Cargo hold structure for roof logistics warehouse

Abstract

The invention provides a cargo hold structure for a roof logistics warehouse, and relates to the technical field of unmanned aerial vehicle freight, the cargo hold structure comprises a cargo hold main body, a power module, a sensing module, a traction mechanism and a traction connecting plate; the cargo hold main body is provided with a special storage cabin for placing a to-be-transferred cargo package A; the traction connecting plate is arranged at the top of the cargo hold body and used for being connected with a traction mechanism, and the traction mechanism pulls the cargo hold body to hover in the air so that the cargo hold body can move in the vertical direction. The power module is arranged on the cargo hold main body, so that the horizontal position of the cargo hold main body can be adjusted in real time, and the situation that the cargo hold main body shakes in the air to cause cargo deviation or collision damage is reduced; and by matching with the sensing module, the position and posture of the cargo hold main body can be calculated, straight up and down movement in the vertical direction is ensured, the risk of collision with other facilities on the roof is reduced, and the transfer safety and accuracy are improved.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of unmanned aerial vehicle freight, in particular to a cargo cabin structure for a roof logistics warehouse. BACKGROUND

[0002] With the rapid development of the logistics industry, the efficiency and space utilization rate of terminal logistics distribution continue to improve, and the roof logistics warehouse as a new type of logistics storage and transfer carrier gradually attracts attention. The roof logistics warehouse realizes the transfer between the goods package and the roof logistics warehouse through an unmanned aerial vehicle, and then realizes the transportation of the cargo cabin between the roof and the floor through a vertical lifting traction mechanism. However, in the transportation process, the cargo cabin is prone to shaking in the air, which may cause the goods to deviate and be damaged. Therefore, the application provides a cargo cabin structure for a roof logistics warehouse. SUMMARY

[0003] The application provides a cargo cabin structure for a roof logistics warehouse, which comprises a cargo cabin body, a power module, a sensing module, a traction mechanism and a traction connecting plate. The cargo cabin body is provided with a special storage cabin for placing the goods package A to be transferred. The traction connecting plate is arranged at the top of the cargo cabin body and is used for connecting with the traction mechanism. The traction mechanism suspends the cargo cabin body in the air and makes the cargo cabin body move in the vertical direction. The power module comprises a rack arranged on the cargo cabin body. The rack is provided with a second fan and a first fan for providing horizontal power and adjusting the horizontal position and direction of the cargo cabin body.

[0004] As a preferred technical scheme of the application, the sensing module comprises a GPS, an RTK positioning sensor, an optical flow sensor and an IMU inertial measurement unit arranged on the rack. The sensing module is used for collecting the position and attitude data of the rack and the cargo cabin body in real time and calculating the position and attitude of the cargo cabin body. As a preferred technical scheme of the application, the cargo cabin body is hingedly connected with a cabin door, and an electric push rod is hingedly connected between the cabin door and the cargo cabin body. A window hook is arranged on the cabin door. Two drawer guide rails are arranged in the storage cabin of the cargo cabin body, and a goods tray is connected between the two drawer guide rails. The goods tray is used for placing the goods package A. A camera and a loudspeaker are arranged on the cargo cabin body. As a preferred technical scheme of the application, a control module is arranged in the rack. The data output end of the sensing module is electrically connected with the control module. The control module adjusts the rotating speed of the second fan and the first fan in real time according to the data collected by the sensing module, so as to control the horizontal attitude of the cargo cabin body.

[0005] As a preferred technical solution of the present application, the sensing module calculates the real-time position deviation of the cargo cabin body by fusing multi-sensor data, and the position deviation calculation formula is: ΔP= ; wherein XG, YG are horizontal coordinates collected by the GPS sensor, XR, YR are accurate horizontal coordinates collected by the RTK positioning sensor, ZM is the vertical height collected by the IMU inertial measurement unit, Zo is the vertical height collected by the optical flow sensor, and the threshold of the position deviation ΔP is set to 0.05 m. When ΔP>0.05 m, the control module triggers the power module to correct the position.

