Freight air delivery device and method with tail loading and tail delivery

Abstract

The application discloses a freight air drop device and method with a tail loading and unloading and tail drop configuration and belongs to the technical field of unmanned aerial vehicle freight. The device comprises a task management control box, a cargo cabin and at least one cargo storage area arranged in the cargo cabin. A roller transmission assembly and a reinforced roller assembly are arranged along the heading of the cargo cabin to form a roller track transmission structure. A side guide rail assembly and a side guide rail assembly are arranged on both sides of the roller track transmission structure and are provided with vertical limiters. An end fixed limiter lock, a bidirectional electric lock and a unidirectional electric lock jointly form a cargo locking structure. A power transmission unit PDU drives the cargo to move along the roller track transmission structure. A speed sensor is arranged corresponding to the reinforced roller assembly to monitor the ejection speed of the cargo. The bidirectional electric lock, the unidirectional electric lock, the power transmission unit PDU and the speed sensor are electrically connected with the task management control box. The task management control box is in communication connection with a flight pipe computer.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) cargo technology, and relates to a cargo airdrop device and airdrop method that adopts a tail loading and unloading and tail dropping configuration. Background Technology

[0002] Traditional transport drones in cargo scenarios generally employ side-loading or top-loading methods for payload delivery. This approach suffers from cumbersome loading and unloading processes, low loading efficiency, and insufficient reliability in payload fixation and release, making it difficult to meet the high-efficiency operational requirements of scenarios such as emergency material delivery, resupply to remote areas, and large-volume air freight. With the rapid development of the low-altitude economy and the continued advancement of military-civilian integration, the demand for unmanned, autonomous, and high-efficiency cargo equipment in air logistics is becoming increasingly urgent. Existing airborne cargo systems are no longer adequate to meet the comprehensive requirements of autonomous navigation, multi-mode payload compatibility, rapid loading and unloading, and precise aerial delivery.

[0003] Currently, conventional drone airdrop devices generally suffer from defects such as insufficient cargo positioning accuracy, uncontrollable unloading speed, lack of real-time monitoring of locking mechanism status, and lack of data traceability during the delivery process. These defects easily lead to problems such as cargo jamming, chaotic delivery sequence, asynchronous parachute opening, and large deviations in delivery location during airdrop operations. This not only reduces the overall timeliness of air freight but also poses safety hazards such as load damage and operational failure. Furthermore, existing systems largely rely on manual assistance for loading and unloading and on-site command control, resulting in low automation and slow response times. This makes rapid deployment difficult for scenarios such as emergency response and coverage of remote areas, and also fails to meet the cost control and green emission reduction requirements of large-scale air logistics.

[0004] In summary, existing transport drones suffer from technical problems such as low cargo loading and unloading efficiency, poor reliability of aerial delivery, lack of precise monitoring and data traceability during the delivery process, easy interference with multiple delivery stations, and insufficient automation. These problems limit the timeliness and safety of drone air freight and hinder the development of modern low-altitude logistics systems. Summary of the Invention

[0005] The purpose of this invention is to solve the technical problems of existing transport drones, such as low cargo loading and unloading efficiency, poor reliability of aerial delivery, lack of accurate monitoring and data traceability during the delivery process, easy interference with multiple delivery stations, and insufficient automation. The invention provides a cargo airdrop device and airdrop method with a tail loading and unloading and tail delivery configuration.

[0006] To achieve the above objectives, the present invention employs the following technical solution: In a first aspect, the present invention discloses a cargo airdrop device with a tail-loading and tail-drop configuration, comprising a mission management control box, a cargo hold, at least one cargo storage area within the cargo hold, and an end-fixed movement limiting lock, a roller transport assembly, a side guide rail assembly, a two-way electric lock, a power transmission unit (PDU), a speed sensor, a one-way electric lock, a reinforced roller assembly, a side guide rail assembly, and a vertical movement limiting device. The roller transport assembly and the reinforced roller assembly are laid along the cargo hold's heading to form a roller conveyor structure. The side guide rail assembly is located on both sides of the roller conveyor structure and is equipped with a vertical movement limiting device. The end-fixed movement limiting lock, the two-way electric lock, and the one-way electric lock together constitute a cargo locking structure. The power transmission unit (PDU) drives the cargo to move along the roller conveyor structure. The speed sensor is positioned corresponding to the reinforced roller assembly to monitor the cargo exit speed. The two-way electric lock, the one-way electric lock, the power transmission unit (PDU), and the speed sensor are all electrically connected to the mission management control box, which is communicatively connected to the flight control computer.

