Logistics unmanned aerial vehicle

Abstract

The utility model relates to the technical field of logistics unmanned plane, proposes a logistics unmanned plane, including unmanned plane body, the bottom detachable fixed connection of unmanned plane body has gyroscope, the inside of gyroscope is provided with the goods fixed assembly for logistics goods fixed, goods fixed assembly drive polyhedral clamping plate moves to the center position of gyroscope and clamps and fixes material, the top of gyroscope is provided with barycentric detection subassembly, and barycentric detection subassembly is used for detecting the barycentric position of goods after material fixed with multiple groups of pressure sensor, through the setting of gyroscope, first barycentric adjustment subassembly and so on structure, the three ring universal support structure of gyroscope makes the horizontal stable of carrying platform in flight always, and first barycentric adjustment subassembly offsets the unbalanced moment produced through the movement of counterweight on the circular guide rail, thereby promotes the flight stability, solves the problem of insufficient stability and insufficient goods adaptability in the prior art.

Description

Technical Field

[0001] This utility model relates to the field of logistics drone technology, specifically to a logistics drone. Background Technology

[0002] Currently, logistics drones generally face core challenges when transporting goods with irregular shapes and uneven weight distribution, such as poor flight stability due to the shift in the center of gravity of the goods, increased control burden, and increased energy consumption.

[0003] Existing patent CN119637089A, a drone sling-carrying system and control method, although it has made some explorations in improving the wind resistance of drones, has fundamental limitations in its technical approach. The core idea of ​​this patent is to reduce wind resistance by optimizing the external aerodynamic shape through mechanical wind deflectors. Essentially, it is a passive defense strategy to deal with environmental disturbances. Its working mechanism is: when the drone encounters airflow from different directions, the system detects the wind direction through sensors and then drives the wind deflector to rotate to a specific angle, using its arc-shaped surface to guide the airflow to both sides, thereby reducing flight drag. This design may show some effect when dealing with stable crosswinds, but its solution is entirely based on the passive logic of "responding to external disturbances" and completely ignores the internal key factor affecting flight stability: the balance of the cargo's center of gravity. First, this patent can only alleviate instability caused by wind resistance, but it is completely powerless against static unbalanced torque caused by uneven mass distribution of goods. In actual transportation scenarios, many goods, such as precision instruments and chemical reagents, may have a center of gravity shift. In this case, even if flying in an ideal environment without wind disturbance, the drone still needs to continuously consume additional energy to compensate for the eccentric torque, resulting in a significant reduction in flight efficiency. Second, from the perspective of application scenarios, the effectiveness of this solution is highly dependent on the identification and rapid response to wind conditions. However, in complex urban canyons or mountainous areas with variable airflow, it is difficult for the system to achieve real-time adjustment, and its stability effect will be greatly reduced. Utility Model Content

[0004] This utility model proposes a logistics drone that solves the problems of insufficient stability and insufficient cargo adaptability in related technologies.

[0005] The technical solution of this utility model is as follows: A logistics drone includes a drone body, a gyroscope is detachably and fixedly connected to the bottom of the drone body, and a cargo fixing component for fixing logistics goods is provided inside the gyroscope. The cargo fixing component drives a multi-angle clamping plate to move towards the center position of the gyroscope to clamp and fix the material. The top of the gyroscope is equipped with a center of gravity detection component, which is used to detect the center of gravity position of the goods after the materials are fixed. Inside the gyroscope, along the axial position of the gyroscope axis, there are a first center of gravity adjustment component and a second center of gravity adjustment component for adjusting the center of gravity of the UAV.

[0006] As a preferred embodiment of this utility model, the gyroscope is composed of an outer circular frame, an inner circular frame, and a material support frame. The outer circular frame is located at the bottom of the UAV body. Several connecting rods with evenly distributed circular shafts are fixedly connected to the top of the outer circular frame. A transmission connector is provided at the top of the connecting rod. The transmission connector is electrically connected to the UAV body. The connecting rod is fixedly connected to the UAV body by bolts. The inner ring frame is rotatably mounted on a straight shaft symmetrically arranged on the inner wall of the outer ring frame via a bearing sleeve. The material round support frame is rotatably mounted on a straight shaft symmetrically arranged on the inner wall of the inner ring frame via a bearing sleeve. A support frame is fixedly connected to the top of the material round support frame.

[0007] As a preferred embodiment of this utility model, a first electric actuator reducer is installed on one side of the straight shaft, a first push rod is installed at the output end of the first electric actuator reducer, the first push rod passes through the interior of the straight shaft, a locking plug is installed at one end of the first push rod, a locking connector is fixedly connected to the inner wall of the bearing, the locking plug and the locking connector are directly and separably plugged into each other, and the locking plug and the locking connector are used for locking and fixing the gyroscope during cargo take-off and landing.

