A multi-rotor unmanned aerial vehicle debugging device and debugging method thereof

Abstract

The present invention discloses a multi-rotor unmanned aerial vehicle debugging device and a debugging method thereof, the device comprising: a fixed bracket; a supporting member, the supporting member comprising a fixed member and a movable member, the fixed member being arranged on the fixed bracket, the movable member being movably connected to the fixed member, so that the movable member can reciprocate in the length direction of the fixed member, and the fixed member remains connected to the movable member when the movable member is unfolded to the maximum length and has a tendency to continue to unfold; a tray, arranged at one end of the fixed member away from the fixed bracket; a connecting member, arranged at one end of the movable member away from the fixed bracket. In the present invention, various flight postures of a multi-rotor unmanned aerial vehicle during normal flight can be simulated, assisting research and development personnel in debugging the dynamic parameters of the multi-rotor unmanned aerial vehicle, and in the process of flight, the multi-rotor unmanned aerial vehicle can be protected to prevent crash damage caused by loss of control of the multi-rotor unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to the field of aviation technology, and further to a multi-rotor unmanned aerial vehicle debugging device and a debugging method thereof. Background Art

[0002] With the development of technology, multi-rotor drones have become common in people's daily lives. Especially in recent years, the development of the multi-rotor drone industry has been highly active. From military to civilian use, from image acquisition, intelligence reconnaissance to ordinary photography and videography, agricultural plant protection, logistics and express delivery, etc., multi-rotor drones are at the forefront of technology and have great development potential and economic value. my country's multi-rotor drone technology is very advanced and the multi-rotor drone industry is very developed. There are a large number of active enterprises and scientific research institutes engaged in research in related fields, a large team of scientific research practitioners to provide a solid technical foundation, and there are many emerging brands with a good reputation worldwide. It occupies a major share of the world's multi-rotor drone market and has been highly praised by users at home and abroad. The realization of multi-rotor drone technology requires various functional debugging of the drone. If the drone is directly tested for outdoor flight, due to various software or hardware problems, the drone will lose control and crash when the pilot does not react very well, and there will be safety hazards of injuring people. Test flights often cause project progress to stagnate due to the damage of the drone, which has a great impact on the company's plans.

[0003] Therefore, it is necessary to design a device that can simulate the various flight postures of a multi-rotor UAV and prevent the UAV from losing control and causing damage to solve the above problems. Summary of the invention

[0004] In view of the above technical problems, the purpose of the present invention is to provide a multi-rotor UAV debugging device and a debugging method thereof, which can simulate various flight postures of the multi-rotor UAV during normal flight, assist R&D personnel in debugging the dynamic parameters of the multi-rotor UAV, and during the flight, can protect the multi-rotor UAV to prevent crash damage caused by loss of control of the multi-rotor UAV.

[0005] In order to achieve the above object, the present invention provides a multi-rotor UAV debugging device, comprising:

[0006] Fixed bracket;

[0007] A supporting member, the supporting member comprising a fixed member and a movable member, the fixed member being arranged on the fixed bracket, the movable member being movably connected to the fixed member so that the movable member can reciprocate in the length direction of the fixed member, and the fixed member remains connected to the movable member when the movable member is unfolded to a maximum length and has a tendency to continue to unfold;

[0008] A tray is arranged at one end of the fixing member away from the fixing bracket, and the movable member extends through the tray in a direction away from the fixing bracket by a preset length, and the tray is used to carry the multi-rotor drone;

[0009] A connecting member is arranged at one end of the movable member away from the fixed bracket, and the connecting member is used to be connected to the multi-rotor drone so that the multi-rotor drone has at least two degrees of freedom relative to the movable member.

[0010] In some embodiments, the fixing member includes a hollow fixing shaft, the fixing shaft is fixed to the fixing bracket, and the movable member is adapted to be inserted inside the fixing shaft;

[0011] Alternatively, the fixing member comprises a fixing shaft, the fixing shaft is fixed on the fixing bracket, and the movable member is adaptively arranged on the outside of the fixing shaft.

[0012] In some embodiments, the fixed shaft is a hollow structure, a first limiting portion is provided on the fixed shaft, the movable part includes an inner shaft and a first limiting portion, the inner shaft is adapted to be inserted into the interior of the fixed shaft, and the first limiting portion is provided on the inner shaft. When the inner shaft is expanded to a maximum length and has a tendency to continue to expand, the first limiting portion limits the first limiting portion so that the fixed shaft remains connected to the inner shaft.