[0007] Further improvements are made in the following aspects: The side rail assembly is located in the cargo storage area at the hatch, with an entrance buffer angle and no complete vertical movement restriction; the side rail assembly is located in the cargo storage area inside the hold and includes side rail rollers, side rail pins and side rail body.

[0008] The roller transmission assembly includes a roller assembly, a roller rail, a rolling bearing, and a roller housing. The roller assembly is mounted on the roller rail and rolls through the rolling bearing.

[0009] The reinforced roller assembly integrates a speed measuring roller assembly, and the speed measuring sensor is a Hall sensor, which works in conjunction with the speed measuring roller assembly to obtain the cargo exit speed.

[0010] The fixed limiting lock is installed on the longitudinal beam of the cargo hold, and the bidirectional electric lock and the unidirectional electric lock are installed on the cargo hold frame through brackets; the power transmission unit (PDU) has a built-in position sensor, and the bidirectional electric lock and the unidirectional electric lock have built-in status sensors. Both the position sensor and the status sensor are communicatively connected to the task management control box.

[0011] It also includes an umbrella opening mechanism, which comprises an opening steel rope and an opening pull rope, with one end of the opening pull rope connected to the umbrella pack and the other end attached to the opening steel rope.

[0012] Secondly, this invention discloses an airdrop method for the cargo airdrop device employing the above-mentioned tail loading / unloading and tail dropping configuration, comprising: After the drone arrives at the deployment location, the flight control computer controls the drone to fly at an angle of elevation and open the tail hatch; The flight control computer sends an unlock command to the outermost cargo storage area to be deployed to the mission management control box; The task management control box controls the electric lock device of the corresponding storage area to perform the unlocking action; Under the gravitational force generated by the drone's elevation angle, the container loading platform slides out of the cargo hold along the roller conveyor assembly; The parachute opening mechanism is triggered during the slide-out of the cargo platform, the parachute opens, and a single airdrop is completed; Complete the airdrop of goods to the remaining storage areas in sequence according to the delivery instructions.

[0013] The electric lock device performs the unlocking action as follows: after receiving the instruction, the task management control box controls the locking arms and bolts of the bidirectional electric lock and the unidirectional electric lock in the corresponding storage area to open synchronously.

[0014] During the process of the cargo platform sliding out of the cargo hold, the reinforcing roller assembly at the hatch bears the concentrated load of the cargo platform, and the speed sensor detects the speed of the cargo platform leaving the hold in real time and uploads it to the task management control box.

[0015] The parachute opening mechanism is triggered as follows: when the container platform slides down, it pulls the opening rope attached to the opening steel rope, thereby opening the parachute; after a single airdrop is completed, the cargo presence signal in the corresponding storage area disappears, and the task management control box automatically closes the electric lock device of the next storage area to be delivered, preparing for the next delivery; during the airdrop process, the position sensor of the power transmission unit (PDU) and the status sensor of the electric lock device provide real-time feedback on the working status, and if an abnormality occurs, the task management control box immediately triggers an alarm and records the data.

