A detection system and method for fixed-wing unmanned aerial vehicle

Abstract

The present invention belongs to the technical field of detection systems, and discloses a detection system for fixed-wing UAVs, including at least two brackets arranged front and back, the brackets including a base plate, a plurality of retractable leg mechanisms, and a lifting mechanism; a level sensor is provided on the base plate; a plurality of leg mechanisms are distributed on the bottom surface of the base plate, the level sensor and the leg mechanisms are communicatively connected; the lifting mechanism is provided on a side of the base plate away from the leg mechanisms, and is used to support the fixed-wing UAV, and the lifting mechanism is equipped with a weighing sensor. The present invention can quickly realize the leveling and / or weighing and / or center of gravity position detection of the fixed-wing UAV, which is convenient for the staff to operate and the functions are realized quickly. The present invention also discloses a detection method based on the above detection system.

Description

Technical Field

[0001] The present invention belongs to the technical field of detection systems, and in particular relates to a detection system and method for a fixed-wing unmanned aerial vehicle. Background Art

[0002] In the production of large fixed-wing UAVs, in order to ensure the flight safety of fixed-wing UAVs, it is often necessary to perform operations such as leveling, weighing, and center of gravity measurement on fixed-wing UAVs. In actual work, leveling, weighing, and center of gravity measurement cannot be performed together, because the general method for leveling is: use a support bracket to support the fixed-wing UAV off the ground, then use a horizontal measuring ruler to measure specific points on the fuselage, and use an optical observation mirror to manually raise and lower the bracket for leveling; or use an optical level to observe whether the light coincides with specific measurement points on the fuselage, and then manually raise and lower the bracket to level the aircraft. For weighing, it is necessary to lift the aircraft with a bracket, and then place a weighing device under the wheels or at a specific point on the fuselage to weigh and measure the center of gravity. Summary of the invention

[0003] In order to solve the above technical problems, the present invention discloses a detection system for a fixed-wing UAV, which can quickly realize the leveling and / or weighing and / or center of gravity position detection of the fixed-wing UAV, is convenient for the staff to operate, and the functions are realized quickly. The present invention also discloses a detection method based on the above detection system.

[0004] The specific technical solutions of the present invention are as follows:

[0005] A detection system for a fixed-wing unmanned aerial vehicle comprises at least two brackets arranged front and back, wherein the bracket comprises:

[0006] A substrate, on which a level sensor is disposed;

[0007] A plurality of retractable leg mechanisms, the plurality of leg mechanisms being distributed on the bottom surface of the base plate, the level sensor being communicatively connected to the leg mechanisms; and

[0008] The lifting mechanism is arranged on a side of the base plate away from the leg mechanism, and is used to support the fixed-wing UAV. The lifting mechanism is equipped with a weighing sensor.

[0009] The present application realizes two-stage lifting through a leg mechanism and a lifting mechanism, so that during the detection process, the fixed-wing UAV can coordinate with the horizontal sensor and the weighing sensor in one process to realize the leveling and / or weighing and / or center of gravity position detection of the fixed-wing UAV, thereby greatly improving the efficiency of the entire process; and the structure is easy to operate and can effectively solve the labor cost.

[0010] Preferably, the leg mechanism comprises:

[0011] foot base;

[0012] A lead screw, one end of which is rotatably connected to the foot seat, and the other end of which is threadedly connected to the base plate; and

[0013] A driving component is used to drive the lead screw to rotate.

[0014] The structure is simple and easy to operate, and can be quickly modified on the basis of the existing bracket.

[0015] Preferably, the driving component is at least one of a hand wheel and a motor.

[0016] The driving member can be operated in various ways. According to the actual situation, the specific adjustment purpose can be achieved by hand wheel drive or motor drive.

[0017] Preferably, the lifting mechanism comprises:

[0018] two lifting members disposed on a base plate; and

[0019] A support block is arranged at the free end of the lifting member, and a crossbeam is connected between the two support blocks.

[0020] The crossbeam can well support fixed-wing UAVs. The cooperation between the support block and the crossbeam enables the support block to more stably support fixed-wing UAVs on the basis of adapting to different types of fixed-wing UAVs.

[0021] Preferably, the support block is fixed to the free end of the lifting member by a quick-release latch.

[0022] The support blocks can be preset in multiple numbers to match different types of fixed-wing UAVs. When better support blocks are needed, the support blocks can be quickly installed by simply plugging and unplugging the quick-release latches, which is convenient and quick.

[0023] Preferably, it also includes:

[0024] A remote controller is used to communicate with the leg mechanism and the lifting mechanism.

