An experimental system for indoor simulated drone mapping

Abstract

The invention relates to the technical field of indoor simulation of unmanned aerial vehicles. The invention discloses an experimental system for indoor simulation of unmanned aerial vehicle mapping, comprising an obstacle-free motion carrier surface fixed on an indoor ceiling and a universal motion module moving below the obstacle-free motion carrier surface, wherein a top suction connection module is fixedly connected to the top of the universal motion module, the top suction connection module is magnetically connected to the magnetic suction plane, and the universal motion module contacts the magnetic suction plane; a magnetic suction structure is adopted to form suction between the top suction connection module and the obstacle-free motion carrier surface, and friction is generated by pressure between a motion wheel and the obstacle-free motion carrier surface on the basis of overcoming gravity, thereby realizing high-degree-of-freedom motion through the universal motion module, and the cooperation between a supporting keel and the magnetic suction plane makes the magnetic suction plane flat, and no height change occurs when the universal motion module moves, so that the height parameter of the unmanned aerial vehicle does not need to be corrected, thereby improving the accuracy of the experimental result.

Description

Technical Field

[0001] The invention relates to the technical field of indoor simulation of unmanned aerial vehicles, and in particular to an experimental system for indoor simulation of unmanned aerial vehicle mapping. Background Art

[0002] UAV simulation mapping mainly uses the flight movement of the UAV to drive the gimbal camera above the collection point to obtain images. During the simulation experiment, the UAV is located above, and the obstacle below is prepared in advance. Since it is an indoor experiment, the top of the room is a closed structure, so the flight control of the UAV is difficult, so a special device that can replace the movement of the UAV is required;

[0003] As the UAV has a high degree of freedom of movement, in order to meet the high degree of freedom of UAV movement, the most commonly used cableway is currently, which is divided into single cableway, double cableway and four-traction cableway. The single cableway is often a single rope, which moves horizontally on the cableway through the driver to drive the UAV to move in one direction. This method results in a single flight direction for the UAV, which does not meet the high degree of freedom of flight of the aircraft. At the same time, when the UAV moves to the central position, it is affected by gravity and the cableway will bend downward. At this time, the height of the UAV needs to be corrected;

[0004] The double cableway also needs to be corrected, but unlike the single cableway, the single cableway can move in a direction perpendicular to the cableway, thereby realizing movement in the X and Y directions. When the cableway is controlled to tilt, the driver drives the aircraft to move in the X direction while also moving in the Y direction.

[0005] The four-traction cableway is fixed to the four directions of the UAV by four ropes. Through the coordinated cooperation of the four traction ropes, high-degree-of-freedom movement is achieved by reeling in and releasing the ropes. However, the system is too expensive and is mainly used for large-area image acquisition. At the same time, it still needs to correct the height of the aircraft and the deformation of the cableway. It does not meet the use requirements in experiments.

[0006] Single and double ropeways require secondary correction, which is troublesome and is equivalent to adding other influencing factors when used in experiments. Summary of the invention

[0007] The purpose of the present invention is to provide an experimental system for indoor simulated drone mapping to solve the problems raised in the above background technology.

[0008] To achieve the above object, the present invention provides the following technical solutions:

[0009] An experimental system for indoor simulated drone mapping, comprising an obstacle-free motion carrier surface fixed on the indoor ceiling and a universal motion module moving below the obstacle-free motion carrier surface;

[0010] The barrier-free sports support surface includes a magnetic plane and a support keel fixedly connected to the top of the magnetic plane and the indoor ceiling to ensure the flatness of the magnetic plane;

[0011] A top suction connection module is fixedly connected to the top of the universal motion module, the top suction connection module is magnetically connected to the magnetic plane, the top suction connection module is not in contact with the magnetic plane, the universal motion module is in contact with the magnetic plane, and the suction force of the top suction connection module and the magnetic plane after overcoming gravity is the contact pressure between the universal motion module and the magnetic plane;

[0012] A UAV motion inclination module is installed at the bottom of the universal motion module, and the bottom of the UAV motion inclination module is fixedly connected to a UAV carrier module through four traction ropes. The UAV motion inclination module adjusts the inclination position of the UAV carrier module according to the movement direction of the top suction connection module, and an image acquisition module is installed at the bottom of the UAV carrier module.