[0016] Compared with the prior art, the present invention has the following beneficial effects: This invention discloses a cargo airdrop device employing a tail-mounted loading / unloading and tail-deployment configuration. Through multi-sensor fusion monitoring and closed-loop data management throughout the entire process, it significantly improves the reliability, accuracy, and traceability of cargo airdrop operations. The system relies on the position sensors integrated into the power transmission units (PDUs) at each cargo location to accurately determine the cargo's position. Combined with Hall effect speed sensors at the hatch reinforcement rollers, it can calculate the cargo's exit speed in real time and achieve a monitoring accuracy better than 0.1 m / s through algorithm compensation. Simultaneously, in conjunction with electric locks and the status sensors built into the PDUs, it provides real-time feedback on locking, unlocking, operation, and fault status, enabling comprehensive real-time monitoring of cargo position, movement speed, and equipment status. All monitoring data is uploaded to the ground station in real-time via a communication link in encrypted format. The data includes a timestamp with 1ms accuracy and a unique device ID, with a storage period of no less than 30 days. It can completely retain key information such as the cargo exit time and speed change curves, supporting accurate traceability and full-process review of airdrop events. When the cargo unloading speed exceeds the preset range or the electric lock malfunctions, the system can immediately trigger an alarm and automatically record abnormal data, providing a complete basis for fault location, cause analysis and subsequent optimization, effectively improving the safety and fault tolerance of airdrop operations, and ensuring the stable and efficient execution of cargo airdrops throughout the entire process from loading, transportation to delivery.

[0017] This invention discloses an airdrop method for a cargo airdrop device employing a tail-mounted loading / unloading and tail-mounted delivery configuration. Through coordinated control by the flight control computer and mission management control box, combined with the coordinated actions of the UAV's altitude flight and tail door opening, autonomous, orderly, and reliable delivery of the containerized cargo platform is achieved. The process of unlocking sequentially from the outside in and delivering cargo area by area avoids interference and jamming risks caused by simultaneous movement of multiple cargo platforms, ensuring a smooth and stable delivery process. The platform is autonomously driven to slide out along the roller conveyor assembly by the gravitational force generated by the UAV's altitude attitude, eliminating the need for additional complex pushing mechanisms, simplifying the system structure and improving operational reliability. The parachute deployment mechanism is automatically triggered during the platform's slide-out, requiring no manual or additional electronic control intervention. The parachute deployment action is timely and highly synchronized, effectively ensuring cargo airdrop safety and landing accuracy. The entire process is executed in an orderly manner according to preset instructions, with clear control logic and seamless action transitions, significantly improving the automation level and delivery efficiency of airdrop operations. It is suitable for continuous delivery scenarios involving multiple cargo platforms, meeting the requirements of high efficiency, safety, and stability for UAV cargo airdrops. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of a cargo airdrop device with a tail loading / unloading and tail dropping configuration according to an embodiment of the present invention. Figure 2 This is a loading operation flowchart of a cargo airdrop device with a tail loading / unloading and tail dropping configuration according to an embodiment of the present invention; Figure 3 This is a flowchart illustrating the deployment operation of a cargo airdrop device with a tail loading / unloading and tail dropping configuration according to an embodiment of the present invention. Figure 4 This is a flowchart illustrating the unloading operation of a cargo airdrop device with a tail-mounted loading and unloading and tail-mounted delivery configuration according to an embodiment of the present invention. Figure 5 This is a schematic diagram of the cargo platform storage area layout of a cargo airdrop device with a tail loading / unloading and tail dropping configuration according to an embodiment of the present invention. Figure 6 This is a schematic diagram of a cargo airdrop device with a tail loading / unloading and tail dropping configuration according to an embodiment of the present invention. Figure 7 This is an enlarged schematic diagram of a cargo airdrop device with a tail loading / unloading and tail dropping configuration according to an embodiment of the present invention. Figure 8 This is a schematic diagram of the side guide rail assembly of a cargo airdrop device with a tail loading / unloading and tail dropping configuration according to an embodiment of the present invention. Figure 9 This is a schematic diagram of the side guide rail assembly of a cargo airdrop device with a tail loading / unloading and tail dropping configuration according to an embodiment of the present invention. Figure 10 This is a schematic diagram of the roller conveyor assembly of a cargo airdrop device with a tail loading / unloading and tail dropping configuration according to an embodiment of the present invention. Figure 11 This is a schematic diagram of the reinforced roller assembly (for speed measurement) of a cargo airdrop device with a tail loading and unloading and tail dropping configuration according to an embodiment of the present invention.

