Automatic detection device and method for unmanned aerial vehicle airspeed tube

Abstract

The application discloses an unmanned aerial vehicle air speed pipe automatic detection device and an automatic detection method thereof. The lifting mechanism of the device is arranged on the vertical central axis of the support frame assembly. The air speed pipe zero setting detection assembly and the air speed pipe dynamic pressure generation assembly are arranged above the support frame assembly. The air speed pipe positive and negative limit detection assembly is arranged above and below the support frame assembly. The method comprises the following steps: the air speed pipe X-axis drive motor moves the air speed pipe sleeve to a set position, and the unmanned aerial vehicle control end sends a zero setting detection signal to perform zero setting detection operation; the air speed pipe X-axis drive motor reversely moves the air speed pipe sleeve to the set position, and the unmanned aerial vehicle control end sends a static pressure detection signal to perform static pressure detection operation; the air speed pipe detection axial flow fan is electrified to work, and the unmanned aerial vehicle control end sends a dynamic pressure detection signal to perform dynamic pressure detection operation. The application realizes the automatic detection of the air speed pipe zero setting, static pressure and dynamic pressure through the mutual coordination of different assemblies and the electrical and software control modes.

Description

Technical Field

[0001] This invention belongs to the field of aircraft testing technology, specifically relating to an automatic testing device and method for the pitot tube of an unmanned aerial vehicle (UAV). Background Technology

[0002] With social development and technological progress, drone technology (including drone manufacturing, operation, control, testing, and communication) has matured and is being widely applied in various fields. Drones have become indispensable tools in many industries, such as smart cities, industry inspections (including power grids, rivers and lakes, security, and transportation), map reconstruction, smart agriculture, and aerial photography for tourism. Drones have entered the public eye. Currently, there is an increasing demand for larger, more automated, more intelligent drones with heavier payloads, thus necessitating the development or improvement of peripheral equipment designed to complement drones.

[0003] Before takeoff, all status parameters of a vertically fixed multi-rotor UAV must be checked, and takeoff is only permitted after all parameters are confirmed to be normal. Pitot tube testing is a mandatory pre-flight procedure, and several historical air crashes have been directly related to abnormal pitot tube conditions. Pre-flight pitot tube testing includes zeroing, static pressure testing, and dynamic pressure testing. Traditional pitot tube testing methods rely on manual hand-eye coordination. However, manual testing cannot achieve automation, precision, and quantitative testing, nor can it accommodate simultaneous testing of multiple UAVs, and its efficiency is low. Therefore, there is an urgent need to develop an automatic pitot tube testing device and method to replace manual pitot tube testing for UAVs.

[0004] The invention patent application CN104691778A discloses a rapid testing method for unmanned aerial vehicles (UAVs), including the following steps: inspecting the airborne components, airframe structure, cable installations, and aircraft appearance; testing the battery load voltage via a ground station to ensure it is within the permissible range; issuing parachute opening / closing commands from the ground station; if the commands are executed, the parachute opening is normal and the telemetry and control system link is normal; blowing air into the pitot tube at a distance of 2-3 mm from the tube; testing the aircraft's airspeed changes from the ground station; blocking the pitot tube; recording the air pressure altitude; lifting and securing the aircraft to a takeoff vehicle; if the ground station shows no change in air pressure altitude, the total and static pressure systems are airtight; starting the engine; monitoring the engine data at various states from the ground station to ensure it is within the permissible range; issuing commands to each control surface from the ground station; and checking whether the control surface response is consistent with the commands. This technical solution still relies on manual inspection of the pitot tube before UAV takeoff, failing to achieve automated, accurate, and quantitative inspection. Manual inspection not only results in large errors but also has low efficiency.

[0005] The invention patent with publication number CN107416228A discloses an automated testing device for unmanned aerial vehicles (UAVs), including a clamping fixture, a three-axis turntable, a testing platform, detection sensors, an axial flow fan, a controller, a storage and display device, a QR code scanner, and a shield. The clamping fixture is used to fix the UAV to be tested. The three-axis turntable, which holds the clamping fixture, is fixed on the testing platform. The QR code scanner is located in an opening on the front of the shield. The detection sensors, used to provide feedback on UAV test data, are located on the testing platform or the UAV. The axial flow fan is located on the testing platform in front of the UAV, with the center of the fan's outlet aligned with the height of the UAV. During UAV testing, the QR code scanner scans the UAV's serial number and records it in the storage and display device. The three-axis turntable, axial flow fan, and detection sensors are activated to form the testing environment. The controller compares the information on the UAV with the information detected by the detection sensors. Data within the allowable deviation range is marked as qualified, while data exceeding the allowable deviation range is marked as unqualified. This technical solution is mainly used for the automated testing of various performance parameters and the output of test results after the drone is assembled. It can meet the requirements of the drone digital production line. However, this technical solution cannot be used for the automatic detection of various status parameters before the drone takes off, nor can it be used for the zeroing detection, static pressure detection and dynamic pressure detection of the pitot tube before the drone takes off. Summary of the Invention

[0006] To address the problems existing in the prior art, the present invention provides an automatic detection device for the pitot tube of an unmanned aerial vehicle (UAV), comprising a support frame assembly, a lifting mechanism, a pitot tube zeroing detection component, a pitot tube dynamic pressure generating component, and a pitot tube positive and negative limit detection component. The lifting mechanism is disposed on the vertical central axis of the support frame assembly, the pitot tube zeroing detection component and the pitot tube dynamic pressure generating component are disposed above the support frame assembly, and the pitot tube positive and negative limit detection component is disposed above and below the support frame assembly.

[0007] Preferably, the support frame assembly includes a support frame base plate, a support frame top plate, an optical axis, an optical axis guide sleeve, and an optical axis fixing nut; an optical axis is vertically arranged between the four apex corners of the support frame base plate and the four apex corners of the support frame top plate, the bottom end of the optical axis is slidably connected to the support frame base plate through the optical axis guide sleeve, and the top end of the optical axis is fixedly connected to the support frame top plate through the optical axis fixing nut.

[0008] In this invention, the support frame assembly is used to ensure the rigidity, strength, stability, and detection accuracy of the UAV pitot tube detection device. The base plate of the support frame is fixedly connected to the turntable support frame of the UAV. The base plate of the support frame is used to support components such as the pitot tube Z-axis drive motor, the optical axis guide sleeve, the transmission screw fixing nut I, the pitot tube Z-axis positive limit detection sensor, and the pitot tube Z-axis negative limit detection sensor. The top plate of the support frame is used to support components such as the pitot tube zeroing detection component, the pitot tube dynamic pressure generating component, the pitot tube X-axis positive limit detection sensor, and the pitot tube X-axis negative limit detection sensor.

