A low-altitude aircraft multi-link collaborative relay transmission system for cross-regional logistics

Abstract

This invention discloses a low-altitude aircraft multi-link collaborative relay transport system for cross-regional logistics, belonging to the field of low-altitude logistics transportation technology. The system includes a multi-link planning module, a collaborative scheduling platform, a low-altitude aircraft cluster, a cargo handover device, a cross-unit communication adaptation module, and an energy replenishment module. The multi-link planning module uses an optimized A* algorithm to plan multiple parallel relay links and divide transportation segments. The collaborative scheduling platform achieves real-time monitoring and dynamic scheduling throughout the entire process. The cross-unit communication adaptation module breaks down heterogeneous protocol barriers. The cargo handover device and energy replenishment module are integrated and deployed to achieve efficient connection. This invention solves the pain points of insufficient aircraft endurance, difficulties in multi-unit collaboration, and low handover efficiency in cross-regional logistics, realizing safe, efficient, and collaborative logistics transportation in long-distance, complex scenarios, and possesses strong practical value and promising prospects for widespread application.

Description

Technical Field

[0001] This invention relates to the field of low-altitude logistics transportation technology, and in particular to a low-altitude aircraft multi-link collaborative relay transmission system for cross-regional logistics. Background Technology

[0002] As the logistics industry expands into remote areas and cross-regional scenarios, low-altitude logistics, with its advantages of being unrestricted by terrain and having high transportation efficiency, has become an important solution to the challenges of transporting goods in complex areas such as mountainous regions and cross-regional areas. However, current low-altitude aircraft are limited by battery technology, resulting in a short range, making it difficult for a single aircraft to complete long-distance cross-regional logistics transportation tasks. At the same time, cross-regional logistics often involves complex scenarios involving multi-link coverage and multi-unit collaboration. Existing logistics systems lack efficient aircraft scheduling and cargo relay mechanisms, leading to poor cargo transfer connections, high risks of transportation interruptions, and difficulty in achieving collaborative cooperation among multiple units.

[0003] Currently, solutions for long-distance low-altitude logistics mainly include increasing aircraft battery capacity and setting up ground resupply stations. Increasing battery capacity leads to increased aircraft payload and energy consumption, which actually reduces actual range efficiency. Ground resupply stations require advance planning and construction, are costly and time-consuming, and are difficult to deploy widely in complex terrain areas such as mountainous regions. Furthermore, existing relay transport solutions are mostly simple collaborations of fixed routes and fixed aircraft, lacking dynamic scheduling capabilities. They cannot adjust relay strategies based on real-time road conditions and aircraft status. When an abnormal situation occurs in a link, such as aircraft failure or sudden weather changes, it is difficult to quickly switch relay routes, resulting in low transport efficiency and increased risk of cargo delays. Simultaneously, in multi-unit collaborative scenarios, inconsistencies in aircraft models and communication protocols between different units create data exchange barriers, further affecting the coordination and reliability of relay transmission.

[0004] To address the aforementioned issues, this invention proposes a low-altitude aircraft multi-link collaborative relay transmission system for cross-regional logistics. Through multi-link planning, dynamic scheduling, cross-unit protocol adaptation, and integrated handover-replenishment design, it achieves efficient, safe, and collaborative transportation of cross-regional logistics. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a low-altitude aircraft multi-link collaborative relay transmission system for cross-regional logistics, which effectively solves the deficiencies of the prior art.

[0006] To achieve the above objectives, one embodiment of the present invention provides a low-altitude aircraft multi-link collaborative relay transmission system for cross-regional logistics, including a multi-link planning module, a collaborative scheduling platform, a low-altitude aircraft cluster, a cargo handover device, a cross-unit communication adaptation module, and an energy supply module. The multi-link planning module is used to plan multiple parallel logistics relay links based on the starting point, ending point, terrain information and logistics needs of cross-regional logistics. Each logistics relay link is divided into several continuous transportation segments, and each transportation segment is assigned a corresponding low-altitude aircraft. The collaborative scheduling platform is connected to the multi-link planning module, the low-altitude aircraft cluster, and the cargo handover device to monitor the aircraft status, cargo status, and link environment in real time and generate relay scheduling instructions. The low-altitude aircraft cluster includes several low-altitude aircraft with cargo transportation capabilities. Each low-altitude aircraft is equipped with a positioning module, a status monitoring module, and a communication module, which are used to perform cargo transportation tasks in the corresponding transportation section and to feed back real-time data to the collaborative scheduling platform. The cargo handover device is installed at the connection nodes of each transport section to enable rapid cargo handover between aircraft in adjacent transport sections; The cross-unit communication adaptation module is integrated into the collaborative scheduling platform to adapt to the communication protocols of different unit aircraft, and realize data interaction and collaborative scheduling of multiple unit aircraft. The energy replenishment module is integrated with the cargo transfer device to provide charging or rapid battery replacement services for low-altitude aircraft.