[0013] In some embodiments, a second limiting portion is further provided on the fixed shaft, and a second limiting piece is further provided on the inner shaft. The inner shaft is adapted to be inserted into the interior of the fixed shaft, and one end of the inner shaft close to the connecting piece extends out of the fixed shaft and extends a preset length. When the end of the inner shaft close to the connecting piece shrinks to the minimum length and has a tendency to continue shrinking, the second limiting portion limits the second limiting piece so that the fixed shaft supports the inner shaft.

[0014] In some embodiments, both ends of the inner shaft extend out of the fixed shaft and extend a preset length, the first limit member is fixedly connected to one end of the inner shaft, and the outer diameter of the first limit member is larger than the inner diameter of the fixed shaft, so that the end of the fixed shaft serves as the first limit portion.

[0015] In some embodiments, a pull rope is provided on the inner shaft, and the pull rope is connected to one end of the inner shaft away from the connecting member, and the end of the pull rope away from the inner shaft extends out of the fixed shaft and extends a preset length, and the first limiting member is provided at the end of the pull rope away from the inner shaft, and the outer diameter of the first limiting member is larger than the inner diameter of the fixed shaft, so that the end of the fixed shaft serves as the first limiting portion.

[0016] In some embodiments, the fixed bracket includes a base, a support frame and a fixed block, and the base is fixedly connected to the fixed block through the support frame;

[0017] One end of the fixed shaft is fixedly connected to the base, and the other end of the fixed shaft is fixedly connected to the fixed block and extends in a direction away from the base by a preset length;

[0018] A tray seat is provided at one end of the fixed shaft away from the base, the tray is fixed to a side of the tray seat away from the fixed block, and a groove is provided at one end of the tray seat close to the tray, the groove serving as the second limiting portion;

[0019] The second stopper is fixed on the inner shaft, the outer diameter of the second stopper is smaller than the inner diameter of the groove, the inner shaft is adapted to be inserted inside the fixed shaft, and passes through the tray seat and the tray and extends to a preset length in a direction close to the connecting member;

[0020] When the multi-rotor drone is connected to the connecting member and parked on the tray, the second limiting member is placed in the groove, so that the fixed shaft supports the multi-rotor drone on the inner shaft.

[0021] In some embodiments, the fixed member includes a first sliding sleeve, the movable member includes a second sliding sleeve, two opposite side walls of the first sliding sleeve are respectively provided with sliding grooves along the length direction of the first sliding sleeve, two opposite outer side walls of the second sliding sleeve are respectively provided with sliding rods, the first sliding sleeve is adaptively arranged on the second sliding sleeve, and the sliding rod is adaptively arranged in the sliding groove on the corresponding side, so that the first sliding sleeve is slidably connected with the second sliding sleeve;

[0022] A first limiting portion is provided on the slide groove, and the first limiting portion is used to limit the slide rod when the second slide sleeve is extended to a maximum length and has a tendency to continue to extend, so that the first slide sleeve and the second slide sleeve remain connected;

[0023] A second limiting portion is also provided on the slide groove, and the second limiting portion is used to limit the slide rod when the second slide sleeve is contracted to a minimum length and has a tendency to continue to contract, so that the first slide sleeve supports the second slide sleeve.

[0024] In some embodiments, the connecting member includes a first connecting section and a second connecting section, one end of the first connecting section is fixedly connected to the inner shaft, the other end of the first connecting section is hinged to the second connecting section through a pin, and one end of the second connecting section away from the first connecting section is used for fixed connection to the multi-rotor drone;

[0025] Or, the connecting member includes a first connecting section, a second connecting section and a connector, one end of the first connecting section is fixedly connected to the inner shaft, the other end of the first connecting section is hinged to the second connecting section through a pin, one end of the second connecting section away from the first connecting section is fixedly connected to the connector, and the connector is used to be fixedly connected to the multi-rotor drone;

[0026] Or, the connecting member includes a first connecting section, a second connecting section and a coupler, one end of the first connecting section is fixedly connected to the inner shaft, the other end of the first connecting section is hinged to the second connecting section through a first pin shaft, one end of the second connecting section away from the first connecting section is hinged to the coupler through a second pin shaft, the first pin shaft and the second pin shaft are arranged vertically, and the coupler is used to be fixedly connected to the multi-rotor drone;

[0027] Alternatively, the connecting member includes a universal joint and a connector, one end of the universal joint is fixedly connected to the inner shaft, and the other end of the universal joint is fixedly connected to the connector, and the connector is used to be fixedly connected to the multi-rotor drone.

