A multi-module cooperative household unmanned aerial vehicle distribution and storage system

Abstract

The application belongs to the technical field of intelligent logistics distribution equipment, and particularly relates to a multi-module cooperative household-universal unmanned aerial vehicle distribution and storage system, which comprises a high-hardness structural frame, a positive pneumatic compensation intervention module, a multi-dimensional flexible buffer docking module, a displacement sensing and correction module and a cooperative control hub, the pneumatic compensation module reconstructs a flow field through porous drainage and guide vane, the buffer module dissipates energy by using magneto-rheological fluid damping, and the displacement correction module compensates for building swing displacement, so that the application can inhibit the near-wall air cushion effect, eliminate collision rebound, solve resonance conflict and guarantee stable docking and safe storage of the unmanned aerial vehicle in a limited space.

Description

Technical Field

[0001] This invention belongs to the field of intelligent logistics and distribution equipment technology, specifically a multi-module collaborative drone delivery and storage system. Background Technology

[0002] With the continuous advancement of smart city construction, low-altitude logistics systems, as an important component of modern urban delivery, are gradually evolving from proof-of-concept to large-scale industrial applications. In the process of achieving the goal of universal delivery, using delivery drones to deliver goods directly to the windows or exterior wall storage systems of high-rise building residents is considered a key path to solving the last-mile delivery problem. This model can not only greatly alleviate ground traffic pressure but also significantly improve delivery efficiency, especially in urban core areas with extremely high building density, where it has irreplaceable industrial value.

[0003] In existing technological practices, drone end-of-life storage systems mainly rely on mechanical support platforms fixed to building exterior walls or windows. These existing storage facilities typically consist of rigid support frames and open storage boxes. Their original design purpose is to provide drones with a relatively fixed landing site and to achieve cargo handover and temporary storage through simple mechanical structures. In relatively ideal laboratory environments or low-altitude open areas, such solutions can complete the predetermined physical handover tasks to a certain extent. However, when the delivery environment changes to the extremely complex near-wall scenario of high-rise building facades, the design principles of existing technologies reveal a deep incompatibility in terms of mechanical logic.

[0004] Existing storage systems have multiple technical limitations. The near-wall effect causes nonlinear aerodynamic interference, leading to loss of drone attitude control. Rigid structures cannot buffer collision kinetic energy, which can easily damage equipment and goods. Furthermore, they cannot cope with the coupled resonance between building sway and drone dynamics, and lack a multi-module collaborative mechanism, which has become a structural obstacle to the large-scale implementation of drone delivery to every household.

[0005] Therefore, the present invention provides a multi-module collaborative drone delivery and storage system. Summary of the Invention

[0006] In order to overcome the shortcomings of the prior art, at least one technical problem raised in the background art is solved.

[0007] The technical solution adopted by this invention to solve its technical problem is as follows: The multi-module collaborative drone delivery and storage system of this invention comprises a high-rigidity structural frame module, an active aerodynamic compensation intervention module, a multi-dimensional flexible buffer docking module, a dynamic displacement sensing and displacement correction module, an automatic storage and sorting execution module, and a multi-module collaborative control central module. The high-rigidity structural frame module serves as the physical support base of the system and is fixed to the building facade by reinforced anchoring components. The active aerodynamic compensation intervention module and the multi-dimensional flexible buffer docking module are respectively installed on the windward side and docking point of the high-rigidity structural frame module. The dynamic displacement sensing and displacement correction module is coupled to the multi-module collaborative control central module through a signal bus. The automatic storage and sorting execution module is located in the internal accommodating space of the high-rigidity structural frame module and establishes a physical handover path with the multi-dimensional flexible buffer docking module.

[0008] The high-hardness structural frame module consists of a rigid shell constructed from weather-resistant composite materials and an internal array of reinforcing ribs. The geometric shape of the rigid shell is streamlined to reduce drag and minimize the impact of crosswinds on the overall stability of the system. The internal array of reinforcing ribs is spatially honeycomb-shaped in its physical structure, ensuring that the system has extremely high structural stiffness and dimensional tolerance stability when delivering large packages. The reinforced anchoring components achieve rigid coupling with the main building structure through chemical anchors and mechanical locking structures, forming a stable reference coordinate system.

[0009] The active aerodynamic compensation intervention module is configured as the core mechanism to eliminate the near-wall air cushion reflection effect. This module consists of a porous drainage wall, an array of micro-guide vanes, and a pressure feedback adjustment mechanism. The porous drainage wall is located on the periphery of the docking platform, and the drainage chamber formed inside it is connected to the atmospheric environment. When the high-speed downwash flow launched by the UAV acts on the wall, the drainage chamber guides the airflow to diffuse to the rear of the system through a physical pressure relief path, thereby suppressing the formation of a local high-pressure air cushion. The array of micro-guide vanes is driven by a stepper motor and dynamically adjusts the deflection angle of the vanes according to the pressure gradient signal collected in real time by the pressure feedback adjustment mechanism. This adjustment action changes the flow pattern of the wall boundary layer and generates a compensation force opposite to the direction of the UAV's drift torque through active intervention, transforming nonlinear aerodynamic interference into a controlled steady-state load and ensuring the stability of the UAV's hovering attitude in the near-wall area.