[0025] Remote control can be achieved through the remote control to improve the operating efficiency of the staff.

[0026] A method for detecting a fixed-wing UAV, based on the detection system as described above, comprises the following steps:

[0027] Drive the leg mechanism to level the base plate;

[0028] Place the fixed-wing drone on a relatively flat position in advance, and lift the fixed-wing drone until it leaves the pre-placed position;

[0029] Weighing is performed using a weighing sensor to obtain weighing result 1, and the weight and center of gravity position of the fixed-wing UAV in the posture are obtained according to weighing result 1;

[0030] Changing the attitude of the fixed-wing UAV through the lifting mechanism;

[0031] The weighing sensor is used to weigh the UAV to obtain weighing result 2, and the weight and center of gravity position of the UAV in this posture are obtained according to weighing result 2.

[0032] Preferably, before lifting the fixed-wing UAV out of its pre-placed position, the motion limit determination of the bracket is performed:

[0033] If there is no limit on the lifting of the bracket, the lifting mechanism or the leg mechanism lifts the fixed-wing UAV out of its pre-placed position;

[0034] If the bracket cannot be raised or lowered, change the position of the fixed-wing drone or the bracket.

[0035] Preferably, when lifting the fixed-wing UAV, the lifting mechanism is first driven to contact the fixed-wing UAV, and then the outrigger mechanism is driven to move the fixed-wing UAV out of its pre-placed position.

[0036] Preferably, after the fixed-wing UAV leaves its pre-placed position, the lifting mechanism is driven to level the fixed-wing UAV according to the value fed back by the weighing sensor.

[0037] Compared with the prior art, the present invention has multiple working conditions and can adapt to different models of fixed-wing UAVs; the present invention can quickly realize the leveling and / or weighing and / or center of gravity position detection of the fixed-wing UAV, which is convenient and fast; in addition, the modification cost of the present invention is low, the operation is convenient, and the control efficiency is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a schematic diagram of a bracket in an embodiment of the present invention;

[0039] Figure 2 It is a schematic diagram of a bracket having motion limit in an embodiment of the present invention;

[0040] Figure 3 Schematic diagram of a bracket without motion limit in an embodiment of the present invention;

[0041] Figure 4 This is the detection method flow in an embodiment of the present invention.

[0042] In the figure: 100-fixed-wing UAV; 200-bracket; 300-temporary storage block; 1-base plate; 2-leg mechanism; 21-foot seat; 22-screw; 23-handwheel; 24-motor 1; 3-lifting mechanism; 31-component 1; 311-motor 2; 312-electric cylinder; 32-component 2; 33-support block; 34-crossbeam; 35-quick-release latch. DETAILED DESCRIPTION

[0043] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with specific implementation methods.

[0044] like Figure 1 As shown, a detection system for a fixed-wing UAV comprises at least two brackets 200 arranged front and back, the bracket 200 comprises a base plate 1, a plurality of retractable leg mechanisms 2, and a lifting mechanism 3; a level sensor is arranged on the base plate 1; a plurality of leg mechanisms 2 are distributed on the bottom surface of the base plate 1, and the level sensor is communicatively connected with the leg mechanisms 2; the lifting mechanism 3 is arranged on a side of the base plate 1 away from the leg mechanisms 2, and is used to support the fixed-wing UAV 100, and the lifting mechanism 3 is equipped with a weighing sensor.

[0045] In this embodiment, two brackets 200 are arranged front and back, one of which is used to lift the head end of the fixed-wing UAV 100, and the other bracket 200 is used to lift the tail end of the fixed-wing UAV 100. The bottom surface of the base plate 1 is provided with a leg mechanism 2, and the leg mechanism 2 has four legs. The lifting mechanism 3 is provided on the upper side of the base plate 1; the horizontal sensor is integrated in the middle position of the base plate 1. In the process of leveling, the leveling of the bracket 200 can be achieved by continuously adjusting the lifting degree of the leg mechanism 2 using the parameters fed back by the horizontal sensor. On the basis of the completion of the leveling of the bracket 200, the fixed-wing UAV 100 can be accurately weighed, leveled, and the center of gravity position detected.

