An aerial transfer method, device and computer readable storage medium of goods

Abstract

The application discloses an air transfer method and device of goods and a computer readable storage medium, and the method comprises the following steps: when a fixed-wing aircraft monitors that the current position of an order range of goods is in a first cargo compartment of the fixed-wing aircraft, sending a goods transfer instruction to a multi-rotor aircraft in the order range; when the multi-rotor aircraft is consistent with the flight path of the fixed-wing aircraft, dropping the goods by the fixed-wing aircraft; and controlling the multi-rotor aircraft to monitor the motion state of the goods and adjust the flight state of the multi-rotor aircraft, so that the goods fall into a second cargo compartment. The application realizes a goods distribution scheme combining the fixed-wing aircraft and the multi-rotor aircraft, reasonably distributes the logistics transfer operation based on the flight characteristics of the two aircrafts, and effectively improves the business capacity of the unmanned aerial vehicle logistics.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a method and device for aerial transfer of goods and a computer readable storage medium. BACKGROUND

[0002] In the prior art, with the continuous development of unmanned aerial vehicle technology, unmanned aerial vehicle logistics transportation business has begun to be popularized. In particular, multi-rotor unmanned aerial vehicles can complete various urban logistics tasks in complex scenarios due to their flexibility and timeliness when performing goods transportation.

[0003] However, due to the battery capacity of multi-rotor unmanned aerial vehicles and the route planning of urban transportation, there are still significant endurance problems at present.

[0004] To solve this problem, the existing solution is to use a transfer station for transfer transportation. One is that the unmanned aerial vehicle lands at the transfer station and is handed over to another unmanned aerial vehicle at the transfer station for relay transportation. The other is that the unmanned aerial vehicle lands at the transfer station, the transfer station replaces the battery for itself, and the unmanned aerial vehicle itself performs relay transportation.

[0005] As can be seen, both of the above-mentioned methods require multi-rotor unmanned aerial vehicles to stop at specific transfer stations, which to some extent loses the flexibility and timeliness of multi-rotor unmanned aerial vehicle logistics.

[0006] In summary, how to improve the timeliness of unmanned aerial vehicle goods relay transportation has become a technical problem to be solved at present. SUMMARY

[0007] In order to solve the above technical defects in the prior art, the present application provides a method for aerial transfer of goods, which comprises:

[0008] When the fixed-wing aircraft detects that the current position is within the order range of a goods in the first cargo compartment of the fixed-wing aircraft, the goods transfer instruction is sent to the multi-rotor aircraft within the order range;

[0009] According to the goods transfer instruction, the multi-rotor aircraft is controlled to load the second cargo compartment corresponding to the goods and take off;

[0010] When the flight path of the multi-rotor aircraft is consistent with the flight path of the fixed-wing aircraft and the flight height of the multi-rotor aircraft is lower than the flight height of the fixed-wing aircraft within the order range, the goods are dropped by the fixed-wing aircraft, and the goods drop instruction is sent to the multi-rotor aircraft;

[0011] According to the cargo release command, the multi-rotor aircraft is controlled to monitor the movement status of the cargo and adjust its own flight status so that the cargo falls into the second cargo hold.

[0012] Optionally, when a fixed-wing aircraft detects an order range for cargo located within its first cargo hold, sending a cargo transfer instruction to a multi-rotor aircraft within the order range includes:

[0013] The fixed-wing aircraft obtains the order range corresponding to each cargo in the first cargo hold, wherein the order range includes an altitude range and a regional range;

[0014] When the fixed-wing aircraft detects that its current location is within a cargo area, it sends the cargo transfer instruction to one or more multi-rotor aircraft within the area.

[0015] Optionally, controlling the multi-rotor aircraft to load the second cargo hold corresponding to the cargo and take off according to the cargo transfer instruction includes:

[0016] The multi-rotor aircraft parses the order data in the cargo transfer instruction, wherein the order data includes the order range and order information;

[0017] The multirotor aircraft is controlled to select and load the second cargo hold, which corresponds to the altitude range, cargo dimensions, and cargo weight in the order information.