[0013] As a further solution of the present invention: two parallel anti-falling single guide rods are fixedly connected to the bottom surface of the magnetic plane, two anti-falling ropes are slidably connected between the two anti-falling single guide rods, and both ends of the anti-falling ropes are slidably connected to the anti-falling single guide rods through C-shaped rings.

[0014] As a further solution of the present invention: the outside of the UAV motion inclination module is fixedly connected with a steering connection anti-interference ring, the circumferential side of the steering connection anti-interference ring is rotatably connected with a rotating ring, the rotating ring is fixedly connected with two cable rings, and the cable rings are sleeved on the outside of the anti-fall rope.

[0015] As a further solution of the present invention: the universal motion module includes a motion wheel, a driving motor, and a direction-changing motor. The motion wheel is fixedly connected to the output end of the driving motor, and the driving motor provides forward power to the motion wheel. The direction-changing motor is used to adjust the motion direction of the motion wheel.

[0016] As a further solution of the present invention: four winding motors for winding up the traction rope are installed inside the UAV motion inclination module, and the other end of the traction rope is fixedly connected to the four ends of the UAV carrier module.

[0017] As a further solution of the present invention: a motion direction reading module for reading the motion angle of the changing motor is installed in the universal motion module, and the motion direction reading module transmits data to a processor. After the processor processes the data of the motion direction reading module, the controller controls the UAV motion inclination module to adjust the motion inclination direction of the UAV carrier module.

[0018] As a further solution of the present invention: the drone carrier module also includes a rapid motion angle adjustment control cylinder, a fixed top rod, an arc-shaped outer sleeve, and a bottom connecting rod. The fixed top rod is fixedly connected to the bottom of the drone motion inclination module, and the bottom connecting rod is magnetically adsorbed on the top of the drone carrier module through a magnetic connection plate. The bottom of the fixed top rod is fixedly connected to a hemispherical outer shell, and the top of the bottom connecting rod is fixedly connected to a ball connector. The ball connector is rotatably connected to the hemispherical outer shell, and the bottom of the hemispherical outer shell is fixedly connected to a plurality of annularly distributed traction elastic ropes, and the ends of the traction elastic ropes are fixedly connected to the hemispherical outer shell. The parts are respectively fixedly connected to the top surface of the ball connector, and the traction force of the traction elastic rope is used to keep the bottom connecting rod vertical with the fixed top rod in a static state. The rapid motion angle adjustment control cylinder is sleeved on the outside of the fixed top rod, and a gear ring is fixedly connected to the top of the rapid motion angle adjustment control cylinder, and an inner arc plate is fixedly connected to the outside of the rapid motion angle adjustment control cylinder. The outside of the bottom connecting rod is fixedly connected to the arc-shaped outer sleeve, and the bottom end of the arc-shaped outer sleeve is fixedly connected to an outer ring rotatably connected to the bottom connecting rod, and the arc-shaped outer sleeve is elastically connected to the inner arc plate through a reset spring.

[0019] As a further solution of the present invention: the fixed top rod, the hemispherical outer shell, the ball connector, and the bottom of the bottom connecting rod are all provided with through holes for the traction rope to pass through, and the traction rope is fixedly connected to the top of the drone carrier module.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] The magnetic structure is used to form suction between the top suction connection module and the barrier-free motion surface. At the same time, friction is generated between the motion wheel and the barrier-free motion surface through pressure on the basis of overcoming gravity, so that high-degree-of-freedom motion is achieved through the universal motion module, and the barrier-free motion surface will not hinder the movement of the universal motion module, which meets the high-degree-of-freedom motion requirements of the UAV. In addition, due to the cooperation between the supporting keel and the magnetic plane, the magnetic plane is flat, and the universal motion module will not produce height changes when moving. Therefore, the height parameters of the UAV do not need to be corrected, thereby reducing the influencing factors in the experiment and improving the accuracy of the experimental results.

[0022] By using the UAV motion inclination module to release the four traction ropes, the UAV can first be adjusted up and down. The purpose of the adjustment is to simulate the low-position and high-position shooting conversion requirements. At the same time, the independent release and reeling of the four traction ropes allows the UAV to tilt with the movement of the universal motion module, making the simulation effect more realistic. In the process of simulating rapid maneuvering postures, the flight inertia is used to directional limit the universal structure, and the directional limit is connected to the direction shaft of the motion wheel to make the directional speed change rapidly, so as to achieve rapid response of the aircraft's posture, so that the experiment can simulate two flight conditions more realistically.