[0028] According to another aspect of the present invention, the present invention further provides a multi-rotor UAV omnidirectional debugging method, using any one of the multi-rotor UAV debugging devices described above to debug the multi-rotor UAV, which comprises the steps of:

[0029] Install a multi-rotor drone debugging device to keep the pallet level;

[0030] Connecting the multi-rotor drone to the end of the connecting member away from the movable member, and parking the multi-rotor drone on the tray and keeping it level;

[0031] Powering on the multi-rotor UAV so that the multi-rotor UAV communicates with a ground station, and the ground station monitors various states of the multi-rotor UAV and performs self-check to ensure that the states are normal;

[0032] The drone pilot follows the technician's instructions to unlock and take off the multi-rotor drone, and controls the multi-rotor drone to hover, ascend, descend, move forward, backward, left, and right as required by the technician;

[0033] The technician debugs relevant parameters during the flight of the multi-rotor UAV, and after completion, separates the multi-rotor UAV from the connecting piece to complete the debugging.

[0034] Compared with the prior art, the multi-rotor UAV debugging device and debugging method provided by the present invention have the following beneficial effects:

[0035] 1. The multi-rotor UAV debugging device provided by the present invention can simulate various flight postures of the multi-rotor UAV during normal flight in the debugging of the flight stability design software parameters of the multi-rotor UAV with the cooperation of the device, and assist the R&D personnel in debugging the dynamic parameters of the multi-rotor UAV. In addition, the multi-rotor UAV can be protected during flight to prevent crash damage caused by loss of control of the multi-rotor UAV. The device has a simple structure, no electronic control system, low processing and manufacturing cost, high reliability, and low maintenance cost. It is suitable for use in various indoor and outdoor environments, and can protect the flight debugging of the multi-rotor UAV and reduce accident costs and safety risks.

[0036] 2. The multi-rotor UAV debugging device provided by the present invention tests the omnidirectional performance of the multi-rotor UAV, completely simulates the flight action or posture of the multi-rotor UAV, and realizes the up and down movement, tilt movement and rotation movement of the multi-rotor UAV by the cooperation of the fixed shaft, the inner shaft and the connecting piece; the up and down movement is limited by the first limiter to the rising height, and the tray limits the maximum tilt angle of the multi-rotor UAV to protect the multi-rotor UAV from falling out of control. The multi-rotor UAV's own weight is forcibly corrected to the level by the tray, so as to achieve the purpose of protecting the UAV;

[0037] 3. The multi-rotor UAV debugging device provided by the present invention, during the debugging process of the multi-rotor UAV, the multi-rotor UAV needs to drive the moving parts to rise when it flies, that is, the take-off weight of the multi-rotor UAV needs to add the weight of the moving parts in addition to its own weight, which causes a deviation between the test data and the actual data; by setting the moving parts as interconnected inner shafts and pull ropes, since the weight of the pull ropes can be almost ignored, the weight of the moving parts can be greatly reduced, the deviation between the test data and the actual data can be reduced, and the accuracy of the detection data can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The preferred implementation modes will be described below in a clear and understandable manner with reference to the accompanying drawings to further illustrate the above-mentioned characteristics, technical features, advantages and implementation methods of the present invention.

[0039] Figure 1 It is a structural schematic diagram of a multi-rotor UAV debugging device according to a preferred embodiment of the present invention;

[0040] Figure 2 It is a partial structural schematic diagram of a supporting member of a preferred embodiment of the present invention;

[0041] Figure 3 Schematic diagram of the installation structure of the tray of the preferred embodiment of the present invention;

[0042] Figure 4 It is a partial structural cross-sectional view of a multi-rotor UAV debugging device according to a preferred embodiment of the present invention;

[0043] Figure 5 It is a schematic diagram of the partial structure of the inner shaft in the preferred embodiment of the present invention.

[0044] Description of Figure Numbers:

[0045] Fixed bracket 1, base 11, support frame 12, fixed block 13, support member 2, fixed shaft 21, inner shaft 22, connecting ring 221, first limit piece 23, pull rope 24, tray seat 25, groove 251, fastening hole 252, second limit piece 26, tray 3, connecting member 4, first connecting section 41, second connecting section 42. DETAILED DESCRIPTION

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0047] In order to simplify the drawings, only the parts related to the invention are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically drawn or marked. In this article, "one" not only means "only one", but also means "more than one".