[0006] As a preferred technical solution of the present application, the control module adjusts the rotating speed of the second fan and the first fan based on the attitude angle of the cargo cabin body, and the attitude angle includes the roll angle θ and the pitch angle φ. The adjustment amount Δω of the second fan and the first fan satisfies the formula: Δω=K1·θ+K2·φ+K3·dθ / dt+K4·dφ / dt. wherein K1 and K2 are proportional coefficients, K3 and K4 are differential coefficients, and the value range of each is 0.1~5.0; dθ / dt and dφ / dt are the change rates of the roll angle and the pitch angle, respectively. The formula realizes rapid compensation of the attitude angle and suppresses the swing amplitude of the cargo cabin body. As a preferred technical solution of the present application, the rated tension F of the rotating crane needs to satisfy the formula: F≥k·m·g, wherein k is a safety factor, the value range is 1.2~2.0, m is the total mass of the cargo cabin body and the cargo package A, and g is the acceleration of gravity (9.8 m / s²). At the same time, the elongation ΔL of the tractor rope satisfies Hooke's law: ΔL=(F·L) / (E·S), wherein L is the original length of the rope, E is the elastic modulus of the rope, and S is the cross-sectional area of the rope. The maximum value of ΔL is controlled within 1% of the original length of the rope. As a preferred technical solution of the present application, the relationship between the rotating speed difference Δn of the second fan and the first fan and the turning angular velocity ω of the cargo cabin body satisfies the formula: ω=J·Δn / r, wherein J is a conversion coefficient determined by the performance of the second fan and the first fan and the size of the cargo cabin body, the value range is 0.001~0.01 rad / (r·min⁻¹), and r is the horizontal rotating radius of the cargo cabin body. The formula realizes accurate control of the turning angular velocity and ensures the horizontal position adjustment accuracy. As a preferred technical solution of the present application, the control formula of the vertical lifting speed V of the cargo cabin body is: V=V0-B·ΔPz, wherein V0 is a preset initial lifting speed, B is a speed adjustment coefficient, and ΔPz is the vertical position deviation, ΔPz=Zt-Za, Zt is the target vertical height, and Za is the actual vertical height. When |ΔP_z|≤0.02 m, V automatically decreases to below 0.1 m / s, realizing smooth start and stop.

[0007] As a preferred technical scheme of the present application, the horizontal positioning accuracy of the cargo compartment main body is ΔPh, which satisfies the formula: ΔPh≤r*sinθ_max, wherein r is the maximum horizontal dimension of the cargo compartment main body, and θ_max is the maximum allowable attitude deflection angle (the value range is ≤0.5°), so as to ensure that the cargo compartment main body does not exceed the preset safety range during adjustment.

[0008] Compared with the prior art, the present application has the following beneficial effects: In the scheme of the present application: In the scheme of the present application: The present application can adjust the horizontal position of the cargo compartment main body in real time, reduce the situation that the cargo compartment main body shakes in the air and causes the cargo to deviate or collide and damage, and calculate the self-position and attitude of the cargo compartment main body by matching the sensing module, so as to ensure vertical straight-up and straight-down movement, reduce the collision risk with other facilities on the roof, and improve the transfer safety and accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0009] Figure 1 The structure schematic view of the cargo compartment structure for the rooftop logistics warehouse provided by the present application is provided. Figure 2 The bottom structure schematic view of the cargo compartment structure for the rooftop logistics warehouse provided by the present application is provided. Figure 3 The front structure schematic view of the cargo compartment structure for the rooftop logistics warehouse provided by the present application is provided. Figure 4 The structure schematic view when the hatch is closed is provided. Figure 5 The structure schematic view when the cargo compartment structure for the rooftop logistics warehouse provided by the present application is used in cooperation with the rotary crane is provided.

[0010] Indications in the figure: 302, cargo compartment main body; 303, rack; 304, first fan; 305, second fan; 306, traction connecting plate; 307, hatch; 308, window hook; 309, drawer guide rail; 310, cargo tray; 311, electric push rod; 312, camera; 313, loudspeaker. DETAILED DESCRIPTION

[0011] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described in detail below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

[0012] It should be noted that the embodiments in the present application and the features and technical solutions in the embodiments can be combined with each other without conflict.

[0013] It should be noted that similar reference numerals and letters refer to similar items in the following drawings, and therefore, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.

