An unmanned aerial vehicle docking automatic loading and unloading system

Abstract

The application relates to an unmanned aerial vehicle (UAV) docking automatic loading and unloading system, and belongs to the technical field of logistics transportation. The UAV docking automatic loading and unloading system comprises a parking platform, a sensor group, a rotating platform, a loading and unloading mechanism, a storage and a control module. The parking platform is used for parking the UAV; the sensor group is used for detecting position information and angle information of two sides of a cargo box carried by the UAV; the loading and unloading mechanism moves the material box into or out of the cargo box; the storage stores preset parking position information of the cargo box and a preset moving route of the material box; the control module compares the position information of the two sides of the cargo box detected by the sensor group with the preset parking position information, controls the stopping or moving of the UAV, and controls the rotating of the parking platform according to the deflection angle information of the two sides of the cargo box detected by the sensor group, so that the opening of the cargo box is opposite to the preset moving direction of the material box. The UAV docking automatic loading and unloading system provided by the application can meet the docking requirements of heavy UAVs.

Description

Technical Field

[0001] This application relates to the field of logistics and transportation technology, and more specifically, to an automated loading and unloading system for drone docking. Background Technology

[0002] Unmanned aerial vehicle (UAV) docking automated loading and unloading systems are key equipment for achieving full automation of the logistics process and improving transfer efficiency. In such systems, after the UAV lands, its onboard cargo box needs to be precisely aligned with a fixed loading and unloading mechanism in order to automatically move the internal containers (or goods) out or load them in.

[0003] In existing technologies, when conventional drone automatic loading and unloading systems encounter deviations in the drone's parking position, a common positioning correction method is to use a mechanical pushing device (such as a push rod or slide rail) set on the parking platform to directly act on the drone's fuselage or landing gear, pushing the drone to move laterally or longitudinally on the parking platform until its cargo box opening is aligned with the execution path of the loading and unloading mechanism.

[0004] However, this method of positioning drones has significant limitations, especially in the increasingly common scenarios involving medium and large cargo drones. For drones with a large weight or transporting heavy cargo, the friction between the drone and the pusher is difficult to control, which may lead to decreased positioning accuracy, shaking of the landing platform, or even the risk of tipping over.

[0005] Therefore, there is an urgent need for a new type of automated loading and unloading system that enables high-precision and rapid alignment between heavy-duty drones and loading and unloading mechanisms, in order to solve the above-mentioned technical bottlenecks and meet the docking needs of modern heavy-duty logistics drones. Summary of the Invention

[0006] The purpose of this application is to provide an automated loading and unloading system for drone docking, which can meet the docking needs of heavy drones and improve the above-mentioned problems.

[0007] This application is achieved through the following technical solution:

[0008] This application provides an automated loading and unloading system for drones. The system includes a parking platform, two sets of sensor groups, a turntable, a loading and unloading mechanism, a memory, and a control module. The parking platform has a parking area for parking drones. The two sets of sensor groups are arranged around the parking area to detect the position information and deflection angle information of the two mutually perpendicular sides of the cargo box carried by the drone. The turntable is located at the bottom of the parking platform and is used to drive the parking platform to rotate. The loading and unloading mechanism is used to move the cargo box into or out of the cargo box. The memory stores the preset parking position information and the preset movement route of the cargo box. The control module is used to compare the position information of the two mutually perpendicular sides of the cargo box detected by the two sets of sensor groups with the preset parking position information to control the drone to stop or move. The control module is also used to control the turntable to drive the parking platform to rotate based on the deflection angle information of the two mutually perpendicular sides of the cargo box detected by the sensor groups and the preset movement route of the cargo box, so that the opening of the cargo box carried by the drone parked on the parking platform is aligned with the preset movement direction of the cargo box.

[0009] In the technical solution of this application embodiment, the UAV docking automatic loading and unloading system replaces the traditional docking system's reliance on mechanical push rods to directly push the UAV through a holistic approach of sensor detection and a rotating turntable. This achieves non-contact positioning correction, avoiding the friction control problems, uncontrollable fuselage slippage, and potential positioning accuracy degradation caused by pushing heavy UAVs. For medium to large cargo UAVs with significant weight, rotating the entire dock provides power to a robust ground foundation, ensuring a smooth and controllable process. This eliminates the risk of overall shaking or even tipping over that could occur with direct fuselage pushing, improving the system's safety and reliability when handling heavy loads. Both sensor detection and turntable rotation are high-speed electric control processes, with comparison and calculation rapidly completed by the control module. The entire process from detection to alignment can be completed in a short time and is independent of the UAV's weight, meeting the high turnover efficiency requirements of modern logistics and resolving the technical bottlenecks mentioned in the background section.

[0010] In some embodiments, the parking area is also equipped with an electromagnet, which can attract and fix the cargo box in the parking area by its own magnetic force.

[0011] In the technical solution of this application embodiment, when the turntable drives the heavy parking platform and drone to rotate, the strong electromagnetic adsorption force ensures that no slight relative slippage or wobbling occurs between the cargo box and the platform. This solves the displacement risk that may occur under the rotational inertia of heavy loads, enabling high-precision angle alignment to be reliably achieved. Compared with traditional mechanical clamps or clamping devices, electromagnetic adsorption is a non-contact fixing method. It requires no complex mechanical actions, does not cause compression or wear on the cargo box structure, and is quick, quiet, and easy to control when fixing and releasing. In outdoor or ventilated warehouse environments, the continuous adsorption force provided by the electromagnet can effectively resist the interference of gusts of wind or slight vibrations generated by the operation of the equipment itself on the aligned state, ensuring the safety and accuracy of the entire loading and unloading operation.

[0012] In some embodiments, the electromagnet is connected to a guide rod; the stop area is provided with a guide groove that slides with the guide rod, the guide groove restricts the guide rod to move only along the height direction of the stop platform; an elastic element is sleeved on the guide rod, the two ends of the elastic element abut against the stop area and the electromagnet respectively, so that the electromagnet remains separated from the stop area under the support of the elastic element.