[0009] In any of the above embodiments, preferably, the lifting mechanism includes a Z-axis drive motor for the airspeed tube, a drive motor mounting base, a drive gear, a drive driven gear, a transmission screw, a transmission screw fixing nut I, and a transmission screw fixing nut II; the Z-axis drive motor for the airspeed tube is fixed on the drive motor mounting base, the drive motor mounting base is fixedly connected to the base plate of the support frame, the drive gear meshes with the drive driven gear, the drive driven gear is rotatably connected to the transmission screw, the bottom end of the transmission screw is rotatably connected to the base plate of the support frame through the transmission screw fixing nut I, and the top end of the transmission screw is fixedly connected to the top plate of the support frame through the transmission screw fixing nut II.

[0010] In this invention, the lifting mechanism is fixedly connected to the turntable support frame of the UAV via a support frame base plate. Before takeoff, the UAV needs to inspect the pitot tube. Before inspecting the pitot tube, the lifting mechanism is used to lift the support frame assembly, the pitot tube zeroing detection assembly, the pitot tube dynamic pressure generating assembly, and the pitot tube positive and negative limit detection assembly to a predetermined position. Specifically, the pitot tube Z-axis drive motor drives the drive gear and the driven gear to rotate, which in turn drives the transmission screw to rotate, thereby lifting the support frame assembly, the pitot tube zeroing detection assembly, the pitot tube dynamic pressure generating assembly, and the pitot tube positive and negative limit detection assembly to the predetermined position. This predetermined position is set in advance in the program. The lifting and lowering positions of the lifting mechanism are detected by the pitot tube Z-axis negative limit detection sensor and the pitot tube Z-axis positive limit detection sensor, respectively. When all components are lifted to the predetermined position, the pitot tube is located inside the UAV pitot tube automatic detection device, which is located inside the outer casing. The pitot tube enters the drone's automatic pitot tube detection device through a tiny gap at the top of the outer casing. After entering, the gap is sealed. Because the gap is so small, even if it is not sealed, it will not affect the detection results.

[0011] In any of the above embodiments, it is preferred that the airspeed tube zeroing detection assembly includes an airspeed tube X-axis drive motor, synchronous pulley I, synchronous pulley II, synchronous pulley II support block, synchronous belt, synchronous belt fixing block I, synchronous belt fixing block II, linear guide rail I, linear guide rail II, slider I, slider II, airspeed tube sleeve, airspeed tube mating sleeve, airspeed tube sleeve fixing frame I, airspeed tube sleeve fixing frame II, airspeed tube sleeve fixing frame III, and airspeed tube sleeve fixing frame IV.

[0012] In any of the above embodiments, it is preferred that the airspeed tube X-axis drive motor is rotatably connected to the synchronous pulley I, the synchronous pulley II support block is rotatably connected to the synchronous pulley II, the synchronous pulley I and the synchronous pulley II are on the same horizontal line, and the synchronous belt is sleeved on the synchronous pulley I and the synchronous pulley II.

[0013] In any of the above embodiments, it is preferred that the linear guide rail I and the linear guide rail II are respectively disposed on both sides of the synchronous belt, the linear guide rail I is slidably connected to the slider I, and the linear guide rail II is slidably connected to the slider II.

[0014] In any of the above embodiments, preferably, the two ends of the airspeed tube sleeve fixing bracket I are fixedly connected to the slider I and the slider II respectively, and the middle part of the airspeed tube sleeve fixing bracket I is located between the upper and lower synchronous belts and close to the upper synchronous belt; the synchronous belt fixing block I and the synchronous belt fixing block II are sequentially arranged above the middle part of the airspeed tube sleeve fixing bracket I, and the upper synchronous belt is fixed between the synchronous belt fixing block I and the synchronous belt fixing block II; the airspeed tube sleeve fixing bracket II and the airspeed tube sleeve fixing bracket III are sequentially arranged above the synchronous belt fixing block II, one end of the airspeed tube sleeve is fixed between the airspeed tube sleeve fixing bracket II and the airspeed tube sleeve fixing bracket III, and the airspeed tube sleeve fixing bracket IV fixes the other end of the airspeed tube sleeve, and the other end of the airspeed tube sleeve is connected to the airspeed tube mating sleeve; the airspeed tube sleeve and the airspeed tube mating sleeve are located above the synchronous belt, and the central axes of the airspeed tube sleeve and the airspeed tube mating sleeve are on the same horizontal line.

[0015] In this invention, the two ends of the airspeed tube sleeve fixing bracket I are fixed to slider I and slider II respectively, and the middle part of the airspeed tube sleeve fixing bracket I is fixed to the synchronous belt through synchronous belt fixing block I and synchronous belt fixing block II. Slider I and slider II are respectively engaged with linear guide rail I and linear guide rail II. The connection relationship between the above components can ensure the rigidity, directionality and stability of the airspeed tube sleeve and airspeed tube mating sleeve during movement.

[0016] When the control system issues a pitot tube zeroing detection command, the pitot tube X-axis drive motor starts to rotate, and synchronous pulleys I and II start to drive the synchronous belt. The synchronous belt carries the pitot tube sleeve, pitot tube mating sleeve and related fixing components to move in the direction of the pitot tube. When the pitot tube sleeve and pitot tube mating sleeve move to the set position, the pitot tube X-axis negative limit detection sensor detects the position and sends a positioning signal. The pitot tube X-axis drive motor stops rotating. At this time, the pitot tube sleeve and pitot tube mating sleeve tighten the pitot tube, and the air inlet on the pitot tube is sealed. At the same time, the control system sends a pitot tube zeroing detection ready signal to the UAV control terminal, and the pitot tube zeroing detection can be performed. Once the pitot tube zeroing detection is complete, the UAV control terminal sends a pitot tube zeroing detection completion command and a reverse command to the pitot tube X-axis drive motor. Synchronous pulleys I and II drive the synchronous belt in the reverse direction, carrying the pitot tube sleeve, pitot tube mating sleeve, and related fixed components. When the pitot tube sleeve and pitot tube mating sleeve reach the set position, the pitot tube X-axis positive limit sensor detects the position and sends a positioning signal. The pitot tube X-axis drive motor stops rotating. At this point, the pitot tube sleeve and pitot tube mating sleeve separate from the pitot tube. Simultaneously, the control system sends a pitot tube zeroing detection completion signal to the UAV control terminal, allowing the next action command to proceed.

[0017] When the control system sends a signal to the UAV control terminal that the pitot tube zeroing detection is complete, the pitot tube is placed inside the UAV pitot tube detection device. The UAV pitot tube detection device is located inside the outer casing, which blocks the external airflow, providing a non-flowing air environment for the pitot tube. The UAV control terminal sends a static pressure detection signal to perform a static pressure detection operation on the pitot tube.

[0018] In any of the above embodiments, it is preferred that the airspeed tube dynamic pressure generating assembly includes an airspeed tube detection axial flow fan and a fan support frame; the airspeed tube detection axial flow fan is disposed above the fan support frame, and the air outlet of the airspeed tube detection axial flow fan faces the side of the airspeed tube sleeve.