[0014] Embodiment, please refer to Figures 1-5 A cargo cabin structure for a rooftop logistics warehouse, comprising a cargo cabin main body 302, a power module, a sensing module, a traction mechanism, and a traction connecting plate 306; The cargo cabin main body 302 is provided with a special storage cabin for placing cargo packages A to be transferred; The traction connecting plate 306 is arranged at the top of the cargo cabin main body 302 and is used to connect with the traction mechanism. The traction mechanism suspends the cargo cabin main body 302 in the air, so that the cargo cabin main body 302 moves in the vertical direction. The traction mechanism is a rotary crane, which has a traction machine. The traction connecting plate 306 has a connecting hole, and the traction machine is connected with the connecting hole of the traction connecting plate 306. The traction connecting plate 306 arranged at the top cooperates with the rotary crane and the traction machine, and can realize the stable lifting and hovering of the cargo cabin main body 302 in the vertical direction. The power module comprises a rack 303 arranged on the cargo cabin main body 302. The rack 303 is provided with a second fan 305 and a first fan 304, which are used to provide horizontal power and adjust the horizontal position and direction of the cargo cabin main body 302. The second fan 305 and the first fan 304 can independently adjust the rotating speed, and different horizontal driving forces are formed by the rotating speed difference. The first fan 304 and the second fan 305 are independently driven by motors. The attitude control of the cargo cabin is executed by the motor driving as the core. Through the cooperation of the first fan 304 and the second fan 305, four-way controllable thrust can be formed in the horizontal plane, so as to realize the accurate control of the cargo cabin heading and complete the position adjustment of the cargo cabin in the horizontal space in the front-back and left-right directions.

[0015] Further, the sensing module comprises a GPS, an RTK positioning sensor, an optical flow sensor, and an IMU inertial measurement unit arranged on the rack 303, which are used to collect the position and attitude data of the rack 303 and the cargo cabin main body 302 in real time, so as to realize the calculation of the position and attitude of the cargo cabin main body 302. The GPS realizes rough positioning, the RTK positioning sensor improves the horizontal positioning accuracy, the optical flow sensor assists in detecting the vertical height, and the IMU inertial measurement unit captures the attitude change. The sensors complement each other, compensate for the measurement error of a single sensor, and ensure the comprehensiveness and accuracy of data acquisition. Further, the cargo compartment main body 302 is hinged with a hatch 307, and an electric push rod 311 is hinged between the hatch 307 and the cargo compartment main body 302, and the electric push rod 311 can control the opening and closing of the hatch 307; The hatch 307 is also provided with a window hook 308, which can be hung on the edge of the window after the hatch 307 is opened, which can improve the overall stability, disperse the stress of the cargo compartment main body 302, and reduce the shaking amplitude; Two drawer guide rails 309 are arranged in the storage compartment of the cargo compartment main body 302, and a cargo tray 310 is connected between the two drawer guide rails 309, and the cargo tray 310 is used for placing the cargo package A; The storage compartment of the cargo compartment main body 302 is also provided with a driving element for driving the movement of the cargo tray 310, and the driving element can use an electric telescopic rod to control the movement of the cargo tray 310 between the inside and outside of the storage compartment; The cargo compartment main body 302 is provided with a camera 312 and a loudspeaker 313, and the driving element, the camera 312 and the loudspeaker 313 are connected with the control module; the camera 312 provides visual support for remote operation, which is convenient for timely discovery of abnormalities; the loudspeaker 313 can issue a prompt when loading, unloading or transferring abnormally, reminding surrounding personnel to avoid or the staff to handle, forming a double safety guarantee.

[0016] Further, the control module is arranged in the rack 303, and the data output end of the sensing module is electrically connected with the control module. The control module adjusts the rotating speed of the second fan 305 and the first fan 304 in real time according to the data collected by the sensing module, so as to control the horizontal posture of the cargo compartment main body 302. Further, the sensing module calculates the real-time position deviation of the cargo compartment main body 302 by fusing multi-sensor data, and the position deviation calculation formula is: ΔP= ; Wherein, XG and YG are horizontal coordinates collected by the GPS sensor, XR and YR are accurate horizontal coordinates collected by the RTK positioning sensor, ZM is the vertical height collected by the IMU inertial measurement unit, and Zo is the vertical height collected by the optical flow sensor. The threshold of the position deviation ΔP is set to 0.05m, and when ΔP>0.05m, the control module triggers the power module to correct the position. The formula fuses multi-sensor data to reduce single data error, and the threshold of 0.05m can balance the positioning accuracy and adjustment efficiency, which can avoid increasing energy consumption due to frequent adjustment caused by too small deviation, and prevent affecting the transfer safety caused by too large deviation.

