A self-balancing express delivery drone system and unloading balancing method

Abstract

The present invention discloses a self-balancing express delivery drone system and a unloading balancing method, and relates to the technical field of drones. The present invention comprises a quad-rotor drone and a landing platform; a sensing rod installed on the bottom surface of each rotor drive part of the quad-rotor drone and a sensing channel in the corresponding landing platform are used. The electromagnet in the driving channel is used to put the quad-rotor drone in a suspended state, and then the leveling mechanism is used to level the quad-rotor drone after unloading; so as to solve the problem that the balance of the existing express delivery drone is easily destroyed after a single unloading, affecting normal take-off and flight.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a self-balancing express delivery unmanned aerial vehicle system and a discharge balancing method. Background Art

[0002] Drone delivery has become one of the important innovations in the modern logistics industry. Its application range is wide, from cities to rural areas, from daily consumer goods to emergency medicines. The potential of drones in the field of express delivery is constantly being explored and realized. Drone delivery not only improves delivery speed, but also reduces labor costs.

[0003] However, drone delivery also faces some technical problems. For example, a single drone usually carries multiple packages. When the drone continues along the delivery route, after unloading a package, the balance of the drone will be broken because the package is relatively fixed. The balance of drone delivery will be seriously damaged in the later stage of delivery. In this way, not only will the unbalanced drone be prone to crash during takeoff, but there will also be major safety hazards during the flight of the package delivery drone. Summary of the invention

[0004] The purpose of the present invention is to provide a self-balancing express delivery drone system and a unloading balancing method to solve the problem that the balance of the existing express delivery drone is easily destroyed after a single unloading, affecting normal take-off and flight.

[0005] In order to solve the above problems, the present invention adopts the following technical means:

[0006] A self-balancing express delivery drone system, comprising a quad-rotor drone and a landing platform;

[0007] A sensing rod is installed on the bottom surface of each rotor driving part of the quad-rotor drone;

[0008] An object box is rotatably mounted on the bottom surface of the body of the quad-rotor drone, and a plurality of cavities are constructed inside the object box, and a material box is embedded and installed in each cavity. A rotating rod is coaxially mounted on the outer bottom surface of the object box with its rotation axis, and the bottom end of the rotating rod is a permanent magnet with fixed magnetic poles, and a leveling device is constructed inside the object box;

[0009] The landing platform includes a support body;

[0010] The top surface of the support body is configured with a driving channel for inserting the rotating rod, an electromagnet is provided at the bottom of the driving channel, the bottom end of the electromagnet is connected to the rotating end of the first rotating motor, the rotating axis of the first rotating motor is vertically arranged, and the inner diameter of the driving channel is greater than the outer diameter of the rotating rod;

[0011] The top surface of the support body is also configured with a sensing channel for inserting the sensing rod, the inner wall of the sensing channel is configured with a capacitor, and the inner diameter of the sensing channel is greater than the outer diameter of the sensing rod;

[0012] The landing platform also includes a processing terminal;

[0013] The first signal output end of the processing terminal is in communication with the driving mechanism of the leveling device, the second signal output end of the processing terminal is in communication with the magnetic pole changing end of the electromagnet, the electrical signal output end of the processing terminal is in communication with the start / stop end of the first rotating motor, and the first signal input end of the processing terminal is in communication with the electrical signal output end of the capacitor;

[0014] An indicator light is also installed on the landing platform, and the indicator light is in communication with the processing terminal.

[0015] Preferably, the object box includes a base rod rotatably connected to the machine body, a first disc and a second disc are fixedly mounted on the base rod, a plurality of partition plates are provided around the axis of the base rod between the first disc and the second disc, the space between the two partition plates serves as the cavity, and the leveling device is provided on the partition plates.

[0016] Furthermore, the partition plate is constructed with a sliding groove extending radially along the first disc or the second disc, and the leveling device includes an externally threaded rod horizontally arranged in the sliding groove, the first end of the externally threaded rod is rotatably connected to the inner wall of the sliding groove, the second end of the externally threaded rod passes through the partition plate and extends out of the sliding groove, the second end is rotatably connected to the partition plate, the second end of the externally threaded rod is connected to the rotating end of a second rotating motor serving as a driving mechanism of the leveling device, and a counterweight block is threadedly mounted on the externally threaded rod, and the counterweight block is limitedly slidably connected to the inner wall of the sliding groove.