[0019] In this invention, an axial flow fan for pitot tube testing is used to provide the airflow required for pitot tube dynamic pressure testing, and a fan support frame is used to fix the axial flow fan for pitot tube testing. When the control system issues a command to perform dynamic pressure testing, the UAV control terminal issues a command to start the axial flow fan for pitot tube testing, and the fan starts working. When the fan rotates, the airflow from the outlet blows towards the air inlet of the pitot tube. The UAV control terminal detects the airflow and determines whether the pitot tube is in normal condition. When the control system issues a command to complete the dynamic pressure testing, the UAV control terminal issues a command to stop the axial flow fan for pitot tube testing, and the fan stops working.

[0020] In any of the above embodiments, preferably, the pitot tube positive and negative limit detection assembly includes a pitot tube X-axis positive limit detection sensor, a pitot tube X-axis negative limit detection sensor, a pitot tube Z-axis positive limit detection sensor, and a pitot tube Z-axis negative limit detection sensor; the pitot tube X-axis positive limit detection sensor and the pitot tube X-axis negative limit detection sensor are disposed on the top plate of the support frame and located on one side of the linear guide rail II; the pitot tube Z-axis positive limit detection sensor is disposed at a apex corner of the bottom plate of the support frame, and the pitot tube Z-axis negative limit detection sensor is disposed at the center of a long side of the bottom plate of the support frame.

[0021] In this invention, the pitot tube positive and negative limit detection components are used to detect the position of the moving mechanism and feed the position information back to the UAV control terminal. The pitot tube X-axis positive limit detection sensor is used to detect information indicating that the pitot tube sleeve and pitot tube mating sleeve have returned to their original positions; the pitot tube X-axis negative limit detection sensor is used to detect position information indicating that the pitot tube sleeve and pitot tube mating sleeve have moved towards the direction of the pitot tube; the pitot tube Z-axis positive limit detection sensor is used to detect information indicating that the lifting mechanism has driven other components to return to their original positions; and the pitot tube Z-axis negative limit detection sensor is used to detect position information indicating that the lifting mechanism has driven other components to rise towards the direction of the pitot tube.

[0022] The present invention also provides an automatic detection method for a UAV pitot tube, using the automatic detection device for a UAV pitot tube described in any of the above claims, comprising the following steps:

[0023] S1. The lifting mechanism lifts the support frame assembly, the airspeed tube zero detection assembly, the airspeed tube dynamic pressure generating assembly, and the airspeed tube positive and negative limit detection assembly to the predetermined position. At this time, the airspeed tube is located inside the automatic detection device of the UAV airspeed tube, and the automatic detection device of the UAV airspeed tube is located inside the outer cover.

[0024] S2. When the pitot tube Z-axis negative limit detection sensor detects that the support frame assembly, pitot tube zeroing detection assembly, pitot tube dynamic pressure generating assembly and pitot tube positive and negative limit detection assembly have reached the predetermined position, the control center sends an instruction to the dispatch center to start the pitot tube detection. After receiving the instruction, the dispatch center sends an instruction to the UAV to enter the pitot tube zeroing detection process. After receiving the instruction, the UAV sends a confirmation signal to the dispatch center to confirm the execution of the pitot tube zeroing detection.

[0025] S3. After receiving the signal, the dispatch center sends a zero-point detection command to the motion controller. After receiving the command, the motion controller sends a command to the automatic detection device of the UAV's airspeed tube to move the airspeed tube sleeve. After receiving the command, the automatic detection device of the UAV's airspeed tube moves the airspeed tube sleeve and the airspeed tube mating sleeve to the set position. At this time, the airspeed tube sleeve and the airspeed tube mating sleeve tighten the airspeed tube and seal the air inlet on the airspeed tube.

[0026] S4. When the pitot tube X-axis negative limit detection sensor detects that the pitot tube sleeve and the pitot tube mating sleeve have reached the set position, the UAV pitot tube automatic detection device sends a detection position signal to the motion controller. At the same time, the motion controller sends a position signal to the dispatch center. After receiving the signal, the dispatch center sends a command to the UAV to read the pitot tube zeroing detection data. After receiving the command, the UAV sends the pitot tube zeroing detection data signal to the dispatch center, and the pitot tube zeroing detection ends.

[0027] S5. After the pitot tube zeroing test is completed, the dispatch center sends an instruction to the UAV to enter the pitot tube static pressure test process. After receiving the instruction, the UAV sends a signal to the dispatch center to confirm the execution of the pitot tube static pressure test.

[0028] S6. After receiving the signal, the dispatch center sends a pitot tube static pressure detection command to the motion controller. After receiving the command, the motion controller sends a reverse movement command to the automatic detection device of the UAV pitot tube. After receiving the command, the automatic detection device of the UAV pitot tube moves the pitot tube sleeve and the pitot tube mating sleeve in reverse to the set position. At this time, the pitot tube sleeve and the pitot tube mating sleeve are separated from the pitot tube.

[0029] S7. When the pitot tube X-axis positive limit detection sensor detects that the pitot tube sleeve and the pitot tube mating sleeve have reached the set position, the UAV pitot tube automatic detection device sends a detection status signal to the motion controller. At the same time, the motion controller sends a status signal to the dispatch center. After receiving the signal, the dispatch center sends a command to the UAV to read the pitot tube static pressure detection data. After receiving the command, the UAV sends the pitot tube static pressure detection data signal back to the dispatch center, and the pitot tube static pressure detection ends.

[0030] S8. After the pitot tube static pressure test is completed, the dispatch center sends an instruction to the UAV to enter the pitot tube dynamic pressure test process. After receiving the instruction, the UAV sends a signal to the dispatch center to confirm the execution of the pitot tube dynamic pressure test.

[0031] S9. After receiving the signal, the dispatch center sends a pitot tube dynamic pressure detection command to the motion controller. After receiving the command, the motion controller sends a command to the automatic pitot tube detection device of the UAV to start working on the pitot tube detection axial flow fan. At the same time, the motion controller sends a signal to the dispatch center to start working on the pitot tube detection axial flow fan. After receiving the signal, the dispatch center sends a command to the UAV to read the pitot tube dynamic pressure detection data. After receiving the command, the UAV sends the pitot tube dynamic pressure detection data signal back to the dispatch center, and the pitot tube dynamic pressure detection ends.

[0032] S10. After the pitot tube dynamic pressure test is completed, the dispatch center sends a signal to the control center indicating that the pitot tube test is complete. The lifting mechanism then restores the support frame assembly, pitot tube zeroing detection assembly, pitot tube dynamic pressure generating assembly, and pitot tube positive and negative limit detection assembly to their original positions. At the same time, the dispatch center issues an instruction to execute the next operation.

[0033] The automatic detection device and method for the pitot tube of the UAV of the present invention realizes the automatic detection of the pitot tube being zeroed, static pressure, and dynamic pressure in sequence through the coordinated action between different components and by combining electrical and software control methods.

[0034] During the pitot tube zeroing detection, the pitot tube X-axis drive motor drives the synchronous belt transmission, which moves the pitot tube sleeve and the pitot tube mating sleeve to the set position. The pitot tube X-axis negative limit detection sensor detects the position and sends a signal indicating that the position is in place. The pitot tube X-axis drive motor stops rotating, and the pitot tube sleeve and the pitot tube mating sleeve tighten the air inlet of the pitot tube, preventing air from entering the pitot tube through the air inlet. The UAV control terminal sends a zeroing detection signal to perform the pitot tube zeroing detection operation.