[0010] The multidimensional flexible buffer docking module, serving as the execution unit for kinetic energy dissipation and mechanical decoupling, comprises a variable stiffness adaptive bearing platform, a magnetorheological fluid damping buffer support, and a spatial multi-degree-of-freedom limiting mechanism. The variable stiffness adaptive bearing platform is covered with a non-Newtonian fluid energy-absorbing layer. This layer exhibits flexible contact characteristics at low speeds and generates a shear hardening effect at high speeds, achieving broad-spectrum absorption of impact energy. The magnetorheological fluid damping buffer support is filled with magnetorheological fluid, and an electromagnetic induction coil surrounds the support. The multi-module collaborative control central module adjusts the coil current in real time based on the impact acceleration signal at the moment of docking, thereby instantaneously changing the viscosity characteristics of the damping fluid. This active damping adjustment mechanism converts the collision energy of the UAV landing gear into the shear heat energy of the liquid, blocking the reciprocating reflection of stress waves between rigid interfaces and eliminating the rebound effect. The spatial multi-degree-of-freedom limiting mechanism physically constrains the lateral displacement and circumferential deflection of the docking platform, ensuring the geometric center consistency of the cargo during dynamic handover.

[0011] The dynamic displacement sensing and correction module aims to solve the docking coordinate drift caused by the low-frequency swaying of the building structure. This module integrates a high-frequency laser radar sampler, an inertial measurement unit, and a piezoelectric ceramic micro-displacement actuator. The high-frequency laser radar sampler detects the spatial vector distance of the UAV relative to the receiving system in real time. The inertial measurement unit captures the displacement, velocity, and acceleration characteristics of the building in real time. The multi-module collaborative control central module performs data fusion processing on the above-mentioned multi-source sensor signals to calculate the real-time deviation of the system's reference coordinate system relative to the inertial coordinate system. The multi-module collaborative control central module sends compensation commands to the piezoelectric ceramic micro-displacement actuator, driving the docking platform to perform reverse high-frequency displacement correction, thereby achieving relative stillness of the docking plane relative to the UAV's flight path in a dynamic environment.

[0012] The automated storage and sorting module integrates a multi-level translational transfer mechanism, an intelligent locking mechanism, and an environmental isolation door. After the multi-dimensional flexible buffer docking module completes the physical docking, the multi-level translational transfer mechanism transfers the package from the docking platform to the internal storage space via a telescopic gripping handle or an electromagnetic adsorption device. The intelligent locking mechanism performs mechanical locking after the goods enter the warehouse to ensure the safety of the package during storage. The environmental isolation door adopts a multi-level sealing structure to prevent external rainwater, dust, and temperature fluctuations from affecting the internal storage environment. The sorting execution mechanism performs automated classification based on the identification information carried by the package, reserving a logical path for subsequent retrieval operations.

[0013] The multi-module collaborative control central module serves as the control core of the entire system, responsible for instruction coordination and logical judgment among various modules. This module adopts a distributed processing architecture and internally includes a real-time task scheduling engine, an aerodynamic intervention logic determiner, an energy dissipation controller, and a safety status self-diagnosis unit. The multi-module collaborative control central module establishes a judgment loop based on physical constraints: when the system senses that the UAV has entered the preset near-field delivery area, the system activates the active aerodynamic compensation intervention module to execute flow field presetting; at the moment of docking, the central module switches to collision energy suppression mode and controls the magnetorheological fluid damping buffer support to execute the optimal energy absorption trajectory; during the storage phase, the collaborative control central module executes displacement locking and timing synchronization of the transfer logic.

[0014] Preferably, the multi-module collaborative control central module has a built-in collaborative judgment algorithm. This algorithm establishes a system dynamic state vector and evaluates the operating margin of each module in real time. If the adjustment capability of the aerodynamic compensation intervention module is close to saturation, the control center will instruct the multi-dimensional flexible buffer docking module to increase the physical constraint stiffness in order to maintain the metastable balance of the system as a whole. This cross-module dynamic coupling control logic effectively suppresses the high-frequency resonance generated by building displacement and UAV adjustment process, and greatly improves the fault tolerance of the system under extreme environmental loads.

[0015] Preferably, the micro-guide blades in the active aerodynamic compensation intervention module are made of piezoelectric composite material, and their deformation response frequency matches the airflow pulsation frequency generated by the UAV rotor. By generating fluctuations at a specific frequency, the structural stability of the air cushion reflection effect is disrupted at the microscopic level.

[0016] Preferably, the bottom of the multidimensional flexible buffer docking module is provided with an electromagnetic attraction auxiliary unit. At the moment the UAV landing gear touches the platform, the unit generates a downward electromagnetic pull, which works together with the energy absorption layer to enable the UAV to quickly achieve physical locking and prevent the risk of sideslip caused by aerodynamic residual force.