[0023] At the same time, the safety of the entire system is greatly improved by using the steering connection anti-interference ring and the anti-fall single guide rod in conjunction with the anti-fall rope. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0025] Figure 1 This is a flow chart of an experimental system for indoor simulated drone mapping;

[0026] Figure 2 A schematic diagram of the tilt adjustment process of an experimental system for indoor simulated drone mapping;

[0027] Figure 3 A schematic diagram of the motion of a universal motion module on an obstacle-free motion surface in an experimental system for indoor simulated drone mapping;

[0028] Figure 4 It is a three-dimensional schematic diagram of a universal motion module, a UAV motion inclination module, and a UAV carrier module in an experimental system for indoor simulated UAV mapping;

[0029] Figure 5 for Figure 4 A three-dimensional schematic diagram from another perspective;

[0030] Figure 6 A schematic diagram of the forward motion adjustment of an experimental system for indoor simulated drone mapping;

[0031] Figure 7 A schematic diagram of the fast maneuvering structure of an experimental system for indoor simulated drone mapping;

[0032] Figure 8A schematic cross-sectional view of a fast maneuvering structure of an experimental system for indoor simulated drone mapping;

[0033] In the figure: 100, processor; 200, controller; 1, barrier-free motion carrier; 11, magnetic plane; 12, supporting keel; 2, top suction connection module; 3, universal motion module; 31, motion wheel; 32, drive motor; 33, direction-changing motor; 4, UAV motion inclination module; 41, traction rope; 42, winding motor; 43, fast motion angle adjustment control cylinder; 431, inner arc plate; 432, gear ring; 44, fixed top Rod; 441, hemispherical outer shell; 442, traction elastic rope; 45, arc-shaped outer sleeve; 451, reset spring; 452, outer ring; 46, bottom connecting rod; 461, ball connector; 47, magnetic connection plate; 5, UAV carrier module; 6, image acquisition module; 7, movement direction reading module; 8, anti-fall one-way guide rod; 81, C-shaped ring; 82, anti-fall rope; 9, steering connection anti-interference ring; 91, rotating ring; 92, rope ring. DETAILED DESCRIPTION

[0034] See also Figure 1-Figure 8 The composition of the present invention

[0035] It includes a barrier-free motion carrier surface 1 fixed on the indoor ceiling and a universal motion module 3 moving below the barrier-free motion carrier surface 1;

[0036] The barrier-free sports carrier 1 includes a magnetic plane 11 and a supporting keel 12 fixedly connected to the top of the magnetic plane 11 and the indoor ceiling to ensure the flatness of the magnetic plane 11;

[0037] First, it is applied indoors. The room has a ceiling. At the same time, the indoor space is generally smaller than the open space. Therefore, the magnetic plane 11 and the supporting keel 12 are used in combination, and the cost of use is not high. At the same time, the magnetic plane 11 can use a magnetic top surface or a metal plate that can be adsorbed by a magnet. In order to prevent the magnetic plane 11 in the middle from bending downward due to gravity, a plurality of supporting keels 12 are fixedly connected to the top of the magnetic plane 11 at this time. The supporting keels 12 are equidistantly distributed on the top of the magnetic plane 11, and the top of the supporting keel 12 is connected to the indoor ceiling through expansion. Bolt fixation, at this time, the bottom of the supporting keel 12 is fixed to the magnetic plane 11, and the fixing method can be welding or screw connection, but the flatness of the bottom surface of the magnetic plane 11 must be ensured. If the magnetic plane 11 is formed by splicing a variety of standard specifications, a smooth transition surface is set at the splicing gap to ensure the smoothness of the movement of the subsequent moving mechanism. At this time, the magnetic plane 11 is fixed to the indoor ceiling to form a horizontal plane, which provides a moving surface for the subsequent moving mechanism. Since the bottom surface of the magnetic plane 11 is smooth, it will not be disturbed when sliding in any direction of the magnetic plane 11;