[0035] During pitot tube static pressure testing, the pitot tube X-axis drive motor rotates in the reverse direction, driving the synchronous belt to reverse transmission. The synchronous belt moves the pitot tube sleeve and the pitot tube mating sleeve in the reverse direction to the set position. The pitot tube X-axis positive limit detection sensor detects the position and sends a positioning signal. The pitot tube X-axis drive motor stops rotating. At this time, the pitot tube is placed inside the UAV pitot tube detection device, which is located inside the outer casing. The outer casing blocks the external airflow, and the air inside the outer casing is approximately still. The pitot tube is placed in an environment without flowing air. The UAV control terminal sends a static pressure detection signal to perform static pressure testing on the pitot tube.

[0036] During pitot tube dynamic pressure testing, the pitot tube testing axial flow fan starts working after being powered on. The airflow from the outlet enters the pitot tube through the air inlet. The UAV control terminal sends a dynamic pressure testing signal to perform dynamic pressure testing on the pitot tube.

[0037] The automatic detection device and method for the pitot tube of a UAV of the present invention have the following beneficial effects:

[0038] (1) Automatic detection of pitot tube before takeoff of UAV has been realized, completely replacing the manual method of pitot tube detection.

[0039] (2) It greatly improves the detection efficiency of pitot tubes.

[0040] (3) It significantly improves the accuracy of pitot tube detection.

[0041] (4) It has enabled the transformation of airspeed tube detection from qualitative to quantitative detection. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the overall structure of the automatic detection device for the pitot tube of a drone according to a preferred embodiment of the automatic detection device and automatic detection method for the pitot tube of a drone according to the present invention.

[0043] Figure 2 for Figure 1 Another overall structural schematic diagram of the UAV pitot tube automatic detection device in the illustrated embodiment;

[0044] Figure 3 for Figure 1 Rear view of the automatic pitot tube detection device for unmanned aerial vehicles in the illustrated embodiment;

[0045] Figure 4 for Figure 1 Front view of the automatic pitot tube detection device for unmanned aerial vehicles in the illustrated embodiment;

[0046] Figure 5 for Figure 1 Top view of the automatic pitot tube detection device for unmanned aerial vehicles in the embodiment shown;

[0047] Figure 6 for Figure 1 The diagram shows the structure of the airspeed tube zero-detection component and the airspeed tube dynamic pressure generation component in the embodiment shown.

[0048] Figure 7 for Figure 1 A flowchart of the automatic pitot tube detection method for UAVs in the illustrated embodiment;

[0049] Figure 8 for Figure 1 Timing diagram of the automatic pitot tube detection method for UAVs in the illustrated embodiment;

[0050] Figure 9 for Figure 1 The diagram shows the zeroing, static pressure and dynamic pressure detection actions of the airspeed tube in the embodiment shown, where: (1) is the zeroing detection action of the airspeed tube, (2) is the static pressure detection action of the airspeed tube, and (3) is the dynamic pressure detection action of the airspeed tube.

[0051] Figure 10 for Figure 1 The diagram shows the structure of the airspeed tube in the embodiment shown.

[0052] Figure 11 for Figure 1 The electrical control schematic diagram of the embodiment shown.

[0053] Explanation of annotations in the diagram:

[0054] 1-Support frame assembly, 101-Support frame base plate, 102-Support frame top plate, 103-Optical axis, 104-Optical axis guide sleeve, 105-Optical axis fixing nut;

[0055] 2-Lifting mechanism, 201-Air speed tube Z-axis drive motor, 202-Drive motor mounting base, 203-Drive driving gear, 204-Drive driven gear, 205-Transmission screw, 206-Transmission screw fixing nut I, 207-Transmission screw fixing nut II;

[0056] 3-Airspeed tube zeroing detection assembly, 301-Airspeed tube X-axis drive motor, 302-Synchronous belt pulley I, 303-Synchronous belt pulley II, 304-Synchronous belt pulley II support block, 305-Synchronous belt, 306-Synchronous belt fixing block I, 307-Synchronous belt fixing block II, 308-Linear guide rail I, 309-Linear guide rail II, 310-Slider I, 311-Slider II, 312-Airspeed tube sleeve, 313-Airspeed tube mating sleeve, 314-Airspeed tube sleeve fixing bracket I, 315-Airspeed tube sleeve fixing bracket II, 316-Airspeed tube sleeve fixing bracket III, 317-Airspeed tube sleeve fixing bracket IV;

[0057] 4-Air velocity tube dynamic pressure generating assembly, 401-Air velocity tube detection axial flow fan, 402-Fan support frame;

[0058] 5-Pneumatic tube positive and negative limit detection assembly, 501-Pneumatic tube X-axis positive limit detection sensor, 502-Pneumatic tube X-axis negative limit detection sensor, 503-Pneumatic tube Z-axis positive limit detection sensor, 504-Pneumatic tube Z-axis negative limit detection sensor;

[0059] 6- Piston tube, 601- Inlet port;

[0060] 7-Outer casing, 8-Airspeed tube X-axis motor driver, 9-Airspeed tube Z-axis motor driver, 10-DC power supply, 11-Dispatch center, 12-Motion controller. Detailed Implementation

[0061] To further understand the invention, the following detailed description of the invention will be provided in conjunction with specific embodiments.

[0062] like Figure 1 and Figure 2As shown, a preferred embodiment of the automatic pitot tube detection device for UAVs according to the present invention includes a support frame assembly 1, a lifting mechanism 2, a pitot tube zeroing detection component 3, a pitot tube dynamic pressure generating component 4, and a pitot tube positive and negative limit detection component 5. The lifting mechanism 2 is disposed on the vertical central axis of the support frame assembly 1. The pitot tube zeroing detection component 3 and the pitot tube dynamic pressure generating component 4 are disposed above the support frame assembly 1. The pitot tube positive and negative limit detection component 5 is disposed above and below the support frame assembly 1.

[0063] like Figure 3 As shown, the support frame assembly 1 includes a support frame base plate 101, a support frame top plate 102, an optical axis 103, an optical axis guide sleeve 104, and an optical axis fixing nut 105. An optical axis 103 is vertically arranged between the four apex corners of the support frame base plate 101 and the four apex corners of the support frame top plate 102. The bottom end of the optical axis 103 is slidably connected to the support frame base plate 101 through the optical axis guide sleeve 104, and the top end of the optical axis 103 is fixedly connected to the support frame top plate 102 through the optical axis fixing nut 105.

[0064] In this embodiment, the support frame assembly is used to ensure the rigidity, strength, stability, and detection accuracy of the UAV pitot tube detection device. The base plate of the support frame is fixedly connected to the turntable support frame of the UAV. The base plate of the support frame is used to support components such as the pitot tube Z-axis drive motor, the optical axis guide sleeve, the transmission screw fixing nut I, the pitot tube Z-axis positive limit detection sensor, and the pitot tube Z-axis negative limit detection sensor. The top plate of the support frame is used to support components such as the pitot tube zeroing detection component, the pitot tube dynamic pressure generating component, the pitot tube X-axis positive limit detection sensor, and the pitot tube X-axis negative limit detection sensor.

