Unmanned aerial vehicle task equipment ground simulation mounting device supporting training and experiment

Abstract

The invention discloses an unmanned aerial vehicle task equipment ground simulation mounting device supporting training and experiments, and relates to the technical field of unmanned aerial vehicle equipment.The unmanned aerial vehicle task equipment ground simulation mounting device comprises four supports ZJA, a main beam ZJB is fixedly installed at the top ends of the four supports ZJA, and a walking device XZ is slidably connected to the top of the main beam ZJB; a flight attitude simulation device FX is fixedly mounted at the bottom end of the walking device XZ, a task equipment mounting surface AZ is fixedly mounted at the bottom of the flight attitude simulation device FX, and a mounting point GDYT1 is arranged on the right side of the bottom of the task equipment mounting surface AZ. Through the support ZJa, the main beam ZJB, the walking device XZ and the flight attitude simulation device FX, a mounting device for simulating the flight environment where the task equipment is located is formed, the actual flight attitude can be simulated, a reasonable operation environment is provided for the task equipment, and practical effects on deepening visual understanding of trainees, accumulating operation experience, improving the skill level and shortening the training period are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle equipment, and in particular to a ground simulation mounting device for unmanned aerial vehicle mission equipment supporting training and experiments. Background Art

[0002] Civilian drones are divided into multiple grades according to their weight, including large, medium, small, and micro. Different mission payloads such as visible light imaging equipment, infrared imaging equipment, multi-spectral imaging equipment, radar equipment, etc. can be selected according to needs to carry out regional monitoring, map surveying and mapping, agricultural and forestry plant protection, meteorological monitoring and other operational activities. Mission equipment is an important manifestation of the drone's mission capabilities.

[0003] The existing technology has the following problems:

[0004] There are time and space constraints in the operation of UAVs. Whether the operators can use the mission equipment proficiently and deal with abnormal situations quickly directly affects the effect and efficiency of the operation. There are risks in training the skills of mission equipment through actual flights, and the large-scale organization procedures are cumbersome. At the same time, the development of control skills requires repeated practice, which brings about high economic costs, time costs and support costs. Summary of the invention

[0005] The present invention provides a ground simulation mounting device for unmanned aerial vehicle mission equipment supporting training and experiments, so as to solve the problems raised in the above-mentioned background technology.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0007] A ground simulation mounting device for unmanned aerial vehicle mission equipment supporting training and experiments, comprising four brackets ZJA, a main beam ZJB is fixedly installed on the top of the four brackets ZJA, a walking device XZ is slidably connected to the top of the main beam ZJB, a flight attitude simulation device FX is fixedly installed on the bottom of the walking device XZ, a mission equipment installation surface AZ is fixedly installed on the bottom of the flight attitude simulation device FX, and an installation point GDYT is arranged on the right side of the bottom of the mission equipment installation surface AZ 1 , the installation point GDYT 1 The bottom of the YT is equipped with a pan / tilt 1 , the PTZ YT 1 The interior of the task equipment is provided with a photoelectric device P1, and the bottom left side of the task equipment installation surface AZ is provided with a mounting point GDYT 2 , the installation point GDYT 2 The bottom of the YT is equipped with a pan / tilt 2 , the PTZ YT 2A radar device P2 is arranged inside, a hanging point GDQT is arranged at the bottom center of the mission equipment installation surface AZ, and other equipment is arranged at the bottom of the hanging point GDQT.

[0008] A further improvement of the technical solution of the present invention lies in that: the left and right ends of the main beam ZJB are fixedly connected with support cables ZJALS, the bottom ends of the support cables ZJALS will be fixed on the ground, the front and rear sides of the top of the main beam ZJB are fixedly connected with tracks TK, the left and right sides of the top of the main beam ZJB are fixedly installed with limit blocks XWK, the left and right ends of the top of the track TK are fixedly connected with cable sling rods DSLG, the tops of the two cable sling rods DSLG are fixedly connected with a cable sling DLDS, and the outer surface of the cable sling DLDS is movably connected with a plurality of cable rings DH.

