Intelligent logistics unattended and distribution system

Abstract

This invention relates to the field of smart logistics infrastructure technology, and more particularly to a smart logistics unmanned operation and delivery system. The system includes a docking terminal with a magnetorheological tensioned integral structure. A multi-dimensional spatiotemporal sensing module collects vehicle data to determine the target static equilibrium configuration; a construction evolution and reconstruction module drives the pre-displacement of the compressed spine to form a flexible funnel-shaped or rigid tray-shaped docking interface for drones or unmanned delivery vehicles, respectively; an energy shaping and control module applies active control force at the moment of contact to construct a suitable flexible potential energy trap or rigid support potential energy barrier; a nonlinear damping injection module adjusts the yield stress of the magnetorheological fluid according to the impact momentum, providing nonlinear physical damping to dissipate kinetic energy; and a steady-state locking flow module achieves rigid interlocking using a universal magnetic flux coupler in the system's steady state. This invention effectively solves the problem of mechanical impedance mismatch during the docking of heterogeneous vehicles.

Description

Technical Field

[0001] This invention relates to the field of smart logistics infrastructure technology, and in particular to a smart logistics unmanned operation and delivery system. Background Technology

[0002] With the development of smart cities and the iteration of logistics technologies, air-ground collaborative delivery models based on drones and unmanned delivery vehicles have become a key path to improve last-mile logistics efficiency. In this model, logistics relay terminals play a pivotal role, responsible for receiving aerial parcels and transferring them to ground transportation.

[0003] However, most traditional docking devices use fixed rigidity platforms, which cannot meet the requirements of soft and hard contact, resulting in mechanical impedance mismatch when docking heterogeneous vehicles. Summary of the Invention

[0004] To overcome the above shortcomings, this invention provides an unmanned intelligent logistics and delivery system, which aims to improve the problem that traditional connecting devices mostly use fixed rigidity platforms, which cannot be compatible with soft and hard contact requirements, thus causing mechanical impedance mismatch when connecting heterogeneous vehicles.

[0005] This invention provides the following technical solution: a smart logistics unmanned operation and delivery system, the system comprising a connection terminal with a magnetorheological tensioning integral structure, the terminal consisting of a compression ridge cable integrating linear motors, magnetorheological damping cavities, and excitation coils, and a tension cable net connecting the ridge cables; the system further includes: The multi-dimensional spatiotemporal perception module is equipped with an environmental perception sensor to collect three-dimensional point cloud data and type identification of the vehicle, extract the load geometric profile, and calculate the target length of the compressed spine and the target tension of the tension cable net in the structural unit in order to determine the target static equilibrium configuration that is complementary to the load profile geometry. An evolutionary reconstruction module is constructed and connected to the multi-dimensional spatiotemporal perception module. It is used to send position commands to the linear motor before contact, drive the compressed spine to perform telescopic pre-displacement, form a flexible funnel-shaped guide interface for the UAV control structure unit, and form a rigid pallet-shaped stacking interface for the unmanned delivery vehicle control structure unit. The energy shaping control module, connected to the structure evolution and reconstruction module, is used to apply active control force through a linear motor at the moment of contact. Low stiffness parameters are set for the UAV to construct a flexible trapping potential energy trap that allows deformation, and high stiffness parameters are set for the unmanned delivery vehicle to construct a rigid support potential energy barrier that restricts deformation. The nonlinear damping injection module, connected to the energy shaping control module, is used to adjust the current of the excitation coil according to the momentum change generated by the contact impact, change the magnetic field strength in the damping cavity and the yield stress of the magnetorheological fluid, and provide nonlinear physical damping that adapts to the impact velocity to dissipate kinetic energy. The steady-state locking flow module, connected to the nonlinear damping injection module, is used to activate the universal magnetic flux coupler at the node of the structural unit when the system momentum is detected to be close to zero. It uses electromagnetic adsorption force to rigidly interlock adjacent structural units and eliminate the relative degrees of freedom between units.

[0006] By adopting the above technical solution, the configuration evolution and impedance of the magnetorheological tensioning overall structure can be controlled in real time, thereby realizing adaptive switching between flexible capture of UAVs and rigid support of unmanned vehicles. This improves the problem of mechanical impedance mismatch when heterogeneous vehicles are docked, as traditional docking devices mostly use fixed stiffness platforms and cannot meet the requirements of soft and hard contact.

[0007] Preferably, the multidimensional spatiotemporal sensing module includes: The surface three-dimensional coordinate data of the cargo carried by the vehicle is collected by LiDAR and vision sensors, and the geometric envelope features of the cargo are extracted. The corresponding tensioned integral foundation topology template is retrieved from the pre-set database based on the type identifier of the vehicle. A spatial optimization model is established with the goal of minimizing the Hausdorff distance between the outer surface of the cargo and the inner surface of the docking interface. The target elongation of each compressed ridge cable and the target prestress distribution of each tension cable net in the structural unit are solved in reverse to generate the target static equilibrium configuration.

[0008] Preferably, the construction evolution reconstruction module includes: Analyze the type identifier of the vehicle; If the type identifier matches a drone, an extension command is sent to the linear motor to control the structural unit to extend upward along the vertical axis and expand radially along the horizontal axis, thus constructing a flexible funnel-shaped guide interface with a large opening area and a long buffer stroke. If the type identifier matches the unmanned delivery vehicle, a compression command is sent to the linear motor to control the structural units to shrink downward along the vertical axis and tightly splice together along the horizontal axis, thus constructing a rigid pallet-shaped stacking interface with a flat contact surface and high load-bearing density.

[0009] Preferably, the construction evolution reconstruction module further includes: Send position control signals to the linear motor integrated inside the compressed spine; The linear motor actuator drives the compressed spine cable to extend and retract axially to the target length value. By utilizing the flexible adaptive properties of the tension cable net, the tension distribution of the cable net is automatically adjusted during the change of the length of the compressed ridge cable, driving the structural unit to continuously transform from the initial form to the negative mode connection interface, maintaining the self-stress balance state of the tensioned overall structure.