[0065] like Figure 4 As shown, the lifting mechanism 2 includes a Z-axis airspeed tube drive motor 201, a drive motor mounting base 202, a drive gear 203, a drive driven gear 204, a transmission screw 205, a transmission screw fixing nut I 206, and a transmission screw fixing nut II 207. The Z-axis airspeed tube drive motor 201 is fixed on the drive motor mounting base 202, and the drive motor mounting base 202 is fixedly connected to the support frame base plate 101. The drive gear 203 meshes with the drive driven gear 204, and the drive driven gear 204 is rotatably connected to the transmission screw 205. The bottom end of the transmission screw 205 is rotatably connected to the support frame base plate 101 through the transmission screw fixing nut I 206, and the top end of the transmission screw 205 is fixedly connected to the support frame top plate 102 through the transmission screw fixing nut II 207.

[0066] In this embodiment, the lifting mechanism is fixedly connected to the UAV's turntable support frame via a support frame base plate. Before takeoff, the UAV needs to inspect the pitot tube. Before inspecting the pitot tube, the lifting mechanism needs to lift the support frame assembly, the pitot tube zeroing detection assembly, the pitot tube dynamic pressure generating assembly, and the pitot tube positive and negative limit detection assembly to a predetermined position. Specifically, the pitot tube Z-axis drive motor drives the drive gear and the driven gear to rotate, which in turn drives the transmission screw to rotate, thereby lifting the support frame assembly, the pitot tube zeroing detection assembly, the pitot tube dynamic pressure generating assembly, and the pitot tube positive and negative limit detection assembly to a predetermined position. This predetermined position is pre-set in the program. The lifting and lowering positions of the lifting mechanism are detected by the pitot tube Z-axis negative limit detection sensor and the pitot tube Z-axis positive limit detection sensor, respectively. When all components are lifted to the predetermined position, the pitot tube is located inside the UAV's automatic pitot tube detection device, which is located inside the outer casing. The pitot tube enters the drone's automatic pitot tube detection device through a tiny gap at the top of the outer casing. After entering, the gap is sealed. Because the gap is so small, even if it is not sealed, it will not affect the detection results.

[0067] like Figure 5 and Figure 6 As shown, the airspeed tube zeroing detection assembly 3 includes an airspeed tube X-axis drive motor 301, synchronous pulley I 302, synchronous pulley II 303, synchronous pulley II support block 304, synchronous belt 305, synchronous belt fixing block I 306, synchronous belt fixing block II 307, linear guide rail I 308, linear guide rail II 309, slider I 310, slider II 311, airspeed tube sleeve 312, airspeed tube mating sleeve 313, airspeed tube sleeve fixing bracket I 314, airspeed tube sleeve fixing bracket II 315, airspeed tube sleeve fixing bracket III 316, and airspeed tube sleeve fixing bracket IV 317.

[0068] The airspeed tube X-axis drive motor 301 is rotatably connected to the synchronous pulley I 302, the synchronous pulley II support block 304 is rotatably connected to the synchronous pulley II 303, the synchronous pulley I 302 and the synchronous pulley II 303 are on the same horizontal line, and the synchronous belt 305 is sleeved on the synchronous pulley I 302 and the synchronous pulley II 303.

[0069] The linear guide rail I 308 and the linear guide rail II 309 are respectively disposed on both sides of the synchronous belt 305. The linear guide rail I 308 is slidably connected to the slider I 310, and the linear guide rail II 309 is slidably connected to the slider II 311.

[0070] The two ends of the airspeed tube sleeve fixing bracket I 314 are fixedly connected to the slider I 310 and the slider II 311 respectively. The middle part of the airspeed tube sleeve fixing bracket I 314 is located between the upper and lower synchronous belts 305 and close to the upper synchronous belt 305. The synchronous belt fixing block I 306 and the synchronous belt fixing block II 307 are arranged sequentially above the middle part of the airspeed tube sleeve fixing bracket I 314, and the upper synchronous belt 305 is fixed between the synchronous belt fixing block I 306 and the synchronous belt fixing block II 307. The airspeed tube sleeve fixing bracket I 314 is arranged sequentially above the synchronous belt fixing block II 307. The pneumatic tube sleeve fixing bracket II 315 and the pneumatic tube sleeve fixing bracket III 316 fix one end of the pneumatic tube sleeve 312 between the pneumatic tube sleeve fixing bracket II 315 and the pneumatic tube sleeve fixing bracket III 316, and fix the other end of the pneumatic tube sleeve 312 with the pneumatic tube fitting sleeve 313; the pneumatic tube sleeve 312 and the pneumatic tube fitting sleeve 313 are located above the synchronous belt 305, and the central axes of the pneumatic tube sleeve 312 and the pneumatic tube fitting sleeve 313 are on the same horizontal line.

[0071] In this embodiment, after the control system issues a pitot tube zero-detection command, the pitot tube X-axis drive motor starts to rotate, and synchronous pulleys I and II start to drive the synchronous belt. The synchronous belt carries the pitot tube sleeve, pitot tube mating sleeve and related fixing components to move in the direction of the pitot tube. When the pitot tube sleeve and pitot tube mating sleeve move to the set position, the pitot tube X-axis negative limit detection sensor performs position detection and sends an arrival signal. The pitot tube X-axis drive motor stops rotating. At this time, the pitot tube sleeve and pitot tube mating sleeve tighten the pitot tube, and the air inlet on the pitot tube is sealed. At the same time, the control system sends a pitot tube zero-detection ready signal to the UAV control terminal, and the pitot tube can be zeroed. Once the pitot tube zeroing detection is complete, the UAV control terminal sends a pitot tube zeroing detection completion command and a reverse command to the pitot tube X-axis drive motor. Synchronous pulleys I and II drive the synchronous belt in the reverse direction, carrying the pitot tube sleeve, pitot tube mating sleeve, and related fixed components. When the pitot tube sleeve and pitot tube mating sleeve reach the set position, the pitot tube X-axis positive limit sensor detects the position and sends a positioning signal. The pitot tube X-axis drive motor stops rotating. At this point, the pitot tube sleeve and pitot tube mating sleeve separate from the pitot tube. Simultaneously, the control system sends a pitot tube zeroing detection completion signal to the UAV control terminal, allowing the next action command to proceed.

[0072] When the control system sends a signal to the UAV control terminal that the pitot tube zeroing detection is complete, the pitot tube is placed inside the UAV pitot tube detection device. The UAV pitot tube detection device is located inside the outer casing, which blocks the external airflow, providing a non-flowing air environment for the pitot tube. The UAV control terminal sends a static pressure detection signal to perform a static pressure detection operation on the pitot tube.