[0020] The components are: 1-End fixed movement limiting lock; 2-Roller transmission assembly; 3-Side guide rail assembly; 4-Two-way electric lock; 5-Power transmission unit (PDU); 6-Speed ​​sensor; 7-One-way electric lock; 8-Reinforced roller assembly; 9-Side guide rail assembly; 10-Vertical movement limiting; 11-Side guide rail roller; 12-Side guide rail pin; 13-Side guide rail body; 14-Roller assembly; 15-Roller seat rail; 16-Rolling bearing; 17-Roller housing; 18-Speed ​​sensor; 19-Speed ​​measuring roller assembly. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of 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. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0022] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0023] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0024] In the description of the embodiments of the present invention, it should be noted that if terms such as "upper," "lower," "horizontal," or "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, terms such as "first" and "second" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0025] Furthermore, the use of the term "horizontal" does not imply that the component must be absolutely horizontal, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0026] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0027] The present invention will now be described in further detail with reference to the accompanying drawings: See Figure 1This invention discloses a cargo airdrop device with a tail-loading and tail-drop configuration, comprising a mission management control box, a cargo hold, at least one cargo storage area within the cargo hold, and an end-fixed movement limiting lock 1, a roller conveyor assembly 2, a side guide rail assembly 3, a bidirectional electric lock 4, a power transmission unit (PDU) 5, a speed sensor 6, a one-way electric lock 7, a reinforced roller assembly 8, a side guide rail assembly 9, and a vertical movement limiting lock 10. The roller conveyor assembly 2 and the reinforced roller assembly 8 are laid along the cargo hold's heading to form a roller conveyor structure. The side guide rail assembly 3 and the side guide rail assembly 9 are respectively located on both sides of the roller conveyor structure and are equipped with vertical movement limiting locks 10. The end-fixed movement limiting lock 1, the bidirectional electric lock 4, and the one-way electric lock 7 together constitute a cargo locking structure. The power transmission unit (PDU) 5 drives the cargo to move along the roller conveyor structure. The speed sensor 6 is positioned corresponding to the reinforced roller assembly 8 to monitor the cargo exit speed. The bidirectional electric lock 4, the one-way electric lock 7, and the power transmission unit (PDU) are also present. Both the speed sensor 6 and the speed sensor 5 are electrically connected to the mission management control box, which is communicatively connected to the flight control computer. The side rail assembly 9 is located in the cargo storage area at the hatch, with an entrance buffer angle and no complete vertical movement limit 10. The side rail assembly 3 is located in the cargo storage area inside the hatch and includes a side rail roller 11, a side rail pin 12, and a side rail body 13. The roller transfer assembly 2 includes a roller assembly 14, a roller seat rail 15, a rolling bearing 16, and a roller housing 17. The roller assembly 14 is mounted on the roller seat rail 15 and rolls through the rolling bearing 16. The reinforced roller assembly 8 integrates a speed measuring roller assembly 19. The speed sensors 6 and 18 are Hall effect sensors that work with the speed measuring roller assembly 19 to obtain the cargo exit speed. The end-fixed limiting lock 1 is installed on the longitudinal beam of the cargo hold, and the bidirectional electric lock 4 and the unidirectional electric lock 7 are installed on the cargo hold frame via brackets; the power transmission unit (PDU) 5 has a built-in position sensor, and the bidirectional electric lock 4 and the unidirectional electric lock 7 have built-in status sensors. Both the position sensor and the status sensor are communicatively connected to the mission management control box. It also includes a parachute opening mechanism, which comprises a parachute opening steel rope and a parachute opening pull rope. One end of the parachute opening pull rope is connected to the parachute pack, and the other end is attached to the parachute opening steel rope.