[0018] Optionally, within the order range, when the flight path of the multi-rotor aircraft is consistent with the flight path of the fixed-wing aircraft, and the flight altitude of the multi-rotor aircraft is lower than that of the fixed-wing aircraft, the fixed-wing aircraft drops the cargo and sends a cargo drop instruction to the multi-rotor aircraft, including:

[0019] Within the scope of the order, control the flight path of the fixed-wing aircraft to merge into that of the multi-rotor aircraft;

[0020] When the flight path of the multirotor aircraft is consistent with the flight path of the fixed-wing aircraft, the difference in flight altitude between the multirotor aircraft and the fixed-wing aircraft is controlled within the specified altitude range.

[0021] Optionally, controlling the multi-rotor aircraft to monitor the movement state of the cargo and adjust its own flight state according to the cargo release command to make the cargo fall into the second cargo hold includes:

[0022] The flight state is adjusted according to the motion state so that the vertical component of the speed difference between the multirotor aircraft and the cargo is within a preset range;

[0023] The hatch of the second cargo compartment is opened when the vertical component is within the preset range, and the hatch is closed after the cargo has been stored.

[0024] The present invention also proposes an air cargo transfer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is implemented when executed by the processor:

[0025] When a fixed-wing aircraft detects that its current location is within the order range of a cargo in the first cargo hold of the fixed-wing aircraft, it sends a cargo transfer instruction to a multi-rotor aircraft within the order range.

[0026] According to the cargo transfer instruction, the multi-rotor aircraft is controlled to load the second cargo hold corresponding to the cargo and take off;

[0027] Within the scope of the order, when the flight path of the multi-rotor aircraft is consistent with the flight path of the fixed-wing aircraft, and the flight altitude of the multi-rotor aircraft is lower than that of the fixed-wing aircraft, the fixed-wing aircraft drops the cargo and sends a cargo drop instruction to the multi-rotor aircraft;

[0028] According to the cargo release command, the multi-rotor aircraft is controlled to monitor the movement status of the cargo and adjust its own flight status so that the cargo falls into the second cargo hold.

[0029] Optionally, the computer program is implemented when executed by the processor as follows:

[0030] The fixed-wing aircraft obtains the order range corresponding to each cargo in the first cargo hold, wherein the order range includes an altitude range and a regional range;

[0031] When the fixed-wing aircraft detects that its current location is within a cargo area, it sends the cargo transfer instruction to one or more multi-rotor aircraft within the area.

[0032] Optionally, the computer program is implemented when executed by the processor as follows:

[0033] The multi-rotor aircraft parses the order data in the cargo transfer instruction, wherein the order data includes the order range and order information;

[0034] The multirotor aircraft is controlled to select and load the second cargo hold, which corresponds to the altitude range, cargo dimensions, and cargo weight in the order information.

[0035] Optionally, the computer program is implemented when executed by the processor as follows:

[0036] Within the scope of the order, control the flight path of the fixed-wing aircraft to merge into that of the multi-rotor aircraft;

[0037] When the flight path of the multi-rotor aircraft is consistent with the flight path of the fixed-wing aircraft, the difference in flight altitude between the multi-rotor aircraft and the fixed-wing aircraft is controlled within the specified altitude range;

[0038] The flight state is adjusted according to the motion state so that the vertical component of the speed difference between the multirotor aircraft and the cargo is within a preset range;

[0039] The hatch of the second cargo compartment is opened when the vertical component is within the preset range, and the hatch is closed after the cargo has been stored.

[0040] The present invention also proposes a computer-readable storage medium storing an air transport program for cargo, which, when executed by a processor, implements the steps of the air transport method for cargo as described in any of the preceding claims.