[0013] In the technical solution of this application embodiment, regardless of whether there is slight unevenness at the bottom of the cargo box or slight tilting when the drone is parked, the electromagnet can move independently under the weight of the cargo box, adaptively adjusting the height of each electromagnet unit to ensure that the attraction surface of the electromagnet is in full contact with the bottom surface of the cargo box. This eliminates the risk of significant attenuation of attraction force due to gaps between the electromagnet and the cargo box, which is crucial for ensuring the secure fixing of heavy loads. The elastic element contracts instantly upon contact between the cargo box and the electromagnet, preventing a hard collision between the cargo box and the rigidly fixed electromagnet, protecting the bottom structure of the cargo box and the electromagnet itself. At the same time, the smooth contact process also reduces the impact on the docked drone.

[0014] In some embodiments, the electromagnet has a plurality of first supports on the surface of the cargo box facing the cargo box; the bottom of the cargo box has an operating port; the first supports are configured to extend from the operating port into the cargo box carried by the drone parked in the parking area to lift the cargo box.

[0015] In the technical solution of this application embodiment, since the friction between the first support member and the material box is small, the loading and unloading mechanism no longer needs to be designed to be bulky and powerful to overcome the huge static friction. A lighter, faster, and more precise linear module can be used, reducing energy consumption, noise, and equipment wear. This ensures a smooth and precise loading and unloading process, avoiding jamming and cargo vibration, and eliminating interference from unpredictable frictional changes (such as uneven bottom surfaces or the influence of debris). The material box moves smoothly throughout the entire moving-out / moving path, with high speed controllability, avoiding starting impact caused by suddenly overcoming static friction, protecting the safety of the internal cargo, especially for fragile items. For overweight material boxes, the friction between the material box and the cargo box may be so great that traditional side loading and unloading methods fail or significantly increase the risk. This solution, through a lifting-to-eliminate friction mode, makes loading and unloading heavy material boxes as easy and controllable as loading and unloading light material boxes. The system's upper limit for handling heavy loads is no longer limited by friction, but only by the strength of the support member and structure, expanding the system's application range.

[0016] In some embodiments, the first support is a ball bearing; the ball bearing is rotatably disposed on the electromagnet.

[0017] In the technical solution of this application embodiment, the contact mode between the support and the material box is changed from potential sliding friction to rolling friction, reducing the power requirement and operating energy consumption of the loading and unloading mechanism. Sliding static friction is usually greater than dynamic friction and is unstable, causing the mechanism to need to overcome an additional peak force during startup, easily leading to crawling and affecting positioning accuracy. The rolling characteristics of the balls eliminate the static friction peak, making the movement of the material box smooth and controllable from startup to the entire process, improving the accuracy and consistency of loading and unloading positioning. The wear on the bottom of the material box and the electromagnet itself from rolling friction is much less than that from sliding friction. This extends the service life of the material box, reduces the frequency of maintenance and replacement of the electromagnet, and lowers long-term operating costs. The balls support rolling in any direction, making it easier to adjust the material box when fine-tuning is needed or when there are slight alignment deviations in the loading and unloading mechanism path, increasing the system's flexibility in dealing with minor errors.

[0018] In some embodiments, the stopping area is further provided with a positioning mechanism; the positioning mechanism includes a pair of opposing second supports; the second supports face the operating port; in the width direction of the cargo box, the distance between the pair of second supports is greater than the width of the cargo box, and the center of the line connecting the pair of second supports is located on the preset movement path of the cargo box; the second supports are configured to rise after the opening of the cargo box faces the movement path of the cargo box, and enter the cargo box through the operating port, so as to push one side of the cargo box to tilt when the cargo box deviates from the preset movement path, thereby causing the cargo box to slide to the position aligned with the center of the cargo box to face the preset movement path.

[0019] In the technical solution of this application embodiment, the positioning mechanism solves the problem that the position of the material box may shift within the cargo box due to transportation, potentially hindering the normal operation of the loading and unloading mechanism, thus improving the success rate of full-process automation. It employs a purely mechanical correction principle of pushing one side to tilt it and using gravity to slide it back into place, rather than using a high-power linear motor to directly push the heavy material box. This method requires less driving force, produces smoother movements, consumes less energy, and has higher reliability.

[0020] In some embodiments, the top of the second support member is further provided with a first rolling element; the second support member pushes one side of the material box to tilt through the first rolling element.

[0021] In the technical solution of this application embodiment, during the stage of triggering the tilting of the material box, the first rolling element reduces the friction between the second support and the side of the material box. This reduces the power required to drive the second support upward, lightens the load on the mechanism, and lowers overall energy consumption. For standardized material boxes with potentially delicate surfaces, rigid direct pushing poses a risk of scratching the paint or structure. The rolling contact of the first rolling element is gentle, avoiding damage to the outer wall of the material box during the correction process and extending the service life of the logistics carrier. The intervention of rolling friction makes the correction mechanism operate more smoothly and reliably. It reduces jamming or shaking caused by excessive or uneven friction, improves the success rate of correction, and makes the operation of the entire system more precise and reliable.

[0022] In some embodiments, a lifting mechanism is also included, which drives the landing platform to move up and down so that the position of the landing area switches between the landing point of the UAV and the loading and unloading point of the loading and unloading bin of the loading and unloading mechanism.

[0023] In the technical solution of this application embodiment, the landing / takeoff and loading / unloading of the drone, two stages with different environmental requirements, are spatially (heightwise) separated. The landing point can focus on a wide field of vision and clear guidance; the loading / unloading point can focus on precise docking with fixed equipment and good protection. They do not interfere with each other, each achieving its optimal operating condition. By adjusting the height of the two points, the system can easily adapt to drone models with different landing gear heights, as well as existing loading / unloading infrastructure at different working heights (such as high-platform freight car workshops and low-profile automated sorting lines), without requiring large-scale site modifications, greatly enhancing deployment flexibility. When operating at the loading / unloading point, the drone is at a lower position, reducing the risks associated with high-altitude operations and allowing maintenance personnel to more safely approach and handle anomalies when necessary. Simultaneously, the loading / unloading mechanism does not need to be designed to be very long or have lifting functions, resulting in a simpler structure, better rigidity, and higher reliability.