[0017] The technical mechanism by which the multi-module collaborative drone delivery and storage system provided by this invention achieves steady-state docking and secure storage is described as follows: The system physically reconstructs the near-wall flow field through an active aerodynamic compensation intervention module. By using a diversion and guidance mechanism, it transforms the nonlinear aerodynamic force caused by the UAV's downwash flow into a unidirectional and stable background pressure, eliminating the underlying disturbance source that causes UAV attitude drift. During the contact process, the system utilizes the active energy absorption characteristics of magnetorheological fluid and the nonlinear hardening characteristics of non-Newtonian fluid to establish an energy dissipation channel with variable stiffness, achieving millisecond-level absorption of impact kinetic energy and avoiding stress damage to the UAV structure. Through the collaboration of dynamic displacement sensing and displacement correction modules, the system cancels the building's swaying displacement in real time in the physical time domain, making the storage system appear as a pseudo-static target from the UAV's perspective, thus resolving docking conflicts caused by multi-source dynamic coupling. Finally, through the task scheduling of the multi-module collaborative control central module, it achieves closed-loop control of the entire process from aerodynamic compensation and buffer energy absorption to automatic storage.

[0018] The beneficial effects of this invention are as follows: 1. The multi-module collaborative drone delivery and storage system described in this invention significantly suppresses the near-wall air cushion effect through an active aerodynamic compensation intervention module, solving the common attitude instability problem of drones during delivery on the exterior facades of high-rise buildings. By transforming nonlinear airflow into an ordered flow field, the positioning accuracy and hovering stability of the drone are improved to a threshold range that meets the requirements for safe docking. 2. The multi-module collaborative drone delivery and storage system described in this invention achieves efficient kinetic energy dissipation through a multi-dimensional flexible buffer docking module, completely eliminating the rebound stress wave generated by rigid collisions. This mechanism greatly reduces the physical impact intensity on the drone and its precision payload during the docking process, significantly improving the service life of the equipment and the integrity rate of package delivery. 3. The multi-module collaborative drone delivery and storage system described in this invention effectively resolves the resonance conflict between building sway and drone adjustment logic through the application of dynamic displacement sensing and correction modules. Through active displacement compensation, the system can maintain a stable docking interface even under high-altitude, high-wind conditions, significantly expanding the meteorological applicability window of the drone delivery system. 4. The multi-module collaborative drone delivery and storage system described in this invention establishes a closed-loop control circuit through a multi-module collaborative control central module, enabling information sharing and action coordination among various functional units. Through multi-source sensor fusion and real-time logic judgment, the system can automatically switch to the optimal control strategy for different environmental loads, ensuring the automation level and deterministic safety of the entire delivery process. 5. The multi-module collaborative drone delivery and storage system described in this invention improves the convenience of maintenance and upgrades through its modular architecture design. Furthermore, it constructs a multi-layered security protection system through redundancy backup and collaboration mechanisms among modules. This architecture exhibits strong robustness in handling extreme conditions such as sudden loads and sensor failures, providing a solid underlying technical guarantee for the application of drone delivery. Attached Figure Description

[0019] The invention will now be further described with reference to the accompanying drawings.

[0020] Figure 1 This is a structural block diagram of a multi-module collaborative drone delivery and storage system according to the present invention. Detailed Implementation

[0021] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0022] like Figure 1 As shown in the embodiment of the present invention, a multi-module collaborative drone delivery and storage system includes a high-rigidity structural frame module as the physical support base of the entire system, and its design standards strictly follow the structural reliability requirements of aerospace grade. Specifically, the high-hardness structural frame module consists of a rigid shell constructed of weather-resistant composite material and an internal array of reinforcing ribs; the weather-resistant composite material is preferably carbon fiber reinforced resin matrix composite material or aramid fiber composite material. Such materials not only have extremely high specific strength and specific stiffness, but also maintain the stability of physical properties in outdoor environments with long-term ultraviolet radiation, acid rain erosion and large temperature fluctuations.

[0023] The geometry of the rigid shell is streamlined and drag-reducing, and its surface contour follows the low-drag aerodynamic shape principle. By reducing the frontal area and optimizing the pressure center distribution, the aerodynamic lateral force generated by the ambient crosswind on the system is reduced to the maximum extent. Furthermore, the internal reinforcing rib array is spatially honeycomb-shaped in physical structure. This topology can quickly transform the concentrated load transmitted from the outside into a distributed load while ensuring lightweight, so that the system can maintain its form and position tolerance at the micrometer level when carrying large-mass packages. The high-rigidity structural frame module is fixed to the building facade by a reinforced anchoring component, which adopts a dual redundancy design of chemical anchors and mechanical locking structure.

[0024] Chemical anchors use high-strength chemical adhesive to anchor bolts within the reinforced concrete structure of the building, utilizing bond stress to provide superior pull-out resistance. The mechanical locking structure uses prestressed washers and self-locking nuts to prevent fasteners from loosening due to long-term building vibrations, thereby establishing an extremely stable system reference coordinate system at the physical level. The active aerodynamic compensation intervention module is the core execution unit for solving the air cushion reflection effect near the wall of high-rise buildings.