[0041] The present invention provides a cargo air transfer method, apparatus, and computer-readable storage medium. When a fixed-wing aircraft detects an order range for cargo currently located within its first cargo hold, it sends a cargo transfer instruction to a multi-rotor aircraft within the order range. Based on the cargo transfer instruction, the multi-rotor aircraft loads a second cargo hold corresponding to the cargo and takes off. Within the order range, when the flight path of the multi-rotor aircraft is consistent with that of the fixed-wing aircraft, and the flight altitude of the multi-rotor aircraft is lower than that of the fixed-wing aircraft, the fixed-wing aircraft drops the cargo and sends a cargo drop instruction to the multi-rotor aircraft. Based on the cargo drop instruction, the multi-rotor aircraft monitors the movement status of the cargo and adjusts its own flight status to ensure the cargo lands in the second cargo hold. This invention realizes a cargo relay transportation scheme combining fixed-wing and multi-rotor aircraft, rationally allocating logistics transfer operations based on the flight characteristics of the two types of aircraft, effectively improving the operational capabilities of unmanned aerial vehicle (UAV) logistics. Attached Figure Description

[0042] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings:

[0043] Figure 1 This is a first flowchart of the air transport method for goods according to the present invention;

[0044] Figure 2 This is the second flowchart of the air transport method for goods according to the present invention;

[0045] Figure 3 This is the third flowchart of the air transport method for goods according to the present invention;

[0046] Figure 4 This is the fourth flowchart of the air transport method for goods according to the present invention;

[0047] Figure 5 This is the fifth flowchart of the air transport method for goods according to the present invention. Detailed Implementation

[0048] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0049] In the following description, the use of suffixes such as "module," "part," or "unit" to denote elements is solely for the purpose of illustrative purposes and has no specific meaning in itself. Therefore, "module," "part," or "unit" may be used interchangeably.

[0050] Figure 1 This is a first flowchart of the air transport method for goods according to the present invention. This embodiment proposes an air transport method for goods, which includes:

[0051] S1. When a fixed-wing aircraft detects that its current location is within the order range of a cargo in the first cargo hold of the fixed-wing aircraft, it sends a cargo transfer instruction to a multi-rotor aircraft within the order range.

[0052] S2. Control the multi-rotor aircraft to load the second cargo hold corresponding to the cargo and take off according to the cargo transfer instruction;

[0053] S3. Within the order scope, when the flight path of the multi-rotor aircraft is consistent with the flight path of the fixed-wing aircraft, and the flight altitude of the multi-rotor aircraft is lower than the flight altitude of the fixed-wing aircraft, the fixed-wing aircraft drops the cargo and sends a cargo drop instruction to the multi-rotor aircraft.

[0054] S4. Control the multi-rotor aircraft to monitor the movement status of the cargo according to the cargo release command, and adjust its own flight status so that the cargo falls into the second cargo hold.

[0055] Optionally, in this embodiment, considering that fixed-wing aircraft have advantages over multi-rotor aircraft in terms of higher storage capacity, longer endurance, and higher flight speed, while multi-rotor aircraft have advantages over fixed-wing aircraft in terms of higher flight flexibility and stronger adaptability to complex environments, this embodiment uses a combination of fixed-wing and multi-rotor aircraft to achieve air transport of goods. For example, in an urban logistics scenario, fixed-wing aircraft are responsible for transporting batches of goods to various areas to be distributed or delivered. When the fixed-wing aircraft arrives at each area, it releases the corresponding goods. Simultaneously, the multi-rotor aircraft in that area takes off, and its cargo hold collects the goods moving in a parabolic trajectory in the air. The multi-rotor aircraft also performs subsequent goods distribution or delivery tasks.

