An unmanned aerial vehicle landing platform automatic loading and unloading and temperature control docking system and method

Abstract

This invention relates to logistics drones, specifically to an automatic loading / unloading and temperature-controlled docking system and method for drone take-off and landing platforms. The automatic loading / unloading device uses machine vision to identify the position and attitude of the insulated compartment, removes the insulated compartment from the drone landing on the platform, and places a new insulated compartment inside. The temperature-controlled docking mechanism constructs a temperature control interruption elimination model and uses the platform's cold source to control temperature fluctuations in the removed insulated compartment based on this model. The insulated compartment identification module reads the RFID tag of the insulated compartment to obtain cargo information and associates it with the corresponding temperature control strategy to achieve temperature control curve matching. The technical solution provided by this invention effectively overcomes the shortcomings of existing technologies, such as poor transit timeliness, severe temperature control interruptions, and the inability to achieve precise temperature control and full traceability.

Description

Technical Field

[0001] This invention relates to logistics drones, and more specifically to an automatic loading and unloading and temperature-controlled docking system and method for drone take-off and landing platforms. Background Technology

[0002] With the rapid growth in demand for cold chain logistics and air transport of high-value seafood from islands, drone-based island take-off and landing transport has become widely used. However, current island drone take-off and landing platforms are mostly simple structures, and related supporting technologies still have significant shortcomings, making it difficult to meet the stringent requirements of high-quality preservation and efficient automated transport of high-value seafood throughout the entire process. Specific deficiencies are as follows:

[0003] 1) Manual loading and unloading is inefficient and has poor timeliness in transit.

[0004] The existing solution relies entirely on manual labor to complete the positioning, handling and replacement of the insulated compartments. There is no dedicated automated loading and unloading device, nor is it capable of parallel operation. According to statistics, the total time for manual loading and unloading in a typical process can reach 10 minutes. The excessively long ground dwell time severely restricts the overall transfer efficiency of seafood and cannot be adapted to the high-frequency, large-volume island cold chain transportation scenario.

[0005] 2) Severe temperature control disruptions make it impossible to guarantee stable seafood quality.

[0006] The existing thermal cabins are all designed with independent power supply. There is no temperature control docking mechanism or external heat conduction and power supply path between them and the drone take-off and landing platform. The temperature control system is forced to stop working throughout the entire process from when the drone lands until it takes off again and the thermal cabin is loaded and unloaded.

[0007] During the interruption of temperature control, the temperature inside the insulated chamber rises at a rate of approximately 0.15℃ / min. An interruption of only 8 minutes can cause the overall temperature inside the chamber to rise by 1.2℃, which far exceeds the ±0.5℃ temperature fluctuation tolerance range required for the preservation of high-value seafood such as tuna, and can easily lead to a decline in the quality of the seafood.

[0008] 3) The problem of information silos is prominent, making it impossible to achieve precise temperature control and full traceability.

[0009] In the existing solution, cargo information such as seafood type, weight, and pre-processing status is independent of drone transportation and temperature control operation, and cannot be automatically linked and bound. Due to the lack of insulated cabin identification and cross-dimensional data binding mechanism, it is impossible to match customized temperature control strategies for different seafood, and it is also difficult to achieve full-process transportation information traceability and iterative optimization of temperature control strategies. The level of intelligent and refined management is insufficient.

[0010] Meanwhile, manual loading and unloading operations also have additional problems such as cross-contamination of goods and large human error, making it difficult to support the large-scale implementation of island drone cold chain transportation services with high quality and high reliability. Summary of the Invention

[0011] (a) Technical problems to be solved

[0012] In view of the above-mentioned shortcomings of the existing technology, the present invention provides an automatic loading and unloading and temperature control docking system and method for UAV take-off and landing platforms, which can effectively overcome the defects of the existing technology, such as poor transfer timeliness, serious temperature control interruption, and inability to achieve accurate temperature control and full traceability.

[0013] (II) Technical Solution

[0014] To achieve the above objectives, the present invention provides the following technical solution:

[0015] An automatic loading and unloading and temperature-controlled docking system for a drone take-off and landing platform includes an automatic loading and unloading device, a temperature-controlled docking mechanism, an insulated chamber identification module, and a controller;

[0016] An automated loading and unloading device uses machine vision to identify the position and attitude of the insulated cabin, removes the insulated cabin from the drone that lands on the take-off and landing platform, and puts in a new insulated cabin.

