Miniature unmanned rotorcraft delivery-to-home automatic storage system and control method thereof

Abstract

The invention discloses a miniature unmanned rotorcraft delivery home-to-home automatic storage system and a control method thereof, and relates to the technical field of aircraft express delivery, in particular to an automatic telescopic system with a box body matched with a receiving box, the system is small and concealed after being stored, the styles and features of buildings and cities are not affected, the distance between the system and a wall can be guaranteed when the system stretches out, and the space between the system and the wall can be guaranteed. The risk that the fan wing of the unmanned aerial vehicle touches the wall is avoided. The device is installed on the outer side of a wall, does not need to damage a building structure, and is small in transformation amplitude, low in cost and beneficial to large-scale popularization. A positioning chip and a piezoelectric sensor are used for accurate positioning and reliable receiving, unmanned delivery is achieved in combination with a control system, and high-altitude falling of goods is eradicated. Compared with the prior art, the defects of large size, difficulty in transformation, poor applicability, insufficient support and the like are avoided, direct delivery of the unmanned aerial vehicle to building residents and offices can be realized, the scene expansion bottleneck is broken through, and upgrading of a low-altitude economic industry chain is assisted.

Description

Technical Field

[0001] This application relates to the field of aircraft delivery technology, specifically to a micro rotary-wing drone delivery system with automatic home storage and its control method. Background Technology

[0002] As a landmark industrial chain of new productive forces, the low-altitude economy plays a vital role in promoting high-quality development of the national economy. Quadcopter drones have been widely used in production and daily life fields such as fixed-point deployment, fire monitoring, auxiliary fire fighting in high-rise buildings, and emergency medical delivery. Among them, the implementation of drone delivery scenarios is accelerating. For example, Meituan drones are conducting nighttime delivery services in specific parks in Shenzhen, and Walmart supermarkets are providing drone delivery services to villas with open spaces in pilot areas in the United States. However, the existing drone delivery model has not yet achieved direct delivery to residents or offices in buildings. The core bottleneck is that existing buildings and office buildings did not consider the needs of drone delivery during the construction phase, did not reserve docking interfaces, and lack suitable automatic delivery and receiving devices.

[0003] To expand the application scenarios of quadcopter drones delivering goods to residents or offices, the receiving device must adhere to the core principles of economy, practicality, reliability, and aesthetics, and meet the following key conditions: First, it must be easy to install, with minimal damage to the existing building structure; second, it must be safe to deploy, with a minimum distance of 1 meter between the receiving device and the wall to prevent the drone's wings from touching the wall surface; third, it must be compact and aesthetically pleasing, without affecting the overall appearance of the building or the city; fourth, it must be economical and durable, possessing a low-cost advantage to achieve large-scale promotion; and fifth, it must have accurate positioning and reliable reception, effectively preventing goods from falling from heights.

[0004] Current existing technologies for drone delivery receiving devices have many shortcomings and are difficult to meet practical application needs. For example, patent document WO2021055403A1 uses a multi-section structure, which is still quite large in its folded state, resembling a cylindrical object and is unsightly. Furthermore, its installation on the window frame is inconvenient and requires custom customization, fundamentally different from the umbrella rib structure of this invention. The technical solution disclosed in patent document CN115484850A is not suitable for installation on windows in high-rise buildings, lacks storage functionality, and limits the cargo delivery direction to top-down, thus restricting its applicability. While the technical solution in patent document CN223396380U is applicable to windows in high-rise buildings, it requires openings in the building's exterior wall, resulting in significant modifications to existing buildings, high operating costs, and hindering the widespread adoption and large-scale promotion of drone delivery. Additionally, due to the lack of a diagonal bracing structure, the cargo compartment and telescopic mechanism are prone to deformation after use due to insufficient support. The aforementioned technical deficiencies mean that existing drone receiving devices cannot meet the delivery needs of building residents and offices, thus hindering the further expansion of low-altitude economic delivery scenarios.