[0007] Preferably, in any of the above schemes, the multi-link planning module includes a link generation unit and a segment division unit. The link generation unit combines terrain elevation data, obstacle distribution data and meteorological data, and uses an optimized A* algorithm to plan multiple logistics relay links that avoid dangerous areas and meet transportation timeliness requirements. The segment division unit divides each logistics relay link into a transportation segment of suitable length based on the low-altitude aircraft's range, load capacity, transportation segment distance, and terrain complexity, and matches the optimal low-altitude aircraft model to each transportation segment.

[0008] The core improvements to the optimized A* algorithm include: the heuristic function is designed as a weighted distance function that combines terrain slope (weight 20%), obstacle density (weight 10%), and weather conditions (weight 10%); the total weight of the path cost is allocated as follows: terrain adaptability 30%, distance 40%, and timeliness 30%; in response to the characteristics of large elevation differences and dense obstacles in mountainous areas, the algorithm automatically increases the obstacle avoidance weight and dynamically adjusts the spacing between path nodes (the spacing between nodes is reduced to 50m in complex areas and expanded to 200m in flat areas) to ensure the safety and adaptability of path planning.

[0009] The technical effects achieved by adopting the above scheme are: optimizing the A* algorithm to adapt to complex terrain across regions; the planned multiple parallel links can effectively avoid risk factors such as complex mountain terrain and severe weather, and improve the safety and flexibility of transportation routes; and based on the precise matching of aircraft performance and segment characteristics, ensure that the transportation tasks of each transportation segment are compatible with the aircraft's capabilities, avoid transportation interruptions due to insufficient endurance or overload, and at the same time achieve optimized resource allocation.

[0010] Preferably, in any of the above schemes, the collaborative scheduling platform includes a status monitoring unit, an instruction generation unit, an emergency scheduling unit, and an airspace compliance verification unit. The status monitoring unit receives real-time location information, remaining battery power, load status, and cargo handover device operating status data of the low-altitude aircraft, and displays them through a visual interface. The instruction generation unit generates scheduling instructions such as aircraft takeoff, flight, handover, and return based on real-time monitoring data. The emergency scheduling unit is used to detect link anomalies (including aircraft malfunctions, sudden weather changes, path congestion, cargo handover anomalies, and multi-unit coordination conflicts). When an anomaly is detected, the optimal alternative link is selected from the backup links of the multi-link planning module, and the aircraft is reassigned to perform relay transportation tasks. The airspace compliance verification unit synchronizes information such as airspace permit range, flight restriction altitude, and no-fly zones in real time through a standard API interface with the urban airspace management platform. Before takeoff, the planned path is verified for compliance, and during flight, the aircraft's real-time position is synchronized to the airspace management platform every 5 seconds.

[0011] The technical effects achieved by adopting the above solution are as follows: real-time monitoring allows staff to have a comprehensive grasp of the system's operating status and promptly identify potential problems; precise dispatch instructions ensure orderly connection between all links and improve transportation efficiency; the emergency dispatch mechanism can quickly respond to abnormal situations and avoid transportation mission interruptions by switching backup links and reallocating aircraft; and the airspace compliance verification unit ensures that the system complies with low-altitude flight policy requirements, reduces operational risks, and ensures the continuity and reliability of cross-regional logistics.

[0012] Preferably, in any of the above schemes, the status monitoring module carried by the low-altitude aircraft includes a power detection unit, a load detection unit, an environmental perception unit, and a cargo status detection unit. The power detection unit monitors the remaining battery power and power consumption rate of the aircraft in real time. When the remaining power is lower than a preset threshold of 30%, it sends a resupply warning signal to the collaborative scheduling platform. The load detection unit uses a pressure sensor to detect the actual weight of the cargo with an accuracy of ±0.5kg to ensure that it does not exceed the rated load of the aircraft. The environmental perception unit uses millimeter-wave radar (detection distance 0-50m) and a high-definition camera to detect obstacles and weather conditions (temperature, wind speed, visibility) on the flight path in real time and feeds them back to the collaborative scheduling platform. The cargo status detection unit uses an infrared sensor to detect whether the cargo is intact and whether it is in a preset clamping position to prevent the cargo from falling or being damaged.