[0010] Preferably, the energy shaping control module includes: The preset virtual stiffness matrix parameters are invoked based on the vehicle type; For drones, a low stiffness coefficient is applied, and a linear motor outputs compliant control force to shape the closed-loop energy function of the system into a flexible trap with a gentle potential energy gradient, allowing the interface to undergo large deformation under impact to extend the buffer time. For unmanned delivery vehicles, a high stiffness coefficient is applied, and a counteracting control force is output through a linear motor. This shapes the closed-loop energy function of the system into a rigid support barrier with a steep potential energy gradient, limiting the deformation and displacement of the interface to provide stable support.

[0011] Preferably, the nonlinear damping injection module includes: The generalized momentum change rate of the connection terminal is monitored in real time by sensors; The target damping matrix that can completely offset the impact kinetic energy is calculated based on the generalized rate of change of momentum. Establish a nonlinear mapping relationship between the target damping matrix and the excitation current to generate the excitation current control signal; The excitation current control signal is applied to the excitation coil wound around the outside of the compressed ridge cable, which changes the magnetic induction intensity in the magnetorheological damping cavity, causing the magnetorheological fluid to undergo millisecond-level rheological effects and generate yield stress that matches the impact velocity.

[0012] Preferably, the nonlinear damping injection module further includes: Construct a total energy function that includes the system's internal potential energy, kinetic energy, and magnetorheological dissipation energy; By adjusting the yield stress of the magnetorheological fluid and injecting nonlinear damping, the derivative of the total energy function with respect to time is forced to remain less than or equal to zero. During contact impact, the system energy growth is suppressed, and after the external input disappears, the system state is driven to converge asymptotically to the desired equilibrium zero point along the energy decay trajectory, ensuring the passive stability of the system under large disturbances.

[0013] Preferably, the nonlinear damping injection module further includes: During the contact impact, a power generation mode switching command is sent to the linear motor integrated inside the compression spine to change the electromagnetic coupling state between the motor stator and mover. The mechanical work generated by the impact drives the linear motor mover to cut magnetic field lines, converting mechanical kinetic energy into induced current, and generating some basic physical damping through the back electromotive force of the induced current. The induced current is rectified and regulated by the power management circuit, and the energy consumption of the excitation coil is adjusted to send the remaining electrical energy that has not been dissipated by heat to the energy storage capacitor inside the connection terminal for storage.

[0014] Preferably, the steady-state locking flow module includes: Receives the warehousing instruction from the rigid container docking terminal; The control terminal establishes magnetic levitation coupling with the spiral magnetic levitation track on the inner wall of the tower; The drive connection terminal moves vertically downwards along a spiral trajectory; During the transfer process, the three-dimensional distribution of the remaining storage space inside the tower is scanned, the geometric volume of the structural unit is readjusted, and the connection terminal is precisely embedded into the free storage space inside the tower.

[0015] Preferably, the steady-state locking circuit module further includes: Receive the transfer instruction for the docking terminal to leave the docking area, and confirm that the docking terminal is in a rigidly interlocked container state; The universal magnetic flux coupler located at the node of the structural unit is controlled to switch from adsorption lock-up mode to traveling wave drive mode to generate an alternating magnetic field. The electromagnetic interaction between the alternating magnetic field and the external environment generates directional thrust, driving the docking terminal, which is in a rigid container state, to levitate and move along a preset trajectory, so as to clear the docking interface and wait for the next mission.

[0016] The present invention has the following beneficial effects: 1. In this invention, the configuration evolution and impedance real-time control of the overall structure under magnetorheological tensioning are used to achieve adaptive switching between flexible capture of UAVs and rigid support of unmanned vehicles. This improves the problem of mechanical impedance mismatch when connecting heterogeneous vehicles, which is caused by the fact that most traditional docking devices use fixed stiffness platforms and cannot meet the requirements of soft and hard contact.

[0017] 2. In this invention, the evolutionary reconstruction module drives the pre-deformation of the ridge to form a negative modal interface that is complementary to the load, thereby realizing the dynamic conformal matching of the geometric topology of the connection interface. This improves the problem that traditional logistics terminals mostly use fixed-size grids, which have low connection fault tolerance and poor space utilization when facing irregular loads due to the single and unchangeable interface shape.

[0018] 3. In this invention, the nonlinear damping injection module adjusts the yield stress of the magnetorheological fluid according to the impact momentum, thereby providing nonlinear damping that adapts to the impact velocity to quickly dissipate kinetic energy. This improves the problem that traditional buffer systems mostly use linear damping components, which are difficult to cope with nonlinear impact energy, resulting in energy accumulation on the contact surface and causing rebound oscillation.

[0019] 4. In this invention, the omnidirectional magnetic flux coupler is activated by the steady-state locking transfer module to rigidly interlock adjacent structural units, thereby eliminating the relative degrees of freedom between units to form a stable assembly. This improves the problem that traditional flexible connection structures mostly adopt simple passive stacking methods, which lack an active stiffness solidification mechanism, resulting in structural loosening and instability during subsequent transfer and transportation. Attached Figure Description

[0020] Figure 1 This is an architecture diagram of the intelligent logistics unmanned operation and delivery system proposed in this invention; Figure 2 This is a flowchart of the multi-dimensional spatiotemporal perception and configuration calculation based on the intelligent logistics unmanned operation and delivery system proposed in this invention. Figure 3 This is the adaptive reconfiguration and control logic diagram of heterogeneous transportation vehicles based on the intelligent logistics unmanned operation and delivery system proposed in this invention. Figure 4 This is a schematic diagram of the nonlinear damping injection principle of the intelligent logistics unmanned operation and delivery system proposed in this invention; Figure 5 This is a schematic diagram of the energy recovery principle of the intelligent logistics unmanned operation and delivery system proposed in this invention; Figure 6 This is a flowchart of the steady-state locking and flow control of the unmanned intelligent logistics and delivery system proposed in this invention. Detailed Implementation