[0005] Existing drone delivery receivers either require significant modifications to existing buildings, damaging the original structure, are bulky and have an unpleasant appearance that affects the urban landscape, have unreliable positioning that could lead to the risk of goods falling from heights, or are too costly to be widely adopted. They cannot simultaneously meet the application principles of "economical, practical, reliable, and aesthetically pleasing," thus preventing drone delivery from being extended to residential and office settings. Summary of the Invention

[0006] In order to solve the above-mentioned technical problems, this application proposes the following technical solution:

[0007] In a first aspect, embodiments of this application provide a micro rotary-wing drone delivery-to-home automatic storage system, comprising: a box installed on the outside of a building wall, a receiving box cooperating with the box, an automatic control telescopic system provided between the box and the receiving box, the control end of the automatic control telescopic system being located on the fixed side of the box, and the movable end being softly connected to the receiving box; a positioning chip and a piezoelectric sensor are provided at the center of the bottom of the receiving box for the quadcopter to locate the target household and deliver goods at a fixed point, and the automatic control telescopic system, the positioning chip, and the piezoelectric sensor are all communicatively connected to the control system.

[0008] In one possible implementation, the box includes a mounting plate fixed to the outside of the building wall and a box shell fixed to the mounting plate; edge structures are provided on both the left and right sides of the upper part of the receiving box, and a support telescopic structure is provided between the edge structures and the mounting plate, the support telescopic structure providing support for the receiving box.

[0009] In one possible implementation, the supporting telescopic structure includes a horizontal telescopic rod and a diagonal telescopic rod. The horizontal telescopic rod is arranged in opposite directions, with its first end fixedly connected to the mounting plate and its second end fixedly connected to the edge structure. The diagonal telescopic rod is arranged in the forward direction, with its second end connected to the mounting plate and its first end connected to the second end of the horizontal telescopic rod.

[0010] In one possible implementation, the horizontal telescopic rod includes a first horizontal telescopic joint, a second horizontal telescopic joint, and a third horizontal telescopic joint. The first end of the first horizontal telescopic joint is fixedly connected to the mounting plate. The two ends of the second horizontal telescopic joint are movably connected to the second end of the first horizontal telescopic joint and the first end of the third horizontal telescopic joint, respectively. The second end of the third horizontal telescopic joint is fixedly connected to the edge structure.

[0011] The diagonal bracing telescopic rod includes a first diagonal bracing telescopic joint, a second diagonal bracing telescopic joint, and a third diagonal bracing telescopic joint. The second end of the third diagonal bracing telescopic joint is connected to the mounting plate via a trolley joint. The two ends of the second diagonal bracing telescopic joint are movably connected to the second end of the first diagonal bracing telescopic joint and the first end of the third diagonal bracing telescopic joint, respectively. The first end of the first diagonal bracing telescopic joint is located on the outside of the third horizontal telescopic joint and close to the second end of the third horizontal telescopic joint via a trolley joint.

[0012] In one possible implementation, the automatic control telescopic system includes: a stepper motor lifter and an umbrella rib structure, the stepper motor lifter being mounted on the mounting plate, a first end of the umbrella rib structure being connected to the stepper motor lifter, and a second end being flexibly connected to the receiving box.

[0013] In one possible implementation, the stepper motor lift includes: a stepper motor; a rotating rod fixedly connected to the rotation output end of the stepper motor; a first end of the rotating rod fixedly connected to the rotation output end of the stepper motor; a second end rotatably connected to a top fixing block; the top fixing block being connected to the housing of the stepper motor via a fixed connecting rod; a lifting module being provided on the rotating rod; the lifting module being rotatably connected to the rotating rod; and the fixed connecting rod passing through the lifting module and slidably connected to the lifting module.

[0014] In one possible implementation, the umbrella rib structure includes multiple pairs of rigid support rods and flexible ribs. Each pair of rigid support rods consists of a first rigid support rod and a second rigid support rod. The first rigid support rod of the first pair is connected to the top fixing block and the body of the second rigid support rod in the same pair. Both ends of the second rigid support rod are connected to the lifting module and the body of the first rigid support rod in the adjacent pair. The first rigid support rod in each intermediate pair is connected to the second rigid support rod in the previous pair and the second rigid support rod in the same pair. A first flexible rib is provided between the first rigid support rods in adjacent pairs, and a second flexible rib is provided between the second rigid support rods in adjacent pairs. The second rigid support rod in the last pair is fixedly connected to the receiving box.