[0024] In some embodiments, a pusher frame is also included, which is arranged around the stopping area; when the stopping platform is lifted and lowered by the lifting mechanism, the lid of the cargo box opening can be engaged with and pushed by the pusher frame so that the cargo box opening is in the open state when it reaches the loading and unloading point of the cargo box.

[0025] In the technical solution of this application embodiment, the automatic opening and closing of the container lid is achieved by setting up a push frame in conjunction with the lifting of the landing platform, eliminating the need for manual or additional equipment to operate the lid before / after loading and unloading. The loading and unloading process is completely unmanned, and the process is significantly shortened. This design utilizes the lifting mechanism, which is a necessary power source, to open the lid through a purely mechanical push frame, eliminating the need for separate motors, cylinders, or other drive devices and corresponding control systems for opening the lid. The structure is simple, the failure rate is low, and no additional energy consumption is added. The lid is automatically opened only in a safe, enclosed environment at the loading and unloading point, reducing the impact of the external environment (such as wind, rain, and foreign objects) on the interior of the cargo container. At the same time, it avoids collision accidents of the loading and unloading mechanism caused by forgetting to open the lid, or flight safety hazards caused by forgetting to close the lid.

[0026] In some embodiments, a second rolling element is also provided on the surface of the parking platform facing the drone; the second rolling element is located on a preset movement path of the hopper to support the hopper during loading and unloading.

[0027] In the technical solution of this application embodiment, the material box may experience sliding friction with the rigid platform after being removed from the cargo box, which can become a point of resistance and a source of wear. The second rolling element solves this friction problem, minimizing and uniformly distributing the movement resistance of the material box throughout the entire removal / removal path. It prevents the bottom edge of the heavy material box from directly scraping against the rigid surface of the stop table, providing particularly good protection for material boxes made of composite materials or with protruding structures. The rolling support makes the material box movement smoother, without jamming or jumping, which is beneficial for the loading and unloading mechanism to perform precise speed and position control, thereby improving the placement accuracy of the material box when docking with the external conveyor line.

[0028] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1This is a schematic diagram of the overall structure of an automated loading and unloading system for drone docking provided in some embodiments of this application;

[0031] Figure 2 This is a schematic diagram of the structure of an automated loading and unloading system for drone docking provided in some embodiments of this application;

[0032] Figure 3 Schematic diagram of the structure of an automated loading and unloading system for drone docking provided in other embodiments of this application;

[0033] Figure 4 This is a schematic diagram of the overall structure of the parking platform provided in some embodiments of this application;

[0034] Figure 5 A schematic diagram of a stop platform equipped with a positioning mechanism provided in some embodiments of this application;

[0035] Figure 6 A schematic diagram of the structure of the positioning mechanism provided in some embodiments of this application when it is used with a cargo box;

[0036] Figure 7 This application provides structural schematic diagrams of a cargo box containing a material box as shown in some embodiments.

[0037] Figure 8 A front view of a drone and a landing pad provided for some embodiments of this application;

[0038] Figure 9 A front view of the drone and the landing platform when a material box is placed inside the cargo box, provided in some embodiments of this application;

[0039] Figure 10 When the hopper is tilted by the second support member Figure 9 Enlarged view of point A in the middle;

[0040] Figure 11 When the material box slides after tilting Figure 9 Enlarged view of point A in the middle;

[0041] Figure 12 When the material bin is aligned with the preset movement path Figure 9 Enlarged view of point A in the middle.

[0042] Icons: 1-Drone; 10-Cargo box; 100-Operation port; 101-Box cover; 11-Bag; 2-Stopping platform; 20-Stopping area; 21-Second rolling element; 3-Sensor group; 4-Turntable; 5-Loading and unloading mechanism; 6-Electromagnet; 60-Guide rod; 61-Elastic element; 62-First support element; 7-Positioning mechanism; 70-Second support element; 700-First rolling element; 8-Lifting mechanism; 9-Push frame. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0044] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in the description of this application is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms "comprising" and "having," and any variations thereof, in the description, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the description, claims, or accompanying drawings of this application are used to distinguish different objects, not to describe a specific order or hierarchy.

[0045] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0046] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "attachment" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0047] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0048] In this application, "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0049] According to some embodiments of this application, optionally, such as Figures 1-3 As shown, this application provides an automated loading and unloading system for drones. The system includes a docking platform 2, two sets of sensor groups 3, a turntable 4, a loading and unloading mechanism 5, a memory, and a control module. The docking platform 2 has a parking area 20 for parking the drone 1. The two sets of sensor groups 3 are arranged around the parking area 20 to detect the position and deflection angle information of two mutually perpendicular sides of the cargo box 10 carried by the drone 1. The turntable 4 is located at the bottom of the docking platform 2 to drive the platform 2 to rotate. The loading and unloading mechanism 5 is used to move the material box 11 into or out of the cargo box 10. The memory stores... The system stores the preset parking position information of the cargo box 10 and the preset moving route of the material box 11. The control module is used to compare the position information of the two mutually perpendicular sides of the cargo box 10 detected by the two sets of sensor groups 3 with the preset parking position information to control the drone 1 to stop or move. The control module is also used to control the turntable 4 to drive the parking platform 2 to rotate based on the deflection angle information of the two mutually perpendicular sides of the cargo box 10 detected by the sensor group 3 and the preset moving route of the material box 11, so that the opening of the cargo box 10 carried by the drone 1 parked on the parking platform 2 is directly facing the preset moving direction of the material box 11.

[0050] The sensor group 3 mentioned in this application includes at least two sensors, which may be, but are not limited to, vision sensors (such as industrial cameras), laser displacement sensors, infrared rangefinders, etc.