[0025] During the vertical descent of a drone, the high-speed downwash generated by its rotor will cause intense pressure buildup when it approaches a solid wall, forming the so-called air cushion effect. This effect can cause unpredictable lift fluctuations and attitude drift in the drone. To suppress this phenomenon, the active pneumatic compensation intervention module of the present invention consists of a porous drainage wall, an array of micro guide vanes, and a pressure feedback adjustment mechanism. The porous drainage wall is located on the periphery of the docking platform, and its surface is distributed with drainage holes of a specific density. The drainage chambers formed inside these holes are connected to the external atmospheric environment in a controlled manner.

[0026] When the downwash generated by the drone impacts the wall, the drainage chamber guides the high-pressure airflow to the low-pressure area behind the system through a physical pressure relief path, thereby suppressing the formation of a local high-pressure core by changing the airflow streamline distribution. Furthermore, the array-type micro guide vanes are driven by stepper motors; the pressure feedback adjustment mechanism collects static pressure signals from different areas of the porous drainage wall in real time and converts them into electrical signals, which are then transmitted to the multi-module collaborative control central module.

[0027] The central module calculates the asymmetry of the UAV downwash flow based on the distribution of the pressure gradient, and then controls the micro guide vanes to perform dynamic deflection actions. This adjustment action can actively change the flow pattern of the wall boundary layer and convert the high-frequency pulsating nonlinear aerodynamic disturbance into a controlled steady-state load by generating a controllable aerodynamic compensation opposite to the direction of the UAV's unstable drift torque.

[0028] The micro-guide blades are made of piezoelectric composite materials, and their deformation response frequency can reach the kilohertz level. They can achieve phase matching with the high-frequency airflow pulsation frequency generated by the rotation of the UAV rotor. By actively interfering with the air cushion reflection effect, the structural stability is destroyed at the micro level, ensuring that the UAV can achieve steady hovering in the near-wall area. The multidimensional flexible buffer docking module achieves efficient dissipation of kinetic energy through a complex mechanical decoupling mechanism; the core of the module lies in the synergistic effect of the variable stiffness adaptive bearing platform, the magnetorheological fluid damping buffer support, and the spatial multi-degree-of-freedom limiting mechanism.

[0029] The surface of the variable stiffness adaptive load-bearing platform is covered with a uniformly thick non-Newtonian fluid energy-absorbing layer; this material exhibits significant shear hardening characteristics. In the low-speed contact state of a drone slowly approaching, the energy-absorbing layer exhibits liquid-like flexible characteristics, which can adapt to the slight unevenness of the drone's landing gear and increase the contact area. However, when encountering an accidental fall or high-speed impact, the energy-absorbing layer undergoes shear hardening within milliseconds, exhibiting solid-like rigid characteristics. Through the rearrangement of molecular chains within the material, it generates intense internal frictional force, achieving broad-spectrum absorption of impact energy. Furthermore, the magnetorheological fluid damping buffer support serves as the core of active energy absorption, and its interior is filled with a special magnetorheological fluid; a high-density electromagnetic induction coil is surrounded around the support, and the coil is connected to the multi-module collaborative control central module through a high-power drive circuit. When the central module detects that the impact acceleration signal at the moment of docking exceeds the preset threshold, it will immediately adjust the current supplied to the coil. According to the principle of electromagnetic induction, the magnetic field strength generated by the coil will change accordingly, causing the tiny magnetic particles in the magnetorheological fluid to arrange into a chain-like structure in the direction of the magnetic field, thereby instantaneously changing the viscosity characteristics of the fluid. This active damping adjustment mechanism can adjust the dissipation power in real time according to the magnitude of the impact kinetic energy, efficiently converting the kinetic energy of the UAV when it contacts the platform into the shear heat energy of the damping fluid, fundamentally blocking the reciprocating reflection of stress waves between rigid docking interfaces, thereby eliminating the rebound effect. The spatial multi-degree-of-freedom limiting mechanism ensures that the platform's translation in the horizontal plane and deflection around the axis are always within the safety tolerance range through the nesting and constraint of the physical structure, providing a precise geometric benchmark for the physical transfer of goods.

[0030] The dynamic displacement sensing and correction module is crucial for maintaining coordinate consistency under high-altitude environmental loads. Because high-rise buildings inevitably experience low-frequency swaying under external wind or foundation micro-vibrations, the storage system mounted on the wall experiences displacement drift relative to the inertial coordinate system. To address this issue, the module integrates a high-frequency lidar sampler, an inertial measurement unit, and a piezoelectric ceramic micro-displacement actuator. The high-frequency lidar sampler detects the three-dimensional spatial vector distance and attitude angle of the drone relative to the storage system in real time with an extremely high refresh rate. The inertial measurement unit captures the three-dimensional displacement vector, velocity vector, and acceleration vector of the building body in real time; the multi-module collaborative control central module performs data fusion-based processing on the above-mentioned multi-source sensor signals to calculate the real-time deviation of the storage system's reference coordinate system relative to the absolute inertial coordinate system at the physical logic level.

[0031] The control center module sends compensation pulses to the piezoelectric ceramic micro-displacement actuator through a closed-loop feedback control algorithm. Due to the extremely high displacement resolution and response speed of the piezoelectric ceramic material, the actuator can drive the docking platform to perform synchronous micro-displacement correction opposite to the building's swing direction. Through this high-frequency active coordinate compensation, the docking platform achieves a relatively static state relative to the UAV's flight path in the physical time domain, providing a stable, pseudo-static landing target for the UAV even when the building is swaying violently.