[0013] The technical effects achieved by adopting the above solution are as follows: multi-dimensional status monitoring can comprehensively grasp the aircraft's operating status, cargo status, and surrounding environment; power warning can plan resupply or relay connection in advance to avoid insufficient range; load detection and cargo status detection ensure flight safety and cargo integrity; environmental perception data provides support for the collaborative scheduling platform to adjust flight paths and avoid risks, thereby improving flight safety.

[0014] Preferably, as described in any of the above embodiments, the cargo handover device includes a fixed support, an automatic clamping mechanism, a positioning calibration unit, a status feedback unit, and a buffer protection unit. The fixed support features an adjustable height design to accommodate the landing height of different types of low-altitude aircraft (adjustment range 0.5-2m). The automatic clamping mechanism employs electro-hydraulic grippers with a clamping force range of 10-500N, enabling rapid clamping or release of cargo, with a single handover time not exceeding 30 seconds. The positioning calibration unit utilizes UWB positioning technology with a positioning accuracy of ±3cm, guiding the automatic clamping mechanism in alignment operations. The status feedback unit uploads the completion status (success / failure) of the cargo handover to the collaborative scheduling platform. The buffer protection unit uses an elastic buffer pad to protect fragile cargo from damage during the handover process.

[0015] The technical effects achieved by adopting the above solution are as follows: UWB positioning technology ensures the positioning accuracy of cargo handover and avoids problems such as cargo falling or being damaged during the handover process; the automatic clamping mechanism enables rapid cargo handover, shortens the handover time, and improves transportation efficiency; the design to adapt to different types of aircraft enhances the versatility of the device; the buffer protection unit expands the cargo compatibility range; and the status feedback function allows the collaborative scheduling platform to monitor the handover progress in real time, ensuring a smooth relay process.

[0016] Preferably, in any of the above schemes, the cross-unit communication adaptation module includes a protocol parsing unit, a data conversion unit, a communication encryption unit, and a conflict coordination unit. The protocol parsing unit is used to parse the communication protocol formats of different unit aircraft (supporting mainstream protocols such as MQTT and HTTP); the data conversion unit converts the parsed heterogeneous data into a unified JSON format to realize data interaction between multiple unit aircraft and the collaborative scheduling platform; the communication encryption unit uses the AES-256 encryption algorithm to encrypt the interactive data to ensure the security of data transmission; the conflict coordination unit is used to coordinate resource scheduling conflicts between multiple units, allocate transportation resources based on the "task priority + distance priority" rule, and avoid scheduling conflicts.

[0017] The technical effects achieved by adopting the above solution are as follows: it solves the problem of communication protocol incompatibility in multi-unit collaborative scenarios, realizes data interconnection and interoperability of heterogeneous systems, and provides technical support for multi-unit aircraft collaborative relay; data encryption processing effectively prevents data from being stolen or tampered with, and the conflict coordination unit ensures the orderliness of multi-unit collaboration and improves system reliability.

[0018] Preferably, as described in any of the above schemes, the energy replenishment module includes a charging pile, a battery replacement mechanism, and a replenishment status feedback unit. The charging pile supports fast charging mode and can charge to 80% in 30 minutes. The battery replacement mechanism uses an automated robotic arm to achieve rapid battery replacement (replacement time not exceeding 2 minutes). The replenishment status feedback unit is used to upload the replenishment progress (charging percentage, replacement progress) to the collaborative scheduling platform in real time, so that the dispatchers can keep track of the aircraft's status.

[0019] The technical effects achieved by adopting the above solution are as follows: the energy replenishment module and the cargo handover device are integrated and deployed to realize the simultaneous delivery of cargo and energy replenishment, reducing the aircraft's dwell time; the two modes of charging and battery replacement adapt to different scenario requirements (fast charging is suitable for short-term stays, and battery replacement is suitable for emergency missions), further improving the system's endurance guarantee capability and supporting the continuous operation of long-distance cross-regional logistics.