[0009] A further improvement of the technical solution of the present invention is that: the walking device XZ includes a car body CT, a lower computer XWJ is fixedly installed on the top of the car body CT, the connection terminals of the lower computer XWJ are electrically connected to a data cable DLSJ and a power cable DLDY, the ends of the data cable DLSJ and the power cable DLDY away from the lower computer XWJ pass through the middle of the cable ring DH, the ends of the data cable DLSJ away from the lower computer XWJ are electrically connected to a switch JHJ, and the ends of the power cable DLDY away from the lower computer XWJ are electrically connected to a mains power supply.

[0010] A further improvement of the technical solution of the present invention lies in that: two walking device arms XZBB are fixedly connected to the front and rear sides of the bottom of the lower machine XWJ, the bottom end of the walking device arm XZBB penetrates to the bottom of the main beam ZJB and is fixedly connected to the top of the flight attitude simulation device FX, and four arms XZARM are fixedly connected to the bottom of the lower machine XWJ, and the sides of the arms XZARM are movably connected to walking wheels XZL, and the walking wheels XZL are slidably connected to the top of the track TK.

[0011] A further improvement of the technical solution of the present invention is that the flight attitude simulation device FX includes a base surface FXDZ, an attitude surface FXZT and a six-degree-of-freedom parallel mechanism, the base surface FXDZ is movably connected to the top of the six-degree-of-freedom parallel mechanism and is fixedly connected to the bottom end of the walking device arm XZBB, and the attitude surface FXZT is movably connected to the bottom of the six-degree-of-freedom parallel mechanism and is fixedly connected to the top of the mission equipment installation surface AZ.

[0012] A further improvement of the technical solution of the present invention is that: a hole KP is provided at the bottom of the task equipment mounting surface AZ. 1 、KP 2 , hole KPDL, hole KP 31 He Kong KP32 , the hole KP 1 For mounting the radar device P2, the hole KP 2 Used to install optoelectronic equipment P1. The hole KPDL is used for cable routing. For other equipment that does not require attitude adjustment and works sideways to the aircraft, they are installed in holes KP 31 He Kong KP 32 middle.

[0013] The further improvement of the technical solution of the present invention is that: the ground mains power supply is connected to the power interface of the walking device XZ through the cable sling DLDS above the main beam ZJB, and the branch line extends downward to the power interface of the flight attitude simulation device FX, the power interface reserved for the optoelectronic device P1, the power interface reserved for the radar device P1, and the power interfaces reserved for other devices;

[0014] The data cable DLSJ of the lower computer XWJ is connected to the ground 10G network switch JHJ via the cable sling DLDS;

[0015] The data cable FXSJDL of the flight attitude simulator FX is connected upward to the corresponding data interface of the lower computer XWJ;

[0016] The data cable P1 SJDL of the optoelectronic device P1 is connected upward to the corresponding data interface of the lower computer XWJ;

[0017] The radar equipment P2 data cable P2SJDL is connected to the data interface corresponding to the lower computer XWJ;

[0018] The P3 data cable P3SJDL of other equipment is connected to the corresponding data interface of the lower computer XWJ.

[0019] A further improvement of the technical solution of the present invention is that the management and control functions of the lower computer XWJ include starting the carrier device, starting the optoelectronic equipment, starting the radar equipment, starting other mission equipment, flying in a straight line at a constant altitude and speed, and increasing interference.

[0020] Due to the adoption of the above technical solution, the present invention has the following technical advances compared with the prior art:

[0021] 1. The present invention provides a ground simulation mounting device for unmanned aerial vehicle mission equipment that supports training and experiments. The present invention forms a mounting device that simulates the flight environment of the mission equipment through a bracket ZJa, a main beam ZJB, a walking device XZ, and a flight attitude simulation device FX. The mounting device can simulate the actual flight attitude and provide a reasonable operating environment for the mission equipment, which has a practical effect on deepening the intuitive understanding of trainees, accumulating operating experience, improving skill levels, and shortening the training cycle.

[0022] 2. The present invention provides a ground simulation mounting device for unmanned aerial vehicle mission equipment that supports training and experiments. The hardware involved in the present invention adopts universal profiles, COTS modules, and devices that meet strength requirements, has standard interfaces, a high degree of modularization, and a simplified assembly process. By replicating the structural design and system integration, it can be used to build large-scale training condition facilities and can be used as a system module for various types of unmanned aerial vehicle training conditions, with significant versatility.