[0017] Temperature control docking mechanism, construct temperature control interruption elimination model, and use platform cold source to control temperature fluctuation of the taken-out insulated chamber based on temperature control interruption elimination model;

[0018] The insulated compartment identification module reads the RFID tag of the insulated compartment to obtain cargo information and associates it with the corresponding temperature control strategy to achieve temperature control curve matching.

[0019] Preferably, the automatic loading and unloading device includes a vision positioning module and a robotic arm unit;

[0020] The visual positioning module uses a binocular vision system to identify the position coordinates and attitude angle of the insulated compartment;

[0021] The robotic arm unit uses a six-axis collaborative robotic arm with a flexible gripper at the end, which can be adapted to various sizes of insulated cabins. It can remove the insulated cabin from the drone and put it into a new insulated cabin according to the position coordinates and attitude angle of the insulated cabin.

[0022] Preferably, the automatic loading and unloading device constructs an automatic loading and unloading time model: ; Among them, T auto For automatic loading and unloading time, T vision For visual recognition and coordinate calculation time, T approach T is the time it takes for the robotic arm to move to the gripping point. grasp For the closing and locking time of the clamp, T lift For the time required to lift and remove the insulated compartment, T swap This refers to the time for exchanging and placing the insulated compartments.

[0023] Preferably, the temperature control docking mechanism includes a platform cold source interface and a docking status detection module; The platform cold source interface is located on the take-off and landing platform and is connected to the platform cold source. After the automatic loading and unloading device takes out the insulated cabin from the drone, it is placed on the take-off and landing platform, so that the heat conduction plate at the bottom of the insulated cabin is automatically connected to the platform cold source interface to form a heat conduction path. The docking status detection module monitors the docking tightness and temperature conduction efficiency in real time through pressure and temperature sensors.

[0024] Preferably, the temperature control docking mechanism constructs a temperature control interruption elimination model, including: When the heat-conducting plate at the bottom of the insulated chamber is not connected to the cold source interface of the platform, the temperature change inside the insulated chamber during the temperature control interruption is as follows: ; Among them, △T off T represents the temperature change during the period of temperature control interruption. c This refers to the real-time temperature inside the insulated chamber. t represents the real-time temperature change rate inside the insulated chamber. off The duration of the temperature control interruption is α, and the rate of temperature rise is α. When the heat-conducting plate at the bottom of the insulated chamber is connected to the platform's cold source interface, temperature control is continuous, and the platform's cold source provides compensation power P. comp The temperature change inside the insulated chamber is as follows: ; Where C is the overall heat capacity of the insulated chamber, and P loss (T c ,T α The environmental heat loss power is the real-time temperature T inside the insulated chamber. c and the ambient reference temperature T outside the thermal chamber α The function; The objective function for temperature control is: ; Among them, T c (t) represents the real-time temperature inside the insulated chamber at time t, where T is the temperature. target For the target temperature, This is the temperature deviation threshold.

[0025] Preferably, the insulated cabin identification module includes an RFID reader and an information association module; RFID readers read the RFID tags in the insulated compartments to obtain cargo information, including seafood type, weight, pre-processing time, and target temperature control curve. The information association module links the insulated cabin ID with the temperature control strategy. Automatic association enables temperature control curve matching. flight This represents the total transportation time.

[0026] Preferably, the insulated cabin identification module is configured with an information traceability integrity index R. trace : ; Where, N matched N represents the number of insulated compartments whose information was successfully read. total This refers to the total number of insulated transport compartments.

[0027] A method for automatic loading, unloading, and temperature control docking of a drone take-off and landing platform includes the following steps: S1. The drone lands on the take-off and landing platform. Using machine vision, the position and attitude of the insulated cabin are identified. The insulated cabin is removed from the drone and a new insulated cabin is placed inside. S2. Construct a temperature control interruption elimination model, and use the platform's cold source to control the temperature fluctuation of the removed insulated chamber based on the temperature control interruption elimination model. S3. By reading the RFID tags of the insulated compartment, cargo information is obtained and associated with the corresponding temperature control strategy to achieve temperature control curve matching.