[0048] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0049] In this document, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0051] In one embodiment, the reference specification Figure 1A multi-rotor UAV debugging device provided by the present invention comprises: a fixed bracket 1, a supporting member 2, a tray 3 and a connecting member 4. The fixed bracket 1 is used for fixed support. The supporting member 2 comprises a fixed part and a movable part, the fixed part is arranged on the fixed bracket 1, and the movable part is movably connected with the fixed part, so that the movable part can reciprocate in the length direction of the fixed part, and the fixed part is connected with the movable part when the movable part is unfolded to the maximum length and has a tendency to continue to unfold. The tray 3 is arranged at one end of the fixed part away from the fixed bracket 1, and the movable part extends a preset length through the tray 3 in the direction away from the fixed bracket 1, and the tray 3 is used to carry the multi-rotor UAV. The connecting member 4 is arranged at one end of the movable part away from the fixed bracket 1, and the connecting member 4 is used to connect with the multi-rotor UAV, so that the multi-rotor UAV has at least two degrees of freedom relative to the movable part. In the debugging of the flight stability design software parameters of the multi-rotor UAV, the multi-rotor UAV is connected to the connector 4. With the cooperation of this device, various flight postures of the multi-rotor UAV during normal flight can be simulated, and the R&D personnel are assisted in debugging the dynamic parameters of the multi-rotor UAV. In addition, during the flight, the multi-rotor UAV can be protected to prevent crash damage caused by loss of control of the multi-rotor UAV. The device has a simple structure, no electronic control system, low processing and manufacturing cost, high reliability, and low maintenance cost. It is suitable for use in various indoor and outdoor environments, which can protect the flight debugging of the multi-rotor UAV and reduce accident costs and safety risks.

[0052] In one embodiment, the reference specification Figure 1 The fixed bracket 1 includes a base 11, a support frame 12 and a fixed block 13. The base 11 is a hollow structure, and the upper end surface of the base 11 is set at a preset height from the bottom of the base 11. The base 11 can be welded by a square tube or an angle iron. The four corners of the bottom of the base 11 need to extend outward by a certain length, which can effectively increase the stability of the base 11. The support frame 12 includes a plurality of support rods arranged at intervals, the lower ends of the plurality of support rods are respectively fixedly connected to the base 11, and the upper ends of the plurality of support rods are respectively fixedly connected to the fixed block 13. The lower end of the fixing part is fixedly connected to the base 11, and the upper end of the fixing part is fixedly connected to the fixed block 13, and the fixed installation of the fixing part is realized by the fixed bracket 1.

[0053] It should be noted that the fixing bracket 1 is mainly used to fix the supporting member 2, and any device or structure that can achieve the above function is acceptable. Figure 1 It is explained that in actual use, as the structure of the fixing part and the placement environment change, the specific structure of the fixing bracket 1 will also change accordingly. This is only for better explanation of the present invention and should not constitute a limitation to the present invention.

[0054] In one embodiment, the reference specification Figures 1 to 5The fixing member includes a hollow fixing shaft 21, the lower end of which is fixedly connected to the base 11, the upper end of which is fixedly connected to the fixing block 13, and the upper end of which extends a certain height above the fixing block 13, and a first limiting part is also provided on the fixing shaft 21. The movable member includes an inner shaft 22 and a first limiting part 23, the inner shaft 22 is adapted to be inserted inside the fixing shaft 21, and the first limiting part 23 is provided on the inner shaft 22. When the inner shaft 22 is unfolded to the maximum length and has a tendency to continue to unfold, the first limiting part limits the first limiting part 23 so that the fixing shaft 21 and the inner shaft 22 remain connected.

[0055] A second limiting portion is also provided on the fixed shaft 21, and a second limiting piece 26 is also provided on the inner shaft 22. The inner shaft 22 is adapted to be inserted into the interior of the fixed shaft 21, and one end of the inner shaft 22 close to the connecting piece 4 extends out of the fixed shaft 21 and extends a preset length. When the end of the inner shaft 22 close to the connecting piece 4 shrinks to the minimum length and has a tendency to continue shrinking, the second limiting portion limits the second limiting piece 26 so that the fixed shaft 21 supports the inner shaft 22.

[0056] In one embodiment, the reference specification Figures 1 to 4 On the basis of the above embodiment, the fixed shaft 21 is a hollow hard sleeve, the inner shaft 22 is a hard tube, and the outer diameter of the inner shaft 22 is smaller than the inner diameter of the fixed shaft 21. The inner shaft 22 is inserted into the fixed shaft 21, and the two ends of the inner shaft 22 extend out of the fixed shaft 21 and extend a preset length. The first limiter 23 is fixedly connected to the lower end of the inner shaft 22, the first limiter 23 is located outside the fixed shaft 21, and the outer diameter of the first limiter 23 is greater than the inner diameter of the fixed shaft 21, so that the lower end of the fixed shaft 21 serves as the first limiter. The second limiter 26 is fixedly connected to the upper end of the inner shaft 22, the second limiter 26 is located outside the fixed shaft 21, and the outer diameter of the second limiter 26 is greater than the inner diameter of the fixed shaft 21, so that the upper end of the fixed shaft 21 serves as the second limiter. The cooperation between the fixed shaft 21 and the inner shaft 22 enables the up and down movement and the rotational movement of the multi-rotor drone. The up and down movement is limited by the first limiter 23 to the rising height, while the rotational movement is unlimited.