[0073] like Figure 6 As shown, the airspeed tube dynamic pressure generating assembly 4 includes an airspeed tube detection axial flow fan 401 and a fan support frame 402; the airspeed tube detection axial flow fan 401 is disposed above the fan support frame 402, and the air outlet of the airspeed tube detection axial flow fan 401 faces the side of the airspeed tube sleeve 312.

[0074] In this embodiment, the axial flow fan for pitot tube testing provides the airflow required for pitot tube dynamic pressure testing, and the fan support frame is used to fix the axial flow fan. When the control system issues a dynamic pressure testing command, the UAV control terminal issues a working command for the pitot tube testing axial flow fan, and the pitot tube testing axial flow fan starts working. When the pitot tube testing axial flow fan rotates, the airflow from the outlet blows towards the air inlet of the pitot tube. The UAV control terminal detects the airflow and determines whether the pitot tube is in normal condition. When the control system issues a dynamic pressure testing completion command, the UAV control terminal issues a stop command for the pitot tube testing axial flow fan, and the pitot tube testing axial flow fan stops working.

[0075] like Figure 3 and Figure 4 As shown, the pitot tube positive and negative limit detection assembly 5 includes a pitot tube X-axis positive limit detection sensor 501, a pitot tube X-axis negative limit detection sensor 502, a pitot tube Z-axis positive limit detection sensor 503, and a pitot tube Z-axis negative limit detection sensor 504. The pitot tube X-axis positive limit detection sensor 501 and the pitot tube X-axis negative limit detection sensor 502 are disposed on the top plate 102 of the support frame and located on one side of the linear guide rail II 309. The pitot tube Z-axis positive limit detection sensor 503 is disposed at a apex corner of the bottom plate 101 of the support frame, and the pitot tube Z-axis negative limit detection sensor 504 is disposed at the center of a long side of the bottom plate 101 of the support frame.

[0076] In this embodiment, the pitot tube positive and negative limit detection components are used to detect the position of the motion mechanism and feed the position information back to the UAV control terminal. The pitot tube X-axis positive limit detection sensor is used to detect the information that the pitot tube sleeve and the pitot tube mating sleeve have returned to their original positions. The pitot tube X-axis negative limit detection sensor is used to detect the position information that the pitot tube sleeve and the pitot tube mating sleeve have moved in the direction of the pitot tube. The pitot tube Z-axis positive limit detection sensor is used to detect the information that the lifting mechanism has driven other components to return to their original positions. The pitot tube Z-axis negative limit sensor is used to detect the position information that the lifting mechanism has driven other components to rise in the direction of the pitot tube.

[0077] like Figure 7 and Figure 8 As shown, this embodiment also provides an automatic detection method for the pitot tube of a UAV, using the aforementioned automatic detection device for the UAV pitot tube, including the following steps:

[0078] S1. The lifting mechanism lifts the support frame assembly, the airspeed tube zero detection assembly, the airspeed tube dynamic pressure generating assembly, and the airspeed tube positive and negative limit detection assembly to the predetermined position. At this time, the airspeed tube is located inside the automatic detection device of the UAV airspeed tube, and the automatic detection device of the UAV airspeed tube is located inside the outer cover.

[0079] S2. When the pitot tube Z-axis negative limit detection sensor detects that the support frame assembly, pitot tube zeroing detection assembly, pitot tube dynamic pressure generating assembly and pitot tube positive and negative limit detection assembly have reached the predetermined position, the control center sends an instruction to the dispatch center to start the pitot tube detection. After receiving the instruction, the dispatch center sends an instruction to the UAV to enter the pitot tube zeroing detection process. After receiving the instruction, the UAV sends a confirmation signal to the dispatch center to confirm the execution of the pitot tube zeroing detection.

[0080] S3. After receiving the signal, the dispatch center sends a zero-point detection command to the motion controller. After receiving the command, the motion controller sends a command to the automatic detection device of the UAV's airspeed tube to move the airspeed tube sleeve. After receiving the command, the automatic detection device of the UAV's airspeed tube moves the airspeed tube sleeve and the airspeed tube mating sleeve to the set position. At this time, the airspeed tube sleeve and the airspeed tube mating sleeve tighten the airspeed tube and seal the air inlet on the airspeed tube.

[0081] S4. When the pitot tube X-axis negative limit detection sensor detects that the pitot tube sleeve and the pitot tube mating sleeve have reached the set position, the UAV pitot tube automatic detection device sends a detection position signal to the motion controller. At the same time, the motion controller sends a position signal to the dispatch center. After receiving the signal, the dispatch center sends a command to the UAV to read the pitot tube zeroing detection data. After receiving the command, the UAV sends the pitot tube zeroing detection data signal to the dispatch center, and the pitot tube zeroing detection ends.

[0082] S5. After the pitot tube zeroing test is completed, the dispatch center sends an instruction to the UAV to enter the pitot tube static pressure test process. After receiving the instruction, the UAV sends a signal to the dispatch center to confirm the execution of the pitot tube static pressure test.

[0083] S6. After receiving the signal, the dispatch center sends a pitot tube static pressure detection command to the motion controller. After receiving the command, the motion controller sends a reverse movement command to the automatic detection device of the UAV pitot tube. After receiving the command, the automatic detection device of the UAV pitot tube moves the pitot tube sleeve and the pitot tube mating sleeve in reverse to the set position. At this time, the pitot tube sleeve and the pitot tube mating sleeve are separated from the pitot tube.

[0084] S7. When the pitot tube X-axis positive limit detection sensor detects that the pitot tube sleeve and the pitot tube mating sleeve have reached the set position, the UAV pitot tube automatic detection device sends a detection status signal to the motion controller. At the same time, the motion controller sends a status signal to the dispatch center. After receiving the signal, the dispatch center sends a command to the UAV to read the pitot tube static pressure detection data. After receiving the command, the UAV sends the pitot tube static pressure detection data signal back to the dispatch center, and the pitot tube static pressure detection ends.

[0085] S8. After the pitot tube static pressure test is completed, the dispatch center sends an instruction to the UAV to enter the pitot tube dynamic pressure test process. After receiving the instruction, the UAV sends a signal to the dispatch center to confirm the execution of the pitot tube dynamic pressure test.

[0086] S9. After receiving the signal, the dispatch center sends a pitot tube dynamic pressure detection command to the motion controller. After receiving the command, the motion controller sends a command to the automatic pitot tube detection device of the UAV to start working on the pitot tube detection axial flow fan. At the same time, the motion controller sends a signal to the dispatch center to start working on the pitot tube detection axial flow fan. After receiving the signal, the dispatch center sends a command to the UAV to read the pitot tube dynamic pressure detection data. After receiving the command, the UAV sends the pitot tube dynamic pressure detection data signal back to the dispatch center, and the pitot tube dynamic pressure detection ends.

[0087] S10. After the pitot tube dynamic pressure test is completed, the dispatch center sends a signal to the control center indicating that the pitot tube test is complete. The lifting mechanism then restores the support frame assembly, pitot tube zeroing detection assembly, pitot tube dynamic pressure generating assembly, and pitot tube positive and negative limit detection assembly to their original positions. At the same time, the dispatch center issues an instruction to execute the next operation.