[0032] The automatic storage and sorting execution module completes the closed loop from physical docking task to warehousing task; the module integrates a multi-level translational transmission mechanism, an intelligent locking mechanism and an environmental isolation warehouse door; Once the multi-dimensional flexible buffer docking module confirms that the UAV landing gear has achieved physical locking and the impact load has returned to zero, the multi-level translational transmission mechanism is activated. The mechanism uses a precision guide rail to drive a telescopic gripping handle or activate an integrated electromagnetic adsorption device to smoothly transfer packages from the docking platform to the system's internal storage space. The intelligent locking mechanism locks the package after it arrives at the preset storage location using a mechanical ratchet or an electromagnetic pin, ensuring that the package is not displaced by gravity or external vibration during storage. The environmental isolation chamber door adopts a multi-level sealing structure, with high-compression sealing rubber strips embedded in its edges. When the door is closed, the mechanical clamping device provides sufficient sealing pressure to prevent external moisture, dust and harmful gases from entering the interior. Furthermore, the sorting execution mechanism automatically calculates the priority and delivery route of packages by scanning the identification information (such as RFID tags or QR codes) on the surface of the packages, and automatically classifies the packages into designated storage grids through a multi-level translation and transfer mechanism, thus realizing unmanned management of last-mile delivery.

[0033] The multi-module collaborative control hub module serves as the intelligent brain of the entire system, and its distributed processing architecture ensures the real-time and parallel nature of task scheduling. The internal logic of the central module is divided into a real-time task scheduling engine, a pneumatic intervention logic determiner, an energy dissipation controller, and a safety status self-diagnosis unit. The control central module establishes a decision loop based on physical constraints. This decision logic does not rely on simple condition judgments, but is based on the overall dynamic equations of the system. When the lidar sampler detects that the drone has entered the preset near-field delivery area (e.g., within ten meters of the outer edge of the system), the control center immediately activates the active aerodynamic compensation intervention module to preset the flow field pattern according to the wind speed and the drone model. At the moment of docking, the control center module, through millisecond-level timing synchronization, puts the energy dissipation controller into the highest priority and adjusts the viscosity of the magnetorheological fluid in real time to fit the optimal energy absorption trajectory. Furthermore, the collaborative decision-making algorithm establishes the system's dynamic vector space to evaluate the execution margins of the three modules—aerodynamic intervention, flexible buffering, and displacement correction—in real time. Specifically, if the motor duty cycle of the active aerodynamic compensation intervention module is close to the limit threshold, the control center will automatically adjust the damping parameters of the energy dissipation controller and compensate for the lack of aerodynamic compensation capability by increasing the physical constraint strength of the multi-dimensional flexible buffer docking module, thereby maintaining the overall metastable balance of the system. This cross-module coupled control logic effectively suppresses high-frequency resonance that may be induced by the independent adjustment of each subsystem, and significantly improves the system's fault tolerance under extreme environmental loads.

[0034] Example 1: This embodiment simulates a coastal strong wind scenario for a high-rise building. In this scenario, the crosswind speed reaches level seven, and the main body of the building exhibits obvious low-frequency large-amplitude swaying. After the system is started, the high-rigidity structural frame module effectively resists the shear stress generated by the crosswind through its spatial honeycomb reinforcing ribs, maintaining the accuracy of shape and position. The porous drainage wall of the active aerodynamic compensation intervention module opened 40% of the pressure relief volume, while the micro guide vanes performed phase compensation deflection at a frequency of 500 times per second, successfully reducing the local turbulence intensity in the UAV take-off and landing area by 70%. The dynamic displacement sensing and correction module, through the collaboration of lidar and inertial measurement unit, compensates for the swaying displacement within ±10 centimeters of the main building in real time, so that the relative drift error of the docking platform is controlled within ±2 millimeters. The drone landed smoothly on the variable stiffness adaptive bearing platform. The non-Newtonian fluid energy-absorbing layer and the magnetorheological fluid damping buffer column worked together to completely dissipate the landing impact force, and no rebound occurred during the entire docking process.

[0035] Example 2: This embodiment simulates a delivery scenario of a large, heavy-load package; a drone carrying a package weighing ten kilograms performs a rapid docking. At the moment of contact, the multi-module collaborative control central module senses the huge vertical momentum, and the energy dissipation controller immediately instructs the electromagnetic induction coil to generate the maximum excitation current, which instantly increases the yield shear stress of the magnetorheological fluid damping buffer support by five times. The electromagnetic attraction auxiliary unit at the bottom of the multidimensional flexible buffer docking module is activated, generating a downward electromagnetic pull of three thousand Newtons; while the energy-absorbing layer undergoes shear hardening, the electromagnetic pull forces the UAV landing gear to adhere to the platform, achieving instantaneous locking in the physical dimension. The multi-stage translational transfer mechanism of the automatic storage and sorting execution module smoothly transfers heavy packages to the storage area supported by the internal reinforcing rib array within two seconds, fully demonstrating the system's load-bearing capacity under extreme mass loads.