[0051] The drone 1 mentioned in this application is a medium-to-large cargo drone 1, characterized by its large weight, high payload (capable of transporting heavy cargo), and large fuselage size. It is mainly used in scenarios such as trunk logistics and heavy material transportation. The stability and load-bearing capacity requirements of the positioning and correction device for this type of drone 1 are much higher than those for small drones 1.

[0052] In practical applications, when a drone 1 carrying a standardized cargo container 10 prepares to land, the drone docking automatic loading and unloading system provided in this application is activated. The drone 1 first lands on the parking area 20 of the parking platform 2. Due to landing accuracy limitations, the actual parking position of the drone 1 may deviate from the preset parking position information stored in the memory, and the cargo container 10 it carries may be tilted at a certain angle. At this time, two sets of sensor groups 3 (for example, one set is a laser rangefinder and angle sensor array located in the X direction, and the other set is a similar array located in the Y direction) set around the parking area 20 start working simultaneously. They scan two mutually perpendicular sides of the cargo container 10 respectively, and obtain the position information (i.e., the distance of the side relative to the sensor baseline) and deflection angle information of these two sides in real time. The control module first processes the position information. It quickly compares the side position measured in real time by the two sets of sensors with the preset parking position information (i.e., the position coordinates of the side of the cargo container 10 in the ideal alignment state). If the deviation is within the allowable movement threshold, the control module determines that the UAV 1 has come to a stop and stops issuing movement commands. If the deviation is large, the control module sends a fine position adjustment command to the UAV 1 flight control system, guiding the UAV 1 to make slight movements within the parking area 20 to the acceptable range. After the UAV 1 is parked in the correct position, the system enters the critical alignment stage. The control module then analyzes the deflection angle information provided by the two sets of sensors and calculates the angle between the current opening direction of the cargo box 10 and the preset movement path direction of the material box 11 in the memory. Subsequently, the control module issues a command to the turntable 4. The turntable 4 is located at the bottom of the parking platform 2. Under the precise control of the control module, it drives the entire parking platform 2, along with the UAV 1 on it, to rotate smoothly until the opening of the cargo box 10 is completely aligned with the preset movement direction of the material box 11. After alignment, the loading and unloading mechanism 5 (e.g., a robotic arm driven by a linear module) is activated. It runs strictly along the preset movement path aligned with the opening of the cargo box 10, smoothly moving the material box 11 into or out of the cargo box 10, completing the automated loading and unloading operation.

[0053] The automated loading and unloading system for drones provided in this application replaces the traditional method of directly pushing the drone 1 using mechanical push rods through a sensor detection and a rotating turntable 4 and a parking platform 2. This achieves non-contact positioning and correction, avoiding the friction control problems, uncontrollable body sliding, and potential positioning accuracy degradation caused by pushing heavy drones 1. For medium to large cargo drones 1 with significant weight, rotating the entire parking platform 2 applies power to a robust ground foundation, ensuring a smooth and controllable process. This eliminates the risk of overall shaking or even tipping that could occur from directly pushing the drone, improving the safety and reliability of the system when handling heavy loads. Both sensor detection and turntable 4 rotation are high-speed electrically controlled processes, with comparison and calculation completed rapidly by the control module. The entire process from detection to alignment can be completed in a short time and is independent of the drone 1's weight, meeting the high turnover efficiency requirements of modern logistics and solving the technical bottlenecks mentioned in the background.

[0054] According to some embodiments of this application, optionally, such as Figure 4 As shown, the parking area 20 is also equipped with an electromagnet 6, which can attract and fix the cargo box 10 to the parking area 20 through its own magnetic force.

[0055] In practical applications, after the drone 1 has come to a stable stop and the control module confirms that its position is within the calibrable range, before issuing a command to drive the turntable 4 to rotate the parking platform 2, the control module first activates the electromagnets 6 preset in the parking area 20. These electromagnets 6 generate a strong magnetic attraction force, acting on the bottom of the cargo box 10 (usually made of magnetically conductive metal material, or the bottom of the cargo box 10 has a magnetically conductive plate embedded), thereby firmly and stably adsorbing and fixing the cargo box 10 and its internal material bin 11, along with the drone 1, onto the platform of the parking area 20. Subsequently, the turntable 4 drives the entire parking platform 2 to rotate and align. Only after the loading and unloading mechanism 5 completes the loading or unloading of the material bin 11 will the electromagnets 6 be de-energized and released, allowing the drone 1 to take off safely.

[0056] As the turntable 4 drives the heavy parking platform 2 and the drone 1 to rotate, the powerful electromagnetic adsorption ensures that there is no slight relative slippage or wobbling between the cargo box 10 and the platform. This eliminates the risk of displacement that may occur under the rotational inertia of heavy loads, enabling reliable high-precision angle alignment. Compared with traditional mechanical clamps or clamping devices, electromagnetic adsorption is a non-contact fixing method. It requires no complex mechanical movements, does not cause compression or wear on the structure of the cargo box 10, and is quick, quiet, and easy to control in fixing and releasing. In outdoor or ventilated warehouse environments, the continuous adsorption force provided by the electromagnet 6 can effectively resist the interference of gusts of wind or slight vibrations generated by the operation of the equipment on the aligned state, ensuring the safety and accuracy of the entire loading and unloading process.

[0057] According to some embodiments of this application, optionally, such as Figure 4 As shown, the electromagnet 6 is connected to a guide rod 60; the stop area 20 is provided with a guide groove that slides with the guide rod 60, and the guide groove restricts the guide rod 60 to move only along the height direction of the stop platform 2; an elastic element 61 is sleeved on the guide rod 60, and the two ends of the elastic element 61 abut against the stop area 20 and the electromagnet 6 respectively, so that the electromagnet 6 remains separated from the stop area 20 under the support of the elastic element 61.