[0057] In one embodiment, the reference specification Figures 1 to 5On the basis of the above embodiment, the fixed shaft 21 is a hollow hard sleeve, the inner shaft 22 is a hard tube, and the outer diameter of the inner shaft 22 is smaller than the inner diameter of the fixed shaft 21. A connecting ring 221 is provided at the lower end of the inner shaft 22, and the upper end of the pull rope 24 is fixedly connected to the connecting ring 221. The lower end of the pull rope 24 extends a certain length from the lower end of the fixed shaft 21 and is fixedly connected to the first limiter 23. The outer diameter of the first limiter 23 is larger than the inner diameter of the fixed shaft 21, so that the lower end of the fixed shaft 21 serves as the first limiter. The upper end of the inner shaft 22 extends a certain length from the upper end of the fixed shaft 21 and is fixedly connected to the second limiter 26. The outer diameter of the second limiter 26 is larger than the inner diameter of the fixed shaft 21, so that the upper end of the fixed shaft 21 serves as the second limiter. The up and down movement and rotational movement of the multi-rotor drone are realized by the cooperation of the fixed shaft 21, the inner shaft 22 and the pull rope 24. The up and down movement is limited by the first limiter 23 to the rising height, and the rotational movement is not limited. Under the condition that the inner shaft 22 has sufficient supporting strength, the inner shaft 22 can be set as a hollow structure to reduce the weight. The length of the inner shaft 22 can be set as short as possible while meeting the test flight height of the multi-rotor drone, so as to further reduce the weight of the inner shaft 22. The pull rope 24 can be a wire rope, a nylon rope, etc. During the debugging process of the multi-rotor drone, the multi-rotor drone needs to drive the moving parts to rise when it flies, that is, the take-off weight of the multi-rotor drone needs to be added with the weight of the moving parts in addition to its own weight, resulting in deviations between the test data and the real data; by setting the moving parts as the inner shaft 22 and the pull rope 24 connected to each other, since the weight of the pull rope 24 is almost negligible relative to the weight of the inner shaft 22, the weight of the moving parts can be greatly reduced, the deviation between the test data and the real data can be reduced, and the accuracy of the detection data can be improved.

[0058] In some scenarios, the multi-rotor drone in actual application will carry objects of a certain weight. A counterweight block can be set at the bottom of the pull rope 24 to make the total weight of the inner shaft 22, the pull rope 24, the first limit member 23, the second limit member 26 and the counterweight block equal to the weight of the object that the multi-rotor drone will carry, so as to ensure the authenticity of the flight test.

[0059] In one embodiment, the reference specification Figures 1 to 5On the basis of the above embodiment, the fixed shaft 21 is a hollow hard sleeve, the inner shaft 22 is a hard tube, and the outer diameter of the inner shaft 22 is smaller than the inner diameter of the fixed shaft 21. A connecting ring 221 is provided at the lower end of the inner shaft 22, and the upper end of the pull rope 24 is fixedly connected to the connecting ring 221. The lower end of the pull rope 24 extends a certain length from the lower end of the fixed shaft 21 and is fixedly connected to the first stopper 23. The outer diameter of the first stopper 23 is larger than the inner diameter of the fixed shaft 21, so that the lower end of the fixed shaft 21 serves as the first stopper. The fixed shaft 21 is connected to a tray seat 25, and a groove 251 is provided at the upper end of the tray seat 25. A fastening hole 252 is provided on the side of the tray seat 25, and a bolt passes through the fastening hole 252 and is fixedly connected to the fixed shaft 21. The tray 3 is fixed on the tray seat 25. The tray 3 is used to carry the multi-rotor drone. A soft layer can be provided on the tray 3 to further prevent the multi-rotor drone from being damaged due to loss of control. The upper end of the inner shaft 22 extends through the tray seat 25 to a certain length and is fixedly connected to the second stopper 26. The outer diameter of the second stopper 26 is larger than the aperture of the tray seat 25, and the outer diameter of the second stopper 26 is smaller than the inner diameter of the groove 251, so that the groove 251 serves as the second stopper 26. When the multi-rotor drone is connected to the connector 4 and parked on the tray 3, the second stopper 26 is placed in the groove 251, so that the fixed shaft 21 supports the multi-rotor drone above the inner shaft 22.