[0017] Furthermore, a limit block is provided on the outer wall of the counterweight block, and the inner wall of the sliding groove is constructed with a limit channel parallel to the external threaded rod, and the limit block is slidably arranged in the limit channel.

[0018] Furthermore, there are at least four partition plates, and two adjacent partition plates are arranged at 90 degrees, and the number of the leveling devices is the same as the number of the partition plates.

[0019] Furthermore, the sensing rod is a capacitive rod, and the bottom end of the sensing rod is located on a horizontal plane below the rotating rod.

[0020] Furthermore, a side of the first disk facing the second disk and a side of the second disk facing the first disk are both constructed with a radially arranged positioning groove, one end of the positioning groove passes through a side of the first disk or the second disk away from the base rod, a positioning strip is constructed at a position corresponding to the positioning groove on the material box, and an end of the material box facing the base rod is detachably connected to the outer wall of the base rod via a magnetic mechanism.

[0021] In addition, a self-balancing express drone unloading balancing method adopts the aforementioned self-balancing express drone system;

[0022] During the delivery process, the express items are placed in the material box, and the leveling device is used to keep the quad-rotor drone in a balanced state;

[0023] After reaching the unloading area, the quadrotor drone falls onto the landing platform, allowing the rotating rod to be inserted into the driving channel, and the sensing rod to be inserted into the sensing channel;

[0024] When unloading, the processing terminal outputs a signal to make the electromagnet in a state opposite to the magnetic pole of the permanent magnet, so that the electromagnet is magnetically attracted to the bottom end of the rotating rod, and the processing terminal outputs a rotation signal to make the first rotating motor start to rotate, driving the object box so that the material box to be unloaded faces the unloading personnel;

[0025] After unloading is completed, the processing terminal outputs a signal to put the electromagnet in the same state as the permanent magnet pole, releases the magnetic attraction between the electromagnet and the rotating rod, and at the same time uses the repulsive force to lift the quad-rotor drone into a suspended state;

[0026] After unloading is completed, if the quad-rotor drone is in a balanced state, the sensing rod is not in contact with the inner wall of the sensing channel, the capacitor located on the inner wall of the sensing channel has no electrical signal output, the processing terminal does not output an electrical signal to the indicator light, the indicator light goes out, and the quad-rotor drone can take off and continue to deliver;

[0027] After unloading is completed, if the quadrotor drone is in a tilted state, the sensing rod contacts the inner wall of the sensing channel, and the capacitor outputs an electrical signal toward the processing terminal. After the processing terminal receives the electrical signal, the processing terminal outputs an electrical signal to the second rotating motor, so that the second rotating motor rotates to drive the counterweight block to move along the external threaded rod, and the center deviation of the quadrotor drone is leveled until the sensing rod is released from contact with the inner wall of the sensing channel. After the indicator light goes out, the quadrotor drone completes leveling.

[0028] During use, the present invention has the following beneficial effects:

[0029] When the four-rotor drone is fully loaded with express, it falls smoothly onto the landing platform, inserts the sensing rod into the sensing channel, and inserts the rotating rod into the driving channel. In a balanced state, the sensing rod is separated from the inner wall of the sensing channel, and the bottom end of the rotating rod is magnetically attracted to the electromagnet. Then, the rotation of the first rotating motor can make the material box at the unloading location rotate toward the recipient, making it easier to pick up the package.

[0030] After the pickup is completed, the electromagnet changes its magnetic poles and uses the repulsive force between the electromagnet and the permanent magnet to lift the entire quadcopter. Since some express items in the object box are unloaded, the balance of the object box and the entire quadcopter is destroyed. After the quadcopter is lifted under the action of repulsive force, the unbalanced state causes the sensing rod to tilt and contact the inner wall of the sensing channel. After the contact, the capacitor on the inner wall of the sensing channel outputs an electrical signal to the processing terminal. After receiving the electrical signal, the processing terminal outputs an electrical signal to the driving mechanism of the leveling device, and the leveling device is used to level the object box after unloading, so that the entire quadcopter can be in a balanced state. When all the sensing rods are no longer in contact with the inner wall of the sensing channel, the capacitor no longer outputs electrical signals to the control terminal, and the control terminal no longer controls the operation of the leveling device. The indicator light goes out and the leveling operation is completed. In this way, even if the quadcopter is partially unloaded, it can complete the overall leveling before taking off without moving the express package, thereby improving the safety during takeoff and express delivery. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural schematic diagram of the four-rotor UAV of the present invention.