[0056] Optionally, in this embodiment, while the fixed-wing aircraft is dropping the cargo, the cargo is connected via a connecting line, and a disconnect component is provided at the connection end between the connecting line and the cargo. Based on this, when it is determined that the second cargo hold has successfully retrieved the cargo, the fixed-wing aircraft controls the disconnect component to disconnect the connecting line, allowing the second cargo hold door to close normally; when it is determined that the second cargo hold has not successfully retrieved the cargo, the fixed-wing aircraft controls the retraction of the connecting line, allowing the first cargo hold to retrieve the cargo again; or, when it is determined that the second cargo hold has not successfully retrieved the cargo, the fixed-wing aircraft controls the shortening or lengthening of the connecting line, so that the extended or retracted connecting line is suitable for the multi-rotor aircraft to perform the cargo retrieval operation again.

[0057] Optionally, in this embodiment, the fixed-wing aircraft employs a bottom-mounted cargo hold for storage, facilitating the sequential dropping of various cargoes during flight. The bottom-mounted cargo hold of the fixed-wing aircraft is equipped with a dropping assembly that directly releases cargo into the air, causing the cargo to undergo a parabolic motion at the current speed of the fixed-wing aircraft. Alternatively, the bottom-mounted cargo hold of the fixed-wing aircraft is equipped with a throwing assembly that throws cargo into the air, causing the cargo to undergo a parabolic motion equal to the sum of its current speed and the throwing speed. The throwing direction of the throwing assembly is either consistent with or opposite to the flight direction of the fixed-wing aircraft.

[0058] The beneficial effect of this embodiment is that, when a fixed-wing aircraft detects an order range for cargo currently located within its first cargo hold, it sends a cargo transfer instruction to a multi-rotor aircraft within the order range; based on the cargo transfer instruction, it controls the multi-rotor aircraft to load the second cargo hold corresponding to the cargo and take off; within the order range, when the flight path of the multi-rotor aircraft is consistent with that of the fixed-wing aircraft, and the flight altitude of the multi-rotor aircraft is lower than that of the fixed-wing aircraft, the fixed-wing aircraft drops the cargo and sends a cargo drop instruction to the multi-rotor aircraft; based on the cargo drop instruction, it controls the multi-rotor aircraft to monitor the movement status of the cargo and adjust its own flight status to ensure the cargo lands in the second cargo hold. This achieves a cargo relay transportation scheme combining fixed-wing and multi-rotor aircraft, rationally allocating logistics transfer operations based on the flight characteristics of the two types of aircraft, effectively improving the operational capabilities of UAV logistics.

[0059] Figure 2 This is a second flowchart of the air cargo transfer method of the present invention. Based on the above embodiment, when the fixed-wing aircraft detects an order range for cargo currently located within the first cargo hold of the fixed-wing aircraft, sending a cargo transfer instruction to a multi-rotor aircraft within the order range includes:

[0060] S11. Obtain the order range corresponding to each cargo in the first cargo hold through the fixed-wing aircraft, wherein the order range includes an altitude range and a regional range;

[0061] S12. When the fixed-wing aircraft detects that its current position is within a cargo area, it sends the cargo transfer instruction to one or more multi-rotor aircraft within the area.

[0062] Optionally, in this embodiment, the aforementioned area range is generated based on cargo data and logistics data. For example, the height range is generated based on the fragility of the cargo in the cargo data, and the area range is generated based on the destination or transit point in the logistics data; or, for another example, the height range is adjusted based on the cargo dimensions in the cargo data, and the area range is adjusted based on the priority in the logistics data.

[0063] Optionally, in this embodiment, when multiple multi-rotor aircraft within a certain area send the cargo transfer instruction, cargo collection priorities are assigned to the multiple multi-rotor aircraft. That is, the multi-rotor aircraft with higher priority takes the lead in collecting the cargo, and if it fails to collect the cargo, the multi-rotor aircraft with lower priority takes the lead in collecting the cargo.