[0058] In practical application, when the drone 1 lands in parking area 20, the cargo box 10 or the bottom of the drone 1 first contacts the platform of parking area 20. As the weight of the drone 1 is fully applied, the heavy cargo box 10 presses downwards, and its bottom contacts the slightly raised or flat surfaces of the electromagnets 6. Under the action of the gravity of the cargo box 10, the electromagnets 6 overcome the elastic force of the elastic element 61 and move smoothly downwards along the guide groove a short distance until they are mechanically limited or reach equilibrium. This process ensures that the adsorption surface of the electromagnets 6 and the bottom of the cargo box 10 achieve a large-area, gapless, and tight fit. Subsequently, the control module activates the electromagnets 6, generating a strong magnetic force to firmly attract the cargo box 10. At this time, the weight of the cargo box 10 is mainly supported by the magnetic force of the electromagnets 6, and the elastic element 61 is in a further compressed state. After completing the rotation alignment and loading / unloading operations, the electromagnets 6 are de-energized, and the magnetic force disappears. The elastic force stored in the elastic element 61 is released, smoothly pushing the electromagnet 6 upward back to its initial standby position separated from the platform, preparing it for the takeoff of the drone 1 or the next round of operations.

[0059] Regardless of slight unevenness at the bottom of the cargo box 10, or a slight tilt when the drone 1 is parked, the electromagnet 6 can move independently under the weight of the cargo box 10, adaptively adjusting the height of each electromagnet 6 unit to ensure that the adsorption surface of the electromagnet 6 is in full contact with the bottom surface of the cargo box 10. This eliminates the risk of significant attenuation of the adsorption force due to gaps between the electromagnet 6 and the cargo box 10, which is crucial for ensuring the secure fixing of heavy loads. The elastic element 61 contracts at the moment of contact between the cargo box 10 and the electromagnet 6, preventing a hard collision between the cargo box 10 and the rigidly fixed electromagnet 6, protecting the bottom structure of the cargo box 10 and the electromagnet 6 itself. At the same time, the smooth contact process also reduces the impact on the docked drone 1.

[0060] According to some embodiments of this application, optionally, such as Figures 5-6 As shown, the electromagnet 6 has a plurality of first support members 62 on the surface facing the cargo box 10; the bottom of the cargo box 10 has an operation port 100; the first support members 62 are configured to extend from the operation port 100 into the cargo box 10 carried by the drone 1 parked in the parking area 20 to lift the material box 11.

[0061] During loading and unloading operations, the static friction between the material box 11 and the inner bottom surface of the cargo box 10 is the main factor hindering the smooth sliding of the material box 11. This friction is particularly significant when the material box 11 is fully loaded, requiring the loading / unloading mechanism 5 (which pushes, pulls, or forks the material box 11) to output enormous power, and easily leading to jamming, wear, or inaccurate positioning of the material box 11. As the landing gear of the UAV 1 continues to compress or the entire fuselage lowers, the cargo box 10, along with the material box 11 inside, moves downwards. During this process, the stationary first support member 62 blocks the descent of the material box 11, while the cargo box 10 continues to sink relatively. As a result, when the UAV 1 comes to a complete stop on the parking area 20, the material box 11 is completely lifted by the first support member 62 and detached from the inner bottom surface of the cargo box 10. Subsequently, the electromagnet 6 is energized, firmly attracting and fixing the cargo box 10. At this point, the material box 11 is suspended and supported on the first support member 62, without contact with the bottom plate of the cargo box 10; the cargo box 10 itself is fixed by electromagnetic force. The bottom of the material box 11 is completely disconnected from the inner bottom surface of the cargo box 10, forming a tiny suspended gap. This state directly eliminates the sliding friction and static friction between the two. At this point, the weight of the lifted and suspended material box 11 is entirely supported by the vertical first support member 62. The loading and unloading mechanism 5 only needs to overcome the inertia of the material box 11 itself and the extremely small friction between the first support member 62 and the material box 11 to easily pull it horizontally out of the cargo box 10 or push it into the predetermined suspended position with a small horizontal force. This reduces the power requirement and mechanical load of the loading and unloading mechanism 5.

[0062] Because the friction between the first support 62 and the bin 11 is relatively small, the loading and unloading mechanism 5 no longer needs to be designed to be bulky and powerful to overcome the huge static friction. It can adopt a lighter, faster, and more precise linear module, reducing energy consumption, noise, and equipment wear. This ensures a smooth and precise loading and unloading process, avoiding jamming and cargo vibration, and eliminating interference from unpredictable frictional changes (such as uneven bottom surfaces or the influence of debris). The bin 11 moves smoothly throughout the entire in / out path with high speed controllability, avoiding starting impacts caused by suddenly overcoming static friction, protecting the safety of the internal cargo, especially fragile items. For overweight bins 11, the friction between bin 11 and the cargo box 10 may be so great that traditional side loading and unloading methods may fail or significantly increase the risk. This solution, through a lifting-to-eliminate friction mode, makes loading and unloading heavy-duty bins 11 as easy and controllable as loading and unloading light-duty bins 11. The system's capacity to handle heavy loads is no longer limited by friction, but only by the strength of the support and structure, expanding the system's application range.

[0063] According to some embodiments of this application, optionally, such as Figures 5-6 As shown, the first support member 62 is a ball bearing; the ball bearing is rotatably mounted on the electromagnet 6.

[0064] In practical applications, since the supporting components are ball bearings, the horizontal movement of the bottom of the material box 11 during movement will drive the ball bearings to roll. Rolling friction resistance is much less than sliding friction resistance, which reduces the horizontal force required for the loading / unloading mechanism 5 to push the material box 11, resulting in smoother and more stable movement. After the drone 1 comes to a stop, the electromagnet 6 is energized to attract and fix the cargo box 10. During loading and unloading, the loading / unloading mechanism 5 contacts the material box 11 and applies a horizontal force. As the material box 11 moves horizontally, its bottom rolls forward on the ball bearings, reducing movement resistance and potential jamming, making the loading and unloading process smooth and efficient.