[0015] In one possible implementation, an elastic link structure is provided between the second rigid support rod in the last rigid support rod pair of the umbrella rib structure and the receiving box to prevent the non-horizontal movement of the end of the rigid support rod from causing hard contact with the receiving box during the extension and contraction of this structure.

[0016] In one possible implementation, the control system includes a stepper motor motion control system and a positioning and receiving control system. The stepper motor motion control system is used to control the forward and reverse rotation of the stepper motor. The positioning and receiving control system is used for wake-up, positioning, and cargo receiving control when surrounding aircraft are approaching. It includes a system control module, a signal processing module, and a communication module, and is also responsible for providing forward and reverse rotation control signals to the stepper motor motion control system.

[0017] Secondly, embodiments of this application provide a control method for a micro rotorcraft drone delivery-to-home automatic storage system, applied to any possible implementation of the micro rotorcraft drone delivery-to-home automatic storage system described in the first aspect, including:

[0018] The flight path is determined by manual remote control test flight. The customer's address number is bound to the three-dimensional coordinates of the receiving box and entered into the background database. The goods are assembled according to the customer's needs. At the same time, the flight path and target coordinates are set in the background.

[0019] The micro-rotor drone takes off according to the set trajectory, hovers after arriving at the preset range of the receiver box, sends an arrival command, wakes up the Beidou navigation and positioning chip in the receiver box and confirms the response;

[0020] The receiving box extends and reaches its position. The Beidou navigation and positioning system aligns the cargo vertically with the center of the receiving box and calibrates it. The micro-rotor drone pulls down the delivery rope to deliver the cargo. The receiving box confirms receipt of the cargo and sends back instructions through a piezoelectric sensor. The aircraft then retracts the delivery rope.

[0021] The receiver box retracts and reports that reception is complete; the micro rotor drone disconnects the side safety rope and returns to base.

[0022] The customer picks up the goods, empties the receiving box, and confirms receipt and emptying of the box via a mobile app, completing the process for future use.

[0023] In this embodiment, the housing and receiver box work together with an automatic telescopic system. When retracted, it is compact and concealed, without affecting the building or urban landscape. When extended, it maintains a safe distance from the wall, avoiding the risk of the drone's wings colliding with the wall. Installed on the outside of the wall, it requires no damage to the building structure, requires minimal modification, is low-cost, and facilitates large-scale promotion. The positioning chip and piezoelectric sensor provide precise positioning and reliable reception, and combined with the control system, it enables unmanned delivery, preventing goods from falling from heights. Compared with existing technologies, it avoids the drawbacks of large size, difficult modification, poor applicability, and insufficient support, enabling drones to deliver directly to residents and offices in buildings, breaking through the bottleneck of scenario expansion, and contributing to the upgrading of the low-altitude economy industrial chain. Attached Figure Description

[0024] Figure 1 This is a top view of a miniature rotary-wing drone delivery and automatic storage system provided in this application embodiment after it has been extended into place.

[0025] Figure 2 This is a top view of a miniature rotary-wing drone delivery and automatic storage system retracted into place, as provided in an embodiment of this application.

[0026] Figure 3 A schematic diagram of the telescopic support structure provided in the embodiments of this application before it is deployed;

[0027] Figure 4 A schematic diagram of the support telescopic structure in the receiving state provided in the embodiments of this application;

[0028] Figure 5 A schematic diagram of the automatic control telescopic system provided in the embodiments of this application before it is deployed;

[0029] Figure 6 A schematic diagram illustrating the deployment of the automatic control telescopic system provided in an embodiment of this application;

[0030] Figure 7 A schematic diagram of the framework of the control system provided in the embodiments of this application;

[0031] Figure 8 A flowchart illustrating a control method for an automated home delivery and storage system for a micro rotary-wing drone, provided in an embodiment of this application.

[0032] Figure 9 This is a schematic diagram illustrating the delivery of goods to a customer's door using a micro rotary-wing drone, as provided in an embodiment of this application.