[0020] Preferably, as described in any of the above schemes, the system further includes an emergency handling submodule, which is integrated into the emergency dispatch unit of the collaborative dispatch platform, and executes corresponding strategies for different abnormal scenarios: Extreme weather (wind speed ≥15m / s, visibility <50m, heavy rain / snow): automatically reduce the aircraft's flight speed to 5m / s, and the emergency dispatch unit switches to the preset low-risk backup link, or guides the aircraft to the nearest emergency take-off and landing point. Aircraft malfunction (power system abnormality, battery power <10%): Immediately dispatch nearby backup aircraft to the malfunction point to pick up the cargo, the malfunctioning aircraft shall execute the emergency landing procedure, and the cargo status detection unit shall provide real-time feedback on the cargo status. Abnormal cargo handover (clamping failure, cargo falling): Automatically triggers the secondary clamping retry mechanism. If the retry fails twice, a manual intervention reminder is activated, and the cargo recovery device is used to protect the fallen cargo. Multi-unit collaborative conflict (resource contention): The conflict coordination unit coordinates quickly based on task priority (emergency supplies > ordinary supplies) and distance priority (allocation to the nearest unit), and completes the reallocation of resources within 10 seconds.

[0021] The technical effects achieved by adopting the above solution are: comprehensive coverage of various abnormal scenarios, improvement of system robustness and reliability, avoidance of delivery interruptions or safety accidents due to emergencies, and guarantee of the continuity and stability of logistics transportation.

[0022] Preferably, as described in any of the above solutions, the system further includes a special cargo adaptation module, which comprises a fragile item cushioning component, a cold chain insulation component, and an oversized item expansion bracket. Fragile item buffer assembly: A silicone buffer pad is added inside the automatic clamping mechanism to reduce clamping pressure (clamping force is controlled at 10-50N) and reduce the operating speed during handover. Cold chain insulation components: Matching insulation boxes with built-in temperature sensors to monitor the temperature inside the box in real time. If the temperature exceeds the preset range (such as 0-8℃), an early warning signal is sent to the collaborative scheduling platform. Oversized Extended Bracket: The fixed bracket can be extended laterally, with a maximum extension width of 1.5m, to meet the parking and handover needs of oversized goods.

[0023] The technical effects achieved by adopting the above solution are: it expands the system's adaptability to different types of goods, breaks the limitation of traditional relay systems that can only transport ordinary goods, and enhances the system's practicality and market promotion value.

[0024] Preferred from any of the above solutions, the system provides a lightweight deployment solution that addresses the needs of small and medium-sized logistics enterprises. This solution reduces the number of links (retaining 2 core links), decreases the size of the aircraft cluster (5 core aircraft + 2 spare aircraft), and simplifies some functions of the cargo handover device (eliminating automatic buffer adjustment and using fixed buffer pads). The deployment cost is reduced to 60% of the standard version, while retaining core functions such as multi-link planning, cross-unit collaboration, and integrated handover-replenishment, thus adapting to the application needs of enterprises of different sizes.

[0025] The technical effects achieved by adopting the above solution are: meeting the low-cost deployment needs of small and medium-sized logistics enterprises, lowering the threshold for technology implementation, and improving the universality and market coverage of patented technologies. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall system structure of Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the workflow of the multi-link planning module in Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the cargo handover device in Embodiment 1 of the present invention.

[0027] Figure 4 This is a schematic diagram of the path planning logic for optimizing the A* algorithm in Embodiment 1 of the present invention; Figure 5 This is a flowchart illustrating the abnormal response of the emergency handling submodule in Embodiment 1 of the present invention. Figure 6 This is a schematic diagram of the multi-unit collaborative scheduling process in Embodiment 1 of the present invention.

[0028] In the diagram: 1-Multi-link planning module, 11-Link generation unit, 12-Segment division unit, 2-Cooperative scheduling platform, 21-Status monitoring unit, 22-Command generation unit, 23-Emergency scheduling unit, 24-Airspace compliance verification unit, 3-Low-altitude aircraft cluster, 31-Low-altitude aircraft, 311-Positioning module, 312 - Status monitoring module, 3121- Power detection unit, 3122- Load detection unit, 3123- Environmental sensing unit, 3124- Cargo status detection unit, 313- Communication module, 4- Cargo handover device, 41- Fixed bracket, 42- Automatic clamping mechanism, 43- Positioning calibration unit, 44- Status feedback unit, 45- Buffer protection unit, 5- Cross-unit communication adapter module, 51- Protocol parsing unit, 52- Data conversion unit, 53- Communication encryption unit, 54- Conflict coordination unit, 6- Energy supply module, 61- Charging pile, 62- Battery replacement mechanism, 63- Supply status feedback unit, 7- Special cargo adapter module. Detailed Implementation

[0029] The present invention will be further described below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the following description.