[0038] The top of the universal motion module 3 is fixedly connected with a top suction connection module 2, which is magnetically connected to the magnetic plane 11. The top suction connection module 2 is not in contact with the magnetic plane 11, and the universal motion module 3 is in contact with the magnetic plane 11. The suction force after the top suction connection module 2 and the magnetic plane 11 overcome the gravity is the contact pressure between the universal motion module 3 and the magnetic plane 11. The universal motion module 3 includes a motion wheel 31, a drive motor 32, and a direction-changing motor 33. The motion wheel 31 is fixedly connected to the output end of the drive motor 32, and the drive motor 32 provides forward power for the motion wheel 31. The direction-changing motor 33 is used to adjust the motion direction of the motion wheel 31. At the same time, since the magnetic plane 11 is affected by the supporting keel 12, the magnetic plane 11 can ensure that the surface is flush. After being flush, the universal motion module 3 and the magnetic plane 11 maintain contact and sliding, so that the universal motion module 3 does not change in longitudinal height, so there is no need to correct the actual aircraft height of the drone, thereby reducing the influencing factors and improving the accuracy of the final result of the experiment;

[0039] The universal motion module 3 uses a remote control car, and the top suction connection module 2 uses an electromagnet. The universal motion module 3 has four motion wheels 31. The motion wheels 31 are affected by the suction force of the top suction connection module 2 and the magnetic plane 11, and will contact the magnetic plane 11. The magnetic force of the top suction connection module 2 needs to be greater than the total weight of all structures located below the magnetic plane 11. At this time, the excess magnetic force of the top suction connection module 2 will be used as the contact pressure between the motion wheels 31 and the magnetic plane 11. Due to the contact pressure between the motion wheels 31 and the magnetic plane 11, friction is generated between the motion wheels 31 and the magnetic plane 11, so that when the driving motor 32 drives the motion wheels 31 to rotate, the motion wheels 31 can use the friction between the magnetic plane 11 to drive the structure below to move. The drone will move laterally to the left and right, so a driving motor 32 is provided. The driving motor 32 drives the moving wheel 31 to change direction, so that the moving direction of the moving wheel 31 is rotated to the horizontal direction. At this time, when the driving motor 32 drives the moving wheel 31 to move, the universal motion module 3 will move laterally as a whole, thereby simulating the real motion state of the drone carrier module 5. Although the top suction connection module 2 is magnetic, the height of the universal motion module 3 is higher than that of the top suction connection module 2. Therefore, when the universal motion module 3 contacts the magnetic plane 11, the top suction connection module 2 will not be adsorbed with the magnetic plane 11, thereby reducing the friction force generated by the adsorption of the top suction connection module 2, so that the movement of the universal motion module 3 on the magnetic plane 11 is smoother.

[0040] A drone motion inclination module 4 is installed at the bottom of the universal motion module 3. A drone carrier module 5 is fixedly connected to the bottom of the drone motion inclination module 4 through four traction ropes 41. The drone motion inclination module 4 adjusts the inclination position of the drone carrier module 5 according to the motion direction of the top suction connection module 2. An image acquisition module 6 is installed at the bottom of the drone carrier module 5.

[0041] The above explanation shows that the universal motion module 3 can simulate the motion direction of the drone motion inclination module 4. However, when the drone carrier module 5 is in motion, the actual motion posture is not consistent with the universal motion module 3. Since the drone carrier module 5 will tilt forward and backward when moving forward and backward, and will tilt left and right when moving left and right, when the universal motion module 3 is moving, the posture of the drone carrier module 5 can be further corrected by the drone motion inclination module 4.

[0042] The universal motion module 3 is equipped with a motion direction reading module 7 for reading the motion angle of the direction-changing motor 33. The motion direction reading module 7 transmits data to the processor 100. After the processor 100 processes the data of the motion direction reading module 7, the controller 200 controls the UAV motion inclination module 4 to adjust the motion inclination direction of the UAV carrier module 5. The UAV motion inclination module 4 is equipped with four winding motors 42 for winding the traction rope 41. The other end of the traction rope 41 is fixedly connected to the four ends of the UAV carrier module 5.

[0043] The correction method is mainly for the movement of the driving motor 32. When the direction-changing motor 33 controls the movement angle of the moving wheel 31 to be 90 degrees, the movement direction of the moving wheel 31 changes by 90 degrees, so that the forward and backward movement is converted into lateral movement. At this time, the movement direction reading module 7 detects the movement angle of the direction-changing motor 33, transmits the data to the processor 100, and controls the four winding motors 42 to move through the controller 200. At this time, when the driving motor 32 drives the moving wheel 31 to move, the two traction ropes 41 located in the movement direction of the moving wheel 31 are moved by the control rotation of the winding motor 42, so that the two traction ropes 41 are released, while the other two traction ropes 41 remain unchanged. At this time, the UAV carrier module 5 is tilted, thereby simulating the movement posture of the UAV.