[0065] This embodiment changes the contact between the support and the hopper 11 from potential sliding friction to rolling friction, reducing the power requirements and operating energy consumption of the loading / unloading mechanism 5. Sliding static friction is typically greater than dynamic friction and is unstable, requiring an additional peak force to overcome during mechanism startup, which can easily lead to crawling and affect positioning accuracy. The rolling characteristics of the balls eliminate the static friction peak, making the movement of the hopper 11 smooth and controllable from startup to the entire process, improving the accuracy and consistency of loading / unloading positioning. The wear on the bottom of the hopper 11 and the electromagnet 6 itself from rolling friction is far less than that from sliding friction. This extends the service life of the hopper 11 and reduces the frequency of maintenance and replacement of the electromagnet 6, lowering long-term operating costs. The balls support rolling in any direction, making it easier to adjust the hopper 11 when fine-tuning is needed or when there are slight alignment deviations in the path of the loading / unloading mechanism 5, increasing the system's flexibility in dealing with minor errors.

[0066] According to some embodiments of this application, optionally, such as Figures 5-12 As shown, the stopping area 20 is also provided with a positioning mechanism 7; the positioning mechanism 7 includes a pair of opposing second support members 70; the second support members 70 face the operation port 100; in the width direction of the cargo box 10, the distance between the pair of second support members 70 is greater than the width of the material box 11, and the center of the line connecting the pair of second support members 70 is located on the preset movement path of the material box 11; the second support members 70 are configured to rise after the opening of the cargo box 10 faces the movement path of the material box 11, and enter the cargo box 10 through the operation port 100, so that when the material box 11 deviates from the preset movement path, it pushes it to tilt to one side, thereby causing the material box 11 to slide to the center position aligned with the center of the cargo box 10 so as to face the preset movement path.

[0067] In practical application, after the drone 1 lands, the cargo box 10 is attracted and fixed, and the turntable 4 rotates to align the opening of the cargo box 10 with the preset movement route, the system initiates the final pre-loading and unloading preparation process. Although the opening of the cargo box 10 is aligned, the internal material box 11 may not be in the ideal centered position due to transportation bumps, and may be biased to one side. A pair of second support members 70 move upward synchronously, passing through the operating port 100 and entering the interior of the cargo box 10. If the material box 11 is centered, the second support members 70 rise from the gaps on both sides without contacting the material box 11, and then descend to reset without causing any impact. If the material box 11 is biased to one side (e.g., the right side), the second support member 70 on the right side will contact the right side of the material box 11 first during the upward process, while the left support member will be in the gap. The right support member continues to rise, and its contact surface generates a continuous lateral thrust on the material box 11. This thrust does not directly push the heavy material box 11 horizontally back to the center, but cleverly causes it to tilt around the bottom fulcrum on the other side (slightly lifting the left side). When the material box 11 is lifted and tilted, its center of gravity generates a horizontal component force. Under the action of gravity, the material box 11 will slide slightly along its tilted bottom surface towards the center (i.e., to the left) until its center of gravity returns to the stable lowest point, which is the center position of the line connecting the pair of second support members 70, thus precisely aligning with the preset movement path. After the correction is completed, the second support members 70 descend and retract. At this time, the material box 11 is in the center position inside the cargo box 10, and the loading and unloading mechanism 5 can smoothly perform the loading or unloading operations along the preset movement path without deviation.

[0068] The positioning mechanism 7 provided in this application solves the problem that the position of the material box 11 within the cargo box 10 may shift due to transportation, potentially hindering the normal operation of the loading and unloading mechanism 5, thus improving the success rate of full-process automation. It employs a purely mechanical correction principle of pushing one side to tilt it and using gravity to slide it back into place, rather than using a high-power linear motor to directly push the heavy material box 11. This method requires less driving force, produces smoother movements, consumes less energy, and has higher reliability.

[0069] In practice, a pair of second support members 70 are installed on a slide that can move synchronously in opposite directions or in opposite directions. Before operation, the system can automatically adjust the distance between the two according to the identified material box 11 model or preset parameters, so that it always meets the optimal correction condition that the distance is slightly larger than the width of the material box 11, thereby being compatible with various material boxes 11 of different widths and improving the system's flexibility.

[0070] According to some embodiments of this application, optionally, such as Figures 5-6 , Figures 8-12 As shown, the top of the second support member 70 is also provided with a first rolling member 700; the second support member 70 pushes one side of the material box 11 to tilt through the first rolling member 700.

[0071] The first rolling element 700 may be, but is not limited to, a ball bearing.

[0072] In practical applications, if the hopper 11 is tilted to one side (e.g., the right side), the second support member 70 on the right side will first contact the right side of the hopper 11 through the first rolling member 700 at its top. Due to the presence of the first rolling member 700, as the second support member 70 continues to rise, rolling friction, rather than sliding friction, is mainly generated between it and the side of the hopper 11. This allows the second support member 70 to climb upwards or wedge into the bottom of the hopper 11 more smoothly. This smooth upward contact can more effectively and controllably transition the contact point from the off-center position of the hopper 11 to the edge position, thereby generating a torque that tilts the hopper 11 around the opposite edge with less horizontal resistance and greater reliability. During the process of the hopper 11 starting to tilt and slide, its bottom surface remains in contact with the first rolling member 700. The rolling contact continuously provides guidance and reduces sliding resistance, making the centering sliding of the hopper 11 smoother and without jamming.

[0073] During the tilting phase of the hopper 11, the first rolling element 700 reduces the friction between the second support 70 and the side of the heavy hopper 11. This reduces the power required to drive the second support 70 upward, lightens the load on the mechanism, and lowers overall energy consumption. For the relatively delicate surface of the standardized hopper 11, rigid direct pushing poses a risk of scratching the paint or structure. The gentle rolling contact of the first rolling element 700 avoids damage to the outer wall of the hopper 11 during the correction process, extending the service life of the logistics vehicle. The intervention of rolling friction makes the correction mechanism operate more smoothly and reliably. It reduces jamming or shaking caused by excessive or uneven friction, improves the success rate of correction, and makes the operation of the entire system more precise and reliable.