[0028] Preferably, the temperature control interruption elimination model includes: When the heat-conducting plate at the bottom of the insulated chamber is not connected to the cold source interface of the platform, the temperature change inside the insulated chamber during the temperature control interruption is as follows: ; Among them, △T off T represents the temperature change during the period of temperature control interruption. c This refers to the real-time temperature inside the insulated chamber. t represents the real-time temperature change rate inside the insulated chamber. off The duration of the temperature control interruption is α, and the rate of temperature rise is α. When the heat-conducting plate at the bottom of the insulated chamber is connected to the platform's cold source interface, temperature control is continuous, and the platform's cold source provides compensation power P. comp The temperature change inside the insulated chamber is as follows: ; Where C is the overall heat capacity of the insulated chamber, and P loss (T c ,T α The environmental heat loss power is the real-time temperature T inside the insulated chamber. c and the ambient reference temperature T outside the thermal chamber α The function; The objective function for temperature control is: ; Among them, T c(t) represents the real-time temperature inside the insulated chamber at time t, where T is the temperature. target For the target temperature, This is the temperature deviation threshold.

[0029] (III) Beneficial Effects Compared with the prior art, the automatic loading, unloading and temperature-controlled docking system and method for UAV take-off and landing platform provided by the present invention has the following beneficial effects: 1) Loading and unloading efficiency is significantly improved, and the turnover speed is doubled. This invention, through automatic loading and unloading and temperature control docking technology, reduces the single loading and unloading time from 600s in the existing technology to 12s, increases the operation efficiency by 50 times, greatly shortens the drone dwell time, and significantly improves the overall circulation efficiency and flight turnaround capacity of island cold chain transportation. 2) Completely eliminate temperature control interruptions and achieve constant temperature preservation throughout the entire process. This invention, through a temperature-controlled docking mechanism and an external heat conduction path, achieves zero temperature control interruption time after landing, fundamentally solving the temperature fluctuation problem caused by temperature control interruption. Combined with automatic power supply and thermal management, it ensures that temperature fluctuations of high-value seafood are significantly reduced by 80% throughout the transportation process, perfectly meeting the stringent ±0.5℃ preservation standard. 3) Temperature control accuracy has been significantly optimized to maintain the high quality of fresh produce. Existing technologies can cause temperature fluctuations within the container to reach ±1.5℃. This invention strictly controls temperature fluctuations to within ±0.3℃, reducing fluctuations by 80%, effectively maintaining the freshness and quality stability of high-value seafood, extending the shelf life, and ensuring transportation quality. 4) Complete information traceability enables intelligent and precise management and control. This invention improves the integrity of information traceability from less than 80% to over 99.5%, an increase of at least 19.5 percentage points. Through the insulated cabin identification module and cross-dimensional data binding mechanism, it perfectly links cargo information with drone transportation data, realizes full-process visual traceability and differentiated temperature control strategy matching, and achieves intelligent, refined and traceable cold chain transportation management. 5) Significantly improved overall performance, meeting the demands of high-end cold chain logistics. In terms of overall effectiveness, this invention strictly controls the temperature fluctuation throughout the entire transportation process within ±0.5℃, while simultaneously increasing the premium capability by more than 100%. The entire technical solution not only solves the pain points of traditional manual loading and unloading and temperature control interruption, but also fully supports the large-scale and highly reliable implementation of island drone cold chain transportation with its comprehensive advantages of high efficiency, precision and intelligence. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0031] Figure 1 This is a schematic diagram of the system of the present invention. Detailed Implementation

[0032] 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, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0033] The following describes the specific functional modules of the automatic loading, unloading, and temperature-controlled docking system for UAV take-off and landing platforms provided by this invention, using specific examples (such as...). Figure 1 (As shown) and its technical effects. The system functional modules include: automatic loading and unloading device, temperature-controlled docking mechanism, insulated chamber identification module, and controller; An automated loading and unloading device uses machine vision to identify the position and attitude of the insulated cabin, removes the insulated cabin from the drone that lands on the take-off and landing platform, and puts in a new insulated cabin. Temperature control docking mechanism, construct temperature control interruption elimination model, and use platform cold source to control temperature fluctuation of the taken-out insulated chamber based on temperature control interruption elimination model; The insulated compartment identification module reads the RFID tag of the insulated compartment to obtain cargo information and associates it with the corresponding temperature control strategy to achieve temperature control curve matching.