[0008] In a preferred embodiment of this utility model, the cargo fixing assembly consists of a servo motor and a cargo bracket. The cargo bracket is fixedly connected to the inner wall of the material circular support frame. Several arrayed ball bearings are rotatably mounted on the top of the cargo bracket. The servo motor is installed inside the material circular support frame. A rotating plate is mounted on the output end of the servo motor via a coupling. At least four circumferentially distributed limiting sliders are slidably mounted on the cargo bracket. The limiting sliders and the rotating plate are movably hinged together by a hinge shaft. The multi-angle clamping plate is fixedly connected to the top of the limiting sliders.

[0009] In a preferred embodiment of this utility model, the center of gravity detection component consists of a top pressure plate and a number of pressure sensors arranged symmetrically in multiples of four. Several symmetrically arranged pressure sensors are evenly distributed in a circle inside the material circular support frame. The top pressure plate is located at the top of the material circular support frame, and several evenly distributed pressure blocks are provided at the bottom of the top pressure plate. Two symmetrically arranged downward pressure contacts are fixedly connected to the bottom of the pressure blocks. A damper is connected between the pressure blocks and the material circular support frame, and the downward pressure contacts are in contact with the pressure sensors.

[0010] In a preferred embodiment of this utility model, the first center of gravity adjustment component consists of a double-sided guide rail and at least two guide frames. The double-sided guide rail is fixedly connected inside the material circular support frame. The guide frames are movably fitted onto the outer circumferential surface of the double-sided guide rail. An auxiliary wheel is rotatably installed inside the double-sided guide rail. A rotating motor is installed on the top of the double-sided guide rail. A guide wheel is installed at the output end of the rotating motor. The guide wheel and the auxiliary wheel are respectively attached to the two sides of the guide rail. A counterweight is fixedly connected to one side of the guide frame by bolts.

[0011] As a preferred embodiment of this utility model, a plurality of equally spaced probes are provided on one side of the counterweight, a coil is fixedly connected inside the material circular support frame, and a plurality of circumferentially distributed probes are provided on the inner wall of the coil, with the probes in contact with the probes at their corresponding positions.

[0012] As a preferred embodiment of this utility model, the second center of gravity adjustment component consists of a center of gravity adjustment disc and a plurality of second electric actuator reducers. The plurality of second electric actuator reducers are evenly distributed in a circle and installed at the bottom of the material circular support frame. A second push rod is installed at the output end of the second electric actuator reducer. The center of gravity adjustment disc is located at the bottom of the material circular support frame. A hinge rod is movably hinged between the second push rod and the material circular support frame.

[0013] The working principle and beneficial effects of this utility model are as follows: 1. This utility model, through the setting of structures such as gyroscope and first center of gravity adjustment component, the three-ring universal support structure of the gyroscope ensures that the cargo platform remains horizontally stable during flight, while the first center of gravity adjustment component actively counteracts the unbalanced torque caused by the shift of the cargo's center of gravity by moving the counterweight on the circular guide rail, thereby improving flight stability.

[0014] 2. Through the setting of structures such as cargo fixing components and center of gravity detection components, the multi-angle clamping plate of the cargo fixing components can automatically adapt to cargoes of different sizes and shapes, while the pressure sensor array of the center of gravity detection components can sense the position of the center of gravity of the cargo, providing data support for intelligent balance adjustment, thereby improving the versatility and adaptability of the equipment. Attached Figure Description

[0015] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a bottom view of the overall structure of this utility model; Figure 3 This is an exploded view of the gyroscope of this utility model; Figure 4 This utility model Figure 3 Enlarged view of section A in the image; Figure 5 This is a schematic diagram of the overall structure of the gyroscope of this utility model; Figure 6 This is a schematic diagram of the transmission structure of the multi-angle clamping plate of this utility model; Figure 7 This is a bottom view schematic diagram of the multi-angle clamping plate transmission structure of this utility model; Figure 8 This is a schematic diagram of the overall structure of the cargo tray of this utility model; Figure 9 This is an exploded structural diagram of the center of gravity detection component of this utility model; Figure 10 This is a schematic diagram of the transmission structure of the center of gravity detection component of this utility model; Figure 11 This is a schematic diagram of the overall structure of the first center of gravity adjustment component of this utility model; Figure 12 This is a schematic diagram of the guide frame transmission structure of this utility model; Figure 13 This is a schematic diagram of the overall structure of the second center of gravity adjustment component of this utility model; Figure 14 This is a schematic diagram of the transmission structure of the second electric actuator reducer of this utility model.