[0036] Example 3: This embodiment simulates a redundancy safety scenario where the system sensors partially fail; during the docking process, it is assumed that a set of sensors of the pressure feedback regulation mechanism fails due to environmental interference. The safety status self-diagnosis unit of the multi-module collaborative control central module immediately detected the anomaly and, based on the redundant logic of the distributed processing architecture, automatically called the stepper motor current feedback signal of the array-type micro guide vanes as an auxiliary judgment parameter. The control center issued a coordinated command, requiring the dynamic displacement sensing and displacement correction module to increase the sampling weight of the lidar, and instructing the spatial multi-degree-of-freedom limiting mechanism of the multi-dimensional flexible buffer docking module to enter the prestressed locking state; although the aerodynamic intervention accuracy decreased slightly, the system still smoothly completed the packing by increasing the mechanical stiffness constraint of the docking plane.

[0037] Comparative Example 1: A conventional rigid helipad platform is used; This system lacks active aerodynamic compensation and active energy dissipation mechanisms. In tests near the wall of a high-rise building, due to the severe air cushion effect, the UAV experienced violent vibrations when approaching the platform, ultimately impacting the platform at an angle, causing plastic deformation of the landing gear. Furthermore, due to the rigid contact, a violent rebound occurred, nearly causing the UAV to crash. Tests show that, due to the lack of mechanical decoupling, the impact intensity of this comparative system on the UAV is more than eight times that of the system of this invention.

[0038] Comparative Example 2: A passive, open-type voltage reduction system is adopted. Although the system has a multi-hole drainage structure, it lacks active micro-guide blade adjustment and pressure feedback. In the wind field test with variable wind direction, the passive drainage holes can only reduce the air cushion pressure at a specific wind angle. When the wind direction changes obliquely, the drainage efficiency drops rapidly, resulting in obvious lift pulsation of the UAV in the near-wall area, and the positioning error exceeds the docking range. Test data shows that its attitude stability under complex wind fields is reduced by 60% compared with the system of this invention.

[0039] Comparative Example 3: Static storage cabinet lacking dynamic displacement compensation; The system operates under the swaying conditions of high-rise buildings; although it has a certain flexible buffer layer, due to the periodic swaying of the system relative to the absolute space, the drone frequently triggers the obstacle avoidance algorithm when attempting to land, causing the mission to be interrupted, and the success rate of multiple docking attempts is only 20%. Under the same conditions, the system of the present invention achieves a docking success rate of over 99.9% through active compensation by the piezoelectric ceramic micro-displacement actuator. In terms of docking stability, the system of the present invention exhibits no fluctuation in high-frequency load, while Comparative Example 1 exhibits severe rigid vibration, and Comparative Example 3 exhibits multiple go-arounds caused by displacement mismatch. In terms of kinetic energy dissipation rate, the system of the present invention achieves millisecond-level zero rebound conversion of impact energy, while the comparative example has a kinetic energy rebound ratio of more than 50%. In terms of meteorological applicability, the system of the present invention can cope with complex turbulence and level 7 gusts, while Comparative Example 2 can only be adapted to low wind speed or stable wind direction environments. In terms of system robustness, the system of this invention achieves safe degraded operation under fault conditions through a multi-module collaborative judgment algorithm, while each comparative example shows system functional collapse when faced with a single point of failure.

[0040] Furthermore, when executing the automatic storage logic, the system of the present invention precisely controls the timing of actions of each execution unit through a multi-module collaborative control central module; Specifically, the stepping frequency of the translation transmission mechanism is adjusted inversely proportional to the residual displacement of the displacement correction module; when the displacement correction module senses a decrease in the building's sway amplitude, the translation mechanism automatically increases the transmission rate to improve delivery efficiency; this dynamic adjustment based on physical state quantities reflects the nonlinear characteristics of deep collaboration between modules. The multi-level sealing structure of the environmental isolation chamber door not only achieves spatial isolation in a physical sense, but also neutralizes the internal pressure fluctuations generated during opening and closing by the porous drainage wall, thus avoiding interference from sudden changes in internal air pressure to precision sensors.

[0041] In the underlying implementation of the distributed processing architecture, the real-time task scheduling engine adopts a hardware interrupt-driven mode; for tasks with extremely high real-time requirements, such as pneumatic intervention and buffer energy absorption, the highest level of execution authority is granted; the task flow process inside the control center module does not involve mathematical formulas, but is achieved through priority sorting of logical sequences. For example, during the operation of the energy dissipation controller, it takes over the bus control to ensure that the current regulation command of the magnetorheological fluid has microsecond-level deterministic response; while tasks such as identification and automated classification are scheduled to be executed in a non-real-time window after the collection is completed, thus achieving optimal performance in the embedded environment with limited physical resources.

[0042] The collaborative decision algorithm built into the multi-module collaborative control central module is essentially a physical logic mapping table; this mapping table pre-stores the optimal output ratio of the module under tens of thousands of combinations of aerodynamic loads and collision momentum. In actual operation, the central module performs pattern matching on the current sensor input vector to find the closest physical response curve, and then performs incremental logical correction based on the measured error. This approach effectively avoids model inaccuracies caused by changes in geological conditions or aging of building materials, enabling the system to have long-term adaptive capabilities.