[0060] In one embodiment, the fixed shaft 21 is set as a hard tube, and the movable part is set as a hollow hard sleeve, the outer diameter of the fixed shaft 21 is smaller than the inner diameter of the movable part, and the fixed shaft 21 is inserted into the movable part. This structure can support the multi-rotor drone while limiting the rising height of the multi-rotor drone, and does not limit the rotational movement of the multi-rotor drone.

[0061] It should be pointed out that the specific connection structure of the fixed part and the movable part is to support the multi-rotor drone while limiting the rising height of the multi-rotor drone, and does not limit the rotational movement of the multi-rotor drone. Any device or structure that can achieve the above functions is acceptable. The specific structures of the fixed part and the movable part are described in accordance with the drawings in the specification. In actual use, the specific structures of the fixed part and the movable part may also change. This is only for better explanation of the present invention and should not constitute a limitation on the present invention.

[0062] In one embodiment, the fixed part includes a first sliding sleeve, the movable part includes a second sliding sleeve, and the two opposite side walls of the first sliding sleeve are respectively provided with sliding grooves along the length direction of the first sliding sleeve, and the two opposite outer side walls of the second sliding sleeve are respectively provided with sliding rods, the first sliding sleeve is adapted to be arranged on the second sliding sleeve, and the sliding rod is adapted to be arranged in the sliding groove on the corresponding side, so that the first sliding sleeve is slidably connected with the second sliding sleeve. A first limiting portion is arranged on the sliding groove, and the first limiting portion is used to limit the sliding rod when the second sliding sleeve is unfolded to the maximum length and has a tendency to continue to unfold, so that the first sliding sleeve and the second sliding sleeve remain connected. A second limiting portion is also arranged on the sliding groove, and the second limiting portion is used to limit the sliding rod when the second sliding sleeve is contracted to the minimum length and has a tendency to continue to contract, so that the first sliding sleeve supports the second sliding sleeve.

[0063] In one embodiment, the reference specification Figure 3 The connecting member 4 includes a first connecting section 41 and a second connecting section 42. The lower end of the first connecting section 41 is fixedly connected to the upper end of the inner shaft 22. The upper end of the first connecting section 41 is hinged to the lower end of the second connecting section 42 through a pin shaft. The upper end of the second connecting section 42 is used to be fixedly connected to the multi-rotor drone.

[0064] In one embodiment, the reference specification Figure 3 The connecting member 4 includes a first connecting section 41, a second connecting section 42 and a connector. The lower end of the first connecting section 41 is fixedly connected to the upper end of the inner shaft 22. The upper end of the first connecting section 41 is hinged to the lower end of the second connecting section 42 through a pin. The upper end of the second connecting section 42 is fixedly connected to the connector. The connector is used to be fixedly connected to the multi-rotor drone.

[0065] In one embodiment, the reference specification Figure 3 The connecting member 4 includes a first connecting section 41, a second connecting section 42 and a connector. The lower end of the first connecting section 41 is fixedly connected to the upper end of the inner shaft 22. The upper end of the first connecting section 41 is hinged to the lower end of the second connecting section 42 through a first pin shaft. The upper end of the second connecting section 42 is hinged to the connector through a second pin shaft. The first pin shaft and the second pin shaft are vertically arranged. The connector is used to be fixedly connected to the multi-rotor drone.

[0066] In one embodiment, the connecting member 4 includes a universal joint and a connector, the lower end of the universal joint is fixedly connected to the inner shaft 22, and the upper end of the universal joint is fixedly connected to the connector, and the connector is used to be fixedly connected to the multi-rotor drone.

[0067] In practical applications, multi-rotor UAV flight tests are generally conducted through outdoor actual flights. Each actual flight debugging is very risky. Often, due to software parameter setting problems or structural problems, the drone may lose control and crash when the pilot does not react properly, which may even cause safety hazards such as injury. Test flights often cause project progress to stagnate due to damage to the drone, which has a great impact on the company's plans. After fully analyzing the flight movements or postures of multi-rotor UAVs, the inventor found that the offset of the horizontal relative position is the main cause of loss of control and damage. The actual displacement should be limited. By simulating the freedom of the multi-rotor UAV to move up and down, rotate, and tilt in four directions (front and back, left and right, and with angle restrictions), the freedom of horizontal four-way movement can be limited. The omnidirectional performance of the multi-rotor drone is tested, and the flight action or posture of the multi-rotor drone is fully simulated. The up and down movement, tilt movement and rotation movement of the multi-rotor drone are realized by the cooperation of the fixed axis, the inner axis and the connecting parts; the up and down movement is limited by the first limiter to limit the rising height, and the tray limits the maximum tilt angle of the multi-rotor drone to protect the multi-rotor drone from falling out of control. The multi-rotor drone’s own weight is forcibly corrected to the level by the tray, so as to achieve the purpose of protecting the drone. This device simulates the flight action or posture of the drone through the structural freedom degree, and protects the drone from being damaged due to various reasons in various flight situations by limiting the freedom degree accordingly.