[0017] In the image: 100, the drone itself; 200. Gyroscope; 201. Outer ring frame; 202. Connecting rod; 203. Transmission connector; 204. Support frame; 205. Inner ring frame; 206. Material round support frame; 207. First electric actuator reducer; 208. First actuator; 209. Locking plug; 210. Locking connector; 211. Bearing; 300. Cargo securing assembly; 301. Servo motor; 302. Rotating plate; 303. Hinge shaft; 304. Limiting slider; 305. Multi-angle clamping plate; 306. Cargo bracket; 307. Ball bearing; 400. Center of gravity detection assembly; 401. Top pressure plate; 402. Pressure block; 403. Downward pressure contact; 404. Pressure sensor; 405. Damper; 500. First center of gravity adjustment assembly; 501. Double-sided guide rail; 502. Guide frame; 503. Auxiliary wheel; 504. Rotary motor; 505. Guide wheel; 506. Counterweight; 507. Probe; 508. Coil; 509. Probe rod; 600. Second center of gravity adjustment assembly; 601. Center of gravity adjustment disc; 602. Second electric actuator reducer; 603. Second actuator; 604. Hinge rod. Detailed Implementation

[0018] The technical solutions of this utility model will be clearly and completely described below with reference to the embodiments of this utility model. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this utility model.

[0019] Example like Figures 1-14 As shown, a logistics drone includes a drone body 100. A gyroscope 200 is detachably and fixedly connected to the bottom of the drone body 100. The gyroscope 200 has a cargo fixing component 300 for fixing logistics goods inside. The cargo fixing component 300 drives a multi-angle clamping plate 305 to move towards the center of the gyroscope 200 to clamp and fix the material. The top of the gyroscope 200 is equipped with a center of gravity detection component 400. The center of gravity detection component 400 is used to detect the center of gravity position of the goods by using multiple pressure sensors 404 after the material is fixed. Inside the gyroscope 200, a first center of gravity adjustment component 500 and a second center of gravity adjustment component 600 are respectively arranged along the axial position of the gyroscope 200 axis for adjusting the center of gravity of the UAV.

[0020] The logistics drone mainly consists of a drone body 100, a gyroscope 200 structure, a cargo fixing component 300, a center of gravity detection component 400, a first center of gravity adjustment component 500, and a second center of gravity adjustment component 600. The drone body 100 serves as a flight platform, and its bottom is detachably connected to the gyroscope 200 structure for easy maintenance and replacement. The cargo fixing component 300 is integrated inside the gyroscope 200. Driven by a power source, the cargo fixing component 300 can control the multi-angle clamping plate 305 to move synchronously towards the center, thereby fixing the logistics cargo placed in the center and preventing it from shaking or falling off during transportation. After the cargo is fixed, the center of gravity detection component 400 located on top of the gyroscope 200 is activated. The center of gravity detection component 400 senses the pressure distribution applied by the cargo through multiple pressure sensors 404 arranged in a ring inside, thereby calculating the projected position of the cargo's center of gravity on the horizontal plane. In order to deal with possible center of gravity shift, the gyroscope 200 also has a first center of gravity adjustment component 500 and a second center of gravity adjustment component 600 arranged sequentially along its axis. The first center of gravity adjustment component 500 is mainly adjusted by moving the counterweight 506 in the two-dimensional plane, while the second center of gravity adjustment component 600 is adjusted by adjusting the attitude of the center of gravity adjustment disk 601. The two work together to ensure that the overall center of gravity of the UAV and the cargo always coincides with the power axis of the UAV, thereby ensuring the stability and safety of the flight.

[0021] The gyroscope 200 consists of an outer circular frame 201, an inner circular frame 205, and a material support frame 206. The outer circular frame 201 is located at the bottom of the UAV body 100. Several connecting rods 202 with evenly distributed circular shafts are fixedly connected to the top of the outer circular frame 201. A transmission connector 203 is provided at the top of the connecting rod 202. The transmission connector 203 is electrically connected to the UAV body 100. The connecting rod 202 is fixedly connected to the UAV body 100 by bolts. The inner ring frame 205 is mounted and rotates on a straight shaft symmetrically arranged on the inner wall of the outer ring frame 201 via a bearing 211. The material round support frame 206 is mounted and rotates on a straight shaft symmetrically arranged on the inner wall of the inner ring frame 205 via a bearing 211. A support frame 204 is fixedly connected to the top of the material round support frame 206.

[0022] The gyroscope 200 adopts a three-ring universal joint design. The outermost layer is an outer circular frame 201, which is connected to the UAV body 100 via several circumferentially distributed connecting rods 202. A transmission connector 203 is located at the top of each connecting rod 202, connecting the UAV body 100 and the various electrical components inside the gyroscope 200 for power transmission and control signal transmission, ensuring the transfer of commands and energy. A straight shaft is symmetrically arranged on the inner wall of the outer circular frame 201, and the inner circular frame 205 is fitted onto it via bearings 211. On the straight axis, the inner circular frame 205 can rotate freely in a plane relative to the outer circular frame 201. Similarly, the inner wall of the inner circular frame 205 is also symmetrically provided with a straight axis. The material circular support frame 206 is sleeved on this through another set of bearings 211, so that it can rotate in another plane relative to the inner circular frame 205. This constitutes a universal support, so that no matter how the UAV tilts during flight, the material circular support frame 206 located in the center can maintain its original spatial attitude under its inertia, providing a stable platform for the goods.