[0028] This invention discloses a cargo airdrop device employing a tail-mounted loading / unloading and tail-deployment configuration. Through multi-sensor fusion monitoring and closed-loop data management throughout the entire process, it significantly improves the reliability, accuracy, and traceability of cargo airdrop operations. The system relies on the position sensors integrated into the power transmission units (PDUs) at each cargo location to accurately determine the cargo's position. Combined with Hall effect speed sensors at the hatch reinforcement rollers, it can calculate the cargo's exit speed in real time and achieve a monitoring accuracy better than 0.1 m / s through algorithm compensation. Simultaneously, in conjunction with electric locks and the status sensors built into the PDUs, it provides real-time feedback on locking, unlocking, operation, and fault status, enabling comprehensive real-time monitoring of cargo position, movement speed, and equipment status. All monitoring data is uploaded to the ground station in real-time via a communication link in encrypted format. The data includes a timestamp with 1ms accuracy and a unique device ID, with a storage period of no less than 30 days. It can completely retain key information such as the cargo exit time and speed change curves, supporting accurate traceability and full-process review of airdrop events. When the cargo unloading speed exceeds the preset range or the electric lock malfunctions, the system can immediately trigger an alarm and automatically record abnormal data, providing a complete basis for fault location, cause analysis and subsequent optimization, effectively improving the safety and fault tolerance of airdrop operations, and ensuring the stable and efficient execution of cargo airdrops throughout the entire process from loading, transportation to delivery.

[0029] See Figure 2 , Figure 3 and Figure 4 This invention discloses an airdrop method for a cargo airdrop device employing a tail-loading and tail-drop configuration, comprising: Step 1: After the drone arrives at the deployment location, the flight control computer controls the drone to fly at an upward angle and open the tail hatch. Step 2: The flight control computer sends an unlock command to the outermost cargo storage area to the mission management control box; Step 3: The task management control box controls the electric lock device of the corresponding storage area to perform the unlocking action; the electric lock device performs the unlocking action specifically as follows: after receiving the instruction, the task management control box controls the locking arms and bolts of the bidirectional electric lock 4 and the unidirectional electric lock 7 of the corresponding storage area to open synchronously.

[0030] Step four: Under the gravitational force generated by the drone's elevation angle attitude, the container platform slides out of the cargo hold along the roller conveyor assembly. During the process of the platform sliding out of the cargo hold, the reinforcing roller assembly 8 at the hatch bears the concentrated load of the platform, and the speed sensor 6 detects the platform's exit speed in real time and uploads it to the task management control box.

[0031] Step 5: During the slide-out of the cargo platform, the parachute opening mechanism is triggered, the parachute opens, and a single airdrop is completed; Step Six: Following the delivery instructions, complete the airdrop of the remaining storage areas sequentially. The parachute opening mechanism is triggered specifically by pulling the opening cord attached to the opening steel rope as the container platform slides down, thus opening the parachute. After a single airdrop is completed, the cargo presence signal for the corresponding storage area disappears, and the task management control box automatically closes the electric lock device of the next storage area to be delivered, preparing for the next delivery. During the airdrop process, the position sensor of the power transmission unit (PDU) 5 and the status sensor of the electric lock device provide real-time feedback on the working status. If an abnormality occurs, the task management control box immediately triggers an alarm and records the data.

[0032] This invention discloses an airdrop method for a cargo airdrop device employing a tail-mounted loading / unloading and tail-mounted delivery configuration. Through coordinated control by the flight control computer and mission management control box, combined with the coordinated actions of the UAV's altitude flight and tail door opening, autonomous, orderly, and reliable delivery of the containerized cargo platform is achieved. The process of unlocking sequentially from the outside in and delivering cargo area by area avoids interference and jamming risks caused by simultaneous movement of multiple cargo platforms, ensuring a smooth and stable delivery process. The platform is autonomously driven to slide out along the roller conveyor assembly by the gravitational force generated by the UAV's altitude attitude, eliminating the need for additional complex pushing mechanisms, simplifying the system structure and improving operational reliability. The parachute deployment mechanism is automatically triggered during the platform's slide-out, requiring no manual or additional electronic control intervention. The parachute deployment action is timely and highly synchronized, effectively ensuring cargo airdrop safety and landing accuracy. The entire process is executed in an orderly manner according to preset instructions, with clear control logic and seamless action transitions, significantly improving the automation level and delivery efficiency of airdrop operations. It is suitable for continuous delivery scenarios involving multiple cargo platforms, meeting the requirements of high efficiency, safety, and stability for UAV cargo airdrops.