[0043] The pressure feedback adjustment mechanism in the active aerodynamic compensation intervention module of the present invention is arranged in an array. By comparing the pressure difference at different coordinate points on the wall, the offset of the center position of the downwash vortex is calculated. Based on this offset, the collaborative control central module instructs the micro guide vanes to perform asymmetric deflection. This control logic is essentially based on the principle of aerodynamic induction to generate a lateral force vector, which directly counteracts the lateral displacement trend caused by the air cushion reflection effect. Thus, feedforward compensation is achieved before the UAV undergoes actual displacement, which is significantly better than the traditional hysteresis regulation based on displacement feedback.

[0044] The non-Newtonian fluid energy-absorbing layer in the multidimensional flexible buffer docking module achieves physical stability through a special coating process. The layer is sealed in a highly elastic polymer film, and the pressure state is monitored in real time by a multi-point tactile pressure sensor array. The central module establishes a complete impact force transmission topology model based on the deformation of each point of the energy-absorbing layer and the compression stroke of the magnetorheological fluid damping buffer support. By adjusting the current gradient of the electromagnetic coil, the system can achieve differentiated damping output in different quadrants of the platform. For asymmetrical docking situations where the center of gravity of the UAV is offset, it can automatically adjust the torque balance to prevent the platform from tipping over.

[0045] During construction, the preload of the reinforced anchoring assembly is precisely calibrated physically; each chemical anchor integrates a torque feedback sensor, whose physical signal is directly connected to the safety status self-diagnosis unit of the multi-module collaborative control central module. If the anchor bolt preload decreases by more than 10% due to wall settlement during long-term use, the system will automatically trigger an alarm and send a warning instruction to maintenance personnel through the display screen on the door of the automatic storage and sorting execution module and the cloud network. This full-chain safety monitoring from the physical layer to the logical layer ensures the absolute reliability of the system in high-altitude scenarios.

[0046] In summary, the multi-module collaborative drone delivery and storage system provided by this invention overcomes the challenges of drone docking in confined spaces of high-rise buildings by leveraging the benchmark rigidity provided by the high-rigidity structural frame module, the aerodynamic stability provided by the active aerodynamic compensation intervention module, the mechanical energy absorption characteristics provided by the multi-dimensional flexible buffer docking module, the coordinate stability provided by the dynamic displacement sensing and displacement correction module, and the operational automation provided by the automatic storage and sorting execution module, along with the logical scheduling of the multi-module collaborative control central module. All technical features are presented in observable, measurable, and reproducible physical processes, providing impeccable technical documentation support for the full disclosure requirements of patent law; The application of this system provides a high-performance and reliable security underlying hardware platform for solving the last-mile delivery problem for every household.

[0047] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-module collaborative drone delivery and storage system, characterized in that, include: A structural frame module, which is fixed to the building facade to serve as a physical support base; An active aerodynamic compensation intervention module is installed on the windward side of the structural frame module to suppress near-wall airflow interference by actively changing the flow field morphology. A multidimensional flexible buffer docking module is provided at the docking point of the structural frame module, which is used to dissipate the kinetic energy of the UAV at the moment of docking by adjusting the stiffness. The dynamic displacement sensing and correction module is used to sense the displacement characteristics of the main building and drive the multi-dimensional flexible buffer docking module to perform displacement compensation. An automatic storage and sorting execution module is located inside the structural frame module and establishes a physical connection path with the multi-dimensional flexible buffer docking module. The multi-module collaborative control central module is connected to the active pneumatic compensation intervention module, the multi-dimensional flexible buffer docking module, the dynamic displacement sensing and displacement correction module, and the automatic storage and sorting execution module, respectively, and is used to execute the action coordination between the modules based on the fusion processing of multi-source sensor signals.

2. The multi-module collaborative drone delivery and storage system according to claim 1, characterized in that: The active pneumatic compensation intervention module includes a porous drainage wall, an array of micro guide vanes, and a pressure feedback adjustment mechanism. The porous drainage wall is located around the periphery of the docking platform. The drainage chamber formed inside it is connected to the atmospheric environment and is used to guide the airflow to diffuse behind the structural frame module through a physical pressure relief path to suppress the local air cushion effect. The array of micro guide vanes is driven by a motor to adjust the deflection angle, and the pressure feedback adjustment mechanism is used to collect the pressure gradient signal of the wall area in real time. The multi-module collaborative control central module sends control commands to the drive motor according to the pressure gradient signal, driving the array of micro guide vanes to dynamically adjust the deflection direction, generating a compensating force opposite to the direction of the UAV's drift torque, and converting nonlinear aerodynamic disturbances into controlled steady-state loads.