[0023] A first electric actuator reducer 207 is installed on one side of the straight shaft. A first push rod 208 is installed at the output end of the first electric actuator reducer 207. The first push rod 208 passes through the interior of the straight shaft. A locking plug 209 is installed at one end of the first push rod 208. A locking connector 210 is fixedly connected to the inner wall of the bearing 211. The locking plug 209 and the locking connector 210 are directly and separably plugged into each other. The locking plug 209 and the locking connector 210 are used to lock and fix the gyroscope 200 during cargo take-off and landing.

[0024] At each rotational joint of the gyroscope 200, specifically inside the connecting shaft between the outer circular frame 201 and the inner circular frame 205, and between the inner circular frame 205 and the material support frame 206, a locking system is installed. This locking system consists of a first electric actuator reducer 207, a first actuator 208, a locking plug 209, and a locking connector 210. The first electric actuator reducer 207 provides power, driving the first actuator 208 to perform linear extension and retraction. When the UAV is preparing for takeoff or about to land, the control system issues a command to activate the first electric actuator reducer 207, pushing the front end of the first actuator 208. The locking plug 209 extends and inserts into the locking connector 210 fixed on the inner ring of the opposite bearing 211. When the locking plug 209 is fully engaged with the connector, the bearing 211, which was originally able to rotate freely, is rigidly locked. The rings of the gyroscope 200 can no longer rotate relative to each other, and the entire suspension system becomes a rigid whole. This effectively prevents the gyroscope 200 from swaying violently and irregularly due to ground impact or instantaneous acceleration / deceleration during takeoff and landing, thus improving the safety of the takeoff and landing process. When the UAV enters a stable flight state, the locking mechanism is released, and the gyroscope 200 resumes its stabilization function.

[0025] The cargo fixing assembly 300 consists of a servo motor 301 and a cargo bracket 306. The cargo bracket 306 is fixedly connected to the inner wall of the material circular support frame 206. Several arrays of evenly distributed circumferentially arranged ball bearings 307 are rotatably mounted on the top of the cargo bracket 306. The servo motor 301 is installed inside the material circular support frame 206. The output end of the servo motor 301 is mounted with a rotating plate 302 through a coupling. At least four evenly distributed circumferentially arranged limit sliders 304 are slidably mounted on the cargo bracket 306. The limit sliders 304 and the rotating plate 302 are movably hinged together by a hinge shaft 303. A multi-angle clamping plate 305 is fixedly connected to the top of the limit sliders 304.

[0026] The cargo fixing assembly 300 is installed inside the material circular support frame 206 and consists of a servo motor 301, a rotating plate 302, a hinge shaft 303, a limit slider 304, and a multi-angle clamping plate 305. The servo motor 301 is fixedly mounted on the base of the material circular support frame 206. The output shaft of the servo motor 301 is connected to a rotating plate 302 located below the cargo support frame 306 via a coupling. The cargo support frame 306 is fixed inside the material circular support frame 206. The surface of the cargo support frame 306 is inlaid with several arrayed ball bearings 307. When cargo is placed on it, its position can be adjusted by these ball bearings 307 to facilitate subsequent centering and clamping. At least four radial slide rails are provided on the cargo support frame 306, and each slide rail is equipped with a [missing information - likely a specific type of support]. Each limiting slider 304 is movably connected to the rotating plate 302 via a hinge shaft 303. When the servo motor 301 starts, it drives the rotating plate 302 to rotate. The rotational motion of the rotating plate 302 is converted into the radial linear motion of the limiting slider 304 through the hinge shaft 303. When the rotating plate 302 rotates clockwise, all the hinge shafts 303 drive the limiting sliders 304 to slide synchronously towards the center along the slide rail. The polygonal clamping plate 305 fixed on the top of the slider retracts accordingly to clamp the goods. Conversely, when the servo motor 301 rotates counterclockwise, the limiting sliders 304 move outward synchronously, and the polygonal clamping plate 305 opens to release the goods, making the clamping force on the material uniform and the action synchronization high.

[0027] The center of gravity detection component 400 consists of a top pressure plate 401 and a number of pressure sensors 404 arranged symmetrically in multiples of four. Several symmetrically arranged pressure sensors 404 are evenly distributed in a circle inside the material circular support frame 206. The top pressure plate 401 is located on the top of the material circular support frame 206. Several evenly distributed pressure blocks 402 are arranged in a circle at the bottom of the top pressure plate 401. Two symmetrically arranged downward pressure contacts 403 are fixedly connected to the bottom of the pressure blocks 402. A damper 405 is connected between the pressure blocks 402 and the material circular support frame 206. The downward pressure contacts 403 are in contact with the pressure sensors 404.