[0030] Example 1: As Figure 1As shown, the present invention provides a low-altitude aircraft multi-link collaborative relay transmission system for cross-regional logistics, including a multi-link planning module 1, a collaborative scheduling platform 2, a low-altitude aircraft cluster 3, a cargo handover device 4, a cross-unit communication adaptation module 5, an energy supply module 6, and a special cargo adaptation module 7. The modules work together to realize cross-regional, multi-link, and multi-unit logistics relay transmission.

[0031] Multi-link planning module 1: Integrated into the server of the collaborative scheduling platform 2, it includes a link generation unit 11 and a segment division unit 12, such as... Figure 2 As shown. The link generation unit 11 connects to the terrain elevation database, obstacle distribution database, and real-time meteorological data platform. It uses an optimized A* algorithm to plan three logistics relay links from a mountainous material distribution center (starting point) to a remote township distribution point (ending point). Each link avoids landslide risk areas, high-voltage lines, and other dangerous areas. The algorithm's heuristic function combines terrain slope, obstacle density, and meteorological conditions for weighted calculations to ensure path safety and timeliness. The segment division unit 12, based on the low-altitude aircraft 31's range (maximum range 20km), payload capacity (rated payload 50kg), and the transport distance of each link (total distance 60km) and terrain complexity, divides each link into three 20km long transport segments. The optimal model of low-altitude aircraft 31 is matched to each transport segment. Multi-rotor aircraft with strong wind resistance are matched to complex mountainous terrain segments, while hybrid-wing aircraft with higher payload efficiency are matched to plains segments. The path planning logic of the optimized A* algorithm is as follows: Figure 4 As shown.

[0032] Collaborative Scheduling Platform 2: Built using industrial-grade servers, it connects to other modules via a 5G communication network, including a status monitoring unit 21, an instruction generation unit 22, an emergency dispatch unit 23, and an airspace compliance verification unit 24. The status monitoring unit 21 receives real-time information from the low-altitude aircraft 31, including its real-time location (positioning accuracy ±1m), remaining battery power, load data, cargo status, and the operational status of the cargo handover device 4 and the energy replenishment module 6. It dynamically displays the operational status of each link and segment through a visual interface. The instruction generation unit 22 automatically generates instructions for aircraft takeoff, flight path adjustment, cargo handover, and return based on a preset transportation plan and real-time monitoring data, with an instruction transmission latency of no more than 100ms. The emergency dispatch unit 23 detects link anomalies in real time. When an anomaly such as aircraft malfunction or sudden weather changes is detected, it immediately selects the optimal alternative link from the backup links and dispatches a backup aircraft to take over the task. The switchover response time is no more than 5 minutes. The emergency response process is as follows: Figure 5 As shown; the airspace compliance verification unit 24 synchronizes airspace permit information in real time through the standard API interface of the city airspace management platform, performs compliance verification on the planned path before takeoff, and synchronizes the aircraft position every 5 seconds during flight.

[0033] Low-altitude aircraft cluster 3: consists of 9 low-altitude aircraft 31 (3 links × 3 segments), including 7 multi-rotor aircraft and 2 hybrid-wing aircraft. Each aircraft is equipped with a positioning module 311, a status monitoring module 312 and a communication module 313. The positioning module 311 adopts GPS + Beidou dual-mode positioning to ensure positioning stability in complex mountainous environments; the status monitoring module 312 includes a power detection unit 3121, a load detection unit 3122, an environmental perception unit 3123, and a cargo status detection unit 3124. The power detection unit 3121 monitors the remaining battery power in real time and sends a replenishment warning when the remaining power is below 30%; the load detection unit 3122 uses a pressure sensor to detect the weight of the cargo with an accuracy of ±0.5kg; the environmental perception unit 3123 uses millimeter-wave radar (detection distance 0-50m) and a high-definition camera to identify obstacles and weather conditions on the path in real time; the cargo status detection unit 3124 uses an infrared sensor to detect whether the cargo is intact; the communication module 313 supports 5G and LoRa dual-mode communication to ensure stable data transmission in areas with weak signals.