[0033] Figure 1-9 In Chinese, the symbol is represented as:

[0034] 1-Box body, 2-Receiver box, 3-Positioning chip, 4-Piezoelectric sensor, 5-Mounting plate, 6-Box shell, 7-Edge structure, 8-Support telescopic structure, 9-Horizontal telescopic rod, 10-Diagonal telescopic rod, 11-First horizontal telescopic joint, 12-Second horizontal telescopic joint, 13-Third horizontal telescopic joint, 14-Third diagonal telescopic joint, 15-Second diagonal telescopic joint, 16-First diagonal telescopic joint, 17-Trolley joint, 18-Stepper motor lifter, 19-Umbrella rib structure, 20-Stepper motor, 21-Rotating rod, 22-Top fixing block, 23-Fixing link, 24-Lifting module, 25-First rigid support rod, 26-Second rigid support rod, 27-First flexible rib, 28-Second flexible rib, 29-Elastic link structure, 30-Deployment rope, 31-Safety rope. Detailed Implementation

[0035] The present solution will now be described in conjunction with the accompanying drawings and specific embodiments.

[0036] See Figure 1 and Figure 2 The micro rotor drone delivery and automatic storage system provided in this embodiment includes: a box 1 installed on the outside of a building wall, a receiving box 2 that cooperates with the box 1, an automatic control telescopic system between the box 1 and the receiving box 2, the control end of the automatic control telescopic system being located on the fixed side of the box 1, and the movable end being flexibly connected to the receiving box 2; a positioning chip 3 and a piezoelectric sensor 4 are provided at the center of the bottom of the receiving box 2, which are used for the micro rotor drone to find the target household and deliver goods at a fixed point, and the automatic control telescopic system, the positioning chip 3 and the piezoelectric sensor 4 are all communicatively connected to the control system.

[0037] Based on current statistical analysis of express delivery cargo dimensions, the receiving box 2 is designed with a length, width, and height of 45cm. Typically, the box is installed below a resident's window for convenient cargo collection. It is waterproof and windproof. The top of the receiving box opens with a hinged flip-top for easy manual retrieval. The outer shell 6 is waterproof and windproof. A gap is maintained between the upper edge of the receiving box 2 and the top panel to facilitate the entry and exit of the drone and cargo safety ropes. The receiving box 2 is equipped with a Beidou navigation and positioning chip 3 (including UWB positioning function) and a piezoelectric sensor 4, enabling the micro-rotor drone to locate target households and deliver cargo.

[0038] In this embodiment, the box 1 includes a mounting plate 5 fixed to the outside of the building wall and a box shell 6 fixed to the mounting plate 5. Edge structures 7 are provided on both the left and right sides of the upper part of the receiving box 2, and a supporting telescopic structure 8 is provided between the edge structure 7 and the mounting plate 5, providing support for the receiving box 2.

[0039] See Figure 3 The supporting telescopic structure 8 includes a horizontal telescopic rod 9 and a diagonal telescopic rod 10. The horizontal telescopic rod 9 is arranged in opposite directions, with its first end fixedly connected to the mounting plate 5 and its second end fixedly connected to the edge structure 7. The diagonal telescopic rod 10 is arranged in the forward direction, with its second end connected to the mounting plate 5 and its first end connected to the second end of the horizontal telescopic rod 9.

[0040] The horizontal telescopic pole 9 is used to secure the receiving box 2, and the diagonal telescopic pole 10 is used to provide weight support for the cargo. As the telescopic pole extends, the receiving box 2 extends out of the shell to receive cargo dropped by the drone. As the telescopic pole retracts, the receiving box 2 and the cargo retract into the shell, awaiting customer collection. The diagonal telescopic pole 10 is mounted on the wall mounting plate 5 in a forward orientation and extends and retracts with the horizontal telescopic pole 9.

[0041] See Figure 4The horizontal telescopic rod 9 includes a first horizontal telescopic joint 11, a second horizontal telescopic joint 12, and a third horizontal telescopic joint 13. The first end of the first horizontal telescopic joint 11 is fixedly connected to the mounting plate 5. The two ends of the second horizontal telescopic joint 12 are movably connected to the second end of the first horizontal telescopic joint 11 and the first end of the third horizontal telescopic joint 13, respectively. The second end of the third horizontal telescopic joint 13 is fixedly connected to the edge structure 7.