[0028] The center of gravity detection component 400 is used to quickly detect the horizontal position of the center of gravity of the goods after the goods are fixed. The center of gravity detection component 400 consists of a top pressure plate 401, a pressure block 402, a lower pressure contact 403, a pressure sensor 404, and a damper 405. The top pressure plate 401 is a circular cover plate that covers the top of the goods. Its bottom is connected to the material circular support frame 206 below through multiple circumferentially distributed pressure blocks 402. Each pressure block 402 has two symmetrical downward pressure contacts 403 at its bottom. Directly below the downward pressure contacts 403 is a pressure sensor 404 embedded in the circular material support frame 206. A damper 405 is also connected between the pressure block 402 and the circular material support frame 206 to buffer and absorb the impact vibration that may occur when the goods are placed. When the goods are placed on the goods support frame 306 and fixed by the polygonal clamping plate 305, the weight of the goods will be transmitted to the downward pressure contacts 403 through the top pressure plate 401 and the pressure block 402. The downward pressure contacts 403 apply pressure to the corresponding pressure sensors 404. Due to the offset of the center of gravity of the goods, the weight is unevenly distributed on the pressure sensors 404 in different directions. The control system reads the values ​​of these twelve circumferentially distributed pressure sensors 404 in real time and, after algorithm processing, can construct a pressure distribution map, thereby calculating the offset direction and amount of the center of gravity of the goods relative to the central axis of the gyroscope 200 on the horizontal plane, providing data basis for subsequent center of gravity adjustment.

[0029] The first center of gravity adjustment component 500 consists of a double-sided guide rail 501 and at least two guide frames 502. The double-sided guide rail 501 is fixedly connected to the inside of the material circular support frame 206. The guide frames 502 are movably fitted on the outer circumferential surface of the double-sided guide rail 501. An auxiliary wheel 503 is rotatably installed inside the double-sided guide rail 501. A rotating motor 504 is installed on the top of the double-sided guide rail 501. A guide wheel 505 is installed at the output end of the rotating motor 504. The guide wheel 505 and the auxiliary wheel 503 are respectively attached to the two sides of the guide rail. A counterweight 506 is fixedly connected to one side of the guide frame 502 by bolts.

[0030] The first center of gravity adjustment component 500 balances the center of gravity shift caused by the goods by moving the counterweight 506. The first center of gravity adjustment component 500 consists of a double-sided guide rail 501, a guide frame 502, a rotary motor 504, guide wheels 505, auxiliary wheels 503, and a counterweight 506. The double-sided guide rail 501 is fixedly installed at the bottom of the material circular support frame 206. The guide frame 502 is movably fitted onto the double-sided guide rail 501 and can slide along the circumference of the guide rail. Inside the double-sided guide rail 501, guide wheels 505 driven by the rotary motor 504 and auxiliary wheels 503 providing support are installed. The guide wheels 505 and auxiliary wheels 503 are tightly fitted together. When the rotating motor 504 receives a command from the control system, it will drive the guide wheel 505 to rotate, using friction to drive the entire guide frame 502 to move along the double-sided guide rail 501. A counterweight 506 is fixedly connected to one side of the guide frame 502 by bolts. By controlling the direction and speed of the rotating motor 504, the position of the counterweight 506 on the guide rail can be controlled. When the control system detects that the center of gravity of the cargo is biased to one side of the drone, it will command the rotating motor 504 to drive the guide frame 502, causing the counterweight 506 to move to the other side, generating a counterbalance torque in the opposite direction, thereby pulling the center of gravity of the entire device back to the center position.

[0031] A number of equally spaced probes 507 are provided on one side of the counterweight 506. A coil 508 is fixedly connected inside the material circular support frame 206. A number of circumferentially distributed probes 509 are provided on the inner wall of the coil 508. The probes 507 and their corresponding probes 509 are in contact with each other.

[0032] On the side of the counterweight 506 facing the inner wall of the material circular support frame 206, several equally spaced probes 507 are installed. On the inner wall of the material circular support frame 206, a closed annular coil 508 is fixedly installed. Several circumferentially distributed probes 509 are arranged on the inner wall of the coil 508. When the counterweight 506 moves on the double-sided guide rail 501, the probes 507 on the counterweight 506 will move relative to the probes 509 on the coil 508. The contact or proximity of the probes 507 and probes 509 will change the position of the coil 508. By using local inductance or capacitance, or by forming a sliding rheostat-like structure, when the counterweight 506 moves, the probe 507 sweeps across different probes 509, causing regular changes in the electrical signal. By monitoring these changes in electrical signals, the control system can accurately calculate the real-time coordinates of the counterweight 506 in the two-dimensional plane, ensuring the accuracy of the center of gravity adjustment and avoiding positioning inaccuracies caused by transmission errors or inertia. This allows the first center of gravity adjustment component 500 to quickly and accurately move the counterweight 506 to the calculated target equilibrium position.

[0033] The second center of gravity adjustment assembly 600 consists of a center of gravity adjustment disc 601 and several second electric actuator reducers 602. The several second electric actuator reducers 602 are evenly distributed in a circle and installed at the bottom of the material circular support frame 206. The output end of the second electric actuator reducer 602 is equipped with a second push rod 603. The center of gravity adjustment disc 601 is located at the bottom of the material circular support frame 206. The second push rod 603 and the material circular support frame 206 are movably hinged together by a hinge rod 604.