[0046] In the traditional scheme, it usually takes 4 or more people to manually lift and lower the UAV. It is difficult for 4 people to synchronously and uniformly rotate the hand wheel 23 for lifting and lowering. The bracket 200 is below the fixed-wing UAV 100, and it is difficult for the staff to observe the front and rear height difference and side deviation of the fixed-wing UAV 100, so there are safety hazards such as rollover. In addition, since the traditional bracket 200 adopts a manual lifting scheme, the leveling of the fixed-wing UAV 100 also requires multiple people to operate. Since the weight of the fixed-wing UAV 100 is usually 1 to 6 tons according to different models, the lifting process is also very laborious and time-consuming. Therefore, in this embodiment, the leg mechanism 2 includes a foot seat 21, a lead screw 22 and a driving member; one end of the lead screw 22 is rotatably connected to the foot seat 21, and the other end is threadedly connected to the base plate 1; the driving member is used to drive the lead screw 22 to rotate. Further, the driving member is at least one of a hand wheel 23 and a motor 24. In this embodiment, the driving member includes a hand wheel 23 and a motor 24. Specifically, a reducer 1 is provided between the driving member and the lead screw 22, and a rod is provided in the reducer 1, one end of which is connected to the hand wheel 23, and the other end is connected to the motor 1 24. Therefore, in different demand scenarios, the substrate 1 can be lifted or lowered by the hand wheel 23 or by the motor 1 24.

[0047] In this embodiment, the lifting mechanism 3 includes two lifting members arranged on the base plate 1, and a support block 33 arranged at the free end of the lifting member, and a crossbeam 34 is connected between the two support blocks 33. Specifically, the two lifting members are member 1 31 and member 2 32, which are symmetrically arranged to keep the base plate 1 in a horizontal state after the base plate 1 is leveled. The lifting member includes a motor 2 311, a reducer 2 and an electric cylinder 312; the motor 2 311 is connected to the electric cylinder 312 through the reducer 2, so that the movement of the telescopic rod in the electric cylinder 312 can be realized by the drive of the motor 2 311, thereby realizing the up and down movement of the support block 33 and the crossbeam 34. The free ends of the support block 33 and the electric cylinder 312 are detachably connected, and the support block 33 can have a plurality of different types of configurations to adapt to different types of fixed-wing UAVs 100. Based on this, it can be understood that in the prior art, as the number of models increases in the production and manufacturing of fixed-wing UAVs 100, the number of required brackets 200 increases, and in the traditional method, a dedicated bracket 200 needs to be designed for each model of fixed-wing UAV 100, so the brackets 200 of different models of fixed-wing UAVs 100 are not mutually interchangeable, so the traditional bracket 200 increases with the increase in the number of models. The increase in the number of fixed-wing UAV 100 models requires a large number of various non-interchangeable brackets 200. If during the production process, one model of fixed-wing UAV 100 is produced and another model of fixed-wing UAV 100 is not produced, then the bracket 200 of the unproduced one must be stored in a designated area in the factory. This not only occupies the work area, but also requires a designated person to manage it, which increases the management and maintenance costs. Due to the confidentiality of the fixed-wing UAV 100, the parameters cannot be disclosed to the outside world, so there are no compatible products on the market. Therefore, a variety of brackets 33 are configured in the detection system, which not only meets the specific use requirements, but also reduces the management cost. Furthermore, the bracket 33 is fixed to the free end of the lifting member by a quick-release pin 35.

[0048] In order to facilitate the operation of the staff, a remote controller is also included, and the remote controller is communicatively connected to the leg support mechanism 2 and the lifting mechanism 3. In this embodiment, through the remote controller, the staff can remotely drive the leg support mechanism 2 and the lifting mechanism 3, thereby improving the control convenience of the staff.

[0049] Based on the above detection system, this embodiment also discloses a detection method to achieve leveling, weighing, and center of gravity position detection of the fixed-wing UAV 100. Specifically, a detection method for a fixed-wing UAV includes the following steps:

[0050] S100, driving the leg mechanism 2 to level the base plate 1;

[0051] S200, pre-placing the fixed-wing UAV 100 on a relatively flat position, and lifting the fixed-wing UAV 100 until the fixed-wing UAV 100 is out of the pre-placed position;

[0052] S300, weighing with a weighing sensor to obtain weighing result 1, and obtaining the weight and center of gravity position of the fixed-wing UAV 100 in the posture according to the weighing result 1;

[0053] S400, changing the posture of the fixed-wing UAV 100 by the lifting mechanism 3;

[0054] S500, using a weighing sensor to weigh to obtain a second weighing result, and obtaining the weight and center of gravity position of the fixed-wing UAV 100 in the posture according to the second weighing result.

[0055] In this embodiment, there are terminal devices, such as mobile phones, tablets, computers, PLCs, etc., and software is installed in these devices to achieve data processing and control through communication. It can be seen that the above software can be directly used by the staff.