[0034] Cargo handover device 4: One unit is deployed at each of the three connecting nodes of each transport segment in each link, for a total of three units, such as... Figure 3 As shown. The cargo handover device 4 includes a fixed bracket 41, an automatic clamping mechanism 42, a positioning calibration unit 43, a status feedback unit 44, and a buffer protection unit 45. The fixed bracket 41 adopts an adjustable height design to adapt to the docking height of different types of aircraft (adjustment range 0.5-2m); the automatic clamping mechanism 42 uses electro-hydraulic grippers with a clamping force range of 10-500N, which can quickly clamp or release cargo, and the single handover time does not exceed 30 seconds; the positioning calibration unit 43 adopts UWB positioning technology with a positioning accuracy of ±3cm, guiding the grippers to accurately align with the cargo; the status feedback unit 44 immediately sends a "handover success / failure" signal to the collaborative scheduling platform 2 after the handover is completed; the buffer protection unit 45 uses an elastic buffer pad to adapt to the handover of fragile cargo.

[0035] Cross-unit communication adaptation module 5: Integrated into the collaborative scheduling platform 2, it includes a protocol parsing unit 51, a data conversion unit 52, a communication encryption unit 53, and a conflict coordination unit 54. The multi-unit collaborative scheduling process is as follows: Figure 6 As shown. Protocol parsing unit 51 supports parsing mainstream communication protocols such as MQTT and HTTP; data conversion unit 52 converts heterogeneous data from different protocols into a unified JSON format to achieve data interoperability; communication encryption unit 53 uses the AES-256 encryption algorithm to encrypt transmitted data to ensure data transmission security; conflict coordination unit 54 coordinates resource scheduling conflicts among multiple units based on the "task priority + distance priority" rule, and completes resource reallocation within 10 seconds.

[0036] Energy replenishment module 6: Integrated with cargo transfer device 4, it includes charging pile 61, battery replacement mechanism 62, and replenishment status feedback unit 63. Charging pile 61 supports fast charging mode, charging to 80% in 30 minutes; battery replacement mechanism 62 uses an automated robotic arm to achieve rapid battery replacement (replacement time not exceeding 2 minutes); replenishment status feedback unit 63 uploads the replenishment progress to collaborative scheduling platform 2 in real time, allowing dispatchers to monitor the aircraft status. Two replenishment modes can be selected according to actual needs.

[0037] Special cargo adaptation module 7 includes a fragile goods buffer assembly, a cold chain insulation assembly, and an oversized cargo extension bracket. The fragile goods buffer assembly adds a silicone cushioning pad to the inside of the automatic clamping mechanism 42 to reduce clamping pressure; the cold chain insulation assembly is equipped with an insulated box with a built-in temperature sensor to monitor the temperature inside the box in real time; the oversized cargo extension bracket can be expanded laterally, with a maximum expansion width of 1.5m, to meet the parking and handover requirements of oversized cargo.

[0038] This low-altitude aircraft multi-link collaborative relay transmission system for cross-regional logistics requires the following steps to be used: 1) Link planning and deployment: Staff input logistics task information (origin, destination, cargo weight, transportation time) through the collaborative scheduling platform 2. The link generation unit 11 of the multi-link planning module 1 plans 3 logistics relay links. The segment division unit 12 divides each link into 3 transportation segments and assigns corresponding low-altitude aircraft 31. The special cargo adaptation module 7 activates the corresponding adaptation components according to the cargo type to complete the system deployment. 2) Compliance verification and mission initiation: The airspace compliance verification unit 24 performs compliance verification on the planned route, removes no-fly zones and re-optimizes it; the instruction generation unit 22 of the collaborative scheduling platform 2 sends a take-off instruction to the aircraft in the first segment of the first link. The aircraft carrying cargo departs from the starting point and flies along the preset route. The status monitoring module 312 provides real-time feedback on the operation data. 3) Cargo relay handover and resupply: When the aircraft arrives at the first connection node, the positioning calibration unit 43 accurately locates the aircraft and cargo positions, the automatic clamping mechanism 42 clamps the cargo, and the aircraft releases the cargo and proceeds to the energy resupply module 6 for charging or battery replacement; at the same time, the collaborative scheduling platform 2 sends a take-off command to the aircraft in the second segment of the link. After the aircraft arrives at the connection node, the automatic clamping mechanism 42 releases the cargo, and the aircraft continues transportation with the cargo, thus completing the relay of each segment in sequence; 4) Status monitoring and emergency handling: The status monitoring unit 21 monitors the entire transportation process in real time. If a link abnormality is detected (such as aircraft failure or sudden weather changes), the emergency dispatch unit 23 immediately activates the emergency plan, switches the backup link and aircraft to ensure that the transportation mission is not interrupted; the cross-unit communication adaptation module 5 coordinates resource conflicts among multiple units to ensure smooth collaboration. 5) Mission Completion: When the last segment's aircraft delivers the cargo to the destination, it sends a "mission completed" signal to the collaborative scheduling platform 2. The platform records the transportation data (including transportation time of each segment, handover status, aircraft status, resupply status, etc.), completing a cross-regional logistics relay transportation.