[0034] The second center of gravity adjustment component 600 is located at the bottom of the material circular support frame 206. It mainly consists of a center of gravity adjustment disc 601 and several second electric actuator reducers 602. The multiple second electric actuator reducers 602 are installed in a circumferentially distributed manner on the bottom edge of the material circular support frame 206. The output end of the second electric actuator reducer 602 is vertically connected to the second actuator 603. The center of gravity adjustment disc 601 is a disc with a certain mass, which is movably connected to the end of each second actuator 603 through multiple hinge rods 604. The control system independently controls the reduction of each second electric actuator based on the residual imbalance fed back by the center of gravity detection component 400. When the extension and retraction of the actuator 602 requires generating a compensating torque in a certain direction, the second electric actuator reducer 602 in that direction can be commanded to retract, while the electric actuator in its symmetrical direction extends accordingly. This is transmitted through the hinge rod 604, causing the center of gravity adjustment disk 601 to tilt relative to the material circular support frame 206, thereby changing the position of its center of gravity in space. By controlling the combination of extension and retraction of multiple electric actuators, the center of gravity adjustment disk 601 can generate a balancing torque that is controllable in both magnitude and direction. This torque is used to counteract the slight vertical shift of the cargo's center of gravity or dynamic changes in the center of gravity caused by fuel consumption during flight, thereby optimizing the flight attitude.

[0035] Working principle: When goods are placed on the goods rack 306 inside the material round rack 206, the ball bearings 307 distributed in an array on the rack surface play a role, forming a low-friction support surface, allowing the goods to be easily adjusted in position. Subsequently, the goods fixing component 300 is activated, and the servo motor 301 installed at the bottom of the material round rack 206 receives the control command and starts to rotate. The torque is transmitted to the rotating plate 302 through the coupling. The rotating plate 302 converts the rotational motion into linear motion through a set of movable hinge shafts 303. One end of the hinge shaft 303 is connected to the rotating plate 302, and the other end is connected to the limiting slider 304 that can move on the radial slide rail of the goods rack 306. When the rotating plate 302 rotates, through the pushing and pulling action of the hinge shaft 303, all the limiting sliders 304 move synchronously towards the central axis of the material round rack 206, causing the polygonal clamping plate 305 fixed on the top of the slider to evenly retract from all sides, thus achieving reliable fixing of the goods. While the cargo is secured, the center of gravity detection component 400 is activated. The top pressure plate 401 covering the top of the cargo transfers the weight of the cargo to the pressure blocks 402 evenly distributed around the bottom circumference. The symmetrically arranged downward pressure contacts 403 at the bottom of each pressure block transfer the pressure to multiple pressure sensors 404 embedded in the circular material support frame 206. The damper 405 is connected between the pressure block 402 and the material support frame 206, which can effectively absorb the impact and vibration when the cargo is placed, ensuring that the pressure sensors 404 collect stable static pressure data. Based on the difference in the readings of the pressure sensors 404 in each direction, the control system performs weighted averaging and coordinate calculation through algorithms to quickly construct a pressure distribution map of the cargo on the horizontal plane and calculate the offset parameters of the cargo's center of gravity relative to the central axis of the gyroscope 200, providing an accurate basis for balance adjustment. After obtaining the center of gravity data, the system enters the active balancing stage. The first center of gravity adjustment component 500 is responsible for large-range counterweight adjustment in the horizontal plane. The core of the first center of gravity adjustment component 500 is a circular double-sided guide rail 501 fixed to the bottom of the material circular support frame 206. The guide frame 502 can slide along the circumference of the guide rail. The rotating motor 504 integrated in the guide rail structure drives the guide wheel 505, which works in conjunction with the auxiliary wheel 503 to drive the guide frame 502 to move along the track through friction. The counterweight block 506, which is rigidly connected to the guide frame 502, can thus achieve angular position adjustment in the circumferential direction. The equally spaced probes 507 on the side of the counterweight block 506 and the probe rods 509 of the annular coil 508 on the inner wall of the material circular support frame 206 form a detection network. When the counterweight block 506 moves, the relative movement of the probes 507 and the probe rods 509 will change the local electromagnetic characteristics of the coil 508, forming a sensor network. The control system can calculate the real-time coordinates of the counterweight block 506 by monitoring the changes in these electrical signals. The second center of gravity adjustment component 600 is located at the bottom of the material circular support frame 206. It consists of a center of gravity adjustment plate 601 and two circumferentially distributed second electric actuator reducers 602. Each second electric actuator reducer 602 is connected to the center of gravity adjustment plate 601 above through a second push rod 603 and a hinge rod 604. The control system independently controls the extension and retraction of each second electric actuator reducer 602 according to the center of gravity detection data. Through the multi-point linkage pushing method, the center of gravity adjustment plate 601 is tilted in a specific space, thereby generating a multi-dimensional balance torque in three-dimensional space to achieve the adjustment of flight attitude. Throughout the flight, the gyroscope 200 self-adjusts. The gyroscope 200 is a universal support consisting of an outer circular frame 201, an inner circular frame 205, and a material support frame 206, connected by a bearing 211. This ensures that the UAV body 100 maintains a stable attitude under inertia. At each rotating joint of the gyroscope 200, there is a first electric actuator reducer 207, a first actuator 208, a locking plug 209, and a locking connector 210 fixed to the inner ring of the bearing 211. During takeoff and landing, the first electric actuator reducer 207 drives the locking plug 209 at the front end of the first actuator 208 to extend and insert into the locking connector 210 on the opposite side, making the various rings of the gyroscope rigidly connected as a whole, effectively resisting the impact and vibration during takeoff and landing. After entering stable flight, the locking is released, and the gyroscope restores its universal stabilization function.