[0032] Figure 2 This is a schematic diagram of the structure of the quadrotor drone of the present invention after the material box is disassembled.

[0033] Figure 3 for Figure 1 Schematic diagram of the front view structure.

[0034] Figure 4 It is a schematic diagram of the installation structure of the quad-rotor UAV of the present invention and the landing platform in the landing state.

[0035] Among them, 1-quadrotor drone, 2-landing platform, 3-sensing rod, 4-object box, 5-material box, 7-rotating rod, 8-leveling device, 9-driving channel, 10-electromagnet, 11-first rotating motor, 12-sensing channel, 13-base rod, 14-first disc, 15-second disc, 16-partition plate, 17-sliding groove, 18-external threaded rod, 19-second rotating motor, 20-counterweight block, 21-positioning groove, 22-positioning bar. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0037] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0039] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0040] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use, or the positions or positional relationships commonly understood by those skilled in the art, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0041] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] Please refer to Figures 1 to 4 As shown, a self-balancing express delivery drone system includes a quad-rotor drone 1 and a landing platform 2;

[0043] A sensing rod 3 is installed on the bottom surface of each rotor driving part of the quad-rotor drone 1;

[0044] An object box 4 is rotatably mounted on the bottom surface of the body of the quad-rotor drone 1. A plurality of cavities are constructed inside the object box 4. A material box 5 is embedded in each cavity. A rotating rod 7 is coaxially mounted on the outer bottom surface of the object box 4 with its rotation axis. The bottom end of the rotating rod 7 is a permanent magnet with fixed magnetic poles. A leveling device 8 is constructed inside the object box 4.

[0045] The landing platform 2 includes a support body;

[0046] The top surface of the support body is configured with a driving channel 9 for inserting the rotating rod 7, and an electromagnet 10 is provided at the bottom of the driving channel 9. The bottom end of the electromagnet 10 is connected to the rotating end of a first rotating motor 11. The rotating axis of the first rotating motor 11 is vertically arranged. The inner diameter of the driving channel 9 is larger than the outer diameter of the rotating rod 7.

[0047] The top surface of the support body is also configured with a sensing channel 12 for inserting the sensing rod 3, the inner wall of the sensing channel 12 is configured with a capacitor, and the inner diameter of the sensing channel 12 is greater than the outer diameter of the sensing rod 3;

[0048] The landing platform 2 also includes a processing terminal, which may be an MCU microcontroller built into the support body;

[0049] The first signal output end of the processing terminal is in communication with the driving mechanism of the leveling device 8, the second signal output end of the processing terminal is in communication with the magnetic pole changing end of the electromagnet 10, the electrical signal output end of the processing terminal is in communication with the start / stop end of the first rotating motor 11, and the first signal input end of the processing terminal is in communication with the electrical signal output end of the capacitor;

[0050] The landing platform 2 is also provided with an indicator light, which is in communication with the processing terminal.

[0051] In this way, the quadcopter 1, when fully loaded with express delivery, smoothly falls onto the landing platform 2, allowing the sensing rod 3 to be inserted into the sensing channel 12, and the rotating rod 7 to be inserted into the driving channel 9. In a balanced state, the sensing rod 3 is separated from the inner wall of the sensing channel 12, and the bottom end of the rotating rod 7 is magnetically combined with the electromagnet 10. By rotating the first rotating motor 11, the material box 5 at the unloading position to be rotated toward the recipient, making it convenient to pick up the package.

[0052] After the pickup is completed, the electromagnet 10 changes its magnetic pole, and the repulsive force between the electromagnet 10 and the permanent magnet is used to lift the entire quadcopter 1. As some express items in the object box 4 are unloaded, the object box 4 and the balance of the entire quadcopter 1 are destroyed. After the quadcopter 1 is lifted under the repulsive force, the unbalanced state causes the sensing rod 3 to tilt and contact the inner wall of the sensing channel 12. After the contact, the capacitor on the inner wall of the sensing channel 12 outputs an electrical signal to the processing terminal. After receiving the electrical signal, the processing terminal outputs an electrical signal to the driving mechanism of the leveling device 8, and the object box 4 after unloading is leveled by the leveling device 8, so that the entire quadcopter 1 can be in a balanced state. When all the sensing rods 3 are no longer in contact with the inner wall of the sensing channel 12, the capacitor no longer outputs electrical signals to the control terminal, and the control terminal no longer controls the operation of the leveling device 8, and the indicator light goes out, completing the leveling operation. In this way, even if the quadrotor drone 1 is partially unloaded, it can complete overall leveling before taking off without moving the express parcel, thereby improving safety during take-off and express delivery.