[0039] In summary, by planning multiple parallel relay links through a multi-link planning module and combining segmentation to achieve precise matching between aircraft and transportation tasks, the problem of insufficient endurance of a single aircraft is solved. The collaborative scheduling platform enables real-time monitoring, dynamic scheduling, and airspace compliance verification throughout the entire process. Combined with an emergency response mechanism, this enhances the system's ability to handle abnormal situations. The cargo handover device adopts a precise positioning, automatic clamping, and buffer protection design, integrated with the energy replenishment module, enabling rapid cargo handover and energy replenishment simultaneously, shortening connection time. The cross-unit communication adaptation module breaks down communication barriers and resource conflicts in multi-unit collaboration, achieving data interoperability and orderly scheduling of heterogeneous systems. The special cargo adaptation module and lightweight deployment scheme expand the system's application scenarios and versatility. This system effectively overcomes the problems of limited endurance, poor connection, poor coordination, and weak risk resistance in existing technologies for cross-regional low-altitude logistics, providing a reliable technical solution for logistics transportation in complex scenarios such as mountainous areas, cross-regional operations, and multi-unit collaboration.

[0040] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A low-altitude aircraft multi-link collaborative relay transmission system for cross-regional logistics, characterized in that: It includes a multi-link planning module (1), a collaborative scheduling platform (2), a low-altitude aircraft cluster (3), a cargo handover device (4), a cross-unit communication adaptation module (5), and an energy supply module (6). The multi-link planning module (1) is used to plan multiple parallel logistics relay links based on the starting point, ending point, terrain information and logistics needs of cross-regional logistics. Each logistics relay link is divided into several continuous transportation segments, and each transportation segment is assigned a corresponding low-altitude aircraft (31). The collaborative scheduling platform (2) is connected to the multi-link planning module (1), the low-altitude aircraft cluster (3), and the cargo handover device (4) for real-time monitoring of aircraft status, cargo status, and link environment, and generating relay scheduling instructions. The low-altitude aircraft cluster (3) includes several low-altitude aircraft (31) with cargo transportation functions. The low-altitude aircraft (31) is equipped with a positioning module (311), a status monitoring module (312) and a communication module (313) to perform cargo transportation tasks in the corresponding transportation section and to feed back real-time data to the collaborative scheduling platform (2). The cargo handover device (4) is set at the connection node of each transport section to realize the rapid handover of cargo between aircraft in adjacent transport sections; The cross-unit communication adaptation module (5) is integrated into the collaborative scheduling platform (2) to adapt to the communication protocols of different unit aircraft and realize data interaction and collaborative scheduling of multiple unit aircraft; The energy replenishment module (6) is integrated with the cargo transfer device (4) to provide charging or rapid battery replacement services for the low-altitude aircraft (31).

2. The low-altitude aircraft multi-link collaborative relay transmission system for cross-regional logistics as described in claim 1, characterized in that: The multi-link planning module (1) includes a link generation unit (11) and a segment division unit (12). The link generation unit (11) combines terrain elevation data, obstacle distribution data and meteorological data, and uses the optimized A* algorithm to plan multiple logistics relay links that avoid dangerous areas and meet transportation timeliness. The segment division unit (12) divides each logistics relay link into a transportation segment with a suitable length based on the range, load capacity, distance of the transportation segment, and terrain complexity of the low-altitude aircraft (31), and matches the optimal model of low-altitude aircraft (31) to each transportation segment.

3. The low-altitude aircraft multi-link collaborative relay transmission system for cross-regional logistics as described in claim 2, characterized in that: The heuristic function of the optimized A* algorithm is a weighted distance function that combines terrain slope, obstacle density, and weather conditions. The path cost weights are allocated as follows: terrain adaptability 30%, distance 40%, and timeliness 30%. For complex mountainous terrain, the algorithm automatically increases the obstacle avoidance weight and dynamically adjusts the path node spacing.