[0021] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Example 1: In the first embodiment of the present invention, the present invention provides an unmanned intelligent logistics and delivery system. The system includes a connection terminal with a magnetorheological tensioning integral structure. The terminal consists of a compression ridge cable integrating linear motors, magnetorheological damping cavities, and excitation coils, and a tension cable net connecting the ridge cables. Figures 1-6 As shown, the system also includes the following modules: The multi-dimensional spatiotemporal perception module is equipped with an environmental perception sensor to collect three-dimensional point cloud data and type identification of the vehicle, extract the load geometric profile, and calculate the target length of the compressed spine and the target tension of the tension cable net in the structural unit in order to determine the target static equilibrium configuration that is complementary to the load profile geometry. Furthermore, the multi-dimensional spatiotemporal perception module includes: The surface three-dimensional coordinate data of the cargo carried by the vehicle is collected by LiDAR and vision sensors, and the geometric envelope features of the cargo are extracted. The corresponding tensioned integral foundation topology template is retrieved from the pre-set database based on the type identifier of the vehicle. A spatial optimization model is established with the goal of minimizing the Hausdorff distance between the outer surface of the cargo and the inner surface of the docking interface. The target elongation of each compressed ridge cable and the target prestress distribution of each tension cable net in the structural unit are solved in reverse to generate the target static equilibrium configuration.

[0023] Specifically, the multi-dimensional spatiotemporal perception module is equipped with environmental perception sensors, including lidar and vision sensors, which are located at the entrance of the connection terminal or on the outside of the tower.

[0024] The module's workflow begins with data acquisition. As the vehicle approaches the docking terminal, the lidar emits a laser beam to scan the vehicle and its cargo, acquiring reflection point information from the object's surface to form 3D point cloud data. Simultaneously, a vision sensor acquires image data and identifies the vehicle's type, including a drone ID or unmanned delivery vehicle ID. The processor receives the raw point cloud data, uses a filtering algorithm to remove background noise, and extracts the geometric envelope features containing only the cargo area. These features are represented as a set of 3D coordinate points on the cargo's outer surface.

[0025] Based on the identified type identifier, the system accesses a pre-set configuration database. If the identifier is a drone, a funnel-shaped topology template is invoked; if the identifier is an unmanned delivery vehicle, a pallet-shaped topology template is invoked. The system maps the extracted cargo geometric envelope features to the invoked basic topology template to establish a spatial optimization model.

[0026] This spatial optimization model aims to minimize the Hausdorff distance between the outer surface of the cargo and the inner surface of the docking interface. The Hausdorff distance measures the maximum mismatch between two point sets, ensuring that the docking interface conforms to the cargo contour to the greatest extent possible. The optimization objective function is as follows: Represented as: ; in Represents the point set on the surface of the goods Connecting terminal interface point set The Hausdorff distance between them; This represents the set of three-dimensional coordinate points on the outer surface of the cargo, collected and processed by sensors. This represents the set of three-dimensional coordinate points on the inner surface of the connection terminal structural unit to be solved. This set of points is determined by the node coordinates of the structural unit. Represents a point set any point in it; Represents a point set any point in it; It represents the supremum, i.e., the maximum value; This indicates the infimum, i.e., the minimum value. Point With point The Euclidean distance between them.

[0027] The optimization process is constrained by the static equilibrium equations of the tensioned integral structure, and the constraint conditions are as follows: ; in The balance matrix representing a structural element is determined by the node topology and node coordinates of the structural element. This represents the internal force vector of a component, including the pressure value of the compressed spine and the tension value of the tension net. This represents the external load vector acting on the node. During the pre-configuration stage before contact, this value is a zero vector.

[0028] The objective function is solved using an iterative algorithm. By finding the extreme values ​​under the constraints, the target three-dimensional coordinates of each node in the connection terminal that satisfy the geometric complementarity condition are obtained. Based on these target node coordinates, and combining the material properties and original lengths of the compression ridge cable and the tension cable net, the target elongation of each compression ridge cable is solved inversely. and the target prestress distribution of each cable network .

[0029] Data input / output process: The input end receives 3D point cloud data from the LiDAR and type identification data from the visual sensor; the processing end performs geometric feature extraction, topological template matching, and Hausdorff distance optimization calculations; the output end generates the target length command for the compressed ridge cable and the target tension command for the tensioned cable network, and transmits the command to the structural evolution reconstruction module.

[0030] An evolutionary reconstruction module is constructed and connected to a multi-dimensional spatiotemporal perception module. It is used to send position commands to the linear motor before contact, drive the compressed spine to perform telescopic pre-displacement, form a flexible funnel-shaped guide interface for the UAV control structure unit, and form a rigid pallet-shaped stacking interface for the unmanned delivery vehicle control structure unit. Furthermore, the construction of the evolutionary reconstruction module includes: Analyze the type identifier of the vehicle; If the type identifier matches a drone, an extension command is sent to the linear motor to control the structural unit to extend upward along the vertical axis and expand radially along the horizontal axis, thus constructing a flexible funnel-shaped guide interface with a large opening area and a long buffer stroke. If the type identifier matches the unmanned delivery vehicle, a compression command is sent to the linear motor to control the structural units to shrink downward along the vertical axis and tightly splice together along the horizontal axis, thus constructing a rigid pallet-shaped stacking interface with a flat contact surface and high load-bearing density.

[0031] The construction evolution reconstructing module also includes: Send position control signals to the linear motor integrated inside the compressed spine; The linear motor actuator drives the compressed spine cable to extend and retract axially to the target length value. By utilizing the flexible adaptive properties of the tension cable net, the tension distribution of the cable net is automatically adjusted during the change of the length of the compressed ridge cable, driving the structural unit to continuously transform from the initial form to the negative mode connection interface, maintaining the self-stress balance state of the tensioned overall structure.

[0032] Specifically, the construction evolution and reconstruction module is electrically connected to the multi-dimensional spatiotemporal perception module via a data bus, and its output is connected to the linear motor drivers in each structural unit of the docking terminal. The core function of this module is to execute the evolution of the physical configuration, transforming the mathematical target configuration into the negative modal docking interface of the physical entity.