[0042] The diagonal extension rod 10 includes a first diagonal extension joint 14, a second diagonal extension joint 15, and a third diagonal extension joint 16. The second end of the third diagonal extension joint 14 is connected to the mounting plate 5 via a trolley joint 17. The two ends of the second diagonal extension joint 15 are movably connected to the second end of the first diagonal extension joint 14 and the first end of the third diagonal extension joint 16, respectively. The first end of the first diagonal extension joint 16 is located outside the third horizontal extension joint 13 and close to the second end of the third horizontal extension joint 13 via a trolley joint 17.

[0043] See Figure 5 The automatic control telescopic system includes a stepper motor lift 18 and an umbrella rib structure 19. The stepper motor lift 18 is mounted on the mounting plate 5. The first end of the umbrella rib structure 19 is connected to the stepper motor lift 18, and the second end is flexibly connected to the receiving box 2.

[0044] Furthermore, such as Figure 6 As shown, the stepper motor lift 18 includes: a stepper motor 20, a rotating rod 21 fixedly connected to the rotation output end of the stepper motor 20, a first end of the rotating rod 21 fixedly connected to the rotation output end of the stepper motor 20, a second end rotatably connected to a top fixing block 22, the top fixing block 22 being connected to the housing of the stepper motor 20 via a fixing link 23, a lifting module 24 being provided on the rotating rod 21, the lifting module 24 being rotatably connected to the rotating rod 21, and the fixing link 23 passing through the lifting module 24 and slidably connected to the lifting module 24.

[0045] The umbrella rib structure 19 includes multiple pairs of rigid support rods and flexible ribs. Each pair of rigid support rods consists of a first rigid support rod 25 and a second rigid support rod 26. The first rigid support rod 25 of the first rigid support rod pair is connected to the top fixing block 22 and the body of the second rigid support rod 26 in the same pair. The two ends of the second rigid support rod 26 are connected to the lifting module 24 and the body of the first rigid support rod 25 in the adjacent pair. The first rigid support rod 25 in each intermediate pair is connected to the second rigid support rod 26 in the previous pair and the second rigid support rod 26 in the same pair. A first flexible rib 27 is provided between the first rigid support rods 25 in adjacent pairs, and a second flexible rib 28 is provided between the second rigid support rods 26 in adjacent pairs. The second rigid support rod 26 in the last pair is fixedly connected to the receiving box 2.

[0046] An elastic link structure 29 is provided between the second rigid support rod 26 of the last rigid support rod of the umbrella rib structure 19 and the receiving box 2 to prevent the non-horizontal movement of the end of the rigid support rod from causing hard contact with the receiving box 2 during the extension and contraction of this structure.

[0047] See Figure 7 The control system includes a stepper motor motion control system and a positioning and receiving control system. The stepper motor motion control system is used to control the forward and reverse rotation of the stepper motor. The positioning and receiving control system is used for wake-up, positioning, and cargo receiving control when surrounding aircraft are approaching. It includes a system control module, a signal processing module, and a communication module, and is also responsible for providing forward and reverse rotation control signals to the stepper motor motion control system.

[0048] Corresponding to the above embodiment of the automatic storage system for home delivery by a micro rotor drone, this application also provides an embodiment of a control method for the automatic storage system for home delivery by a micro rotor drone.

[0049] See Figure 8 The control method for the automatic home delivery and storage system of the micro rotary-wing drone in this embodiment includes:

[0050] S101, manually remotely controlled test flight to determine flight trajectory, bind customer address number with receiver box 2 three-dimensional coordinates and enter into background database, assemble goods according to customer needs, and set flight trajectory and target coordinates in background.

[0051] During system installation and debugging, the micro rotary-wing drone is first manually remotely piloted for a test flight from the shipping point to the receiving point to determine the flight path. The customer's address is then linked to the latitude, longitude, and altitude coordinates of the receiving box 2's positioning point and entered into the micro rotary-wing drone's backend control system database. The drone is then loaded with cargo according to the customer's requirements. Note that cargo exceeding 40cm in length, width, and height must not be loaded and must be delivered manually.

[0052] S102, the micro rotary-wing UAV takes off according to the set trajectory, hovers after arriving at the preset range of the receiver box, sends an arrival command, wakes up the Beidou navigation and positioning chip in receiver box 2 and confirms the response.