[0053] Furthermore, for the object box 4, the object box 4 includes a base rod 13 rotatably connected to the body, and a first disc 14 and a second disc 15 are fixedly mounted on the base rod 13. A plurality of partition plates 16 are arranged around the axis of the base rod 13 between the first disc 14 and the second disc 15. The cavity is formed between the two partition plates 16, and the leveling device 8 is arranged on the partition plates 16.

[0054] In this way, the overall appearance of the object box 4 can be constructed into a cylindrical shape, which can not only reduce the wind resistance of the quadcopter 1 during the express delivery flight, but also after the cylindrical object box 4 is balanced by the leveling device 8, the quadcopter 1 will not change its balance state when it moves in any direction during the movement, which can greatly improve the stability of the quadcopter 1 during the express delivery after the leveling is completed. In addition, the leveling device 8 is set on the partition plate 16, so that the leveling device 8 will not affect the express parcels in the object box 4 during the adjustment process, and the leveling device 8 and the parcels are separated to avoid interference between the two.

[0055] Specifically, for the leveling device 8, the partition plate 16 is constructed with a sliding groove 17 extending radially along the first disk 14 or the second disk 15, and the leveling device 8 includes an externally threaded rod 18 horizontally arranged in the sliding groove 17, and the first end of the externally threaded rod 18 is rotatably connected to the inner wall of the sliding groove 17, and the second end of the externally threaded rod 18 passes through the partition plate 16 and extends out of the sliding groove 17, and the second end is rotatably connected to the partition plate 16, and the second end of the externally threaded rod 18 is connected to the rotating end of the second rotating motor 19 serving as the driving mechanism of the leveling device 8, and a counterweight block 20 is threadedly installed on the externally threaded rod 18, and the counterweight block 20 is limitedly slidably connected to the inner wall of the sliding groove 17.

[0056] Moreover, a limiting block is provided on the outer wall of the counterweight block 20 , and a limiting channel parallel to the external threaded rod 18 is constructed on the inner wall of the sliding groove 17 , and the limiting block is slidably disposed in the limiting channel.

[0057] In order to enable better adjustment of the leveling device 8 , there are at least four partition plates 16 , and two adjacent partition plates 16 are arranged at 90°. The number of the leveling devices 8 is the same as the number of the partition plates 16 .

[0058] Furthermore, the sensing rod 3 is a capacitive rod, and the bottom end of the sensing rod 3 is located at a horizontal plane below the rotating rod 7 .

[0059] In this way, the sensing rod 3 can not only sense the balance state of the quadrotor drone 1, but the four sensing rods 3 can also act as landing gear. When the quadrotor drone 1 needs to land in a space outside the landing platform 2, the four sensing rods 3 can play a supporting role and serve as the landing gear of the quadrotor drone 1.

[0060] As for the installation of the material box 5, a side of the first disk 14 facing the second disk 15 and a side of the second disk 15 facing the first disk 14 are both constructed with radially arranged positioning grooves 21, one end of the positioning groove 21 passes through the side of the first disk 14 or the second disk 15 away from the base rod 13, and a positioning strip 22 is constructed at a position corresponding to the positioning groove 21 on the material box 5, and an end of the material box 5 facing the base rod 13 is detachably connected to the outer wall of the base rod 13 through a magnetic mechanism.

[0061] In addition, in this embodiment, specifically during express delivery, leveling is performed in the following manner.

[0062] A self-balancing express drone unloading balancing method is implemented based on the aforementioned self-balancing express drone system.

[0063] Specifically, during the delivery process, the express items are placed in the material box 5, and the leveling device 8 is used to keep the quad-rotor drone 1 in a balanced state;

[0064] After reaching the unloading area, the quadrotor drone 1 falls onto the landing platform 2, allowing the rotating rod 7 to be inserted into the driving channel 9, and the sensing rod 3 to be inserted into the sensing channel 12;

[0065] When unloading, the processing terminal outputs a signal to make the electromagnet 10 in a state opposite to the magnetic pole of the permanent magnet, so that the electromagnet 10 is magnetically attracted to the bottom end of the rotating rod 7, and the processing terminal outputs a rotation signal to make the first rotating motor 11 start to rotate, driving the object box 4 to make the material box 5 that needs to be unloaded face the unloading personnel;

