmanned helicopter electrical system sends an instruction signal to the transport box bottom hatch door electric push rod (105) to make the bottom hatch door electric push rod (105) actuate and push the bottom hatch door (104) to open, and the bottom hatch door (104) sends a state signal to the unmanned helicopter electrical system after being opened to the position; Step 4: after receiving the state signal of the transport box bottom hatch door (104) being opened to the position, the unmanned helicopter electrical system first powers on the first electric hook (203), the first electric hook (203) is opened, the goods falls off, and the slow descent device (204) is driven to slide up and down on the slow descent rope (205) under the action of gravity; Step 5: the first electric hook (203) is opened, and a working state signal is fed back to the unmanned helicopter electrical system, if the working state signal of the first electric hook (203) is normal, step 6 is executed, otherwise, the dropping task is terminated; Step 6: after the first goods falls to the ground, i.e., after the first electric hook (203) is powered on for a time interval t and the first electric hook (203) is fault-free, the second electric hook (203) is powered on, the electric hook (203) is opened, and the second goods falls off and descends to the ground; Step 7: the i-th electric hook (203) is powered on at a time interval t, the i-th electric hook (203) is opened, and the i-th goods falls off and descends to the ground, wherein 3≤i≤n, and n is the total number of electric hooks (203); Step 8: after the n-th goods falls to the ground, i.e., after the n-th electric hook (203) is powered on for a time interval t and the n electric hooks (203) are all fault-free, the unmanned helicopter electrical system powers on the electric rope lock (202), the electric rope lock (202) is opened, and the slow descent rope (205) falls off by relying on its own weight. Step 9: After the completion of the slow rope (205) throw, the unmanned helicopter electrical system sends a command signal to the transport box bottom hatch door electric push rod (105) to make the bottom hatch door electric push rod (105) act to push the bottom hatch door (104) to close. When the bottom hatch door (104) is closed in place, it feeds back an output state signal to the unmanned helicopter electrical system; Step 10: After receiving the transport box bottom hatch door (104) closed in place state signal, the unmanned helicopter electrical system completes the goods constant speed delivery task.

7. The control method of the unmanned helicopter constant speed continuous delivery device according to claim 6, characterized in that: In step 2, the command signal sent by the unmanned helicopter electrical system to the transport box bottom hatch door electric push rod (105) is a DC 28V voltage signal, and the voltage signal duration is 0.5±0.1s; the state signal fed back by the bottom hatch door (104) when it is opened in place is a DC 28V voltage signal, and the voltage signal duration is 0.5±0.1s; In step 3, the voltage of the first electric hook (203) powered by the unmanned helicopter electrical system is DC 28.5V, and the power-on time is 1s±0.1s; In step 6, the voltage of the second electric hook (203) powered by the unmanned helicopter electrical system is DC 28.5V, and the power-on time is 1s±0.1s; In step 7, the voltage of the i-th electric hook (203) powered by the unmanned helicopter electrical system is DC 28.5V, and the power-on time is 1s±0.1s; In step 8, the voltage of the electric rope lock (202) powered by the unmanned helicopter electrical system is DC 28.5V, and the power-on time is 1s±0.1s; In step 9, the command signal sent by the unmanned helicopter electrical system to the transport box bottom hatch door electric push rod (105) is a DC 28V voltage signal, and the voltage signal duration is 1±0.1s; the state signal fed back by the bottom hatch door (104) when it is opened in place is a DC 28V voltage signal, and the voltage signal duration is 1±0.1s.

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