[0036] Center of gravity adjustment algorithm: 1. Centroid Calculation Algorithm: The task of the center of gravity calculation algorithm is to calculate the projected coordinates (X,Y) of the center of gravity of the cargo on the horizontal plane based on the readings of multiple pressure sensors (404) arranged in a circle.

[0037] Algorithm input: n: The total number of pressure sensors.

[0038] (x_i, y_i): The known coordinates of the i-th pressure sensor in the horizontal coordinate system of the material circular support frame (206).

[0039] F_i: The real-time pressure value collected by the i-th pressure sensor.

[0040] Algorithm execution steps: Data preprocessing (filtering): Since the damper (405) has eliminated most of the impact, the algorithm performs a digital low-pass filter (such as a first-order hysteresis filter) on the data F_i of each sensor to further smooth the data, remove high-frequency noise, and ensure the stability of the data.

[0041] Example formula (first-order lag filtering): F_i_filtered = (1-α) F_i_previous+α F_i_current, where α is the filter coefficient.

[0042] Calculate the total pressure: Sum all the filtered pressure values ​​to obtain the total pressure of the cargo (approximately its weight).

[0043] F_total=Σ(F_i_filtered), where i ranges from 1 to n.

[0044] Calculate the centroid coordinates: The entire platform is viewed as a lever system, and the center of gravity coordinates X_cg and Y_cg are calculated by weighted average of the pressure value of each sensor (as weight) and its coordinates.

[0045] X_cg=Σ(F_i_filtered x_i) / F_total Y_cg=Σ(F_i_filtered y_i) / F_total Find a point (X_cg, Y_cg) such that the sum of the torques around the weight of the cargo is zero.

[0046] Output: The algorithm outputs the center of gravity coordinates (X_cg, Y_cg). The coordinates directly represent the amount and direction of the offset of the cargo's center of gravity relative to the gyroscope (200) central axis (0,0).

[0047] 2. Position calculation algorithm: The position calculation algorithm interprets the electrical signal generated by the interaction between the probe (507) and the probe rod (509) in real time and feeds back the polar coordinate position (r, θ) of the counterweight (506).

[0048] Algorithm input: A set of electrical signals collected from the coil (508) circuit.

[0049] Algorithm execution steps: Signal Decoding and Feature Extraction: The algorithm first decodes the input multiple electrical signals. Since the measuring rods (509) are evenly distributed around the circumference, each measuring rod (509) or each group of measuring rods (509) corresponds to a unique angle code.

[0050] Calculation of angle θ: By identifying which probes (509) are currently interacting with the probe (507) (manifested as a significant change in their corresponding electrical signals), the position calculation algorithm can directly determine the sector where the counterweight (506) is located, thereby calculating its angular position θ.

[0051] Calculation of radial distance r: After determining the angular position θ, the algorithm further analyzes the intensity or pattern of the electrical signal in the sector of that angle. When the counterweight (506) moves radially, the overlap area or coupling depth of the probe (507) and the probe rod (509) will change, causing the inductance, capacitance or resistance value R_j to change continuously and monotonically.

[0052] The algorithm maps the current electrical signal value R_j to radial distance r using a lookup table or a pre-calibrated function r=f(R_j,θ).

[0053] Coordinate output and closed-loop control: The algorithm ultimately outputs a high-precision polar coordinate (r, θ).

[0054] The coordinates are fed to the control loop of the first center of gravity adjustment component (500) in real time. The control system compares the actual position (r_actual, θ_actual) of the counterweight at this time with the target position (r_target, θ_target) calculated according to the center of gravity algorithm.

[0055] Based on this positional deviation, the control system generates a PWM (Pulse Width Modulation) signal to dynamically adjust the rotation direction and speed of the rotating motor (504) and the radial micro-drive mechanism until the positional deviation is eliminated, thereby achieving closed-loop positioning of the counterweight.