[0074] According to some embodiments of this application, optionally, such as Figures 1-9 As shown, it also includes a lifting mechanism 8, which is used to drive the landing platform 2 to lift and lower so that the position of the landing area 20 can switch between the landing point of the UAV 1 and the loading and unloading point of the loading and unloading box 11 of the loading and unloading mechanism 5.

[0075] In practical applications, in the initial state or when preparing to receive the drone 1, the lifting mechanism 8 raises the parking platform 2 to a higher preset position, which is the landing point of the drone 1. The drone 1 lands in the high-level parking area 20. The sensor group 3 detects the drone 1, the control module performs position comparison, and can guide the drone 1 to make fine adjustments. After the drone 1 comes to a stop, the lifting mechanism 8 starts, driving the entire parking platform 2 (along with the drone 1 and cargo box 10 on it) to descend smoothly to a lower preset position, which is the loading and unloading point where the loading and unloading mechanism 5 performs loading and unloading operations. This height is usually designed to match the working surface of the fixed loading and unloading mechanism 5 (such as a conveyor line or robotic arm base) to achieve mechanical interface alignment. At the loading and unloading point height, the control module controls the turntable 4 to rotate according to the sensor information, so that the opening of the cargo box 10 is precisely aligned with the preset movement path of the material box 11. Subsequently, the loading and unloading mechanism 5 performs the loading or unloading operation of the material box 11. Alternatively, the control module can control the turntable 4 to rotate at the landing point of the drone 1 on the platform 2, so that the opening of the cargo box 10 is precisely aligned with the preset moving path of the material box 11. Then, the platform 2 is controlled to descend to the loading and unloading point to perform the loading and unloading operation of the cargo box 10. After the loading and unloading operation is completed, the lifting mechanism 8 is restarted to raise the platform 2 back to the landing point height. The drone 1 takes off and leaves the site, and the system returns to standby status.

[0076] This application spatially (height-wise) separates the landing / takeoff and loading / unloading processes of UAV 1, which have different environmental requirements. The landing point can focus on a wide field of vision and clear guidance; the loading / unloading point can focus on precise docking with fixed equipment and good protection. They do not interfere with each other, each achieving its optimal operating condition. By adjusting the height of the two points, the system can easily adapt to UAV 1 models with different landing gear heights, as well as existing loading / unloading infrastructure at different working heights (such as high-platform freight car workshops and low-profile automated sorting lines), without requiring large-scale site modifications, greatly enhancing deployment flexibility. When operating at the loading / unloading point, UAV 1 is at a lower position, reducing the risks associated with high-altitude operations and allowing maintenance personnel to more safely approach and handle anomalies when necessary. Simultaneously, the loading / unloading mechanism 5 does not need to be designed to be very long or have lifting functions, resulting in a simpler structure, better rigidity, and higher reliability.

[0077] According to some embodiments of this application, optionally, such as Figures 1-9 As shown, it also includes a pusher frame 9, which is arranged around the stop area 20. When the stop platform 2 is lifted and lowered under the drive of the lifting mechanism 8, the box cover 101 that closes the opening of the cargo box 10 can be connected with the pusher frame 9 and pushed by it, so that the opening of the cargo box 10 is in the open state when it reaches the loading and unloading point of the material box 11.

[0078] In practical applications, when the UAV 1 lands at the landing height of the landing platform 2, the lid 101 of its cargo container 10 is closed and locked (possibly by an electric or mechanical lock) to ensure flight transport safety. When the lifting mechanism 8 drives the landing platform 2 to descend from the landing point to the loading / unloading point, the lid 101 fixed to the cargo container 10 (usually connected to the cargo container 10 via hinges or rails) descends along with the cargo container 10. At a predetermined position along the descent path, a specially designed protrusion (such as a hook, flange, or roller) on the lid 101 contacts and overlaps with the push frame 9 fixed to the external frame. As the landing platform 2 continues to descend, since the push frame 9 is stationary in the vertical direction, this overlap forces the lid 101 to move relative to the cargo container 10 (if the lid 101 is side-opening, it is pushed to rotate open; if it is sliding, it is pushed to slide open). When the docking station 2 has fully descended to the loading / unloading point and stopped, the lid 101 has been fully pushed to the predetermined fully open position by the pusher 9, so that the opening of the cargo box 10 is fully exposed and in the open state. The loading / unloading mechanism 5 then performs the operation of moving the material box 11 in or out. After the operation is completed, the lifting mechanism 8 drives the docking station 2 to rise from the loading / unloading point back to the landing point. During the lifting process, the above-mentioned linkage process occurs in reverse: under the action of gravity, the lid 101 automatically closes and may lock as the cargo box 10 rises, preparing for the takeoff of the UAV 1.

[0079] This application achieves automatic lid opening and closing by setting up a pusher frame 9 in conjunction with the lifting and lowering of the landing platform 2, eliminating the need for manual or additional equipment to operate the lid 101 before / after loading and unloading. The loading and unloading process is completely unmanned, and the process is significantly shortened. This design utilizes the lifting mechanism 8, which is a necessary power source, to open the lid through the purely mechanical pusher frame 9, eliminating the need for separate motors, cylinders, or other drive devices and corresponding control systems for lid opening. The structure is simple, the failure rate is low, and no additional energy consumption is added. The lid 101 is automatically opened only in a safe, enclosed environment at the loading and unloading point, reducing the impact of the external environment (such as wind, rain, and foreign objects) on the interior of the cargo container 10. At the same time, it avoids collision accidents of the loading and unloading mechanism 5 caused by forgetting to open the lid, or flight safety hazards caused by forgetting to close the lid.

[0080] According to some embodiments of this application, optionally, such as Figures 1-2 , Figures 4-6 As shown, a second rolling element 21 is also provided on the surface of the parking platform 2 facing the drone 1; the second rolling element 21 is located on the preset moving path of the material box 11 to support the material box 11 during loading and unloading.