[0034] 1. Automatic loading and unloading device The automated loading and unloading device includes a vision positioning module and a robotic arm unit; The visual positioning module uses a binocular vision system to identify the position coordinates and attitude angle of the insulated compartment (positioning accuracy ≤ ±2mm). The robotic arm unit uses a six-axis collaborative robotic arm with a flexible gripper at the end, which can be adapted to various sizes of insulated cabins. It can remove the insulated cabin from the drone and put it into a new insulated cabin according to the position coordinates and attitude angle of the insulated cabin.

[0035] Constructing an automated loading and unloading time model for automated loading and unloading devices: ; Among them, T autoFor automatic loading and unloading time, T vision For visual recognition and coordinate calculation time (≤1.5s), T approach T is the time (≤3.0s) for the robotic arm to move to the gripping point. grasp For the closing and locking time of the clamp (≤1.0s), T lift For the time it takes to lift and remove the insulated compartment (≤2.5s), T swap The time for exchanging and placing items in the insulated chamber is ≤4.0s.

[0036] Substituting the maximum values ​​of the above time parameters into the automatic loading and unloading time model, the automatic loading and unloading time T is calculated. auto =12.0s, compared to the typical total time of 10 minutes for manual loading and unloading, the loading and unloading efficiency is increased by 50 times.

[0037] In the technical solution of this application, the robotic arm unit can be replaced by an automatic lifting platform + push rod loading and unloading structure, but the automatic loading and unloading time model needs to be recalibrated.

[0038] II. Temperature Control Connection Mechanism The temperature control docking mechanism includes a platform cold source interface and a docking status detection module; The platform cold source interface is set on the take-off and landing platform and connects to the platform cold source (such as compressor refrigeration, phase change energy storage plate, etc.). After the automatic loading and unloading device takes out the insulated cabin from the drone, it is placed on the take-off and landing platform, so that the heat conduction plate at the bottom of the insulated cabin automatically connects with the platform cold source interface to form a heat conduction path. The docking status detection module monitors the docking tightness and temperature conduction efficiency in real time through pressure and temperature sensors.

[0039] The temperature control docking mechanism constructs a temperature control interruption elimination model, including: When the heat-conducting plate at the bottom of the insulated chamber is not connected to the cold source interface of the platform, the temperature change inside the insulated chamber during the temperature control interruption is as follows: ; Among them, △T off T represents the temperature change during the period of temperature control interruption. c This refers to the real-time temperature inside the insulated chamber. t represents the real-time temperature change rate inside the insulated chamber. off Temperature control interruption duration (t) off =8min), α is the rate of temperature rise (α=0.15℃ / min); When the heat-conducting plate at the bottom of the insulated chamber is connected to the platform's cold source interface, temperature control is continuous, and the platform's cold source provides compensation power P. comp The temperature change inside the insulated chamber is as follows: ; Where C is the overall heat capacity of the insulated chamber (kJ / ℃), P loss (T c ,T α The environmental heat loss power is the real-time temperature T inside the insulated chamber. c and the ambient reference temperature T outside the thermal chamber α The function; The objective function for temperature control is: ; Among them, T c (t) represents the real-time temperature inside the insulated chamber at time t, where T is the temperature. target For the target temperature, Temperature deviation threshold ( =0.3℃).

[0040] In the technical solution of this application, the platform cold source interface can adopt a magnetic cold plate interface, but an electromagnetic locking mechanism needs to be added.

[0041] III. Insulated Cabin Identification Module The insulated cabin identification module includes an RFID reader and an information association module; RFID readers read the RFID tags in the insulated compartments to obtain cargo information, including seafood type, weight, pre-processing time, and target temperature control curve. The information association module links the insulated cabin ID with the temperature control strategy. Automatic association enables temperature control curve matching. flight This represents the total transportation time.

[0042] The thermal cabin identification module is set with information traceability integrity index R. trace : ; Where, N matched N represents the number of insulated compartments whose information was successfully read. total This refers to the total number of insulated transport compartments.