[0056] In step S100, the level sensor feedback information is used to automatically control the lifting and lowering of the leg mechanism 2, thereby achieving leveling of the base plate 1 itself.

[0057] In steps S300 and S500, weighing result 1 and weighing result 2 can be obtained respectively. Weighing result 1 and weighing result 2 are the weighing conditions when the fixed-wing UAV 100 is in different postures, wherein both weighing result 1 and weighing result 2 contain the weight values ​​fed back by the weighing sensor of each lifting mechanism 3, that is, in this embodiment, each weighing result includes four weight values, so that the software installed in the terminal device can calculate the center of gravity position and total weight of the fixed-wing UAV 100 based on the four weight values ​​in each posture, and at the same time, it can also generate the posture of the current fixed-wing UAV 100 based on the four weight values ​​in each posture. In the above process, the base plate 1 also keeps a horizontal state at all times.

[0058] Furthermore, before the fixed-wing UAV 100 is lifted out of its pre-placed position, the motion limit of the bracket 200 is determined, that is, before step S200, step S101 needs to be performed:

[0059] S1011, if there is no limit on the lifting of the bracket 200, the lifting mechanism 3 or the leg mechanism 2 lifts the fixed-wing UAV 100 away from its pre-placed position;

[0060] S1012: If the lifting and lowering of the bracket 200 is limited, the pre-placed position of the fixed-wing UAV 100 is changed, or the position of the bracket 200 is changed.

[0061] like Figure 2 As shown, the fixed-wing UAV 100 is placed on the temporary storage block 300. When the bracket 200 moves upward, the upper part of the bracket 33 and the lower side of the temporary storage block 300 produce motion interference. Therefore, when the bracket 33 cannot continue to rise, an alarm is issued to remind the staff. At this time, the position of the fixed-wing UAV 100 or the position of the bracket 200 can be adjusted. Figure 3 As shown, the fixed-wing UAV 100 is placed on the temporary storage block 300. When the bracket 200 moves upward, there is no motion interference between the bracket 33 and the temporary storage block 300. Therefore, when the bracket 33 continues to rise, it can smoothly contact the fixed-wing UAV 100. At this time, the bracket 200 can continue to be driven to make the fixed-wing UAV 100 detach from the temporary storage block 300. It can be seen that the up and down movement of the bracket 200 can be achieved by the leg mechanism 2 and / or the lifting mechanism 3. In this embodiment, in order to maintain the posture of the existing fixed-wing UAV 100, when lifting the fixed-wing UAV 100, the lifting mechanism 3 is first driven to contact the fixed-wing UAV 100, and then the leg mechanism 2 is driven to make the fixed-wing UAV 100 detach from its pre-placed position, and when changing the posture, it can be controlled by the lifting mechanism 3. At this time, since the fixed-wing UAV 100 has different postures, the height of the lifting mechanism 3 may be different, and the base plate 1 remains horizontal, so the posture maintenance requirement can be well met.

[0062] In this embodiment, after step 200, step 201 is performed, and the fixed-wing UAV 100 is leveled by step 201, that is:

[0063] S201 . According to the value fed back by the weighing sensor, the lifting mechanism 3 is driven to level the fixed-wing UAV 100 .

[0064] When the fixed-wing UAV 100 is in a non-horizontal position, the four weighing sensors have inconsistent feedback values ​​due to the offset of the center of gravity of the fixed-wing UAV 100. When the fixed-wing UAV 100 is in a horizontal position, the forces on the four support blocks 33 are the same, so the values ​​fed back by the four weighing sensors are consistent. Therefore, the values ​​fed back by the weighing sensors can be used to determine whether the fixed-wing UAV 100 is in a horizontal position. In other words, the fixed-wing UAV 100 can be leveled through this step.

[0065] Therefore, according to Figure 4 The process shown realizes the leveling, weighing, and center of gravity position detection of the fixed-wing UAV 100 in different postures.