4. The low-altitude aircraft multi-link collaborative relay transmission system for cross-regional logistics as described in claim 1, characterized in that: The collaborative scheduling platform (2) includes a status monitoring unit (21), an instruction generation unit (22), an emergency scheduling unit (23), and an airspace compliance verification unit (24). The status monitoring unit (21) receives the location information, remaining power, load status and working status data of the low-altitude aircraft (31) and the cargo handover device (4) in real time, and displays them through a visual interface. The instruction generation unit (22) generates scheduling instructions such as aircraft take-off, flight, handover, and return based on real-time monitoring data; The emergency dispatch unit (23) is used to detect link anomalies. When an anomaly is detected, the optimal alternative link is selected from the backup links of the multi-link planning module (1), and the aircraft is reassigned to perform relay transportation tasks. The airspace compliance verification unit (24) realizes pre-flight permit verification and in-flight trajectory reporting through the standard interface with the airspace management platform.

5. The low-altitude aircraft multi-link collaborative relay transmission system for cross-regional logistics according to claim 4, characterized in that: The link anomalies include aircraft malfunctions, sudden weather changes, route blockages, cargo handover anomalies, and multi-unit coordination conflicts. The emergency dispatch unit (23) executes corresponding emergency strategies for different abnormal scenarios, including link switching, aircraft replacement, handover retry, and conflict coordination.

6. The low-altitude aircraft multi-link collaborative relay transmission system for cross-regional logistics according to claim 1, characterized in that: The status monitoring module (312) carried by the low-altitude aircraft (31) includes a power detection unit (3121), a load detection unit (3122), an environmental perception unit (3123), and a cargo status detection unit (3124). The power detection unit (3121) detects the remaining power and power consumption rate of the aircraft battery in real time. When the remaining power is lower than the preset threshold, it sends a replenishment warning signal to the collaborative scheduling platform (2). The load detection unit (3122) is used to detect the actual weight of the cargo to ensure that it does not exceed the rated load of the aircraft; the environmental perception unit (3123) uses millimeter-wave radar and high-definition camera to detect obstacles and weather conditions on the flight path in real time. The cargo status detection unit (3124) is used to detect whether the cargo is intact and whether it is in a preset clamping position.

7. The low-altitude aircraft multi-link collaborative relay transmission system for cross-regional logistics as described in claim 1, characterized in that: The cargo handover device (4) includes a fixed bracket (41), an automatic clamping mechanism (42), a positioning calibration unit (43), a status feedback unit (44), and a buffer protection unit (45). The fixed bracket (41) adopts an adjustable height design to adapt to the docking requirements of different types of low-altitude aircraft; The automatic clamping mechanism (42) uses an electro-hydraulic gripper, which achieves rapid clamping and release of goods through hydraulic drive; The positioning calibration unit (43) uses UWB positioning technology to accurately locate the position of the parked low-altitude aircraft and cargo; The status feedback unit (44) is used to upload the completion status of the goods handover to the collaborative scheduling platform (2). The buffer protection unit (45) uses an elastic buffer pad to protect fragile goods from damage during the handover process.

8. The low-altitude aircraft multi-link collaborative relay transmission system for cross-regional logistics according to claim 1, characterized in that: The cross-unit communication adaptation module (5) includes a protocol parsing unit (51), a data conversion unit (52), a communication encryption unit (53), and a conflict coordination unit (54). The protocol parsing unit (51) is used to parse the communication protocol formats of different aircraft units; the data conversion unit (52) converts the parsed heterogeneous data into a unified data format; The communication encryption unit (53) uses a symmetric encryption algorithm to encrypt the interactive data; The conflict coordination unit (54) is used to coordinate resource scheduling conflicts among multiple units and allocate transportation resources based on priority rules.

9. The low-altitude aircraft multi-link collaborative relay transmission system for cross-regional logistics according to claim 1, characterized in that: The energy replenishment module (6) includes a charging pile (61), a battery replacement mechanism (62), and a replenishment status feedback unit (63). The charging pile (61) supports fast charging mode, and the battery replacement mechanism (62) uses an automated robotic arm to achieve rapid battery replacement; The replenishment status feedback unit (63) is used to upload the replenishment progress to the collaborative scheduling platform (2) in real time.

10. The low-altitude aircraft multi-link collaborative relay transmission system for cross-regional logistics according to claim 1, characterized in that: It also includes a special cargo adaptation module (7), which includes a fragile item buffer component, a cold chain insulation component and an oversized item extension bracket, respectively adapting to the transportation and handover needs of fragile items, cold chain goods and oversized goods.

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