[0044] In the forward state, the flight posture of the UAV carrier module 5 can be changed by releasing the two traction ropes 41 in front;

[0045] In the oblique forward state, the four traction ropes 41 are adjusted to different lengths to make the drone carrier module 5 tilt obliquely toward the moving direction of the moving wheel 31;

[0046] In this way, the motion posture of the drone carrier module 5 can be simulated more realistically, so that the pan-tilt motion of the image acquisition module 6 can be examined according to the motion posture of the drone carrier module 5. The experiment is conducted in a more realistic way as a whole, so that the experimental results have reference value.

[0047] At the same time, the advantage of using the traction rope 41 is that when the drone carrier module 5 and the image acquisition module 6 are inspected and maintained, the traction rope 41 can be directly released synchronously through the four winding motors 42, so that the height of the drone carrier module 5 and the image acquisition module 6 naturally decreases. The purpose of the decrease is to make it easier for the operator below to inspect the drone carrier module 5 and the image acquisition module 6;

[0048] The bottom surface of the magnetic plane 11 is fixedly connected to two parallel anti-falling single guide rods 8, and two anti-falling ropes 82 are slidably connected between the two anti-falling single guide rods 8. Both ends of the anti-falling ropes 82 are slidably connected to the anti-falling single guide rods 8 through C-shaped rings 81. The outside of the UAV motion inclination module 4 is fixedly connected to a steering connection anti-interference ring 9, and the circumferential side of the steering connection anti-interference ring 9 is rotatably connected to a rotating ring 91. Two threading rings 92 are fixedly connected to the rotating ring 91, and the threading rings 92 are sleeved on the outside of the anti-falling ropes 82;

[0049] Since uncertain factors may occur during the entire experiment, for example, when the top suction connection module 2 suddenly loses power, the magnetic connection with the magnetic suction plane 11 disappears, and the universal motion module 3 may fall. During the falling process, the equipment below may be damaged or even the experimenter below may be injured. Therefore, it is necessary to protect property and safety.

[0050] The anti-falling single guide rods 8 are fixed at the bottom of both sides of the magnetic plane 11. The two anti-falling single guide rods 8 are parallel. The anti-falling single guide rods 8 are located on both sides of the bottom of the magnetic plane 11 and will not affect the operation of the universal motion module 3. An anti-falling rope 82 is slidably connected between the two anti-falling single guide rods 8. Both ends of the anti-falling rope 82 are slidably connected to the anti-falling single guide rod 8 through a C-shaped ring 81. At this time, there is an opening above the C-shaped ring 81, so that the C-shaped ring 81 can slide more smoothly on the anti-falling single guide rod 8. The reason for setting two anti-falling ropes 82 is mainly to provide two-point support for the universal motion module 3 to prevent the universal motion module 3 from rotating around one of the anti-falling ropes 82 as the center when it falls, causing the universal motion module 3 to rotate to the opposite direction and cause the equipment below the universal motion module 3 to collide with the other side of the magnetic plane 11, causing damage;

[0051] At this time, a steering connection anti-interference ring 9 needs to be set on the outside of the drone motion inclination module 4. The steering connection anti-interference ring 9 is a circular ring, and the external rotation connection is connected with a ring body. At this time, the threading ring 92 is fixed on both sides of the rotating ring 91, and the threading ring 92 passes through the anti-fall rope 82. At this time, when the universal motion module 3 is tilting, the rotating ring 91 and the steering connection anti-interference ring 9 rotate relative to each other. At the same time, the two anti-fall ropes 82 remain parallel and will not hinder the travel of the universal motion module 3. The diameter of the threading ring 92 is larger than the diameter of the anti-fall rope 82. Because the threading ring 92 only plays a protective role, the anti-fall rope 82 does not need to limit it, so the friction can be reduced.