[0033] The internal processor of the module first performs logical parsing on the received vehicle type identifier. When the parsing result indicates that the vehicle is a drone, the processor generates an extension command sequence. This command sequence drives the compressed spine in the structural unit to perform positive displacement, causing the structural unit to increase its height in the vertical axis. At the same time, utilizing the geometric coupling characteristics of the tensioned overall structure, it causes the unit to expand radially in the horizontal axis. This deformation constructs a flexible funnel-shaped guide interface, characterized by an upper opening area larger than the lower opening area and a longer vertical buffer stroke, used to adapt to attitude deviations during drone airdrop and absorb impact kinetic energy.

[0034] When the analysis results indicate that the delivery vehicle is an unmanned delivery vehicle, the processor generates a compression instruction sequence. This instruction sequence drives the compressed spine to perform a reverse contraction displacement, causing the structural units to decrease in height along the vertical axis and to move closer together and tightly splice them along the horizontal axis. This deformation constructs a rigid pallet-like stacking interface, characterized by a continuous flat contact surface at the top and increased structural density, for supporting the pallet of heavy-duty goods delivered by the robotic arm of the unmanned delivery vehicle.

[0035] During the aforementioned deformation process, the module sends specific position control signals to the linear motor integrated within the compressed ridge. The linear motor's actuator, based on the signals, drives the compressed ridge to extend and retract axially until the target length value calculated by the multi-dimensional spatiotemporal sensing module is reached. The change in the length of the compression spine cable disrupts the original force balance, and the tension cable net redistributes the tension between nodes based on the adaptive characteristics of the overall tensioned structure.

[0036] To ensure structural stability and prevent relaxation or collapse throughout the continuous transformation of structural units from their initial state to the negative mode interface, the system follows the self-stress equilibrium equations of a tensioned monolithic structure. At any moment during the deformation process... The node coordinate vector of the structural unit With the internal force vector of the component The following equilibrium conditions must be met: ; in This represents the balance matrix of the structural element, which is a vector of node coordinates. The function, whose dimension depends on the number of nodes and components in the structural unit, is used to describe the geometric topology of the structure and is distinct from the Hamiltonian energy function in the energy shaping control module. ; This represents the internal force vector of a component, including the pressure value of the compressed spine and the tension value of the tension net. This represents the external load vector acting on the node. During the pre-configuration stage before contact, this value is a zero vector.

[0037] The construction evolution and reconstruction module controls the displacement velocity and acceleration of linear motors to ensure that the rate of change of the length of the compression spine cable matches the stress redistribution rate of the tension cable network, thus ensuring that the internal force vector... Always in the balance matrix Within the zero space, thus maintaining the self-stress equilibrium state of the overall tensioned structure.

[0038] The data input and output process is as follows: The input end receives the vehicle type identifier and target static balance configuration parameters transmitted by the multi-dimensional spatiotemporal perception module; the processing end performs configuration logic judgment, path planning and balance condition verification; the output end outputs multi-channel position control pulse signals or analog voltage signals to each linear motor driver to drive the physical structure to generate pre-displacement.

[0039] The energy shaping control module, connected to the structure evolution and reconstruction module, is used to apply active control force through a linear motor at the moment of contact. Low stiffness parameters are set for the UAV to construct a flexible trapping potential energy trap that allows deformation, and high stiffness parameters are set for the unmanned delivery vehicle to construct a rigid support potential energy barrier that restricts deformation. Furthermore, the energy shaping control module includes: The preset virtual stiffness matrix parameters are invoked based on the vehicle type; For drones, a low stiffness coefficient is applied, and a linear motor outputs compliant control force to shape the closed-loop energy function of the system into a flexible trap with a gentle potential energy gradient, allowing the interface to undergo large deformation under impact to extend the buffer time. For unmanned delivery vehicles, a high stiffness coefficient is applied, and a counteracting control force is output through a linear motor. This shapes the closed-loop energy function of the system into a rigid support barrier with a steep potential energy gradient, limiting the deformation and displacement of the interface to provide stable support.

[0040] Specifically, the energy shaping control module is connected to the structural evolution and reconstruction module and the linear motor driver via signal lines. This module is activated when the docking terminal and the vehicle make physical contact. Its core function is to change the dynamic characteristics of the docking terminal's physical structure through the injection of active control force, so that it manifests as a preset virtual potential energy field at the energy level.

[0041] The module receives the type identifier of the vehicle and the real-time status variables of the docking terminal, including generalized coordinates. and generalized momentum Based on the port Hamiltonian system theory, the module applies control force through a linear motor. The open-loop Hamiltonian energy function of the system Reshape into a closed-loop expectation Hamiltonian function The calculation of control force follows the energy shaping control law: ; in This represents the active control force vector output by the linear motor; Represents the system input matrix The pseudo-inverse matrix is ​​used to map the energy gradient to the torque input of the actuator; This represents the gradient vector of the open-loop Hamiltonian function of the system with respect to the state variables, characterizing the original energy change trend of the system; This represents the gradient vector of the closed-loop expected Hamiltonian function with respect to the state variables, characterizing the energy change trend after shaping.

[0042] Closed-loop expectation Hamiltonian function The construction introduces a virtual potential energy term, whose expression is: ; in This represents the current generalized coordinate vector of the structural unit, i.e., the node position; This represents the target equilibrium position vector of the structural unit, i.e., the target configuration determined by the construction evolutionary reconstruction module; The superscript represents the virtual stiffness matrix, which determines the shape and steepness of the virtual potential energy field. Represents the transpose of a matrix or vector.

[0043] The module calls the preset virtual stiffness matrix parameters based on the vehicle type. When the type is identified as a drone, the module is built using a low stiffness coefficient value. At this point, the closed-loop expectation Hamiltonian function... It exhibits a flexible trapping trap with a gentle gradient. The system has a small reaction force to external positional disturbances, allowing the interface to undergo large elastic deformation under impact, thereby prolonging the impact time and reducing the peak contact force, thus achieving flexible trapping.