[0088] The automatic detection device and method for the UAV pitot tube in this embodiment achieve automatic detection of the UAV pitot tube's zero setting, static pressure, and dynamic pressure through the coordinated action of different components and by combining electrical and software control methods. The specific detection actions are as follows: Figure 9As shown, (1) is the zero-point detection action of the pitot tube, (2) is the static pressure detection action of the pitot tube, and (3) is the dynamic pressure detection action of the pitot tube. The specific structure of the pitot tube is as follows: Figure 10 As shown.

[0089] During the pitot tube zeroing detection, the pitot tube X-axis drive motor 301 drives the synchronous belt 305 to move the pitot tube sleeve 312 and the pitot tube mating sleeve 313 to the set position. The pitot tube X-axis negative limit detection sensor 502 detects the position and sends a signal indicating that the position is in place. The pitot tube X-axis drive motor 301 stops rotating, and the pitot tube sleeve 312 and the pitot tube mating sleeve 313 tighten the air inlet 601 of the pitot tube 6, preventing air from entering the pitot tube 6 through the air inlet 601. The UAV control terminal sends a zeroing detection signal to perform a zeroing detection operation on the pitot tube 6.

[0090] During pitot tube static pressure testing, the pitot tube X-axis drive motor 301 rotates in reverse, driving the synchronous belt 305 to reverse transmission. The synchronous belt 305 moves the pitot tube sleeve 312 and the pitot tube mating sleeve 313 in reverse to the set position. The pitot tube X-axis positive limit detection sensor 501 detects the position and sends a positioning signal. The pitot tube X-axis drive motor 301 stops rotating. At this time, the pitot tube 6 is placed inside the UAV pitot tube detection device, which is located inside the outer cover 7. The outer cover 7 blocks the external airflow, and the air inside the outer cover 7 is approximately still. The pitot tube 6 is placed in an environment without flowing air. The UAV control terminal sends a static pressure detection signal to perform static pressure testing on the pitot tube 6.

[0091] During pitot tube dynamic pressure testing, the pitot tube testing axial flow fan 401 starts working after being powered on. The airflow from the outlet enters the pitot tube 6 through the air inlet 601. The UAV control terminal sends a dynamic pressure testing signal to perform dynamic pressure testing on the pitot tube 6.

[0092] The electrical control principle involved in this embodiment is as follows: Figure 11 As shown, the specific description is as follows: After the power is turned on, power is supplied to the airspeed tube X-axis motor driver 8, the airspeed tube Z-axis motor driver 9, and the DC power supply 10. The airspeed tube X-axis motor driver 8 supplies power to the airspeed tube X-axis drive motor 301 through the power cable and the encoder cable. The airspeed tube X-axis drive motor 301 then drives the airspeed tube zero-setting detection component. The airspeed tube Z-axis motor driver 9 supplies power to the airspeed tube Z-axis drive motor 201 through the power cable, the brake cable, and the encoder cable. The airspeed tube Z-axis drive motor 201 then drives the lifting mechanism. The DC power supply 10 supplies power to the dispatch center 11 and the motion controller 12 respectively.

[0093] The RJ45 interface of the dispatch center 11 is interconnected with the Modbus TCP communication interface of the motion controller 12 and transmits signals; the motion controller 12 transmits signals to the airspeed tube Z-axis motor driver 9 through the motion axis bus interface and controls it, and then further transmits signals to the airspeed tube X-axis motor driver 8 and controls it.

[0094] After the airspeed tube X-axis positive limit detection sensor 501, airspeed tube X-axis negative limit detection sensor 502, airspeed tube Z-axis positive limit detection sensor 503 and airspeed tube Z-axis negative limit detection sensor 504 detect the position signal, they transmit the position signal to the digital input module, and then transmit the position signal to the airspeed tube detection axial flow fan 401 through the digital output module.

[0095] The automatic detection device and method for the pitot tube of the UAV in this embodiment have the following beneficial effects: they realize the automatic detection of the pitot tube before the UAV takes off, completely replacing the manual method of pitot tube detection; they greatly improve the detection efficiency and accuracy of the pitot tube; and they realize the transformation of pitot tube detection from qualitative detection to quantitative detection.

[0096] Those skilled in the art will readily understand that the automatic detection device and method for the pitot tube of the unmanned aerial vehicle (UAV) of the present invention include any combination of the inventive content and specific embodiments described in the above specification and the various parts shown in the accompanying drawings. Due to space limitations and for the sake of brevity, not all of these combinations have been described in detail. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic detection device for the pitot tube of an unmanned aerial vehicle (UAV), characterized in that: It includes a support frame assembly, a lifting mechanism, a pitot tube zero-position detection assembly, a pitot tube dynamic pressure generating assembly, and a pitot tube positive and negative limit detection assembly. The lifting mechanism is located on the vertical central axis of the support frame assembly. The pitot tube zero-position detection assembly and the pitot tube dynamic pressure generating assembly are located above the support frame assembly. The pitot tube positive and negative limit detection assembly is located above and below the support frame assembly. The airspeed tube zero-position detection assembly includes an airspeed tube X-axis drive motor, synchronous pulley I, synchronous pulley II, synchronous pulley II support block, synchronous belt, synchronous belt fixing block I, synchronous belt fixing block II, linear guide rail I, linear guide rail II, slider I, slider II, airspeed tube sleeve, airspeed tube mating sleeve, airspeed tube sleeve fixing bracket I, airspeed tube sleeve fixing bracket II, airspeed tube sleeve fixing bracket III, and airspeed tube sleeve fixing bracket IV; The airspeed tube X-axis drive motor is rotatably connected to the synchronous pulley I, the synchronous pulley II support block is rotatably connected to the synchronous pulley II, the synchronous pulley I and the synchronous pulley II are on the same horizontal line, and the synchronous belt is sleeved on the synchronous pulley I and the synchronous pulley II; the linear guide rail I and the linear guide rail II are respectively arranged on both sides of the synchronous belt, the linear guide rail I is slidably connected to the slider I, and the linear guide rail II is slidably connected to the slider II; The two ends of the airspeed tube sleeve fixing bracket I are fixedly connected to the slider I and the slider II, respectively. The middle part of the airspeed tube sleeve fixing bracket I is located between the upper and lower synchronous belts and close to the upper synchronous belt. The synchronous belt fixing block I and the synchronous belt fixing block II are arranged sequentially above the middle part of the airspeed tube sleeve fixing bracket I, and the upper synchronous belt is fixed between the synchronous belt fixing block I and the synchronous belt fixing block II. The airspeed tube sleeve fixing bracket II and the airspeed tube sleeve fixing bracket III are arranged sequentially above the synchronous belt fixing block II. One end of the airspeed tube sleeve is fixed between the airspeed tube sleeve fixing bracket II and the airspeed tube sleeve fixing bracket III. The airspeed tube sleeve fixing bracket IV fixes the other end of the airspeed tube sleeve. The other end of the airspeed tube sleeve is connected to the airspeed tube mating sleeve. The airspeed tube sleeve and the airspeed tube mating sleeve are located above the synchronous belt, and the central axes of the airspeed tube sleeve and the airspeed tube mating sleeve are on the same horizontal line. The airspeed tube dynamic pressure generating assembly includes an airspeed tube detection axial flow fan and a fan support frame; the airspeed tube detection axial flow fan is disposed above the fan support frame, and the air outlet of the airspeed tube detection axial flow fan faces the side of the airspeed tube sleeve. The pitot tube positive and negative limit detection assembly includes a pitot tube X-axis positive limit detection sensor, a pitot tube X-axis negative limit detection sensor, a pitot tube Z-axis positive limit detection sensor, and a pitot tube Z-axis negative limit detection sensor; the pitot tube X-axis positive limit detection sensor and the pitot tube X-axis negative limit detection sensor are disposed on the top plate of the support frame and located on one side of the linear guide rail II; the pitot tube Z-axis positive limit detection sensor is disposed at a top corner of the bottom plate of the support frame, and the pitot tube Z-axis negative limit detection sensor is disposed at the center of a long side of the bottom plate of the support frame.