[0052] The UAV motion inclination module 4 also includes a fast motion angle adjustment control cylinder 43, a fixed top rod 44, an arc-shaped outer sleeve 45, and a bottom connecting rod 46. The fixed top rod 44 is fixedly connected to the bottom of the UAV motion inclination module 4. The bottom connecting rod 46 is magnetically adsorbed on the top of the UAV carrier module 5 through a magnetic connection plate 47. The bottom of the fixed top rod 44 is fixedly connected to a hemispherical outer shell 441. The top of the bottom connecting rod 46 is fixedly connected to a ball connector 461. The ball connector 461 is rotatably connected to the hemispherical outer shell 441. The bottom of the hemispherical outer shell 441 is fixedly connected to a plurality of annularly distributed traction elastic ropes 442. The ends of the traction elastic ropes 442 are respectively The bottom connecting rod 46 is fixedly connected to the top surface of the ball connector 461, and the traction force of the elastic rope 442 is used to keep the bottom connecting rod 46 vertical to the fixed top rod 44 in a static state. The fast motion angle adjustment control cylinder 43 is sleeved on the outside of the fixed top rod 44. The top of the fast motion angle adjustment control cylinder 43 is fixedly connected to a gear ring 432, and the outside of the fast motion angle adjustment control cylinder 43 is fixedly connected to an inner arc plate 431. The outside of the bottom connecting rod 46 is fixedly connected to an arc-shaped outer sleeve 45, and the bottom end of the arc-shaped outer sleeve 45 is fixedly connected to an outer sleeve ring 452 that is rotatably connected to the bottom connecting rod 46. The arc-shaped outer sleeve 45 is elastically connected to the inner arc plate 431 through a reset spring 451.

[0053] First, if the posture of the UAV carrier module 5 is adjusted simply by adjusting the four traction elastic ropes 442, if a rapidly changing motion state occurs during the simulation of the aircraft, the posture change may not be timely due to the increase in calculation data, resulting in insufficient simulation authenticity.

[0054] Therefore, a simplified controlled rapid attitude adjustment method is formed by the cooperation of the rapid motion angle adjustment control cylinder 43, the fixed top rod 44, the arc-shaped outer sleeve 45, and the bottom connecting rod 46, which is applied to the problem of rapid motion conversion. First, the fixed top rod 44 is fixed at the bottom of the UAV motion tilt module 4, and the bottom connecting rod 46 is set on the UAV motion tilt module 4. At this time, there is a hemispherical outer shell 441 at the bottom of the fixed top rod 44, and the top of the bottom connecting rod 46 realizes universal angle change with the hemispherical outer shell 441 through a ball connector 461. However, since the universal angle change is prone to abnormal angle deviation, the rapid motion angle adjustment A gear ring 432 is provided above the control cylinder 43. The gear ring 432 can control the motor to drive the gear ring 432 to rotate by means of the motor cooperating with the controller to read the rotation angle of the motion wheel 31. At the same time, a transmission mechanism can be provided on the angle change shaft of the motion wheel 31 so that when the motion wheel 31 changes direction, it is naturally affected by the transmission structure and the gear ring 432 is used to control the rotation of the rapid motion angle adjustment control cylinder 43. The purpose of the rotation of the rapid motion angle adjustment control cylinder 43 is to limit the angle change of the bottom connecting rod 46 and the fixed top rod 44 through the cooperation of the inner arc plate 431 and the arc-shaped outer sleeve 45. Please refer to Figure 8 When the movement direction is to the right, the inner arc plate 431 and the arc outer sleeve 45 are located on the left side. During the movement, the UAV carrier module 5 naturally moves backward due to inertia. At this time, the arc outer sleeve 45 and the inner arc plate 431 are relatively displaced, and the reset spring 451 is elastically deformed, so that the UAV carrier module 5 is naturally in a forward flight forward tilting posture. At the same time, when the direction changes, the inner arc plate 431 is always located on the rear side of the movement direction to ensure that the UAV tilts. If a transmission structure is used, it does not require calculation to quickly react to make the flight posture and flight direction match. Adjustment: In order to prevent the sliding friction of the arc-shaped outer sleeve 45 from affecting the bottom connecting rod 46 when the rapid movement angle adjustment control cylinder 43 rotates, the end of the arc-shaped outer sleeve 45 is sleeved on the outside of the bottom connecting rod 46 through the outer ring 452, and a plurality of traction elastic ropes 442 are arranged in the hemispherical outer shell 441, so that the bottom connecting rod 46 can be kept vertical in cooperation with the reset spring 451 in a static state. At the same time, the plurality of traction elastic ropes 442 prevent the bottom connecting rod 46 and the fixed top rod 44 from axial rotation changes, thereby ensuring the posture standard of the UAV carrier module 5.