3. The multi-module collaborative drone delivery and storage system according to claim 2, characterized in that: The multidimensional flexible buffer docking module includes a variable stiffness adaptive bearing platform, a magnetorheological fluid damping buffer support column, and a spatial multi-degree-of-freedom limiting mechanism. The surface of the variable stiffness adaptive bearing platform is covered with a non-Newtonian fluid energy-absorbing layer, which is configured to exhibit flexible contact characteristics in the contact state and generate a shear hardening effect to perform kinetic energy absorption under high-speed impact conditions where the impact load exceeds a preset threshold. The magnetorheological fluid damping buffer support is filled with magnetorheological fluid, and an electromagnetic induction coil is formed around the outside of the support. The multi-module collaborative control central module adjusts the current of the electromagnetic induction coil according to the impact acceleration signal at the moment of docking, and instantaneously changes the viscosity characteristics of the magnetorheological fluid. Through the active damping adjustment mechanism, the impact energy is converted into heat energy to eliminate stress wave reflection and rebound effects between rigid interfaces.

4. The multi-module collaborative drone delivery and storage system according to claim 1, characterized in that: The dynamic displacement sensing and correction module includes a lidar sampler, an inertial measurement unit, and a piezoelectric ceramic micro-displacement actuator. The lidar sampler is used to detect the spatial vector distance of the drone relative to the storage system, and the inertial measurement unit is used to capture the motion characteristics of the building body; The multi-module collaborative control central module performs data fusion on the signals from the lidar sampler and the inertial measurement unit, calculates the real-time deviation of the system reference coordinate system relative to the inertial coordinate system, and sends a compensation command to the piezoelectric ceramic micro-displacement actuator to drive the multi-dimensional flexible buffer docking module to perform reverse displacement correction, so that the docking plane of the multi-dimensional flexible buffer docking module remains relatively stationary relative to the UAV flight path in the physical time domain.

5. The multi-module collaborative drone delivery and storage system according to claim 3, characterized in that: The array of micro-guide blades is made of piezoelectric composite material, and its deformation response frequency matches the pulsation frequency of the airflow generated by the UAV rotor. It is used to intervene in the structural stability of the air cushion reflection effect by generating fluctuations of a specific frequency. The bottom of the multidimensional flexible buffer docking module is equipped with an electromagnetic attraction auxiliary unit, which is configured to generate a downward electromagnetic pull at the moment the UAV touches the platform, and work with the non-Newtonian fluid energy-absorbing layer to enable the UAV to perform physical locking.

6. The multi-module collaborative drone delivery and storage system according to claim 3, characterized in that: The multi-module collaborative control hub module adopts a distributed processing architecture and is equipped with a real-time task scheduling engine, a pneumatic intervention logic determiner, an energy dissipation controller, and a safety status self-diagnosis unit. The multi-module collaborative control central module establishes a closed-loop decision circuit based on physical constraints: When the sensing drone enters the preset near-field delivery area, the active aerodynamic compensation intervention module is activated to perform flow field presetting; At the moment of docking, switch to collision energy suppression mode and control the magnetorheological fluid damping buffer support to execute the energy absorption trajectory; During the storage phase, the timing of the displacement locking logic and the transfer logic is synchronized.

7. The multi-module collaborative drone delivery and storage system according to claim 6, characterized in that: The multi-module collaborative control central module has a built-in collaborative determination algorithm, which evaluates the operational margin of each sub-module in real time by establishing a system dynamic state vector. When the adjustment capability of the active aerodynamic compensation intervention module reaches the preset saturation threshold, the multi-module collaborative control central module instructs the multi-dimensional flexible buffer docking module to increase the physical constraint stiffness in order to compensate for the insufficient aerodynamic compensation capability and maintain the overall balance of the system. The high-frequency resonance generated by the building displacement and the UAV adjustment process is suppressed through cross-module dynamic coupling control.

8. The multi-module collaborative drone delivery and storage system according to claim 1, characterized in that: The structural frame module consists of a rigid shell made of weather-resistant composite material and an array of internal reinforcing ribs. The rigid shell adopts a streamlined drag-reducing design to reduce the aerodynamic lateral force of the system from the ambient crosswind. The internal reinforcing rib array is spatially honeycomb-shaped in physical structure, which is used to convert the received concentrated load into a distributed load to maintain the form and position tolerance of the system. The structural frame module is rigidly coupled to the main building structure through reinforced anchoring components, which include chemical anchors and mechanical locking structures.

9. The multi-module collaborative drone delivery and storage system according to claim 1, characterized in that: The automatic storage and sorting execution module includes a multi-level translational transmission mechanism, an intelligent locking mechanism, and an environmental isolation compartment door; The multi-level translational transfer mechanism uses a telescopic gripping handle or an electromagnetic adsorption device to transfer the package from the multi-dimensional flexible buffer docking module to the internal storage space. The intelligent locking mechanism performs mechanical locking after the goods are put into storage; The automatic storage and sorting execution module is also equipped with a sorting execution mechanism, which is used to perform automated classification and storage based on the identification information of the packages.

10. The multi-module collaborative drone delivery and storage system according to claim 9, characterized in that: The multi-module collaborative control central module dynamically adjusts the timing of the automatic storage and sorting execution module, so that the operating frequency of the multi-level translational transmission mechanism is inversely proportional to the residual displacement of the dynamic displacement sensing and displacement correction module. The collaborative control central module establishes a physical logic mapping table, which stores the optimal output ratio of the module under different combinations of aerodynamic loads and collision momentum. The control central module performs pattern matching on the feature vectors input by the sensors and performs incremental logic correction based on the measured error.

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