2. The automatic detection device for the pitot tube of an unmanned aerial vehicle according to claim 1, characterized in that: The support frame assembly includes a support frame base plate, a support frame top plate, an optical axis, an optical axis guide sleeve, and an optical axis fixing nut; an optical axis is vertically arranged between the four apex corners of the support frame base plate and the four apex corners of the support frame top plate, the bottom end of the optical axis is slidably connected to the support frame base plate through the optical axis guide sleeve, and the top end of the optical axis is fixedly connected to the support frame top plate through the optical axis fixing nut.

3. The automatic detection device for the pitot tube of an unmanned aerial vehicle according to claim 2, characterized in that: The lifting mechanism includes an airspeed tube Z-axis drive motor, a drive motor mounting base, a drive gear, a drive driven gear, a transmission screw, a transmission screw fixing nut I, and a transmission screw fixing nut II.

4. The automatic detection device for the pitot tube of an unmanned aerial vehicle according to claim 3, characterized in that: The Z-axis drive motor of the airspeed tube is fixed on the drive motor mounting base, which is fixedly connected to the base plate of the support frame. The drive gear meshes with the driven gear, and the driven gear is rotatably connected to the transmission screw. The bottom end of the transmission screw is rotatably connected to the base plate of the support frame through the transmission screw fixing nut I, and the top end of the transmission screw is fixedly connected to the top plate of the support frame through the transmission screw fixing nut II.

5. An automatic detection method for the pitot tube of an unmanned aerial vehicle (UAV), characterized in that: The automatic detection device for the pitot tube of a UAV according to any one of claims 1-4 includes the following steps: S1. The lifting mechanism lifts the support frame assembly, the airspeed tube zero detection assembly, the airspeed tube dynamic pressure generating assembly, and the airspeed tube positive and negative limit detection assembly to the predetermined position. At this time, the airspeed tube is located inside the automatic detection device of the UAV airspeed tube, and the automatic detection device of the UAV airspeed tube is located inside the outer cover. S2. When the pitot tube Z-axis negative limit detection sensor detects that the support frame assembly, pitot tube zeroing detection assembly, pitot tube dynamic pressure generating assembly and pitot tube positive and negative limit detection assembly have reached the predetermined position, the control center sends an instruction to the dispatch center to start the pitot tube detection. After receiving the instruction, the dispatch center sends an instruction to the UAV to enter the pitot tube zeroing detection process. After receiving the instruction, the UAV sends a confirmation signal to the dispatch center to confirm the execution of the pitot tube zeroing detection. S3. After receiving the signal, the dispatch center sends a zero-point detection command to the motion controller. After receiving the command, the motion controller sends a command to the automatic detection device of the UAV's airspeed tube to move the airspeed tube sleeve. After receiving the command, the automatic detection device of the UAV's airspeed tube moves the airspeed tube sleeve and the airspeed tube mating sleeve to the set position. At this time, the airspeed tube sleeve and the airspeed tube mating sleeve tighten the airspeed tube and seal the air inlet on the airspeed tube. S4. When the pitot tube X-axis negative limit detection sensor detects that the pitot tube sleeve and the pitot tube mating sleeve have reached the set position, the UAV pitot tube automatic detection device sends a detection position signal to the motion controller. At the same time, the motion controller sends a position signal to the dispatch center. After receiving the signal, the dispatch center sends a command to the UAV to read the pitot tube zeroing detection data. After receiving the command, the UAV sends the pitot tube zeroing detection data signal to the dispatch center, and the pitot tube zeroing detection ends. S5. After the pitot tube zeroing test is completed, the dispatch center sends an instruction to the UAV to enter the pitot tube static pressure test process. After receiving the instruction, the UAV sends a signal to the dispatch center to confirm the execution of the pitot tube static pressure test. S6. After receiving the signal, the dispatch center sends a pitot tube static pressure detection command to the motion controller. After receiving the command, the motion controller sends a reverse movement command to the automatic detection device of the UAV pitot tube. After receiving the command, the automatic detection device of the UAV pitot tube moves the pitot tube sleeve and the pitot tube mating sleeve in reverse to the set position. At this time, the pitot tube sleeve and the pitot tube mating sleeve are separated from the pitot tube. S7. When the pitot tube X-axis positive limit detection sensor detects that the pitot tube sleeve and the pitot tube mating sleeve have reached the set position, the UAV pitot tube automatic detection device sends a detection status signal to the motion controller. At the same time, the motion controller sends a status signal to the dispatch center. After receiving the signal, the dispatch center sends a command to the UAV to read the pitot tube static pressure detection data. After receiving the command, the UAV sends the pitot tube static pressure detection data signal back to the dispatch center, and the pitot tube static pressure detection ends. S8. After the pitot tube static pressure test is completed, the dispatch center sends an instruction to the UAV to enter the pitot tube dynamic pressure test process. After receiving the instruction, the UAV sends a signal to the dispatch center to confirm the execution of the pitot tube dynamic pressure test. S9. After receiving the signal, the dispatch center sends a pitot tube dynamic pressure detection command to the motion controller. After receiving the command, the motion controller sends a command to the automatic pitot tube detection device of the UAV to start working on the pitot tube detection axial flow fan. At the same time, the motion controller sends a signal to the dispatch center to start working on the pitot tube detection axial flow fan. After receiving the signal, the dispatch center sends a command to the UAV to read the pitot tube dynamic pressure detection data. After receiving the command, the UAV sends the pitot tube dynamic pressure detection data signal back to the dispatch center, and the pitot tube dynamic pressure detection ends. S10. After the pitot tube dynamic pressure test is completed, the dispatch center sends a signal to the control center indicating that the pitot tube test is complete. The lifting mechanism then restores the support frame assembly, pitot tube zeroing detection assembly, pitot tube dynamic pressure generating assembly, and pitot tube positive and negative limit detection assembly to their original positions. At the same time, the dispatch center issues an instruction to execute the next operation.

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