[0068] According to another aspect of the present invention, Figures 1 to 5 The present invention further provides a multi-rotor UAV omnidirectional debugging method, which uses any of the multi-rotor UAV debugging devices described above to debug the multi-rotor UAV, and comprises the following steps:

[0069] Install the multi-rotor drone debugging device to keep the tray 3 level;

[0070] The multi-rotor drone is fixedly connected to the upper end of the connector 4, and the multi-rotor drone is parked on the tray 3 and kept horizontal;

[0071] Power on the multi-rotor drone, so that it can communicate with the ground station. The ground station monitors the various states of the multi-rotor drone and performs self-check to ensure that it is normal.

[0072] The drone pilot follows the technician's instructions to unlock and take off the multi-rotor drone, and controls the multi-rotor drone to hover, ascend, descend, move forward, backward, left, and right as required by the technician;

[0073] During the flight of the multi-rotor UAV, the technician debugs the relevant parameters. After completion, the multi-rotor UAV is separated from the connector 4 to complete the debugging.

[0074] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0075] It should be noted that the above embodiments can be freely combined as needed. The above are only preferred embodiments of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A multi-rotor UAV omnidirectional debugging method, characterized in that: A multi-rotor UAV debugging device is used to debug a multi-rotor UAV, wherein the multi-rotor UAV debugging device comprises: Fixed bracket; A supporting member, the supporting member comprising a fixed member and a movable member, the fixed member being arranged on the fixed bracket, the movable member being movably connected to the fixed member so that the movable member can reciprocate in the length direction of the fixed member, and the fixed member remains connected to the movable member when the movable member is unfolded to a maximum length and has a tendency to continue to unfold; A tray is arranged at one end of the fixing member away from the fixing bracket, and the movable member extends through the tray in a direction away from the fixing bracket by a preset length, and the tray is used to carry the multi-rotor drone; A connecting member, disposed at one end of the movable member away from the fixed bracket, the connecting member being used to connect to the multi-rotor drone so that the multi-rotor drone has at least two degrees of freedom relative to the movable member; It includes the steps of: Install a multi-rotor drone debugging device to keep the pallet level; Connecting the multi-rotor drone to the end of the connecting member away from the movable member, and parking the multi-rotor drone on the tray and keeping it level; Powering on the multi-rotor UAV so that the multi-rotor UAV communicates with a ground station, and the ground station monitors various states of the multi-rotor UAV and performs self-check to ensure that the states are normal; The drone pilot follows the technician's instructions to unlock and take off the multi-rotor drone, and controls the multi-rotor drone to hover, ascend, descend, move forward, backward, left, and right as required by the technician; The technician debugs relevant parameters during the flight of the multi-rotor UAV, and after completion, separates the multi-rotor UAV from the connecting piece to complete the debugging.

2. The multi-rotor UAV omnidirectional debugging method according to claim 1, characterized in that: The fixing member comprises a hollow fixing shaft, the fixing shaft is fixed on the fixing bracket, and the movable member is adapted to be inserted inside the fixing shaft; Alternatively, the fixing member comprises a fixing shaft, the fixing shaft is fixed on the fixing bracket, and the movable member is adaptively arranged on the outside of the fixing shaft.

3. The multi-rotor UAV omnidirectional debugging method according to claim 2, characterized in that: The fixed shaft is a hollow structure, and a first limiting part is provided on the fixed shaft. The movable part includes an inner shaft and a first limiting part. The inner shaft is adapted to be inserted into the interior of the fixed shaft, and the first limiting part is provided on the inner shaft. When the inner shaft is expanded to a maximum length and has a tendency to continue to expand, the first limiting part limits the first limiting part so that the fixed shaft remains connected to the inner shaft.

4. The multi-rotor UAV omnidirectional debugging method according to claim 3, characterized in that: The fixed shaft is also provided with a second limiting portion, and the inner shaft is also provided with a second limiting piece. The inner shaft is adapted to be inserted into the interior of the fixed shaft, and one end of the inner shaft close to the connecting piece extends out of the fixed shaft and extends a preset length. When the end of the inner shaft close to the connecting piece shrinks to the minimum length and has a tendency to continue shrinking, the second limiting portion limits the second limiting piece so that the fixed shaft supports the inner shaft.