[0056] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A logistics drone, comprising a drone body (100), characterized in that; A gyroscope (200) is detachably fixed to the bottom of the drone body (100). The gyroscope (200) is equipped with a cargo fixing component (300) for fixing logistics goods. The cargo fixing component (300) drives the polygonal clamping plate (305) to move towards the center of the gyroscope (200) to clamp and fix the material. The top of the gyroscope (200) is equipped with a center of gravity detection component (400), which is used to detect the center of gravity position of the goods by using multiple pressure sensors (404) after the material is fixed. Inside the gyroscope (200), a first center of gravity adjustment component (500) and a second center of gravity adjustment component (600) are respectively arranged along the axial position of the gyroscope (200) axis for adjusting the center of gravity of the UAV.

2. The logistics drone according to claim 1, characterized in that, The gyroscope (200) consists of an outer circular frame (201), an inner circular frame (205), and a material support frame (206). The outer circular frame (201) is located at the bottom of the UAV body (100). Several connecting rods (202) with evenly distributed circular shafts are fixedly connected to the top of the outer circular frame (201). A transmission connector (203) is provided at the top of the connecting rod (202). The transmission connector (203) is electrically connected to the UAV body (100). The connecting rod (202) is fixedly connected to the UAV body (100) by bolts. The inner ring frame (205) is mounted and rotated on a straight shaft symmetrically arranged on the inner wall of the outer ring frame (201) via a bearing (211). The material round support frame (206) is mounted and rotated on a straight shaft symmetrically arranged on the inner wall of the inner ring frame (205) via a bearing (211). A support frame (204) is fixedly connected to the top of the material round support frame (206).

3. A logistics drone according to claim 2, characterized in that, A first electric actuator reducer (207) is installed on one side of the straight shaft. A first push rod (208) is installed at the output end of the first electric actuator reducer (207). The first push rod (208) passes through the interior of the straight shaft. A locking plug (209) is installed at one end of the first push rod (208). A locking connector (210) is fixedly connected to the inner wall of the bearing (211). The locking plug (209) and the locking connector (210) are directly and separably plugged into each other. The locking plug (209) and the locking connector (210) are used to lock and fix the gyroscope (200) during cargo take-off and landing.

4. A logistics drone according to claim 2, characterized in that, The cargo fixing assembly (300) consists of a servo motor (301) and a cargo bracket (306). The cargo bracket (306) is fixedly connected to the inner wall of the material circular support frame (206). Several arrayed circumferentially distributed ball bearings (307) are rotatably mounted on the top of the cargo bracket (306). The servo motor (301) is installed inside the material circular support frame (206). A rotating plate (302) is mounted on the output end of the servo motor (301) through a coupling. At least four circumferentially distributed limiting sliders (304) are slidably mounted on the cargo bracket (306). The limiting sliders (304) and the rotating plate (302) are movably hinged together by a hinge shaft (303). The multi-angle clamping plate (305) is fixedly connected to the top of the limiting sliders (304).

5. A logistics drone according to claim 2, characterized in that, The center of gravity detection component (400) consists of a top pressure plate (401) and a number of symmetrically arranged pressure sensors (404) that are multiples of four. Several symmetrically arranged pressure sensors (404) are evenly distributed in a circle inside the material circular support frame (206). The top pressure plate (401) is located on the top of the material circular support frame (206). Several evenly distributed pressure blocks (402) are arranged in a circle at the bottom of the top pressure plate (401). Two symmetrically arranged downward pressure contacts (403) are fixedly connected to the bottom of the pressure blocks (402). A damper (405) is connected between the pressure blocks (402) and the material circular support frame (206). The downward pressure contacts (403) are in contact with the pressure sensors (404).

6. A logistics drone according to claim 2, characterized in that, The first center of gravity adjustment component (500) consists of a double-sided guide rail (501) and at least two guide frames (502). The double-sided guide rail (501) is fixedly connected inside the material round support frame (206). The guide frame (502) is movably fitted on the outer circumferential surface of the double-sided guide rail (501). An auxiliary wheel (503) is rotatably installed inside the double-sided guide rail (501). A rotating motor (504) is installed on the top of the double-sided guide rail (501). A guide wheel (505) is installed at the output end of the rotating motor (504). The guide wheel (505) and the auxiliary wheel (503) are respectively attached to the two sides of the guide rail. A counterweight (506) is fixedly connected to one side of the guide frame (502) by bolts.

7. A logistics drone according to claim 6, characterized in that, A number of equally spaced probes (507) are provided on one side of the counterweight (506). A coil (508) is fixedly connected inside the material circular support frame (206). A number of circumferentially distributed probes (509) are provided on the inner wall of the coil (508). The probes (507) are in contact with the probes (509) at their corresponding positions.

8. A logistics drone according to claim 2, characterized in that, The second center of gravity adjustment assembly (600) consists of a center of gravity adjustment disc (601) and a plurality of second electric actuator reducers (602). The plurality of second electric actuator reducers (602) are evenly distributed in a circle at the bottom of the material circular support frame (206). The output end of the second electric actuator reducer (602) is equipped with a second push rod (603). The center of gravity adjustment disc (601) is located at the bottom of the material circular support frame (206). The second push rod (603) and the material circular support frame (206) are movably hinged together by a hinge rod (604).

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