[0055] The fixed top rod 44, the hemispherical outer shell 441, the ball connector 461, and the bottom of the bottom connecting rod 46 are all provided with through holes for the traction rope 41 to pass through, and the traction rope 41 is fixedly connected to the top of the drone carrier module 5;

[0056] At the same time, in order to lower the drone carrier module 5, the traction rope 41 is lowered, and the electromagnet of the magnetic connection disk 47 is powered off. At this time, the drone is naturally affected by the traction rope 41 and lowered. In actual use, the traction rope 41 is provided with a margin so that the ball connector 461 will not be affected by the pulling of the traction rope 41 when it rotates.

[0057] The use process of the present invention

[0058] First, the winding motor 42 is controlled to rotate, and the traction rope 41 is released, so that the height of the UAV carrier module 5 is located at the bottom, and the image acquisition module 6 is installed at the bottom of the UAV carrier module 5. The traction rope 41 is synchronously lifted by the winding motor 42 to lift the height of the UAV carrier module 5, and at the same time, the UAV carrier module 5 is kept horizontal;

[0059] The top suction connection module 2 is powered on. At this time, the top suction connection module 2 is attracted to the magnetic plane 11 by magnetic force, so that the motion wheel 31 is tightly connected to the magnetic plane 11. At this time, the universal motion module 3 is remotely controlled by the remote controller to move, and the motion wheel 31 and the drive motor 32 are tested to see whether they can run accurately, and whether the friction force of the motion wheel 31 can meet the motion standard. If the motion standard is not met, you can choose to use a top suction connection module 2 with a large magnetic force or dismantle the non-experimental structure of the drone carrier module 5 to reduce weight;

[0060] At this time, the ground obstacles are established, and the experiment begins after the establishment;

[0061] When moving forward, the movement direction reading module 7 reads the movement angle of the direction-changing motor 33 as 0. At this time, the movement wheel 31 rotates forward. The movement direction reading module 7 transmits data to the processor 100, and controls the winding motor 42 in front of the movement to release through the controller 200. At this time, after the traction rope 41 is extended, the drone carrier module 5 tilts forward. According to the rotation direction of the drive motor 32 and the rotation angle of the movement wheel 31, the retracted and released states of the four retracted motors 42 are adjusted to achieve the tilt of the drone carrier module 5. The release of the four traction ropes 41 by the drone movement inclination module 4 can firstly achieve the up and down height adjustment of the drone. The purpose of the adjustment is to simulate the low-position and high-position shooting conversion requirements. At the same time, the independent release and retraction of the four traction ropes 41 allows the drone to tilt with the movement of the universal motion module 3, making the simulation effect more realistic.

[0062] During rapid changes, the control cylinder 43 is rotated by adjusting the angle of rapid motion. The purpose of the rotation of the control cylinder 43 is to limit the angle change of the bottom connecting rod 46 and the fixed top rod 44 through the cooperation of the inner arc plate 431 and the arc outer sleeve 45. The UAV carrier module 5 naturally moves backward due to inertia. At this time, the arc outer sleeve 45 and the inner arc plate 431 are relatively displaced, and the return spring 451 is elastically deformed, so that the UAV carrier module 5 is naturally in a forward flight forward tilt posture. The transmission structure can quickly respond without calculation to adjust the flight posture and flight direction, so as to cope with simulation experiments under rapid maneuvering conditions.

[0063] When an abnormality occurs in the top suction connection module 2, causing the universal motion module 3 to separate from the magnetic plane 11, the universal motion module 3 falls due to the influence of gravity, and the rope ring 92 and the anti-fall rope 82 cooperate to offset the influence of gravity. After the offset, the universal motion module 3 will not rotate or continue to fall, and will be suspended below the magnetic plane 11, thereby protecting the overall device and personnel safety.