[0017] Further, the control module adjusts the rotating speed of the second fan 305 and the first fan 304 based on the attitude angle of the cargo compartment main body 302, and the attitude angle includes the roll angle θ and the pitch angle φ. The adjustment amount Δω of the second fan 305 and the first fan 304 satisfies the formula: Δω=K1·θ+K2·φ+K3·dθ / dt+K4·dφ / dt. Wherein K1, K2 are proportional coefficients, K3, K4 are differential coefficients, the value range is 0.1-5.0; dθ / dt, dφ / dt are the change rates of roll angle and pitch angle respectively, the rapid compensation of attitude angle is realized through the formula, and the amplitude of cargo compartment main body swing is inhibited; the reasonable value of proportional coefficient and differential coefficient can balance the speed and stability by comprehensively considering the size and change rate of attitude angle, compared with empirical adjustment, the attitude deviation can be corrected, the swing can be quickly inhibited, and the attitude deviation is avoided to be enlarged. Further, the rated tension F of the rotary crane needs to meet the formula: F≥k·m·g, wherein k is a safety factor, the value range is 1.2-2.0, m is the total mass of the cargo compartment main body 302 and the cargo package A, g is the acceleration of gravity (9.8 m / s² is taken), and meanwhile the elongation ΔL of the traction machine rope meets Hooke's law: ΔL=(F·L) / (E·S), wherein L is the original length of the rope, E is the elastic modulus of the rope, S is the cross-sectional area of the rope, and the maximum value of ΔL is controlled within 1% of the original length of the rope; the setting of the safety factor reserves sufficient carrying margin to cope with the instantaneous force change in the transfer process; the elongation of the rope is controlled within a reasonable range, the vertical position deviation of the cargo compartment main body 302 caused by excessive stretching of the rope can be avoided, the structural strength of the rope is ensured, and the service life is prolonged. Further, the relationship between the speed difference Δn of the second fan 305 and the first fan 304 and the turning angular velocity ω of the cargo compartment main body 302 meets the formula: ω=J·Δn / r, wherein J is a conversion coefficient, which is determined by the performance of the second fan 305 and the first fan 304 and the size of the cargo compartment main body 302, and the value range is 0.001-0.01 rad / (r·min⁻¹), and r is the horizontal rotation radius of the cargo compartment main body 302; the accurate control of the turning angular velocity is realized through the formula, and the horizontal position adjustment accuracy is ensured. Further, the control formula of the vertical lifting speed V of the cargo compartment main body 302 is: V=V0-B·ΔPz, wherein V0 is a preset initial lifting speed, B is a speed adjustment coefficient, and ΔPz is a vertical position deviation, ΔPz=Zt-Za, Zt is a target vertical height, and Za is an actual vertical height; when |ΔP_z|≤0.02 m, V is automatically reduced to below 0.1 m / s, and smooth start and stop are realized.

[0018] Further, the horizontal positioning accuracy ΔPh of the cargo compartment main body 302 meets the formula: ΔPh≤r·sinθ_max, wherein r is the maximum horizontal size of the cargo compartment main body, and θ_max is the maximum allowable attitude deviation angle (the value range is ≤0.5°), so that the cargo compartment main body 302 does not always exceed the preset safety range during the adjustment process.