[0023] 3. The present invention provides a ground simulation mounting device for UAV mission equipment that supports training and experiments. The hardware part of the present invention has taken into account the operating environment of the mission equipment. The specific operating functions are controlled by the upper computer and the lower computer software, and can be modified in real time according to user needs, which is convenient for expanding other functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a side schematic diagram of the ground simulation mounting device for mission equipment of the present invention;

[0025] Figure 2 It is a top view schematic diagram of the ground simulation mounting device for mission equipment of the present invention;

[0026] Figure 3 It is a front view schematic diagram of the ground simulation mounting device for mission equipment of the present invention;

[0027] Figure 4 It is a schematic diagram of the walking device XZ of the present invention;

[0028] Figure 5 It is a schematic diagram of the flight attitude simulation device FX of the present invention;

[0029] Figure 6 It is a schematic diagram of the layout of the AZ mounting holes of the task equipment mounting surface of the present invention.

[0030] In the figure: 1. Bracket ZJA; 11. Support cable ZJALS; 2. Main beam ZJB; 21. Track TK; 22. Limit block XWK; 23. Cable sling rod DSLG; 24. Cable sling DLDS; 25. Cable eye DH; 26. Data cable DLSJ; 27. Power cable DLDY; 28. Switch JHJ; 29. ​​Mains power supply; 3. Travel device XZ; 31. Lower computer XWJ; 32. Vehicle body CT; 33. Travel device arm XZBB; 34. Arm XZARM; 35. Travel wheel XZL; 4. Flight attitude simulation device FX; 41. Base surface FXDZ; 42. Attitude surface FXZT; 5. Mission equipment installation surface AZ; 51. Hole KP 1 ; 52, Kong KP 2 ; 53, hole KPDL; 54, hole KP 31 ; 55, Kong KP 32 ; 6. PTZ YT1 ; 61. Installation point GDYT 1 ; 7. PTZ YT 2 ; 71. Installation point GDYT 2 ; 8. Other equipment; 81. Hanging point GDQT. DETAILED DESCRIPTION

[0031] The present invention is further described in detail below in conjunction with embodiments:

[0032] Example 1

[0033] like Figure 1 As shown, the present invention provides a ground simulation mounting device for unmanned aerial vehicle mission equipment supporting training and experiments, including four brackets ZJA1, a main beam ZJB2 is fixedly installed on the top of the four brackets ZJA1, a walking device XZ3 is slidably connected to the top of the main beam ZJB2, a flight attitude simulation device FX4 is fixedly installed on the bottom of the walking device XZ3, a mission equipment installation surface AZ5 is fixedly installed on the bottom of the flight attitude simulation device FX4, and an installation point GDYT is arranged on the right side of the bottom of the mission equipment installation surface AZ5 1 61, installation point GDYT 1 The bottom of 61 is equipped with a pan head YT 1 6. Gimbal YT 1 The interior of 6 is provided with a photoelectric device P1, and the bottom left side of the task equipment installation surface AZ5 is provided with a mounting point GDYT 2 71, installation point GDYT 2 The bottom of 71 is equipped with a pan head YT 2 7. Gimbal YT 2 A radar device P2 is arranged inside 7, a hanging point GDQT81 is arranged at the bottom center of the mission equipment installation surface AZ5, and other equipment 8 is arranged at the bottom of the hanging point GDQT81.

[0034] In this embodiment, the device supports trainees to use the device to carry out sustainable and repeatable operational training under simulated flight conditions on the ground, or to carry out experimental operations in advance for some operational subjects to verify the effects. The device is implemented by miniaturized motion simulation devices, small and micro mission equipment and other COTS products suitable for training. The device consists of a bracket ZJA1, a main beam ZJB2, a walking device XZ3, a flight attitude simulation device FX4, a mission equipment mounting surface AZ5, a gimbal YT and other auxiliary components and equipment. The bracket ZJA1 and the main beam ZJB2 use metal or other types of materials with stiffness that meets the requirements, and are fixed to the training ground after combined installation. The walking device XZ3 has driving capability and a wheeled structure, and can walk on the main beam ZJB2 along the track TK21. The flight attitude simulation device FX4 is connected to the walking device XZ3 below, and the mission equipment mounting surface AZ5 is connected to the flight attitude simulation device FX4 below. The gimbal YT 1 2. YT 2 And other mission equipment P38 hanging point structure GDYT 1 ,GDYT 2 , GDQT is fixed on the lower surface of the installation surface. When in use, the walking device XZ3 moves forward and backward along the track TK21 on the upper surface of the main beam ZJB2 according to the training program to simulate the operation route, and the task equipment P1, P2, and P3 mounted at the bottom carry out operations.