[0044] When the type is identified as an unmanned delivery vehicle, the module is constructed by loading high stiffness coefficient values. At this point, the closed-loop expectation Hamiltonian function... It manifests as a rigid support barrier with a steep gradient. The system generates a huge reverse restoring force for even a small positional deviation, which limits the displacement and deformation of the interface and ensures the stability of the geometric configuration when bearing heavy loads, thus achieving rigid support.

[0045] Data input / output process: The input terminal receives the vehicle type identifier and system state variables fed back from the sensors. and The processing unit calculates the control force vector in real time based on the above formula. The output terminal converts the control force vector into a current control command and transmits it to the linear motor driver, which then executes the final torque output.

[0046] The nonlinear damping injection module, connected to the energy shaping control module, is used to adjust the current of the excitation coil according to the momentum change generated by the contact impact, change the magnetic field strength in the damping cavity and the yield stress of the magnetorheological fluid, and provide nonlinear physical damping that adapts to the impact velocity to dissipate kinetic energy. Furthermore, the nonlinear damping injection module includes: The generalized momentum change rate of the connection terminal is monitored in real time by sensors; The target damping matrix that can completely offset the impact kinetic energy is calculated based on the generalized rate of change of momentum. Establish a nonlinear mapping relationship between the target damping matrix and the excitation current to generate the excitation current control signal; The excitation current control signal is applied to the excitation coil wound around the outside of the compressed ridge cable, which changes the magnetic induction intensity in the magnetorheological damping cavity, causing the magnetorheological fluid to undergo millisecond-level rheological effects and generate yield stress that matches the impact velocity.

[0047] The nonlinear damping injection module also includes: Construct a total energy function that includes the system's internal potential energy, kinetic energy, and magnetorheological dissipation energy; By adjusting the yield stress of the magnetorheological fluid and injecting nonlinear damping, the derivative of the total energy function with respect to time is forced to remain less than or equal to zero. During contact impact, the system energy growth is suppressed, and after the external input disappears, the system state is driven to converge asymptotically to the desired equilibrium zero point along the energy decay trajectory, ensuring the passive stability of the system under large disturbances.

[0048] The nonlinear damping injection module further includes: During the contact impact, a power generation mode switching command is sent to the linear motor integrated inside the compression spine to change the electromagnetic coupling state between the motor stator and mover. The mechanical work generated by the impact drives the linear motor mover to cut magnetic field lines, converting mechanical kinetic energy into induced current, and generating some basic physical damping through the back electromotive force of the induced current. The induced current is rectified and regulated by the power management circuit, and the energy consumption of the excitation coil is adjusted to send the remaining electrical energy that has not been dissipated by heat to the energy storage capacitor inside the connection terminal for storage.

[0049] Specifically, the nonlinear damping injection module is connected via electrical wiring to the energy shaping control module, the excitation coil outside the compressed spine, and the linear motor drive circuit. The function of this module is to manage energy dissipation and conversion during the connection instant and contact process. The module's operation begins with monitoring the system's dynamic state. The module acquires the generalized momentum vector of the docking terminal in real time using sensors integrated into the structural unit. and its time-dependent component, namely the generalized rate of change of momentum. The generalized rate of change of momentum directly reflects the instantaneous dynamic impact of external impact on the system. The module calculates the target damping matrix that can counteract the impact kinetic energy based on the rate of change of momentum. This matrix determines the magnitude of the dissipation force required for each degree of freedom of the system to prevent kinetic energy from accumulating at the contact interface.

[0050] The module establishes a nonlinear mapping relationship between the target damping matrix and the excitation current. This mapping relationship is based on the Bingham plastic flow model of magnetorheological fluids. The damping force generated by the magnetorheological damper within the compressed ridge is also considered. With excitation current and piston speed The relationship is expressed as follows: ; in This represents the total damping force generated by the magnetorheological damper. The basic viscous damping coefficient of a magnetorheological fluid depends on the physical properties of the base fluid. This indicates the axial extension and contraction speed of the compressed somatic cable, i.e., the relative speed of the mover relative to the stator; The sign function is used to determine that the direction of the damping force is always opposite to the direction of motion. The magnetic susceptibility coefficient of a magnetorheological fluid reflects the sensitivity of the material's yield stress to a magnetic field. This indicates the intensity of the excitation current applied to the excitation coil; It represents the nonlinear exponential constant between magnetic flux density and current.

[0051] The module converts the calculated target damping force into a corresponding excitation current control signal based on the inverse function of the above formula. This signal is applied to the excitation coil wound around the outside of the compressed spine, and the magnetic field generated by the coil penetrates the damping cavity. Under the action of the magnetic field, the magnetic particles in the magnetorheological fluid align into chains along the magnetic field lines, causing the fluid yield stress to increase sharply within milliseconds, thus macroscopically manifesting as a significant increase in physical damping and rapidly dissipating impact kinetic energy.

[0052] To ensure the system's stability under severe impact, the module constructs a total energy function that includes the system's internal potential energy, kinetic energy, and magnetorheological dissipation energy. This function, serving as a Lyapunov candidate function, is used to monitor the system's energy state. The module injects a nonlinear damping term into the system by adjusting the excitation current to control the yield stress of the magnetorheological fluid, thus forcing the time derivative of the total energy function to be... Satisfies the passive dissipation inequality: ; in This represents the rate of change of the system's total energy over time. The gradient vector of the Hamiltonian energy function; The vector representing the time derivatives of the system state variables.

[0053] When the inequality holds, the system is in a strictly passive state. During the contact impact, the externally input mechanical work is forcibly converted into heat dissipation, suppressing the growth of energy within the system. Once the external impact input disappears, due to... If the value remains less than zero, the system state will gradually converge along the energy decay trajectory and eventually stabilize at the desired equilibrium zero point, i.e., the static connection state.