[0019] The use process of the cargo compartment structure for the rooftop logistics warehouse provided by the application is as follows: The traction hook of the rotating crane is hung together with 306, 311 drives 307 to rotate to open, and then 310 moves outward, the cargo package A is placed in 310, and then 310 returns to 302, 311 drives 307 to rotate to close, and then the application is driven to descend by the traction machine, so that the whole body is lowered to the corresponding window of the building, 311 drives 307 to rotate to open, so that 308 is hung on the edge of the window, and then 310 moves out, the cargo package A is taken out, and then 310 returns to 302, and then the application is driven to ascend by the traction machine, 311 drives 307 to rotate to close; In this process, the control module adjusts the lifting speed according to the vertical height data collected by the optical flow sensor and the IMU inertial measurement unit according to the formula V=V0-B·ΔPz, sets the preset initial lifting speed V0=0.5 m / s, the speed adjustment coefficient B=0.8, and real-time calculates the vertical position deviation ΔPz=Zt-Za (Zt is the target height of the roof, and Za is the actual height); When |ΔPz|>0.02 m, keep the speed close to V0 and ascend uniformly; when |ΔPz|≤0.02 m, the control module reduces the lifting speed V to below 0.1 m / s, slowly approaches the target height, and until the cargo compartment main body 302 reaches the preset position of the roof, the traction machine stops, the cargo compartment hovers, and the vertical lifting operation is completed; The sensing module collects the position and attitude data of the cargo compartment in real time, the GPS and RTK positioning sensors obtain the horizontal coordinates (XG, YG) and accurate horizontal coordinates (XR, YR), the IMU inertial measurement unit captures the roll angle θ, the pitch angle φ and the change rate (dθ / dt, dφ / dt), and the optical flow sensor assists in calibrating the vertical height. The control module calculates the real-time position deviation by the formula ΔP=[(XG−XR)²+(YG−YR)²+(ZM−Zo)²], and when ΔP>0.05 m, the power module is triggered to correct the position. Combined with the set conversion coefficient J and the horizontal rotation radius r of the cargo compartment, the target steering angular velocity ω is calculated according to the formula ω=J·Δn / r, the control module adjusts the rotating speed of the first fan 304 and the second fan 305, forms a rotating speed difference Δn, and realizes accurate control of the steering angular velocity; for example, the steering angular velocity ω=0.04 rad / min needs to be realized, J=0.005 rad / (r·min⁻¹) and r=0.8 m are known, Δn=(ω·r) / J=6.4 r / min can be calculated, that is, the rotating speed difference of 6.4 r / min is formed by controlling the two fans, and according to the attitude angle data, the fan rotating speed adjusting amount Δω is adjusted according to the formula Δω=K1·θ+K2·φ+K3·dθ / dt+K4·dφ / dt (K1=K2=2.0, K3=K4=1.5), the roll and pitch deviations are compensated, and the cargo compartment shaking is suppressed; The horizontal position of the cargo hold and the steering are adjusted by the difference of the fan rotating speed until the control module detects that the position deviation ΔP≤0.05m and the horizontal positioning accuracy ΔPh≤r*sinθ_max(θ_max≤0.5°), for example, r=0.8m, ΔPh≤0.8*sin0.5°≈0.00698m, ensuring that the cargo hold is completely in the preset safety area of the roof, stopping the fan rotating speed adjustment, and keeping the cargo hold horizontal attitude stable.

[0020] In the present application, unless otherwise clearly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or communicate with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those skilled in the art, the specific meaning of the above-mentioned terms in the present application can be understood according to the specific circumstances.

[0021] Obviously, the above-described embodiments are only a part of the embodiments of the present application, and are not all the embodiments. The preferred embodiments of the present application are shown in the drawings, but do not limit the patent scope of the present application. The present application can be realized in many different forms, and conversely, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments, or equivalently replace some of the technical features. Any equivalent structure made by using the content of the present application specification and drawings, directly or indirectly applied to other related technical fields, is also within the scope of the patent protection of the present application.

Claims

1. A cargo hold structure for a rooftop logistics warehouse, characterized in that, It includes the cargo hold body (302), power module, sensing module, traction mechanism and traction connection plate (306). The main cargo hold (302) is equipped with a dedicated storage compartment for storing cargo packages A to be transferred; The traction connecting plate (306) is located on the top of the cargo hold body (302) and is used to connect with the traction mechanism. The traction mechanism pulls the cargo hold body (302) to suspend in the air, so that the cargo hold body (302) moves in the vertical direction. The power module includes a frame (303) mounted on the cargo hold body (302), and a second fan (305) and a first fan (304) are provided on the frame (303) to provide horizontal power and adjust the horizontal position and orientation of the cargo hold body (302).

2. The cargo hold structure for rooftop logistics warehouses according to claim 1, characterized in that, The sensing module includes a GPS, RTK positioning sensor, an optical flow sensor and an IMU inertial measurement unit installed on the frame (303) for real-time acquisition of position and attitude data of the frame (303) and the cargo hold body (302) to realize the calculation of the position and attitude of the cargo hold body (302).