[0033] The working principle of this invention is as follows: The overall structural diagram of this invention is as follows: Figure 1 As shown, the tail-loading and tail-drop cargo airdrop system is used for limiting the position and guiding the movement of the cargo platform during UAV cargo operations. It mainly consists of roller transfer components, side guide rails, end-fixed movement limiting locks, bidirectional electric locks, unidirectional electric locks, PDUs, and other LRUs.

[0034] Ground loading flowchart as follows Figure 2As shown, when four pieces of cargo need to be loaded simultaneously: After the first container is loaded onto the cargo hold from the ground auxiliary device, the terminal device sends an electric lock locking command to the task management control box. The task management control box transmits control signals to all electric lock devices in the four cargo storage areas. Subsequently, the electric lock devices are in the locking arm closed state. The handheld terminal controls the PDU to drive the container to move longitudinally on the roller conveyor device in the hold. When the container is completely in the innermost storage area, the terminal device sends an unlocking command to the two bidirectional electric locks in that storage area to the task management control box. The task management control box receives the signal and responds to the unlocking command. At the same time, the parachute pull rope on the parachute is suspended to the parachute steel rope (this operation is not required when loading container containers by air). The loading of the container is then completed. The other three containers repeat the above process. When loading any quantity of cargo: After the first container is loaded onto the cargo hold from the ground auxiliary device, an electric lock locking command is sent to the task management control box via the terminal device. The task management control box then transmits control signals to the electric lock devices of the storage area where the cargo needs to be stored and all subsequent storage areas. Subsequently, the electric lock devices are in the locking arm closed state, and the PDU drives the container to move longitudinally on the roller conveyor within the hold. Once the container has completely entered the storage area for the cargo to be stored, an unlocking command is sent to the task management control box via the terminal device for the two bidirectional electric locks in this storage area. The task management control box receives signals and responds to unlocking commands, simultaneously suspending the parachute's opening pull cord onto the opening steel rope (this operation is not required for air freight container loading docks), thus completing the loading of the container loading dock in this storage area. When loading container loading docks in other storage areas, it first determines whether the two electric lock devices at the front of this storage area are unlocked. If they are not unlocked, the terminal equipment first controls the task management control box to unlock, and then repeats the above operation according to the storage requirements to complete the loading task of the corresponding area. When they are already unlocked, it directly repeats the above operation according to the storage requirements to complete the loading task of the corresponding area. Aerial delivery flowchart as follows Figure 3As shown, after the UAV arrives at the drop location, the ground station sends a command to the flight control computer. The flight control computer then sends a command, causing the UAV to fly at an angle of attack and open its tail hatch. Based on the airdrop command from the ground station, the flight control computer transmits an unlocking command to the outermost electric lock of the storage area to the mission management control box. Upon receiving the signal, the mission management control box automatically closes the two electric locks of that storage area according to the command. The container platform slides out via the roller conveyor due to the gravitational force generated by the UAV's positive angle of attack. During the exit process, the parachute pull cord suspended on the parachute cable is pulled open as the container platform slides down, and the parachute opens during the descent, thus completing the airdrop mission for that storage area. After the cargo is dropped, the sensor's presence signal disappears, and a control signal is transmitted to the mission management control box. The mission management control box receives a command to close the electric lock device of the next storage area, and then repeats the above operation to complete the airdrop mission for the next storage area. The remaining storage areas repeat the above operation according to the airdrop command to complete the airdrop mission.

[0035] Ground unloading flowchart as follows Figure 4 As shown, after the UAV is parked, the ground station sends a command to the flight control computer, and the tail hatch door opens. The terminal device sends an electric lock unlocking command to the mission management control box, which transmits control signals to the two electric lock devices in the outermost storage area. Subsequently, the locking arms and latches of the electric lock devices automatically close. The terminal device controls the PDU to drive the container platform to move longitudinally towards the cargo hatch on the roller conveyor. Once at the cargo hatch, the container platform is unloaded by ground auxiliary equipment. The above operation is repeated to complete the unloading task of the container platforms in other storage areas.

[0036] A schematic diagram of the layout of the storage area on the platform is shown below. Figure 5 As shown, it can simultaneously realize the airdrop and air transport functions of 4 cargo stations.