[0064] Figure 3 This is a third flowchart of the air transport method for cargo according to the present invention. Based on the above embodiments, the step of controlling the multi-rotor aircraft to load the second cargo hold corresponding to the cargo and take off according to the cargo transport instruction includes:

[0065] S21. The order data in the cargo transfer instruction is parsed by the multi-rotor aircraft, wherein the order data includes the order range and order information;

[0066] S22. Control the multirotor aircraft to select and load the second cargo hold corresponding to the altitude range, cargo size and cargo weight in the order information.

[0067] Optionally, in this embodiment, the above-mentioned cargo data and logistics data are integrated into order data, and the cargo transfer instruction is transmitted to the fixed-wing aircraft.

[0068] Optionally, in this embodiment, an error range is determined based on the altitude range and cargo size, a second cargo hold with corresponding door size is determined based on the error range, and a fixed-wing aircraft with corresponding load-bearing capacity and endurance is determined based on cargo weight and cargo distribution or delivery distance.

[0069] Figure 4 This is the fourth flowchart of the air transport method for goods according to the present invention. Based on the above embodiments, within the order range, when the flight path of the multi-rotor aircraft is consistent with the flight path of the fixed-wing aircraft, and the flight altitude of the multi-rotor aircraft is lower than that of the fixed-wing aircraft, the fixed-wing aircraft drops the goods and sends a goods drop instruction to the multi-rotor aircraft, including:

[0070] S31. Within the scope of the order, control the flight path of the fixed-wing aircraft to merge into that of the multi-rotor aircraft;

[0071] S32. When the flight path of the multi-rotor aircraft is consistent with the flight path of the fixed-wing aircraft, the difference in flight altitude between the multi-rotor aircraft and the fixed-wing aircraft is controlled within the specified altitude range.

[0072] Optionally, in this embodiment, as described in the example above, when the cargo is directly dropped, its horizontal speed is consistent with the flight direction of the fixed-wing aircraft. At this time, the multi-rotor aircraft is controlled to fly along the flight direction of the fixed-wing aircraft and gradually merge into the flight path of the multi-rotor aircraft.

[0073] Optionally, in this embodiment, as described in the example above, when the cargo is dropped, its horizontal velocity direction may be the same as or opposite to the flight direction of the fixed-wing aircraft. In this case, the multi-rotor aircraft is controlled to monitor the velocity direction of the cargo relative to the ground, so that the multi-rotor aircraft flies along the flight direction and gradually merges into the flight path of the multi-rotor aircraft.

[0074] Figure 5 This is the fifth flowchart of the air transport method for cargo according to the present invention. Based on the above embodiments, the step of controlling the multi-rotor aircraft to monitor the motion state of the cargo and adjust its own flight state according to the cargo release command so that the cargo falls into the second cargo hold includes:

[0075] S41. Adjust the flight state according to the motion state so that the vertical component of the speed difference between the multi-rotor aircraft and the cargo is within a preset range;

[0076] S42. When the vertical component is within the preset range, open the hatch of the second cargo compartment, and close the hatch after the cargo has been stored.

[0077] Optionally, in this embodiment, the altitude difference between the multirotor aircraft and the ground is adjusted according to the vertical component of the speed difference, so that the multirotor aircraft has sufficient clearance when performing a descent to retrieve cargo.

[0078] Optionally, in this embodiment, the hatch of the second cargo compartment is opened when the vertical component is within the preset range, and the connection line of the cargo is monitored to see if it is disconnected; when the connection line of the cargo is disconnected, the hatch is closed.

[0079] Based on the above embodiments, the present invention also proposes an air cargo transfer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is executed by the processor to implement:

[0080] When a fixed-wing aircraft detects that its current location is within the order range of a cargo in the first cargo hold of the fixed-wing aircraft, it sends a cargo transfer instruction to a multi-rotor aircraft within the order range.