[0066] After unloading is completed, the processing terminal outputs a signal to put the electromagnet 10 in the same state as the permanent magnet pole, releases the magnetic attraction between the electromagnet 10 and the rotating rod 7, and at the same time uses the repulsive force to lift the quadrotor drone 1 into a suspended state;

[0067] After unloading is completed, if the quad-rotor drone 1 is in a balanced state, the sensing rod 3 is not in contact with the inner wall of the sensing channel 12, and the capacitor located on the inner wall of the sensing channel 12 has no electrical signal output, the processing terminal does not output an electrical signal to the indicator light, the indicator light goes out, and the quad-rotor drone 1 can take off and continue to deliver;

[0068] After unloading is completed, if the quadrotor drone 1 is in a tilted state, the sensing rod 3 contacts the inner wall of the sensing channel 12, and the capacitor outputs an electrical signal toward the processing terminal. After the processing terminal receives the electrical signal, the processing terminal outputs an electrical signal to the second rotating motor 19, so that the second rotating motor 19 rotates to drive the counterweight block 20 to move along the external threaded rod 18, and the center deviation of the quadrotor drone 1 is leveled until the sensing rod 3 is released from contact with the inner wall of the sensing channel 12. After the indicator light goes out, the quadrotor drone 1 completes leveling.

[0069] The process of leveling is described below with an example. Take the case where there are four partitions 16 and the weight of the materials in each material box 5 is equal. The four material boxes 5 are numbered in the four directions of southeast, northwest, and northeast. After the express parcels in the north are unloaded, there are still parcel weights in the other three directions. At this time, the center of gravity of the quadcopter 1 will generally be biased to the south. At this time, the leveling device 8 on the partition 16 located at the southwest junction and the southeast junction starts to operate, so that the counterweight block 20 in the corresponding leveling device 8 moves to the direction close to the base rod 13, that is, moves toward the center position of the object box 4; correspondingly, the leveling device 8 on the partition 16 located at the northwest junction and the northeast junction starts to operate at the same time, so that the counterweight block 20 in the corresponding leveling device 8 moves to the direction away from the base rod 13, that is, moves toward the outer edge of the object box 4. During the movement of the counterweight block 20, when the sensing rod 3 is released from contact with the inner wall of the sensing channel 12, all the leveling devices 8 are stopped immediately. At this time, the leveling is completed, and the quadcopter 1 after unloading the material can take off smoothly.

[0070] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A self-balancing express delivery drone system, characterized in that: It includes a quad-rotor drone (1) and a landing platform (2); A sensing rod (3) is installed on the bottom surface of each rotor driving part of the quad-rotor drone (1); An object box (4) is rotatably mounted on the bottom surface of the body of the quad-rotor drone (1), the object box (4) is constructed with a plurality of cavities, each cavity having a material box (5) embedded therein, a rotating rod (7) is coaxially mounted on the outer bottom surface of the object box (4) and its rotation axis, the bottom end of the rotating rod (7) is a permanent magnet with fixed magnetic poles, and a leveling device (8) is constructed inside the object box (4); The landing platform (2) comprises a support body; The top surface of the support body is configured with a driving channel (9) for inserting the rotating rod (7); an electromagnet (10) is provided at the bottom of the driving channel (9); the bottom end of the electromagnet (10) is connected to the rotating end of a first rotating motor (11); the rotating axis of the first rotating motor (11) is vertically arranged; and the inner diameter of the driving channel (9) is greater than the outer diameter of the rotating rod (7); The top surface of the support body is also configured with a sensing channel (12) for inserting the sensing rod (3), the inner wall of the sensing channel (12) is configured with a capacitor, and the inner diameter of the sensing channel (12) is greater than the outer diameter of the sensing rod (3); The landing platform (2) also includes a processing terminal; The first signal output end of the processing terminal is in communication with the driving mechanism of the leveling device (8), the second signal output end of the processing terminal is in communication with the magnetic pole changing end of the electromagnet (10), the electrical signal output end of the processing terminal is in communication with the start / stop end of the first rotating motor (11), and the first signal input end of the processing terminal is in communication with the electrical signal output end of the capacitor; An indicator light is also installed on the landing platform (2), and the indicator light is in communication with the processing terminal.

2. A self-balancing express delivery drone system according to claim 1, characterized in that: The object box (4) comprises a base rod (13) rotatably connected to the machine body, a first disc (14) and a second disc (15) being fixedly mounted on the base rod (13), a plurality of partition plates (16) being arranged around the axis of the base rod (13) between the first disc (14) and the second disc (15), a cavity being formed between the two partition plates (16), and the leveling device (8) being arranged on the partition plates (16).