[0037] The schematic diagram of the configuration unit is shown in Figure 6 and Figure 7 As shown, the roller transfer assembly and end-fixed movement limiting locks are installed on the longitudinal beams inside the hold. Single and double-direction electric locks are connected to the frame inside the hold via brackets. The distance from the transfer plane to the hold floor is 65mm, ensuring that at least eight rollers can simultaneously carry the cargo platform, thus achieving the longitudinal movement function of the cargo platform. Side guide rails are used to implement the longitudinal, vertical, and directional movement limiting functions of the cargo platform. End-fixed movement limiting locks, double-direction electric locks, and single-direction electric locks are used to implement the forward and reverse directional movement limiting functions during cargo platform transportation. Side guide rails with hatch guides are arranged in storage area 1 to provide inbound guidance during cargo loading. This section of the side guide rail is not fully equipped with vertical movement limiting to facilitate cargo tumbling out of the hold. During cargo airdrop, reinforced roller assemblies are used to bear the concentrated load of the tumbling cargo out of the hold. Speed ​​sensors measure the rotational speed of the reinforced rollers at the hatch to assess the cargo's outbound speed.

[0038] The structural schematic diagram of the side guide rail assembly is shown in Figure 8. Figure 9 As shown, the side guide rail assembly is mainly distributed inside the cabin and is mainly used for guiding the directional movement of materials, limiting lateral movement, and limiting vertical movement. Figure 9 The side guide rail assemblies, located in storage areas 2-4 of the cabin, provide movement guidance during the transfer and storage of container units and vertical movement restriction during storage. The entire side guide rail is modularly designed, and the side guide rail assembly can be connected to the cabin using fastening screws. Figure 8 The side rail assembly located in storage area 1 of the cabin has an added entrance buffer angle, which allows for smoother loading of the container units. Compared to the side rail assemblies in storage areas 2-4, the side rail assembly in storage area 1 does not have complete vertical movement restriction, which facilitates the tipping out of the cabin during cargo airdrop. The side rail assembly in storage area 1 is also a modular design, and the connection between the side rail and the cabin can be achieved by fastening screws.

[0039] Figure 10 shows a schematic diagram of the roller conveyor assembly. The roller conveyor assembly is mainly used to transfer containerized cargo placed on it to the designated cargo hold storage area. The roller conveyor assembly enables the directional movement of the containerized cargo. The rolling element of the roller conveyor assembly refers to the roller assembly itself, which (usually referred to simply as a roller) consists of a roller housing and rolling bearings.

[0040] The structural schematic diagram of the reinforced roller assembly (for speed measurement) is shown in Figure 11. The reinforced roller assembly is arranged at the UAV hatch to bear the concentrated load when the cargo leaves the hatch. At the same time, the shell of one of the rollers in a set of reinforced rollers is modified to add a ring of circular magnets to cooperate with Hall effect speed sensor to meet the speed measurement requirements of the system.

[0041] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A cargo airdrop device employing a tail-loading and tail-drop configuration, characterized in that, The system includes a task management control box, a cargo hold, at least one cargo storage area within the cargo hold, and an end-fixed movement limiting lock (1), a roller transport assembly (2), a side guide rail assembly (3), a two-way electric lock (4), a power transmission unit (PDU) (5), a speed sensor (6), a one-way electric lock (7), a reinforced roller assembly (8), a side guide rail assembly (9), and a vertical movement limiting lock (10). The roller transport assembly (2) and the reinforced roller assembly (8) are laid along the cargo hold direction to form a roller conveyor structure, and the side guide rail assembly (3) and the side guide rail assembly (9) are respectively located on the roller conveyor. Vertical movement limiters (10) are provided on both sides of the transport structure. The end-fixed movement limiter lock (1), bidirectional electric lock (4), and unidirectional electric lock (7) together constitute the cargo locking structure. The power transmission unit (PDU) (5) drives the cargo to move along the roller conveyor structure. The speed sensor (6) is set in relation to the reinforcing roller assembly (8) to monitor the cargo exit speed. The bidirectional electric lock (4), unidirectional electric lock (7), power transmission unit (PDU) (5), and speed sensor (6) are all electrically connected to the mission management control box. The mission management control box is communicatively connected to the flight control computer.