[0054] During the aforementioned energy dissipation process, the module also executes energy recovery logic. At the initial moment of detecting the contact impact, the module sends a power generation mode switching command to the linear motor integrated within the compressed spine. This command alters the topology of the motor drive circuit, disconnecting the power input and connecting the rectifier load circuit. At this time, the electromagnetic coupling state between the stator and mover of the linear motor changes; the mover cuts the magnetic field lines under the impact force, generating an induced electromotive force in the windings. The induced electromotive force generates a reverse Lorentz force, providing some of the fundamental physical damping for the system. The relationship between the induced electromotive force and the velocity is as follows: ; in This represents the induced electromotive force generated by the windings of a linear motor. This represents the back electromotive force constant of the motor; It indicates the velocity of the moving part.

[0055] The generated induced current is rectified and regulated by the power management circuit. The power management circuit allocates power according to the real-time energy consumption requirements of the excitation coil, giving priority to supplying the excitation coil with the induced energy. The remaining energy that is not dissipated by heat is sent to the energy storage capacitor inside the connection terminal for storage through the charging line.

[0056] Data input / output process: The input end receives momentum monitoring data and impact trigger signals from the sensor; the processing end performs damping matrix calculation, Bingham model mapping, passive verification, and energy recovery control logic; the output end outputs two signals, one is an analog signal of excitation current used to drive the excitation coil, and the other is a circuit switching switch signal used to control the working condition switching of the linear motor.

[0057] The steady-state locking flow module, connected to the nonlinear damping injection module, is used to activate the universal magnetic flux coupler at the node of the structural unit when the system momentum is detected to be close to zero. It uses electromagnetic adsorption force to rigidly interlock adjacent structural units and eliminate the relative degrees of freedom between units. Furthermore, the steady-state lockout flow module includes: Receives the warehousing instruction from the rigid container docking terminal; The control terminal establishes magnetic levitation coupling with the spiral magnetic levitation track on the inner wall of the tower; The drive connection terminal moves vertically downwards along a spiral trajectory; During the transfer process, the three-dimensional distribution of the remaining storage space inside the tower is scanned, the geometric volume of the structural unit is readjusted, and the connection terminal is precisely embedded into the free storage space inside the tower.

[0058] The steady-state lock-up flow module also includes: Receive the transfer instruction for the docking terminal to leave the docking area, and confirm that the docking terminal is in a rigidly interlocked container state; The universal magnetic flux coupler located at the node of the structural unit is controlled to switch from adsorption lock-up mode to traveling wave drive mode to generate an alternating magnetic field. The electromagnetic interaction between the alternating magnetic field and the external environment generates directional thrust, driving the docking terminal, which is in a rigid container state, to levitate and move along a preset trajectory, so as to clear the docking interface and wait for the next mission.

[0059] Specifically, the steady-state locking flow module is connected to the nonlinear damping injection module, the universal magnetic flux coupler, and the external logistics dispatch center via an electrical bus. This module intervenes at the end of the connection process, responsible for rigidly solidifying the connection terminal after energy dissipation and driving its flow in the physical space within the logistics tower.

[0060] The module first executes the locking decision logic. The processor continuously samples the system Hamiltonian energy function value fed back by the nonlinear damping injection module. and generalized momentum vector When the sampled data meets the convergence condition and At this point, the system is determined to have reached a dynamic steady state. The module then sends a locking pulse to the universal flux coupler located at the structural unit node. A DC holding current is supplied to the electromagnet coil inside the universal flux coupler, generating a high-intensity static magnetic attraction force at the contact surface of adjacent structural units. This magnetic attraction overcomes the residual elastic potential energy between elements, eliminating relative degrees of freedom. The calculation of the magnetic attraction follows Maxwell's stress tensor formula: ; in This indicates the normal magnetic attraction force generated by the universal flux coupler; The magnetic flux density at the air gap of the coupling node depends on the magnitude of the DC holding current. This represents the effective magnetic flux cross-sectional area between adjacent nodes; It represents the vacuum permeability.

[0061] After locking is complete, the docking terminal transforms into a rigid container state. When the module receives an inbound command, it initiates the vertical transfer procedure. The module controls the docking terminal to approach the spiral magnetic levitation track on the inner wall of the tower and activates the levitation coil on the outside of the structural unit. The magnetic field generated by the levitation coil interacts with the permanent magnet array on the track, establishing magnetic levitation coupling and causing the docking terminal to levitate from the contact surface. The module adjusts the current phase of the levitation coil to generate an electromagnetic thrust tangential to the spiral trajectory, driving the docking terminal downwards along the spiral trajectory.

[0062] During the transfer process, the module uses a laser rangefinder to scan the three-dimensional distribution data of the remaining storage space within the tower. The processor calculates the geometric constraints of the target storage location based on the scan results and sends deformation commands to the linear motor again during the transfer process. While maintaining overall rigid connection, the linear motor fine-tunes the local volume of each structural unit, ensuring that the external contour of the connection terminal precisely matches the geometry of the free storage location, thus achieving embedded storage.

[0063] When the module receives a withdrawal command and confirms that the docking terminal is in a rigid interlocked state, it executes a horizontal flow procedure. The module sends a mode switching signal to the universal flux coupler, switching its operating mode from adsorption-locked mode to traveling wave drive mode. In this mode, the current in the coupler coil switches from DC to multiphase AC, generating a traveling wave magnetic field on the surface of the docking terminal. This traveling wave magnetic field interacts with the external environmental medium, generating a directional electromagnetic thrust. The thrust drives the docking terminal to levitate along a preset trajectory, levitizing the docking interface. The synchronous velocity generated by the traveling wave magnetic field... The movement speed is determined by the following relationship: ;in This indicates the synchronous movement speed of the traveling wave magnetic field; This indicates the pole pitch of the universal flux coupler coil array; This indicates the frequency of the alternating current flowing through the coil.