[0035] Example 2

[0036] like Figure 2-6As shown, on the basis of Example 1, the present invention provides a technical solution: preferably, the left and right ends of the main beam ZJB2 are fixedly connected with the support cable ZJALS11, the bottom end of the support cable ZJALS11 will be fixed on the ground, the front and rear sides of the top of the main beam ZJB2 are fixedly connected with the track TK21, the left and right sides of the top of the main beam ZJB2 are fixedly installed with the limit block XWK22, the left and right ends of the top of the track TK21 are fixedly connected with the cable sling rod DSLG23, the top of the two cable sling rods DSLG23 are fixed A cable sling DLDS24 is connected, and a plurality of cable rings DH25 are movably connected to the outer surface of the cable sling DLDS24. The walking device XZ3 includes a car body CT32, and a lower computer XWJ31 is fixedly installed on the top of the car body CT32. The connection terminal of the lower computer XWJ31 is electrically connected to a data cable DLSJ26 and a power cable DLDY27. The end of the data cable DLSJ26 and the power cable DLDY27 away from the lower computer XWJ31 passes through the middle of the cable ring DH25. The data cable DLSJ26 is away from the lower computer XWJ31. One end of the lower computer XWJ31 is electrically connected to the switch JHJ28, and one end of the power cable DLDY27 away from the lower computer XWJ31 is electrically connected to the mains power supply 29. Two walking device arms XZBB33 are fixedly connected to the front and rear sides of the bottom of the lower computer XWJ31. The bottom end of the walking device arm XZBB33 penetrates to the bottom of the main beam ZJB2 and is fixedly connected to the top of the flight attitude simulation device FX4. Four arms XZARM34 are fixedly connected to the bottom of the lower computer XWJ31. The side of the arm XZARM34 is movably connected to the The flight attitude simulation device FX4 includes a base surface FXDZ41, an attitude surface FXZT42 and a six-degree-of-freedom parallel mechanism. The base surface FXDZ41 is movably connected to the top of the six-degree-of-freedom parallel mechanism and is fixedly connected to the bottom end of the walking device arm XZBB33. The attitude surface FXZT42 is movably connected to the bottom of the six-degree-of-freedom parallel mechanism and is fixedly connected to the top of the mission equipment installation surface AZ5. The bottom of the mission equipment installation surface AZ5 is provided with a hole KP. 1 51. KP Kong 2 52, hole KPDL53, hole KP 31 54 and hole KP 32 55, Kong KP 1 51 for installing radar equipment P2, hole KP 2 Hole 52 is used to install optoelectronic equipment P1, hole KPDL53 is used for cable routing, and other equipment 8 is mission equipment that does not need to adjust the attitude and works sideways to the aircraft, which are installed in holes KP 31 54 and hole KP 3255, the ground mains power supply 29 is connected to the power interface of the walking device XZ3 through the cable sling DLDS24 above the main beam ZJB2, and the branch line extends downward to the power interface of the flight attitude simulation device FX4, the power interface reserved for the optoelectronic device P1, the power interface reserved for the radar device P1, and the power interface reserved for other equipment 8;

[0037] The data cable DLSJ26 of the lower computer XWJ31 is connected to the ground 10 Gigabit network switch JHJ28 via the cable sling DLDS24;

[0038] The data cable FXSJDL of the flight attitude simulator FX4 is connected upward to the corresponding data interface of the lower computer XWJ31;

[0039] The data cable P1 SJDL of the optoelectronic device P1 is connected upward to the corresponding data interface of the lower computer XWJ31;

[0040] The radar equipment P2 data cable P2SJDL is connected to the corresponding data interface of the lower computer XWJ31;

[0041] The P3 data cable P3SJDL of other devices is connected to the corresponding data interface of the lower computer XWJ31.

[0042] In this embodiment, the construction process of each component in the device is as follows:

[0043] Determine the span L and height H1 of bracket ZJA1 according to the training venue and scale requirements;

[0044] Determine the weight, size, and cables to be connected of the small optoelectronic equipment P1, radar equipment P2, and the equipment's own accessories;

[0045] Select the two-axis four-frame gimbal YT according to the weight ZP1 and size of the small optoelectronic equipment 1 6. Determine its weight ZYT1;

[0046] Select the two-degree-of-freedom gimbal YT according to the weight ZP2 and size of the small radar 2 7. Record the weight ZYT2 and geometric dimensions of the two-DOF gimbal. The geometric dimensions mainly focus on the projection size of the device on the mounting plate to assess whether there is a conflict between the mounting points of different mission equipment.