[0053] The flight trajectory and target address (the three-dimensional coordinates of latitude, longitude, and altitude of the customer receiving box 2's positioning point) are set in the aircraft's back-end control system. When the aircraft reaches within 5 meters of the customer's receiving box, it hovers and sends a "goods arrived" command. This wakes up the Beidou navigation and positioning chip in the customer receiving box 2, and the aircraft receives a "received" response command from the chip.

[0054] S103, the receiving box extends and reaches its position. The Beidou navigation and positioning system aligns the cargo vertically with the center of the receiving box and calibrates it. The micro-rotor drone pulls down the delivery rope to deliver the cargo. The receiving box confirms receipt of the cargo through a piezoelectric sensor and sends back instructions. The aircraft then retracts the delivery rope.

[0055] The receiving box 2 extends out of the storage box and into position. Using BeiDou navigation and positioning, the center of the aircraft cargo is aligned vertically with the center of receiving box 2. UWB positioning technology is then used for recalibration to ensure accurate positioning. (See also...) Figure 9 The aircraft releases cargo by pulling down the release rope 30. The receiving box 2 receives the cargo through a piezoelectric sensor and sends a "cargo received" command to the aircraft. The aircraft then disconnects and retracts the release rope 30.

[0056] S104, the receiver box retracts and reports that reception is complete, the aircraft disconnects the side safety rope and returns to base.

[0057] The storage box retracts receiver 2 into its compartment, securing it securely. A "reception complete" command is sent to the drone. Further steps include... Figure 9 As shown, the aircraft disconnects the side safety rope 31, and the safety rope 31 exits from the gap between the upper edge of the outer side of the receiving box 2 and the upper panel of the storage box and returns to base.

[0058] S105: The customer picks up the goods and empties the receiving box. They then confirm receipt and that the receiving box is empty via a mobile app, completing the process for future use.

[0059] The customer collects the goods and empties receiving box 2; they then confirm "goods received" and "receiving box 2 emptied" via a mobile app to prepare for the next delivery.

[0060] In this application embodiment, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent the existence of A alone, the simultaneous existence of A and B, or the existence of B alone. A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects have an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, and c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0061] The above description is merely a specific embodiment of this application. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the protection scope of this application. The protection scope of this application should be determined by the protection scope of the claims.

Claims

1. A micro rotary-wing drone delivery and automatic storage system, characterized in that, include: A box is installed on the outside of the building wall, and a receiving box cooperates with the box. An automatic control telescopic system is set between the box and the receiving box. The control end of the automatic control telescopic system is located on the fixed side of the box, and the movable end is softly connected to the receiving box. A positioning chip and a piezoelectric sensor are set at the center of the bottom of the receiving box for the quadcopter to find the target household and drop goods at a fixed point. The automatic control telescopic system, the positioning chip, and the piezoelectric sensor are all communicatively connected to the control system.

2. The automatic home delivery and storage system for micro rotary-wing drones according to claim 1, characterized in that, The box includes a mounting plate fixed to the outside of the building wall and a box shell fixed to the mounting plate; the upper left and right sides of the receiving box are provided with edge structures, and a support telescopic structure is provided between the edge structures and the mounting plate, the support telescopic structure providing support for the receiving box.

3. The automatic home delivery and storage system for micro rotary-wing drones according to claim 2, characterized in that, The supporting telescopic structure includes a horizontal telescopic rod and a diagonal telescopic rod. The horizontal telescopic rod is arranged in opposite directions, with its first end fixedly connected to the mounting plate and its second end fixedly connected to the edge structure. The diagonal telescopic rod is arranged in the forward direction, with its second end connected to the mounting plate and its first end connected to the second end of the horizontal telescopic rod.

4. The automatic home delivery and storage system for micro rotary-wing drones according to claim 3, characterized in that, The horizontal telescopic rod includes a first horizontal telescopic joint, a second horizontal telescopic joint, and a third horizontal telescopic joint. The first end of the first horizontal telescopic joint is fixedly connected to the mounting plate. The two ends of the second horizontal telescopic joint are movably connected to the second end of the first horizontal telescopic joint and the first end of the third horizontal telescopic joint, respectively. The second end of the third horizontal telescopic joint is fixedly connected to the edge structure. The diagonal bracing telescopic rod includes a first diagonal bracing telescopic joint, a second diagonal bracing telescopic joint, and a third diagonal bracing telescopic joint. The second end of the third diagonal bracing telescopic joint is connected to the mounting plate via a trolley joint. The two ends of the second diagonal bracing telescopic joint are movably connected to the second end of the first diagonal bracing telescopic joint and the first end of the third diagonal bracing telescopic joint, respectively. The first end of the first diagonal bracing telescopic joint is located on the outside of the third horizontal telescopic joint and close to the second end of the third horizontal telescopic joint via a trolley joint.