[0081] According to the cargo transfer instruction, the multi-rotor aircraft is controlled to load the second cargo hold corresponding to the cargo and take off;

[0082] Within the scope of the order, when the flight path of the multi-rotor aircraft is consistent with the flight path of the fixed-wing aircraft, and the flight altitude of the multi-rotor aircraft is lower than that of the fixed-wing aircraft, the fixed-wing aircraft drops the cargo and sends a cargo drop instruction to the multi-rotor aircraft;

[0083] According to the cargo release command, the multi-rotor aircraft is controlled to monitor the movement status of the cargo and adjust its own flight status so that the cargo falls into the second cargo hold.

[0084] Optionally, the computer program is implemented when executed by the processor as follows:

[0085] The fixed-wing aircraft obtains the order range corresponding to each cargo in the first cargo hold, wherein the order range includes an altitude range and a regional range;

[0086] When the fixed-wing aircraft detects that its current location is within a cargo area, it sends the cargo transfer instruction to one or more multi-rotor aircraft within the area.

[0087] Optionally, the computer program is implemented when executed by the processor as follows:

[0088] The multi-rotor aircraft parses the order data in the cargo transfer instruction, wherein the order data includes the order range and order information;

[0089] The multirotor aircraft is controlled to select and load the second cargo hold, which corresponds to the altitude range, cargo dimensions, and cargo weight in the order information.

[0090] Optionally, the computer program is implemented when executed by the processor as follows:

[0091] Within the scope of the order, control the flight path of the fixed-wing aircraft to merge into that of the multi-rotor aircraft;

[0092] When the flight path of the multi-rotor aircraft is consistent with the flight path of the fixed-wing aircraft, the difference in flight altitude between the multi-rotor aircraft and the fixed-wing aircraft is controlled within the specified altitude range;

[0093] The flight state is adjusted according to the motion state so that the vertical component of the speed difference between the multirotor aircraft and the cargo is within a preset range;

[0094] The hatch of the second cargo compartment is opened when the vertical component is within the preset range, and the hatch is closed after the cargo has been stored.

[0095] It should be noted that the above-described device embodiments and method embodiments belong to the same concept. The specific implementation process can be found in the method embodiments, and the technical features in the method embodiments are also applicable to the device embodiments, which will not be repeated here.

[0096] Based on the above embodiments, the present invention also proposes a computer-readable storage medium storing an air transport program for cargo, which, when executed by a processor, implements the steps of the air transport method for cargo as described in any of the above claims.

[0097] It should be noted that the above-described medium embodiments and method embodiments belong to the same concept. The specific implementation process can be found in the method embodiments, and the technical features in the method embodiments are also applicable to the medium embodiments, which will not be repeated here.

[0098] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0099] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0100] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0101] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A method for air transshipment of goods, characterized in that, The method includes: When a fixed-wing aircraft detects that its current location is within the order range of a cargo in the first cargo hold of the fixed-wing aircraft, it sends a cargo transfer instruction to a multi-rotor aircraft within the order range. According to the cargo transfer instruction, the multi-rotor aircraft is controlled to load the second cargo hold corresponding to the cargo and take off; Within the scope of the order, when the flight path of the multi-rotor aircraft is consistent with the flight path of the fixed-wing aircraft, and the flight altitude of the multi-rotor aircraft is lower than that of the fixed-wing aircraft, the fixed-wing aircraft drops the cargo and sends a cargo drop instruction to the multi-rotor aircraft; Controlling the multirotor aircraft according to the cargo release command to monitor the movement status of the cargo and adjust its own flight status to allow the cargo to fall into the second cargo hold, including: in, The flight state is adjusted according to the motion state so that the vertical component of the speed difference between the multirotor aircraft and the cargo is within a preset range; The hatch of the second cargo compartment is opened when the vertical component is within the preset range, and the hatch is closed after the cargo has been stored.