[0064] Data input / output process: The input end receives system energy state data, generalized momentum data, warehousing / evacuation instructions from the logistics dispatch center, and storage space scan data; the processing end executes steady-state determination algorithm, magnetic attraction force calculation, levitation control algorithm, and traveling wave drive logic; the output end outputs DC lock-in current, levitation drive current, and multiphase AC traveling wave current, which directly drive the universal magnetic flux coupler and levitation coil.

[0065] Example 2: This system is applied to the scenario of a three-dimensional logistics relay tower in an urban CBD, aiming to solve the systemic challenges in heterogeneous collaboration between air and ground. In this scenario, the input is a high-frequency drone, which is often dynamically airdropped due to the influence of building winds; the output is a heavy-duty unmanned vehicle, which requires rigid pallet transfer.

[0066] Existing technologies face three major irreconcilable contradictions: First, mechanical impedance mismatch. Drone airdrops require low stiffness and high damping at the interface for flexible soft capture, while unmanned vehicle robotic arms require high stiffness and low damping for stable support. Fixed stiffness devices cannot meet both requirements, easily leading to rebound oscillations or structural collapse. Second, energy accumulation under nonlinear impacts. Faced with unpredictable attitude impacts from drones, traditional linear damping cannot eliminate energy singularities within milliseconds of contact, resulting in dynamic divergence. Third, low geometric space utilization. The large, fault-tolerant guide openings required for airdrops conflict with the compact volume required for high-density storage, resulting in extremely high wasted space porosity. To solve these problems, this invention provides a smart logistics unmanned operation and delivery system, the structure of which is as follows: Figure 1 As shown. The specific implementation process of this system is as follows: The multi-dimensional spatiotemporal perception module acquires the three-dimensional spatial information and identification of the vehicle in real time through environmental perception sensors. This pre-emptive data acquisition mechanism solves the problem of blind docking. By extracting the geometric contour features of the load and reversing the mechanical parameters of the structural units, including the length of the compression spine and the tension of the tension cable net, the module establishes a geometric mapping relationship between the docking terminal and the cargo before physical contact occurs. This ensures that the docking terminal can reach a static equilibrium state that is precisely complementary to the shape contour of the cargo in advance, providing a data benchmark for subsequent zero-gap bonding.

[0067] The construction evolution and reconfiguration module directly controls the linear motor to perform mechanical actions based on the configuration parameters calculated by the perception module. This module transforms the geometric matching at the mathematical level into the topological evolution of physical entities. For drones, the drive structural units unfold to form a flexible funnel-shaped guide interface, expanding the effective capture area of ​​the docking port and providing a buffer stroke in the vertical direction; for unmanned delivery vehicles, the drive structural units contract and splice into a rigid pallet-shaped stacking interface, providing a flat and dense load-bearing plane. This dynamic switching of physical configurations resolves the technical contradiction of heterogeneous vehicles having drastically different interface shape requirements.

[0068] The energy shaping control module intervenes at the moment of contact, responsible for adjusting the mechanical impedance characteristics of the interface. By applying active control force via a linear motor, this module alters the system's equivalent stiffness properties. For highly impact-sensitive UAVs, low stiffness parameters are set to construct a virtual potential energy trap, giving the interface exceptional compliance and allowing it to absorb impact energy through structural deformation. For unmanned delivery vehicles with high mass and static pressure, high stiffness parameters are set to construct a virtual potential energy barrier, giving the interface strong resistance to deformation and providing stable support. This mechanism enables a single device to adaptively match both soft landing and rigid support conditions.

[0069] The nonlinear damping injection module is responsible for energy dissipation management during the docking process. This module monitors the rate of change of impact momentum and adjusts the excitation coil current in real time accordingly. The change in current causes a change in the magnetic field strength within the damping cavity, which in turn adjusts the yield stress of the fluid using the magnetorheological effect. This mechanism generates a nonlinear physical damping that dynamically varies with the impact velocity, converting enormous impact kinetic energy into heat dissipation within milliseconds of contact time. This effectively suppresses dynamic oscillations at the moment of docking and prevents cargo rebound or detachment caused by the release of elastic potential energy.

[0070] The steady-state locking transfer module functions after the connection process is completed, responsible for solidifying the system state. When the system momentum decays to a stationary state, this module activates the universal magnetic flux coupler at the node. Utilizing electromagnetic attraction, it eliminates the relative degrees of freedom of motion between adjacent structural units, locking the originally flexible and variable tensioned monolithic structure into a rigid and immutable container. This ensures that the connection terminal maintains a stable geometric shape during subsequent static storage or transfer of goods, preventing loosening or deformation.

[0071] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A smart logistics unmanned operation and delivery system, characterized in that: The system includes a connection terminal with an integrated magnetorheological tensioning structure. The terminal consists of a compression ridge cable with several integrated linear motors, magnetorheological damping cavities, and excitation coils, and a tension cable net connecting the ridge cables. The system also includes: The multi-dimensional spatiotemporal perception module is equipped with an environmental perception sensor to collect three-dimensional point cloud data and type identification of the vehicle, extract the load geometric profile, and calculate the target length of the compressed spine and the target tension of the tension cable net in the structural unit in order to determine the target static equilibrium configuration that is complementary to the load profile geometry. An evolutionary reconstruction module is constructed and connected to the multi-dimensional spatiotemporal perception module. It is used to send position commands to the linear motor before contact, drive the compressed spine to perform telescopic pre-displacement, form a flexible funnel-shaped guide interface for the UAV control structure unit, and form a rigid pallet-shaped stacking interface for the unmanned delivery vehicle control structure unit. The energy shaping control module, connected to the structure evolution and reconstruction module, is used to apply active control force through a linear motor at the moment of contact. Low stiffness parameters are set for the UAV to construct a flexible trapping potential energy trap that allows deformation, and high stiffness parameters are set for the unmanned delivery vehicle to construct a rigid support potential energy barrier that restricts deformation. The nonlinear damping injection module, connected to the energy shaping control module, is used to adjust the current of the excitation coil according to the momentum change generated by the contact impact, change the magnetic field strength in the damping cavity and the yield stress of the magnetorheological fluid, and provide nonlinear physical damping that adapts to the impact velocity to dissipate kinetic energy. The steady-state locking flow module, connected to the nonlinear damping injection module, is used to activate the universal magnetic flux coupler at the node of the structural unit when the system momentum is detected to be close to zero. It uses electromagnetic adsorption force to rigidly interlock adjacent structural units and eliminate the relative degrees of freedom between units.