5. The automatic home delivery and storage system for micro rotary-wing drones according to claim 2, characterized in that, The automatic control telescopic system includes a stepper motor lift and an umbrella rib structure. The stepper motor lift is mounted on the mounting plate. The first end of the umbrella rib structure is connected to the stepper motor lift, and the second end is flexibly connected to the receiving box.

6. The automatic home delivery and storage system for micro rotary-wing drones according to claim 5, characterized in that, The stepper motor lifter includes: a stepper motor; a rotating rod fixedly connected to the rotation output end of the stepper motor; a first end of the rotating rod fixedly connected to the rotation output end of the stepper motor; a second end rotatably connected to a top fixing block; the top fixing block being connected to the housing of the stepper motor via a fixing link; a lifting module being provided on the rotating rod; the lifting module being rotatably connected to the rotating rod; and the fixing link passing through the lifting module and slidably connected to the lifting module.

7. The automatic home delivery and storage system for micro rotary-wing drones according to claim 6, characterized in that, The umbrella rib structure includes multiple pairs of rigid support rods and flexible ribs. Each pair of rigid support rods consists of a first rigid support rod and a second rigid support rod. The first rigid support rod of the first pair is connected to the top fixing block and the body of the second rigid support rod in the same pair. The two ends of the second rigid support rod are connected to the lifting module and the body of the first rigid support rod in the adjacent pair. The first rigid support rod in each intermediate pair is connected to the second rigid support rod in the previous pair and the second rigid support rod in the same pair. A first flexible rib is provided between the first rigid support rods in adjacent pairs, and a second flexible rib is provided between the second rigid support rods in adjacent pairs. The second rigid support rod in the last pair is fixedly connected to the receiving box.

8. The automatic home delivery and storage system for micro rotary-wing drones according to claim 7, characterized in that, An elastic link structure is provided between the second rigid support rod in the last rigid support rod of the umbrella rib structure and the receiving box to prevent the non-horizontal movement of the end of the rigid support rod from causing hard contact with the receiving box during the extension and contraction of this structure.

9. The automatic home delivery and storage system for micro rotary-wing drones according to claim 1, characterized in that, The control system includes a stepper motor motion control system and a positioning and receiving control system. The stepper motor motion control system is used to control the forward and reverse rotation of the stepper motor. The positioning and receiving control system is used for wake-up, positioning, and cargo receiving control when surrounding aircraft are approaching. It includes a system control module, a signal processing module, and a communication module, and is also responsible for providing forward and reverse rotation control signals to the stepper motor motion control system.

10. A control method for an automatic storage system for home delivery by a micro rotary-wing drone, characterized in that, An automated home delivery and storage system for a micro rotary-wing drone as described in any one of claims 1-9, comprising: The flight path is determined by manual remote control test flight. The customer's address number is bound to the three-dimensional coordinates of the receiving box and entered into the background database. The goods are assembled according to the customer's needs. At the same time, the flight path and target coordinates are set in the background. The micro-rotor drone takes off according to the set trajectory, hovers after arriving at the preset range of the receiver box, sends an arrival command, wakes up the Beidou navigation and positioning chip in the receiver box and confirms the response; The receiving box extends and reaches its position. The Beidou navigation positioning system aligns the cargo vertically with the center of the receiving box and calibrates it. The micro-rotor drone pulls down the delivery rope to deliver the cargo. The receiving box confirms receipt of the cargo through a piezoelectric sensor and sends back instructions. The aircraft then retracts the delivery rope. The receiver box retracts and reports that reception is complete; the micro rotor drone disconnects the side safety rope and returns to base. The customer picks up the goods, empties the receiving box, and confirms receipt and emptying of the box via a mobile app, completing the process for future use.

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