[0064] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An experimental system for indoor simulated drone mapping, characterized by: It comprises a barrier-free motion surface (1) fixed on the indoor ceiling and a universal motion module (3) moving below the barrier-free motion surface (1); The barrier-free sports support surface (1) comprises a magnetic plane (11) and a supporting keel (12) fixedly connected to the top of the magnetic plane (11) and fixed to the indoor ceiling, so as to ensure the flatness of the magnetic plane (11); The top of the universal motion module (3) is fixedly connected to a top suction connection module (2), the top suction connection module (2) is magnetically connected to the magnetic suction plane (11), the top suction connection module (2) and the magnetic suction plane (11) are not in contact, the universal motion module (3) and the magnetic suction plane (11) are in contact, and the suction force of the top suction connection module (2) and the magnetic suction plane (11) after overcoming gravity is the contact pressure between the universal motion module (3) and the magnetic suction plane (11); A drone motion inclination module (4) is installed at the bottom of the universal motion module (3); a drone carrier module (5) is fixedly connected to the bottom of the drone motion inclination module (4) via four traction ropes (41); the drone motion inclination module (4) adjusts the inclination position of the drone carrier module (5) according to the motion direction of the top suction connection module (2); and an image acquisition module (6) is installed at the bottom of the drone carrier module (5); Four winding motors (42) for winding up the traction rope (41) are installed inside the drone motion inclination module (4), and the other end of the traction rope (41) is fixedly connected to the four ends of the drone carrier module (5); the drone carrier module (5) also includes a fast motion angle adjustment control cylinder (43), a fixed top rod (44), an arc-shaped outer sleeve (45), and a bottom connecting rod (46); the fixed top rod (44) is fixedly connected to the bottom of the drone motion inclination module (4); the bottom connecting rod (46) is magnetically adsorbed on the top of the drone carrier module (5) through a magnetic connection plate (47); the bottom of the fixed top rod (44) is fixedly connected to a hemispherical outer sleeve (441); the top of the bottom connecting rod (46) is fixedly connected to a spherical connector (461); the spherical connector (461) is rotatably connected to the hemispherical outer sleeve (441); the bottom of the hemispherical outer sleeve (441) is fixedly connected to the hemispherical outer sleeve (441); A plurality of traction elastic ropes (442) are arranged in an annular pattern, the ends of the traction elastic ropes (442) are respectively fixedly connected to the top surface of the ball connector (461), and the traction force of the traction elastic ropes (442) enables the bottom connecting rod (46) to remain vertical to the fixed top rod (44) in a static state. The rapid motion angle adjustment control cylinder (43) is sleeved on the outside of the fixed top rod (44), the top of the rapid motion angle adjustment control cylinder (43) is fixedly connected to a gear ring (432), the outside of the rapid motion angle adjustment control cylinder (43) is fixedly connected to an inner arc plate (431), the outside of the bottom connecting rod (46) is fixedly connected to the arc-shaped outer sleeve (45), the bottom end of the arc-shaped outer sleeve (45) is fixedly connected to an outer sleeve ring (452) rotatably connected to the bottom connecting rod (46), and the arc-shaped outer sleeve (45) is elastically connected to the inner arc plate (431) via a return spring (451).

2. The experimental system for indoor simulated drone mapping according to claim 1, characterized in that: The bottom surface of the magnetic plane (11) is fixedly connected to two parallel anti-falling single guide rods (8), two anti-falling ropes (82) are slidably connected between the two anti-falling single guide rods (8), and both ends of the anti-falling ropes (82) are slidably connected to the anti-falling single guide rods (8) via C-shaped rings (81).

3. The experimental system for indoor simulated drone mapping according to claim 2 is characterized by: The outside of the UAV motion inclination module (4) is fixedly connected to a steering connection anti-interference ring (9), the circumferential side of the steering connection anti-interference ring (9) is rotatably connected to a rotating ring (91), and the rotating ring (91) is fixedly connected to two cable-threading rings (92), the cable-threading rings (92) being sleeved on the outside of the anti-falling rope (82).

4. The experimental system for indoor simulated drone mapping according to claim 1, characterized in that: The universal motion module (3) comprises a motion wheel (31), a drive motor (32), and a direction-changing motor (33); the motion wheel (31) is fixedly connected to the output end of the drive motor (32); the drive motor (32) provides the motion wheel (31) with forward power; and the direction-changing motor (33) is used to adjust the motion direction of the motion wheel (31).

5. The experimental system for indoor simulated drone mapping according to claim 4 is characterized by: The universal motion module (3) is provided with a motion direction reading module (7) for reading the motion angle of the direction-changing motor (33). The motion direction reading module (7) transmits data to a processor (100). After the processor (100) processes the data of the motion direction reading module (7), the controller (200) controls the drone motion inclination module (4) to adjust the motion inclination direction of the drone carrier module (5).

6. The experimental system for indoor simulated drone mapping according to claim 1, characterized in that: The fixed top rod (44), the hemispherical outer shell (441), the ball connector (461), and the bottom of the bottom connecting rod (46) are all provided with through holes for the traction rope (41) to pass through, and the traction rope (41) is fixedly connected to the top of the drone carrier module (5).

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