[0066] First, the detection system is powered on and the system self-checks. After the position of the fixed-wing UAV 100 is determined, the substrate 1 is leveled according to the horizontal sensor, and then the weighing sensor zero position calibration is performed; then, it is tested whether there is a lifting limit on the bracket 200, that is, whether there is motion interference. If so, the position of the fixed-wing UAV 100 or the position of the bracket 200 is readjusted. If not, the staff remotely controls the outrigger mechanism 2 to lift the fixed-wing UAV 100 off the ground; if the fixed-wing UAV 100 needs to be leveled after leaving the ground, the fixed-wing UAV 100 can be leveled according to the value fed back by the weighing sensor at this time, in cooperation with the lifting mechanism 3, and the weight and center of gravity position of the fixed-wing UAV 100 in the current posture can be obtained at this time; if no leveling operation is required, the staff can remotely control the lifting mechanism 3 to adjust the fixed-wing UAV 100 to a preset posture to obtain the weight and center of gravity position of the fixed-wing UAV 100 in the current posture (non-leveling). If further detection is required, the posture of the fixed-wing UAV 100 is changed through the lifting mechanism 3. If no further detection is required, the system is reset to make the fixed-wing UAV 100 fall back to the temporary storage block 300, and the system is retracted and stored, and finally the power is turned off. It can be understood that for the weight of the fixed-wing UAV 100, since the weights in at least two postures are obtained, a more accurate weight value can be obtained by taking the average to avoid errors.

[0067] Therefore, this embodiment has a simple structure, low cost, and is easy, quick and efficient to operate, with a good degree of automation. The entire process only needs to be completed by two staff members, thereby well meeting the purpose of leveling, weighing, and center of gravity position detection of the fixed-wing UAV 100.

[0068] The above are only preferred embodiments of the present invention. It should be noted that the above preferred embodiments should not be regarded as limiting the present invention, and the protection scope of the present invention should be based on the scope defined by the claims. For ordinary technicians in this technical field, several improvements and modifications can be made without departing from the spirit and scope of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A detection system for a fixed-wing unmanned aerial vehicle, characterized in that: The invention comprises at least two brackets arranged front and back, wherein the bracket comprises: A substrate, on which a level sensor is disposed; A plurality of retractable leg mechanisms, the plurality of leg mechanisms being distributed on the bottom surface of the base plate, the level sensor being communicatively connected to the leg mechanisms; and The lifting mechanism is arranged on a side of the base plate away from the leg mechanism, and is used to support the fixed-wing UAV. The lifting mechanism is equipped with a weighing sensor.

2. A fixed-wing UAV detection system as claimed in claim 1, characterized in that: The outrigger mechanism comprises: foot base; A lead screw, one end of which is rotatably connected to the foot seat, and the other end of which is threadedly connected to the base plate; and A driving component is used to drive the lead screw to rotate.

3. A fixed-wing UAV detection system as claimed in claim 2, characterized in that: The driving component is at least one of a hand wheel and a motor.

4. A fixed-wing UAV detection system as claimed in claim 1, characterized in that: The lifting mechanism comprises: two lifting members disposed on a base plate; and A support block is arranged at the free end of the lifting member, and a crossbeam is connected between the two support blocks.

5. A fixed-wing UAV detection system as claimed in claim 4, characterized in that: The support block is fixed to the free end of the lifting member through a quick-release latch.

6. A fixed-wing UAV detection system as claimed in claim 1, characterized in that: Also includes: A remote controller is used to communicate with the leg mechanism and the lifting mechanism.

7. A method for detecting a fixed-wing unmanned aerial vehicle, characterized in that: The detection system according to any one of claims 1 to 6 comprises the following steps: Drive the leg mechanism to level the base plate; Place the fixed-wing drone on a relatively flat position in advance, and lift the fixed-wing drone until it leaves the pre-placed position; Weighing is performed using a weighing sensor to obtain weighing result 1, and the weight and center of gravity position of the fixed-wing UAV in the posture are obtained according to weighing result 1; Changing the attitude of the fixed-wing UAV through the lifting mechanism; The weighing sensor is used to weigh the UAV to obtain weighing result 2, and the weight and center of gravity position of the UAV in this posture are obtained according to weighing result 2.

8. A method for detecting a fixed-wing UAV as claimed in claim 7, characterized in that: Before lifting the fixed-wing drone out of its pre-placed position, determine the motion limit of the bracket: If there is no limit on the lifting of the bracket, the lifting mechanism or the leg mechanism lifts the fixed-wing UAV out of its pre-placed position; If the bracket cannot be raised or lowered, change the position of the fixed-wing drone or the bracket.

9. A method for detecting a fixed-wing UAV as claimed in claim 7, characterized in that: When lifting the fixed-wing UAV, the lifting mechanism is first driven to contact the fixed-wing UAV, and then the outrigger mechanism is driven to move the fixed-wing UAV out of its pre-placed position.

10. A method for detecting a fixed-wing UAV as claimed in claim 9, characterized in that: After the fixed-wing UAV leaves its pre-placed position, the lifting mechanism is driven to level the fixed-wing UAV according to the value fed back by the weighing sensor.

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