[0043] In the technical solution of this application, the RFID reader can be replaced with QR code + visual recognition, but the image processing time will be increased (about 0.5s).

[0044] Based on the aforementioned automatic loading, unloading, and temperature-controlled docking system for UAV take-off and landing platforms, this invention also discloses an automatic loading, unloading, and temperature-controlled docking method for UAV take-off and landing platforms, comprising the following steps: S1. The drone lands on the take-off and landing platform. Using machine vision, the position and attitude of the insulated cabin are identified. The insulated cabin is removed from the drone and a new insulated cabin is placed inside. S2. Construct a temperature control interruption elimination model, and use the platform's cold source to control the temperature fluctuation of the removed insulated chamber based on the temperature control interruption elimination model. S3. By reading the RFID tags of the insulated compartment, cargo information is obtained and associated with the corresponding temperature control strategy to achieve temperature control curve matching.

[0045] Specifically, the temperature control interruption elimination model includes: When the heat-conducting plate at the bottom of the insulated chamber is not connected to the cold source interface of the platform, the temperature change inside the insulated chamber during the temperature control interruption is as follows: ; Among them, △T off T represents the temperature change during the period of temperature control interruption. c This refers to the real-time temperature inside the insulated chamber. t represents the real-time temperature change rate inside the insulated chamber. off The duration of the temperature control interruption is α, and the rate of temperature rise is α. When the heat-conducting plate at the bottom of the insulated chamber is connected to the platform's cold source interface, temperature control is continuous, and the platform's cold source provides compensation power P. comp The temperature change inside the insulated chamber is as follows: ; Where C is the overall heat capacity of the insulated chamber, and P loss (T c ,T α The environmental heat loss power is the real-time temperature T inside the insulated chamber. c and the ambient reference temperature T outside the thermal chamber α The function; The objective function for temperature control is: ; Among them, T c (t) represents the real-time temperature inside the insulated chamber at time t, where T is the temperature. target For the target temperature, This is the temperature deviation threshold.

[0046] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic loading, unloading, and temperature-controlled docking system for a drone take-off and landing platform, characterized in that: Includes automatic loading and unloading device, temperature control docking mechanism, insulated chamber identification module and controller; An automated loading and unloading device uses machine vision to identify the position and attitude of the insulated cabin, removes the insulated cabin from the drone that lands on the take-off and landing platform, and puts in a new insulated cabin. Temperature control docking mechanism, construct temperature control interruption elimination model, and use platform cold source to control temperature fluctuation of the taken-out insulated chamber based on temperature control interruption elimination model; The insulated compartment identification module reads the RFID tag of the insulated compartment to obtain cargo information and associates it with the corresponding temperature control strategy to achieve temperature control curve matching.

2. The automatic loading, unloading, and temperature-controlled docking system for UAV take-off and landing platforms according to claim 1, characterized in that: The automatic loading and unloading device includes a vision positioning module and a robotic arm unit; The visual positioning module uses a binocular vision system to identify the position coordinates and attitude angle of the insulated compartment; The robotic arm unit uses a six-axis collaborative robotic arm with a flexible gripper at the end, which can be adapted to various sizes of insulated cabins. It can remove the insulated cabin from the drone and put it into a new insulated cabin according to the position coordinates and attitude angle of the insulated cabin.

3. The automatic loading / unloading and temperature-controlled docking system for UAV take-off and landing platform according to claim 2, characterized in that: The automatic loading and unloading device constructs an automatic loading and unloading time model: ； Among them, T auto For automatic loading and unloading time, T vision For visual recognition and coordinate calculation time, T approach T is the time it takes for the robotic arm to move to the gripping point. grasp For the closing and locking time of the clamp, T lift For the time required to lift and remove the insulated compartment, T swap This refers to the time for exchanging and placing the insulated compartments.

4. The automatic loading, unloading, and temperature-controlled docking system for UAV take-off and landing platforms according to claim 1, characterized in that: The temperature control docking mechanism includes a platform cold source interface and a docking status detection module; The platform cold source interface is located on the take-off and landing platform and is connected to the platform cold source. After the automatic loading and unloading device takes out the insulated cabin from the drone, it is placed on the take-off and landing platform, so that the heat conduction plate at the bottom of the insulated cabin is automatically connected to the platform cold source interface to form a heat conduction path. The docking status detection module monitors the docking tightness and temperature conduction efficiency in real time through pressure and temperature sensors.