3. The cargo hold structure for rooftop logistics warehouses according to claim 1, characterized in that, The cargo hold body (302) is hinged with a hatch (307), and an electric push rod (311) is hinged between the hatch (307) and the cargo hold body (302). The hatch (307) is also equipped with a window hook (308). The storage compartment of the cargo hold body (302) is equipped with two drawer rails (309), and a cargo pallet (310) is connected between the two drawer rails (309). The cargo pallet (310) is used to place cargo package A. The cargo hold body (302) is equipped with a camera (312) and a speaker (313).

4. The cargo hold structure for a rooftop logistics warehouse according to claim 2, characterized in that, The frame (303) is equipped with a control module, and the data output terminal of the sensor module is electrically connected to the control module. The control module adjusts the speed of the second fan (305) and the first fan (304) in real time according to the data collected by the sensor module, so as to control the horizontal attitude of the cargo compartment body (302).

5. The cargo hold structure for a rooftop logistics warehouse according to claim 4, characterized in that, The sensing module calculates the real-time position deviation of the cargo hold body (302) by fusing data from multiple sensors. The position deviation calculation formula is: ΔP = ; Where XG and YG are the horizontal coordinates collected by the GPS sensor, XR and YR are the precise horizontal coordinates collected by the RTK positioning sensor, ZM is the vertical height collected by the IMU inertial measurement unit, Zo is the vertical height collected by the optical flow sensor, and the threshold for position deviation ΔP is set to 0.05m. When ΔP>0.05m, the control module triggers the power module to perform position correction.

6. The cargo hold structure for a rooftop logistics warehouse according to claim 5, characterized in that, The control module adjusts the rotation speed of the second fan (305) and the first fan (304) based on the attitude angle of the cargo hold body (302). The attitude angle includes the roll angle θ and the pitch angle φ. The adjustment amount Δω of the second fan (305) and the first fan (304) satisfies the formula: Δω=K1·θ+K2·φ+K3·dθ / dt+K4·dφ / dt; Where K1 and K2 are proportional coefficients, and K3 and K4 are differential coefficients, both ranging from 0.1 to 5.0; dθ / dt and dφ / dt are the rates of change of roll angle and pitch angle, respectively.

7. The cargo hold structure for a rooftop logistics warehouse according to claim 3, characterized in that, The rated tension F of the rotating crane must satisfy the formula: F≥k·m·g, where k is the safety factor, with a value range of 1.2~2.0, m is the total mass of the main body of the cargo hold (302) and the cargo package A, and g is the gravitational acceleration (taken as 9.8m / s²). At the same time, the elongation ΔL of the traction machine rope satisfies Hooke's Law: ΔL=(F·L) / (E·S), where L is the original length of the rope, E is the elastic modulus of the rope, S is the cross-sectional area of ​​the rope, and the maximum value of ΔL is controlled within 1% of the original length of the rope.

8. The cargo hold structure for a rooftop logistics warehouse according to claim 1, characterized in that, The relationship between the speed difference Δn between the second fan (305) and the first fan (304) and the angular velocity ω of the cargo hold body (302) satisfies the formula: ω=J·Δn / r, where J is the conversion coefficient, which is determined by the performance of the second fan (305) and the first fan (304) and the size of the cargo hold body (302), and the value ranges from 0.001 to 0.01 rad / (r·min⁻¹), and r is the horizontal rotation radius of the cargo hold body (302).

9. The cargo hold structure for a rooftop logistics warehouse according to claim 1, characterized in that, The control formula for the vertical lifting speed V of the cargo hold body (302) is: V=V0-B·ΔPz, where V0 is the preset initial lifting speed, B is the speed adjustment coefficient, ΔPz is the vertical position deviation, ΔPz=Zt-Za, Zt is the target vertical height, and Za is the actual vertical height. When |ΔP_z|≤0.02m, V automatically drops to below 0.1m / s to achieve smooth start and stop.

10. The cargo hold structure for a rooftop logistics warehouse according to claim 1, characterized in that, The horizontal positioning accuracy ΔPh of the cargo hold body (302) satisfies the formula: ΔPh≤r·sinθ_max, where r is the maximum horizontal dimension of the cargo hold body and θ_max is the maximum allowable attitude deflection angle (value range ≤0.5°).

Images