[0081] In practical applications, during the final stage of the loading and unloading mechanism 5's operation of moving the hopper 11 out or in, the movement trajectory of the hopper 11 is not entirely confined to the inside of the cargo box 10. Its front or rear end may extend out of the cargo box 10 opening and enter the area above the platform of the stopping area 20. When the loading and unloading mechanism 5 moves the hopper 11 horizontally, once the bottom of the hopper 11 moves out of the cargo box 10 opening, its suspended portion will fall onto the second rolling element 21 located on this path. The second rolling element 21 provides continuous or intermittent bottom support for the moving hopper 11. Since the second rolling element 21 can roll freely, the hopper 11 generates rolling friction when moving on it, resulting in low resistance. This allows the loading and unloading mechanism 5 to complete the final transition movement of the hopper 11 from inside the cargo box 10 to the external equipment (or vice versa) with a small pushing or pulling force. This design ensures that the hopper 11 moves under rolling friction or extremely low friction conditions from inside the cargo box 10 to its state on the surface of the stopping platform 2 after being moved out, forming a low-resistance loading and unloading environment.

[0082] After the hopper 11 is removed from the container 10, it may experience sliding friction with the rigid platform, becoming a point of resistance and a source of wear. The second rolling element 21 solves this friction problem, minimizing and uniformly distributing the resistance of the hopper 11 throughout its removal / removal path. It prevents the bottom edge of the heavy hopper 11 from directly scraping against the rigid surface of the stop table 2, providing particularly good protection for hoppers 11 made of composite materials or with protruding structures. The rolling support makes the movement of the hopper 11 smoother, without jamming or jumping, which facilitates precise speed and position control of the loading and unloading mechanism 5, thereby improving the placement accuracy of the hopper 11 when docking with external conveyor lines.

[0083] Although this application has been described with reference to preferred embodiments, various modifications can be made thereto and components can be replaced with equivalents without departing from the scope of this application. In particular, the technical features mentioned in the various embodiments can be combined in any manner, provided there is no structural conflict. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. An unmanned aerial vehicle docking automated handling system, characterized by, include: The landing pad is equipped with a parking area for parking the drones. Two sets of sensors are arranged around the parking area to detect the position and deflection angle information of the two mutually perpendicular sides of the cargo box carried by the UAV. A turntable, located at the bottom of the stop platform, is used to drive the stop platform to rotate; A loading and unloading mechanism for moving the material box into or out of the cargo box; The memory stores the preset parking position information of the cargo box and the preset moving route of the cargo box; The control module is used to compare the position information of the two mutually perpendicular sides of the cargo box detected by the two sets of sensor groups with the preset parking position information, and control the drone to stop or move. The control module is also used to control the turntable to drive the stop platform to rotate based on the deflection angle information of the two mutually perpendicular sides of the cargo box detected by the sensor group and the preset movement route of the cargo box, so that the opening of the cargo box carried by the UAV placed on the stop platform is facing the preset movement direction of the cargo box. The bottom of the cargo box has an operating port; The parking area is also equipped with a positioning mechanism; The positioning mechanism includes a pair of opposing second support members; The second support member is directly opposite the operating port; In the width direction of the cargo box, the distance between a pair of second support members is greater than the width of the cargo box, and the center of the line connecting the pair of second support members is located on the preset moving path of the cargo box; The second support is configured to rise after the opening of the cargo box is aligned with the movement path of the material box, and enter the cargo box through the operating port to push it to one side to tilt when the material box deviates from the preset movement path, thereby causing the material box to slide to a position aligned with the center of the cargo box and aligned with the preset movement path.

2. The unmanned aerial vehicle (UAV) docking and automatic loading / unloading system according to claim 1, characterized in that, The parking area is also equipped with an electromagnet, which can attract and fix the cargo box in the parking area through its own magnetic force.

3. The unmanned aerial vehicle (UAV) docking and automatic loading / unloading system according to claim 2, characterized in that, The electromagnet is connected to a guide rod; The stopping area is provided with a guide groove that slides with the guide rod, and the guide groove restricts the guide rod to move only along the height direction of the stopping platform; An elastic element is sleeved on the guide rod, and the two ends of the elastic element abut against the stop area and the electromagnet, respectively, so that the electromagnet remains separated from the stop area under the support of the elastic element.

4. The unmanned aerial vehicle (UAV) docking and automatic loading / unloading system according to claim 2, characterized in that, The electromagnet is provided with multiple first support members on the surface of the cargo box facing the cargo box; The first support member is configured to extend from the operating port into the cargo box carried by the UAV parked in the parking area to lift the cargo box.

5. The unmanned aerial vehicle (UAV) docking and automatic loading / unloading system according to claim 4, characterized in that, The first support component is a ball bearing; The ball bearings are rotatably mounted on the electromagnet.

6. The unmanned aerial vehicle (UAV) docking and automatic loading / unloading system according to claim 1, characterized in that, The top end of the second support member is also provided with a first rolling element; The second support member pushes one side of the hopper to tilt via the first rolling member.

7. The unmanned aerial vehicle (UAV) docking and automatic loading / unloading system according to claim 1, characterized in that, It also includes a lifting mechanism for driving the landing platform to rise and fall, so that the position of the landing area switches between the landing point of the UAV and the loading and unloading point of the loading and unloading mechanism for loading and unloading the material box.

8. The unmanned aerial vehicle (UAV) docking automatic loading and unloading system according to claim 7, characterized in that, It also includes a pusher frame, which is arranged around the parking area; When the stopping platform is raised and lowered under the drive of the lifting mechanism, the lid that closes the opening of the cargo box can be connected with the push frame and pushed by it, so that the opening of the cargo box is in the open state when it reaches the loading and unloading point of the material box.

9. The unmanned aerial vehicle (UAV) docking and automatic loading / unloading system according to claim 1, characterized in that, The surface of the landing platform facing the UAV is also provided with a second rolling element; The second rolling element is located on a preset moving path of the hopper to support the hopper during loading and unloading.

Images