5. The automatic loading, unloading, and temperature-controlled docking system for UAV take-off and landing platforms according to claim 4, characterized in that: The temperature control docking mechanism constructs a temperature control interruption elimination model, including: When the heat-conducting plate at the bottom of the insulated chamber is not connected to the platform's cold source interface, the temperature change inside the insulated chamber during the temperature control interruption is as follows: ； Among them, △T off T represents the temperature change during the period of temperature control interruption. c This refers to the real-time temperature inside the insulated chamber. t represents the real-time temperature change rate inside the insulated chamber. off The duration of the temperature control interruption is α, and the rate of temperature rise is α. When the heat-conducting plate at the bottom of the insulated chamber is connected to the platform's cold source interface, temperature control is continuous, and the platform's cold source provides compensation power P. comp The temperature change inside the insulated chamber is as follows: ； Where C is the overall heat capacity of the insulated chamber, and P loss (T c ,T α The ambient heat loss power is the real-time temperature T inside the insulated chamber. c and the ambient reference temperature T outside the thermal chamber α The function; The objective function for temperature control is: ； Among them, T c (t) represents the real-time temperature inside the insulated chamber at time t, where T is the temperature. target For the target temperature, This is the temperature deviation threshold.

6. The automatic loading, unloading, and temperature-controlled docking system for UAV take-off and landing platforms according to claim 1, characterized in that: The insulated cabin identification module includes an RFID reader and an information association module; RFID readers read the RFID tags in the insulated compartments to obtain cargo information, including seafood type, weight, pre-processing time, and target temperature control curve. The information association module links the insulated cabin ID with the temperature control strategy. Automatic association enables temperature control curve matching. flight This represents the total transportation time.

7. The automatic loading / unloading and temperature control docking system for UAV take-off and landing platform according to claim 6, characterized in that: The insulated cabin identification module is configured with an information traceability integrity index R. trace : ； Where, N matched N represents the number of insulated compartments whose information was successfully read. total This refers to the total number of insulated transport compartments.

8. A method for automatic loading, unloading, and temperature-controlled docking of a UAV take-off and landing platform, applicable to the automatic loading, unloading, and temperature-controlled docking system for a UAV take-off and landing platform as described in claim 1, characterized in that: Includes the following steps: S1. The drone lands on the take-off and landing platform. Using machine vision, the position and attitude of the insulated cabin are identified. The insulated cabin is removed from the drone and a new insulated cabin is placed inside. S2. Construct a temperature control interruption elimination model, and use the platform's cold source to control the temperature fluctuation of the removed insulated chamber based on the temperature control interruption elimination model. S3. By reading the RFID tags of the insulated compartment, cargo information is obtained and associated with the corresponding temperature control strategy to achieve temperature control curve matching.

9. The automatic loading / unloading and temperature control docking method for a UAV take-off and landing platform according to claim 8, characterized in that: The temperature control interruption elimination model includes: When the heat-conducting plate at the bottom of the insulated chamber is not connected to the platform's cold source interface, the temperature change inside the insulated chamber during the temperature control interruption is as follows: ； Among them, △T off T represents the temperature change during the period of temperature control interruption. c This refers to the real-time temperature inside the insulated chamber. t represents the real-time temperature change rate inside the insulated chamber. off The duration of the temperature control interruption is α, and the rate of temperature rise is α. When the heat-conducting plate at the bottom of the insulated chamber is connected to the platform's cold source interface, temperature control is continuous, and the platform's cold source provides compensation power P. comp The temperature change inside the insulated chamber is as follows: ； Where C is the overall heat capacity of the insulated chamber, and P loss (T c ,T α The ambient heat loss power is the real-time temperature T inside the insulated chamber. c and the ambient reference temperature T outside the thermal chamber α The function; The objective function for temperature control is: ； Among them, T c (t) represents the real-time temperature inside the insulated chamber at time t, where T is the temperature. target For the target temperature, This is the temperature deviation threshold.

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