2. The cargo airdrop device with tail loading / unloading and tail delivery configuration according to claim 1, characterized in that, The side rail assembly (9) is located in the cargo storage area at the hatch, with an entrance buffer angle and no complete vertical movement restriction (10); the side rail assembly (3) is located in the cargo storage area inside the cabin, and includes a side rail roller (11), a side rail pin (12) and a side rail body (13).

3. The cargo airdrop device with tail loading / unloading and tail dropping configuration according to claim 1, characterized in that, The roller transfer assembly (2) includes a roller assembly (14), a roller rail (15), a rolling bearing (16), and a roller housing (17). The roller assembly (14) is mounted on the roller rail (15) and rolls through the rolling bearing (16).

4. The cargo airdrop device with tail loading / unloading and tail delivery configuration according to claim 1, characterized in that, The reinforced roller assembly (8) integrates a speed measuring roller assembly (19). The speed measuring sensor (6) and speed measuring sensor (18) are Hall sensors, which work together with the speed measuring roller assembly (19) to obtain the cargo exit speed.

5. The cargo airdrop device with tail loading / unloading and tail dropping configuration according to claim 1, characterized in that, The fixed limit lock (1) is installed on the longitudinal beam of the cargo hold, and the bidirectional electric lock (4) and the unidirectional electric lock (7) are installed on the cargo hold frame by brackets; the power transmission unit (PDU) (5) has a built-in position sensor, and the bidirectional electric lock (4) and the unidirectional electric lock (7) have built-in status sensors. Both the position sensor and the status sensor are connected to the task management control box.

6. The cargo airdrop device with tail loading / unloading and tail delivery configuration according to claim 1, characterized in that, It also includes an umbrella opening mechanism, which comprises an opening steel rope and an opening pull rope, with one end of the opening pull rope connected to the umbrella pack and the other end attached to the opening steel rope.

7. A method for airdropping cargo using a tail-loading and tail-dropping configuration as described in any one of claims 1-6, characterized in that, include: After the drone arrives at the deployment location, the flight control computer controls the drone to fly at an angle of elevation and open the tail hatch; The flight control computer sends an unlock command to the outermost cargo storage area to be deployed to the mission management control box; The task management control box controls the electric lock device of the corresponding storage area to perform the unlocking action; Under the gravitational force generated by the drone's elevation angle, the container loading platform slides out of the cargo hold along the roller conveyor assembly; The parachute opening mechanism is triggered during the slide-out of the cargo platform, the parachute opens, and a single airdrop is completed; Complete the airdrop of goods to the remaining storage areas in sequence according to the delivery instructions.

8. The airdrop method of the cargo airdrop device with tail loading / unloading and tail dropping configuration according to claim 7, characterized in that, The electric lock device performs the unlocking action as follows: after receiving the instruction, the task management control box controls the locking arm and bolt of the bidirectional electric lock (4) and the unidirectional electric lock (7) in the corresponding storage area to open synchronously.

9. The airdrop method of the cargo airdrop device with a tail-loading and tail-drop configuration according to claim 7, characterized in that, During the process of the cargo platform sliding out of the cargo hold, the reinforcing roller assembly (8) at the hatch bears the concentrated load of the cargo platform, and the speed sensor (6) detects the speed of the cargo platform leaving the hold in real time and uploads it to the task management control box.

10. The airdrop method of the cargo airdrop device with a tail-loading and tail-drop configuration according to claim 7, characterized in that, The umbrella opening mechanism is triggered as follows: when the container platform slides down, it pulls the umbrella opening rope attached to the umbrella opening steel rope, thereby opening the umbrella pack; after a single airdrop is completed, the cargo in the corresponding storage area disappears, and the task management control box automatically closes the electric lock device of the next storage area to be delivered, preparing for the next delivery; during the airdrop process, the position sensor of the power transmission unit PDU (5) and the status sensor of the electric lock device provide real-time feedback on the working status. When an abnormality occurs, the task management control box immediately triggers an alarm and records the data.

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