2. The intelligent logistics unmanned operation and delivery system according to claim 1, characterized in that, The multidimensional spatiotemporal sensing module includes: The surface three-dimensional coordinate data of the cargo carried by the vehicle is collected by LiDAR and vision sensors, and the geometric envelope features of the cargo are extracted. The corresponding tensioned integral foundation topology template is retrieved from the pre-set database based on the type identifier of the vehicle. A spatial optimization model is established with the goal of minimizing the Hausdorff distance between the outer surface of the cargo and the inner surface of the docking interface. The target elongation of each compressed ridge cable and the target prestress distribution of each tension cable net in the structural unit are solved in reverse to generate the target static equilibrium configuration.

3. The intelligent logistics unmanned operation and delivery system according to claim 1, characterized in that, The construction evolution reconstruction module includes: Analyze the type identifier of the vehicle; If the type identifier matches a drone, an extension command is sent to the linear motor to control the structural unit to extend upward along the vertical axis and expand radially along the horizontal axis, thus constructing a flexible funnel-shaped guide interface with a large opening area and a long buffer stroke. If the type identifier matches the unmanned delivery vehicle, a compression command is sent to the linear motor to control the structural units to shrink downward along the vertical axis and tightly splice together along the horizontal axis, thus constructing a rigid pallet-shaped stacking interface with a flat contact surface and high load-bearing density.

4. The intelligent logistics unmanned operation and delivery system according to claim 1, characterized in that, The construction evolution reconstructing module also includes: Send position control signals to the linear motor integrated inside the compressed spine; The linear motor actuator drives the compressed spine cable to extend and retract axially to the target length value. By utilizing the flexible adaptive properties of the tension cable net, the tension distribution of the cable net is automatically adjusted during the change of the length of the compressed ridge cable, driving the structural unit to continuously transform from the initial form to the negative mode connection interface, maintaining the self-stress balance state of the tensioned overall structure.

5. The intelligent logistics unmanned operation and delivery system according to claim 1, characterized in that, The energy shaping control module includes: The preset virtual stiffness matrix parameters are invoked based on the vehicle type; For drones, a low stiffness coefficient is applied, and a linear motor outputs compliant control force to shape the closed-loop energy function of the system into a flexible trap with a gentle potential energy gradient, allowing the interface to undergo large deformation under impact to extend the buffer time. For unmanned delivery vehicles, a high stiffness coefficient is applied, and a counteracting control force is output through a linear motor. This shapes the closed-loop energy function of the system into a rigid support barrier with a steep potential energy gradient, limiting the deformation and displacement of the interface to provide stable support.

6. The intelligent logistics unmanned operation and delivery system according to claim 1, characterized in that, The nonlinear damping injection module includes: The generalized momentum change rate of the connection terminal is monitored in real time by sensors; The target damping matrix that can completely offset the impact kinetic energy is calculated based on the generalized rate of change of momentum. Establish a nonlinear mapping relationship between the target damping matrix and the excitation current to generate the excitation current control signal; The excitation current control signal is applied to the excitation coil wound around the outside of the compressed ridge cable, which changes the magnetic induction intensity in the magnetorheological damping cavity, causing the magnetorheological fluid to undergo millisecond-level rheological effects and generate yield stress that matches the impact velocity.

7. The intelligent logistics unmanned operation and delivery system according to claim 1, characterized in that, The nonlinear damping injection module also includes: Construct a total energy function that includes the system's internal potential energy, kinetic energy, and magnetorheological dissipation energy; By adjusting the yield stress of the magnetorheological fluid and injecting nonlinear damping, the derivative of the total energy function with respect to time is forced to remain less than or equal to zero. During contact impact, the system energy growth is suppressed, and after the external input disappears, the system state is driven to converge asymptotically to the desired equilibrium zero point along the energy decay trajectory, ensuring the passive stability of the system under large disturbances.

8. The intelligent logistics unmanned operation and delivery system according to claim 1, characterized in that, The nonlinear damping injection module further includes: During the contact impact, a power generation mode switching command is sent to the linear motor integrated inside the compression spine to change the electromagnetic coupling state between the motor stator and mover. The mechanical work generated by the impact drives the linear motor mover to cut magnetic field lines, converting mechanical kinetic energy into induced current, and generating some basic physical damping through the back electromotive force of the induced current. The induced current is rectified and regulated by the power management circuit, and the energy consumption of the excitation coil is adjusted to send the remaining electrical energy that has not been dissipated by heat to the energy storage capacitor inside the connection terminal for storage.

9. The intelligent logistics unmanned operation and delivery system according to claim 1, characterized in that, The steady-state locking flow module includes: Receives the warehousing instruction from the rigid container docking terminal; The control terminal establishes magnetic levitation coupling with the spiral magnetic levitation track on the inner wall of the tower; The drive connection terminal moves vertically downwards along a spiral trajectory; During the transfer process, the three-dimensional distribution of the remaining storage space inside the tower is scanned, the geometric volume of the structural unit is readjusted, and the connection terminal is precisely embedded into the free storage space inside the tower.

10. The intelligent logistics unmanned operation and delivery system according to claim 1, characterized in that, The steady-state locking flow module also includes: Receive the transfer instruction for the docking terminal to leave the docking area, and confirm that the docking terminal is in a rigidly interlocked container state; The universal magnetic flux coupler located at the node of the structural unit is controlled to switch from adsorption lock-up mode to traveling wave drive mode to generate an alternating magnetic field. The electromagnetic interaction between the alternating magnetic field and the external environment generates directional thrust, driving the docking terminal, which is in a rigid container state, to levitate and move along a preset trajectory, so as to clear the docking interface and wait for the next mission.

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