[0047] Determine whether to install other mission equipment on the side hanging points based on training requirements. After determining to use other mission equipment, determine its weight ZP3;

[0048] Determine the parallel mechanism load capacity index FBL based on the total weight ZRW of the mission equipment and the weight ZAZ of the mounting surface, select the COTS parallel mechanism equipment, and determine the weight ZBL and geometric dimensions of the parallel mechanism;

[0049] According to the total weight ZRW of the task equipment, the weight of the installation surface ZAZ and the weight ZBL of the parallel machine tool, the load weight WFH of the walking device XZ3 is determined, thereby determining the walking wheel XZL35 and the walking drive capacity in the walking device XZ3, and selecting and manufacturing the walking device XZ3.

[0050] After completing the construction of each component, assemble and integrate and arrange the cables according to the following methods:

[0051] Assemble and fix bracket ZJA1 and main beam ZJB2 at the site of use;

[0052] The walking device XZ3 is mounted on the main beam ZJB2, and limit blocks XWK22 are set at both ends of the main beam ZJB2. The lower machine XWJ31 is placed on the upper surface of the walking device XZ3, and the walking wheel XZL35 is placed in the track TK21;

[0053] Mount and fix the flight attitude simulation device FX4 on the lower mounting surface of the walking device XZ3;

[0054] Mount and fix the mission equipment installation surface AZ5 on the lower surface of the flight attitude simulation device FX4;

[0055] Place the selected optoelectronic equipment P1 and radar equipment P2 on the corresponding pan / tilt YT 1 6. YT 2 Inside, they are mounted on the corresponding hanging points of the mission equipment installation surface AZ5;

[0056] Connect the task equipment power cable and data cable upward to the lower computer XWJ31 interface through the cable hole of the mounting base and fix it to the upper surface of the walking device XZ3;

[0057] There is no relative displacement change between the walking device XZ3, the task equipment installation surface AZ5, the task equipment P1~P3, and the lower computer XWJ31, and the cable does not consider the need for winding and extension;

[0058] Route the data cable and power cable from the lower computer along the cable above the main beam ZJB2 to the ground switch JHJ28;

[0059] The data cable and the power cable extend and retract with the walking device XZ3, and therefore are fixed on the slide cable, and should be able to extend from one end of the main beam ZJB2 to the other end; the extension method is not limited to the method provided by this patent, and methods such as retractable cable drums can also be adopted, and their functions are equivalent.

[0060] Example 3

[0061] Based on Example 1, the present invention provides a technical solution: Preferably, the management and control functions of the lower computer XWJ31 include starting the carrier device, starting the optoelectronic equipment, starting the radar equipment, starting other mission equipment, flying in a straight line at a constant altitude and speed, and increasing interference.

[0062] In this embodiment, the lower computer controls the operation of the walking device XZ3, the flight attitude simulation device FX4, and the mission equipment mounted on the main beam ZJB2, and sends the running status of the walking device XZ3, the flight attitude simulation device FX4, the mission equipment, and the mission equipment detection data to the ground switch. The specific functions of the lower computer XWJ31 include:

[0063] After receiving the "lower computer start" command from the upper computer, the lower computer XWJ31 starts power-on self-test, and after passing the self-test, it sends the "self-test passed" command to the upper computer;

[0064] Receive the "simulated mounting device start" command from the host computer, the walking device XZ3, parallel device, pan / tilt YT 1 6. PTZ YT 2 7. The control interface module starts power-on self-test and sends a "self-test passed" command to the host computer after passing the self-test;

[0065] Receive the "photoelectric device start" command from the host computer, and the photoelectric device interface module powers on the photoelectric device and outputs data on the data bus;

[0066] Receive the "optoelectronic equipment parameter adjustment type" instruction from the host computer, send the corresponding adjustment instruction to the optoelectronic equipment interface module, and the optoelectronic equipment executes the parameter adjustment;

[0067] The detection data of the photoelectric device is sent to the lower computer XWJ31 through the video cable from the built-in data interface of the photoelectric device;