5. The multi-rotor UAV omnidirectional debugging method according to claim 4, characterized in that: Both ends of the inner shaft extend out of the fixed shaft and extend a preset length respectively. The first limiter is fixedly connected to one end of the inner shaft, and the outer diameter of the first limiter is larger than the inner diameter of the fixed shaft, so that the end of the fixed shaft serves as the first limiter.

6. The multi-rotor UAV omnidirectional debugging method according to claim 4, characterized in that: A pull rope is provided on the inner shaft, and the pull rope is connected to one end of the inner shaft away from the connecting piece. The end of the pull rope away from the inner shaft extends out of the fixed shaft and extends a preset length. The first limiting member is provided at the end of the pull rope away from the inner shaft. The outer diameter of the first limiting member is larger than the inner diameter of the fixed shaft, so that the end of the fixed shaft serves as the first limiting portion.

7. The multi-rotor UAV omnidirectional debugging method according to claim 5 or 6, characterized in that: The fixed bracket comprises a base, a support frame and a fixed block, and the base is fixedly connected to the fixed block through the support frame; One end of the fixed shaft is fixedly connected to the base, and the other end of the fixed shaft is fixedly connected to the fixed block and extends in a direction away from the base by a preset length; A tray seat is provided at one end of the fixed shaft away from the base, the tray is fixed to a side of the tray seat away from the fixed block, and a groove is provided at one end of the tray seat close to the tray, the groove serving as the second limiting portion; The second stopper is fixed on the inner shaft, the outer diameter of the second stopper is smaller than the inner diameter of the groove, the inner shaft is adapted to be inserted inside the fixed shaft, and passes through the tray seat and the tray and extends to a preset length in a direction close to the connecting member; When the multi-rotor UAV is connected to the connecting member and parked on the tray, the second limiting member is placed in the groove, so that the fixed shaft supports the multi-rotor UAV on the inner shaft.

8. The multi-rotor UAV omnidirectional debugging method according to claim 1, characterized in that: The fixed member includes a first sliding sleeve, and the movable member includes a second sliding sleeve. The first sliding sleeve has two opposite side walls respectively provided with sliding grooves along the length direction of the first sliding sleeve, and the second sliding sleeve has two opposite outer side walls respectively provided with sliding rods. The first sliding sleeve is adaptively arranged on the second sliding sleeve, and the sliding rod is adaptively arranged in the sliding groove on the corresponding side, so that the first sliding sleeve is slidably connected with the second sliding sleeve. A first limiting portion is provided on the slide groove, and the first limiting portion is used to limit the slide rod when the second slide sleeve is extended to a maximum length and has a tendency to continue to extend, so that the first slide sleeve and the second slide sleeve remain connected; A second limiting portion is also provided on the slide groove, and the second limiting portion is used to limit the slide rod when the second slide sleeve is contracted to a minimum length and has a tendency to continue to contract, so that the first slide sleeve supports the second slide sleeve.

9. The multi-rotor UAV omnidirectional debugging method according to claim 1, characterized in that: The connecting member includes a first connecting section and a second connecting section, the movable member includes an inner shaft, one end of the first connecting section is fixedly connected to the inner shaft of the movable member, the other end of the first connecting section is hinged to the second connecting section through a pin, and one end of the second connecting section away from the first connecting section is used for fixed connection with the multi-rotor drone; Or, the connecting member includes a first connecting section, a second connecting section and a connector, the movable member includes an inner shaft, one end of the first connecting section is fixedly connected to the inner shaft of the movable member, the other end of the first connecting section is hinged to the second connecting section through a pin, one end of the second connecting section away from the first connecting section is fixedly connected to the connector, and the connector is used to be fixedly connected to the multi-rotor drone; Or, the connecting member includes a first connecting section, a second connecting section and a connector, the movable member includes an inner shaft, one end of the first connecting section is fixedly connected to the inner shaft of the movable member, the other end of the first connecting section is hinged to the second connecting section through a first pin shaft, one end of the second connecting section away from the first connecting section is hinged to the connector through a second pin shaft, the first pin shaft and the second pin shaft are vertically arranged, and the connector is used to be fixedly connected to the multi-rotor drone; Alternatively, the connecting part includes a universal joint and a connector, the movable part includes an inner shaft, one end of the universal joint is fixedly connected to the inner shaft of the movable part, and the other end of the universal joint is fixedly connected to the connector, and the connector is used to be fixedly connected to the multi-rotor drone.

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