3. A self-balancing express delivery drone system according to claim 2, characterized in that: The partition plate (16) is provided with a sliding groove (17) extending radially along the first disc (14) or the second disc (15); the leveling device (8) comprises an externally threaded rod (18) horizontally arranged in the sliding groove (17); a first end of the externally threaded rod (18) is rotatably connected to the inner wall of the sliding groove (17); a second end of the externally threaded rod (18) passes through the partition plate (16) and extends out of the sliding groove (17); the second end is rotatably connected to the partition plate (16); the second end of the externally threaded rod (18) is connected to the rotating end of a second rotating motor (19) serving as a driving mechanism of the leveling device (8); a counterweight (20) is threadedly mounted on the externally threaded rod (18); and the counterweight (20) is slidably connected to the inner wall of the sliding groove (17) in a limited position.

4. A self-balancing express delivery drone system according to claim 3, characterized in that: The outer wall of the counterweight block (20) is provided with a limit block, the inner wall of the sliding groove (17) is configured with a limit channel parallel to the external threaded rod (18), and the limit block is slidably disposed in the limit channel.

5. A self-balancing express delivery drone system according to claim 4, characterized in that: There are at least four partition plates (16), and two adjacent partition plates (16) are arranged at 90 degrees, and the number of the leveling devices (8) is the same as the number of the partition plates (16).

6. A self-balancing express delivery drone system according to claim 5, characterized in that: The sensing rod (3) is a capacitive rod, and the bottom end of the sensing rod (3) is located on a horizontal plane below the rotating rod (7).

7. A self-balancing express delivery drone system according to claim 6, characterized in that: A radially arranged positioning groove (21) is formed on one side of the first disk (14) facing the second disk (15) and a radially arranged positioning groove (21) is formed on one side of the second disk (15) facing the first disk (14). One end of the positioning groove (21) passes through a side of the first disk (14) or the second disk (15) away from the base rod (13). A positioning strip (22) is formed on the material box (5) at a position corresponding to the positioning groove (21). One end of the material box (5) facing the base rod (13) is detachably connected to an outer wall of the base rod (13) via a magnetic mechanism.

8. A self-balancing express delivery drone unloading balancing method, characterized in that: A self-balancing express delivery drone system according to any one of claims 4 to 7; During the delivery process, the express items are placed in the material box (5), and the leveling device (8) is used to keep the quad-rotor drone (1) in a balanced state; After reaching the unloading area, the quad-rotor drone (1) falls onto the landing platform (2), allowing the rotating rod (7) to be inserted into the driving channel (9), and the sensing rod (3) to be inserted into the sensing channel (12); When unloading, the processing terminal outputs a signal to place the electromagnet (10) in a state opposite to the magnetic pole of the permanent magnet, so that the electromagnet (10) is magnetically attracted to the bottom end of the rotating rod (7), and the processing terminal outputs a rotation signal to start the first rotating motor (11) to rotate, driving the object box (4) so ​​that the material box (5) to be unloaded faces the unloading personnel; After unloading is completed, the processing terminal outputs a signal to place the electromagnet (10) in the same state as the magnetic poles of the permanent magnet, thereby releasing the magnetic attraction between the electromagnet (10) and the rotating rod (7), and at the same time using repulsive force to lift the quad-rotor drone (1) into a suspended state; After unloading is completed, if the quadrotor drone (1) is in a balanced state, the sensing rod (3) is not in contact with the inner wall of the sensing channel (12), the capacitor located on the inner wall of the sensing channel (12) has no electrical signal output, the processing terminal does not output an electrical signal to the indicator light, the indicator light goes out, and the quadrotor drone (1) can take off and continue to deliver; After unloading is completed, if the quadrotor drone (1) is in a tilted state, the sensing rod (3) contacts the inner wall of the sensing channel (12), and the capacitor outputs an electrical signal toward the processing terminal. After the processing terminal receives the electrical signal, the processing terminal outputs an electrical signal to the second rotating motor (19), causing the second rotating motor (19) to rotate, thereby driving the counterweight (20) to move along the external threaded rod (18), and leveling the center deviation of the quadrotor drone (1) until the sensing rod (3) is no longer in contact with the inner wall of the sensing channel (12). After the indicator light goes out, the quadrotor drone (1) has completed leveling.

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