[0068] Receive the "radar device start" command from the host computer, and the radar device interface module powers on the radar device and outputs data on the data bus;

[0069] Receive the "radar equipment parameter adjustment" instructions from the host computer, send corresponding adjustment instructions to the radar equipment interface module, and the radar equipment executes parameter adjustment;

[0070] The radar equipment data is sent to the lower computer XWJ31 through the video cable from the radar equipment's built-in data interface;

[0071] Receive the "other task device start" command from the host computer, and the other device interface module powers on other devices and outputs data on the data bus;

[0072] Receive the "other task equipment parameter adjustment type" command from the host computer, send the corresponding adjustment command to the interface module of other equipment, and other equipment executes the parameter adjustment;

[0073] The surveillance video of other task equipment is sent to the lower computer through the built-in data interface of other task equipment via the video cable;

[0074] After receiving the "photoelectric device shutdown" command from the upper computer, the lower computer XWJ31 powers off the photoelectric device and stops receiving its data;

[0075] After receiving the "radar device shutdown" command from the upper computer, the lower computer XWJ31 powers off the radar device and stops receiving its data;

[0076] After receiving the "other devices shut down" command from the upper computer, the lower computer XWJ31 powers off other devices and stops receiving their data;

[0077] Receive the "carrying device closed" command from the host computer, the walking device XZ3, the flight attitude simulation device FX4, and the two-degree-of-freedom gimbal YT 1 6 and PTZ YT 2 7 Power off and shut down the lower computer XWJ31.

[0078] The following is a detailed description of the working principle of the UAV mission equipment ground simulation mount that supports training and experiments.

[0079] like Figure 1-6 As shown, when in use, the personnel are in place, the teaching organizer starts the upper computer, starts the carrying device and each task equipment, the teaching organizer sets the practice subjects and then starts the training subjects, the upper computer receives the ground subject instructions, the walking device XZ3 starts walking according to the set parameters, the parallel device provides the posture simulation function according to the set parameters, and each device sends monitoring data to the ground after power-on and startup. The lower computer XWJ31 monitors the walking device XZ3, the task equipment status, and returns status data in real time. The training personnel use the ground operation terminal to practice operations under simulated flight conditions. The training content ends, and the teaching organizer system shuts down each task equipment.

[0080] The above generally describes the present invention in detail, but it is obvious to a person skilled in the art that some modifications or improvements can be made to the present invention. Therefore, modifications or improvements that do not depart from the spirit of the present invention are within the scope of protection of the present invention.

Claims

1. A ground simulation mounting device for UAV mission equipment supporting training and experiments, characterized by: The invention comprises four brackets ZJA (1), the top of each of the four brackets ZJA (1) is fixedly provided with a main beam ZJB (2), the top of each main beam ZJB (2) is slidably connected with a walking device XZ (3), the bottom of each walking device XZ (3) is fixedly provided with a flight attitude simulation device FX (4), the bottom of each flight attitude simulation device FX (4) is fixedly provided with a task equipment installation surface AZ (5), the bottom right side of each task equipment installation surface AZ (5) is provided with an installation point GDYT1 (61), and the installation point GDYT1 ( A pan-tilt platform YT1 (6) is arranged at the bottom of the mission equipment mounting surface AZ (5), and an optoelectronic device P1 is arranged inside the pan-tilt platform YT1 (6). A mounting point GDYT2 (71) is arranged at the bottom left of the mission equipment mounting surface AZ (5). A pan-tilt platform YT2 (7) is arranged at the bottom of the mounting point GDYT2 (71), and a radar device P2 is arranged inside the pan-tilt platform YT2 (7). A hanging point GDQT (81) is arranged at the bottom center of the mission equipment mounting surface AZ (5), and other equipment (8) is arranged at the bottom of the hanging point GDQT (81).

2. The ground simulation mounting device for UAV mission equipment supporting training and experiments according to claim 1 is characterized by: The left and right ends of the main beam ZJB (2) are fixedly connected to support cables ZJALS (11), the bottom ends of the support cables ZJALS (11) will be fixed on the ground, the front and rear sides of the top of the main beam ZJB (2) are fixedly connected to tracks TK (21), the left and right sides of the top of the main beam ZJB (2) are fixedly installed with limit blocks XWK (22), the left and right ends of the top of the track TK (21) are fixedly connected to cable sling rods DSLG (23), the top ends of the two cable sling rods DSLG (23) are fixedly connected to a cable sling DLDS (24), and the outer surface of the cable sling DLDS (24) is movably connected to a plurality of cable rings DH (25).