2. The method for air transshipment of goods according to claim 1, characterized in that, When a fixed-wing aircraft detects an order for cargo located within its first cargo hold, the process of sending a cargo transfer instruction to a multi-rotor aircraft within the order range includes: The fixed-wing aircraft obtains the order range corresponding to each cargo in the first cargo hold, wherein the order range includes an altitude range and a regional range; When the fixed-wing aircraft detects that its current location is within a cargo area, it sends the cargo transfer instruction to one or more multi-rotor aircraft within the area.

3. The method for air transport of goods according to claim 2, characterized in that, The step of controlling the multi-rotor aircraft to load the second cargo hold corresponding to the cargo and take off according to the cargo transfer instruction includes: The multi-rotor aircraft parses the order data in the cargo transfer instruction, wherein the order data includes the order range and order information; The multirotor aircraft is controlled to select and load the second cargo hold, which corresponds to the altitude range, cargo dimensions, and cargo weight in the order information.

4. The method for air transport of goods according to claim 3, characterized in that, Within the scope of the order, when the flight path of the multi-rotor aircraft is consistent with the flight path of the fixed-wing aircraft, and the flight altitude of the multi-rotor aircraft is lower than that of the fixed-wing aircraft, the fixed-wing aircraft drops the cargo and sends a cargo drop instruction to the multi-rotor aircraft, including: Within the scope of the order, control the flight path of the fixed-wing aircraft to merge into that of the multi-rotor aircraft; When the flight path of the multirotor aircraft is consistent with the flight path of the fixed-wing aircraft, the difference in flight altitude between the multirotor aircraft and the fixed-wing aircraft is controlled within the specified altitude range.

5. An air transfer device for goods, characterized in that, The device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being executed by the processor to implement: When a fixed-wing aircraft detects that its current location is within the order range of a cargo in the first cargo hold of the fixed-wing aircraft, it sends a cargo transfer instruction to a multi-rotor aircraft within the order range. According to the cargo transfer instruction, the multi-rotor aircraft is controlled to load the second cargo hold corresponding to the cargo and take off; Within the scope of the order, when the flight path of the multi-rotor aircraft is consistent with the flight path of the fixed-wing aircraft, and the flight altitude of the multi-rotor aircraft is lower than that of the fixed-wing aircraft, the fixed-wing aircraft drops the cargo and sends a cargo drop instruction to the multi-rotor aircraft; Controlling the multirotor aircraft according to the cargo release command to monitor the movement status of the cargo and adjust its own flight status to allow the cargo to fall into the second cargo hold, including: The flight state is adjusted according to the motion state so that the vertical component of the speed difference between the multirotor aircraft and the cargo is within a preset range; The hatch of the second cargo compartment is opened when the vertical component is within the preset range, and the hatch is closed after the cargo has been stored.

6. The air cargo transfer equipment according to claim 5, characterized in that, The computer program is implemented when executed by the processor: The fixed-wing aircraft obtains the order range corresponding to each cargo in the first cargo hold, wherein the order range includes an altitude range and a regional range; When the fixed-wing aircraft detects that its current location is within a cargo area, it sends the cargo transfer instruction to one or more multi-rotor aircraft within the area.

7. The air transfer equipment for goods according to claim 6, characterized in that, The computer program is implemented when executed by the processor: The multi-rotor aircraft parses the order data in the cargo transfer instruction, wherein the order data includes the order range and order information; The multirotor aircraft is controlled to select and load the second cargo hold, which corresponds to the altitude range, cargo dimensions, and cargo weight in the order information.

8. The air transfer equipment for goods according to claim 7, characterized in that, The computer program is implemented when executed by the processor: Within the scope of the order, control the flight path of the fixed-wing aircraft to merge into that of the multi-rotor aircraft; When the flight path of the multirotor aircraft is consistent with the flight path of the fixed-wing aircraft, the difference in flight altitude between the multirotor aircraft and the fixed-wing aircraft is controlled within the specified altitude range.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a cargo air transfer program, which, when executed by a processor, implements the steps of the cargo air transfer method as described in any one of claims 1 to 4.

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