3. The ground simulation mounting device for UAV mission equipment supporting training and experiments according to claim 2 is characterized by: The walking device XZ (3) comprises a vehicle body CT (32), a lower computer XWJ (31) is fixedly mounted on the top of the vehicle body CT (32), a connection terminal of the lower computer XWJ (31) is electrically connected to a data cable DLSJ (26) and a power cable DLDY (27), ends of the data cable DLSJ (26) and the power cable DLDY (27) away from the lower computer XWJ (31) pass through the middle of a cable hoist ring DH (25), ends of the data cable DLSJ (26) away from the lower computer XWJ (31) are electrically connected to a switch JHJ (28), and ends of the power cable DLDY (27) away from the lower computer XWJ (31) are electrically connected to a mains power supply (29).

4. The ground simulation mounting device for UAV mission equipment supporting training and experiments according to claim 3 is characterized by: Two walking device arms XZBB (33) are fixedly connected to the front and rear sides of the bottom of the lower machine XWJ (31), the bottom ends of the walking device arms XZBB (33) penetrate the bottom of the main beam ZJB (2) and are fixedly connected to the top of the flight attitude simulation device FX (4), the bottom of the lower machine XWJ (31) is fixedly connected to four arms XZARM (34), the side of the arms XZARM (34) is movably connected to a walking wheel XZL (35), and the walking wheel XZL (35) is slidably connected to the top of the track TK (21).

5. The ground simulation mounting device for UAV mission equipment supporting training and experiments according to claim 4 is characterized by: The flight attitude simulation device FX (4) comprises a base surface FXDZ (41), an attitude surface FXZT (42) and a six-degree-of-freedom parallel mechanism, wherein the base surface FXDZ (41) is movably connected to the top of the six-degree-of-freedom parallel mechanism and is fixedly connected to the bottom end of the walking device arm XZBB (33), and the attitude surface FXZT (42) is movably connected to the bottom of the six-degree-of-freedom parallel mechanism and is fixedly connected to the top of the task equipment installation surface AZ (5).

6. The ground simulation mounting device for UAV mission equipment supporting training and experiments according to claim 5 is characterized by: The bottom of the task equipment installation surface AZ (5) is provided with a hole KP1 (51), a hole KP2 (52), a hole KPDL (53), a hole KP 31 (54) and hole KP 32 (55), the hole KP1 (51) is used to install the radar device P2, the hole KP2 (52) is used to install the optoelectronic device P1, and the hole KPDL (53) is used for cable routing. For other equipment (8), which does not require attitude adjustment and works sideways to the aircraft, they are installed in the holes KP 31 (54) and hole KP 32 (55) Chinese.

7. The ground simulation mounting device for UAV mission equipment supporting training and experiments according to claim 6 is characterized by: The ground mains power supply (29) is connected to the power interface of the walking device XZ (3) through the cable sling DLDS (24) above the main beam ZJB (2), and is extended downward to the power interface of the flight attitude simulation device FX (4), the power interface reserved for the optoelectronic device P1, the power interface reserved for the radar device P1, and the power interfaces reserved for other devices (8); The data cable DLSJ (26) of the lower computer XWJ (31) is connected to the ground 10 Gigabit network switch JHJ (28) via the cable sling DLDS (24); The data cable FXSJDL of the flight attitude simulation device FX (4) is connected upward to the corresponding data interface of the lower computer XWJ (31); The data cable P1 SJDL of the optoelectronic device P1 is connected upward to the corresponding data interface of the lower computer XWJ (31); The radar equipment P2 data cable P2SJDL is connected upward to the data interface corresponding to the lower computer XWJ (31); The P3 data cable P3SJDL of other equipment (8) is connected upward to the corresponding data interface of the lower computer XWJ (31).

8. The ground simulation mounting device for UAV mission equipment supporting training and experiments according to claim 7 is characterized by: The management and control functions of the lower computer XWJ (31) include starting the carrier device, starting the optoelectronic equipment, starting the radar equipment, starting other mission equipment, flying straight at a constant altitude and speed, and increasing interference.

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