Sensor-based mechanical unmanned aerial vehicle thrust line measuring device and measuring method

Abstract

The invention provides a sensor-based mechanical unmanned aerial vehicle thrust line measuring device and measuring method, and relates to the technical field of aviation, the sensor-based mechanical unmanned aerial vehicle thrust line measuring device comprises a fixing frame, the fixing frame comprises a base, and four mounting surfaces which are orthogonally connected in sequence are vertically fixed on the base; a first through hole is formed in the center of the base, a sleeve and a sensor are fixed at the first through hole, and the sensor is mounted on a mounting surface; the thrust line measuring assembly comprises a thrust line measuring cylinder and an unmanned aerial vehicle suspension rod, the top end of the measuring cylinder is fixedly connected with the sleeve in a sleeving mode, the suspension rod penetrates through the thrust line measuring cylinder and the fixing frame, a signal collecting port of the sensor makes contact with the unmanned aerial vehicle suspension rod, the collecting port is in a pre-tightening state, and an unmanned aerial vehicle is suspended at the bottom end of the unmanned aerial vehicle suspension rod; the sensor is used for collecting the distance value between the unmanned aerial vehicle suspension rod and the thrust line measuring cylinder, and the inclination angle of the thrust line is calculated through the distance value. The method is simple and easy to use, reduces the workload of measurement personnel, and improves the measurement precision and efficiency of the thrust line.

Description

Technical Field

[0001] The present invention relates to the field of aviation technology, and in particular to a sensor-based mechanical UAV thrust line measuring device and a measuring method. Background Art

[0002] Rocket boost launch is a common method of launching drones. After the drone relies on its own power and the thrust of the rocket booster to accelerate from a stationary state to a safe speed and altitude, the rocket booster separates from the drone. The take-off process of the drone is mainly powered by the thrust of the booster rocket or engine. The stability of the take-off process is determined by the pitch angle of the aircraft. The measurement accuracy of the thrust line of the rocket booster will directly affect the success of the drone launch phase.

[0003] At present, the thrust line of UAVs is basically measured by hanging. During the hanging process of the UAV, the thrust line position is adjusted by the hanging device installed at the contact point between the rocket booster and the UAV. Currently, there are two types of hanging devices: one is made of steel cable and the other is made of nylon rope. The distance between the hanging device and the thrust line measuring tube is the key factor in measuring the inclination of the thrust line.

[0004] Although the existing UAV thrust line measurement equipment and measurement methods are all suspended measurements, they do not take into account the problem that the distance of the suspension rope offset center is difficult to measure and the measurement accuracy is low during thrust line measurement. In addition, they cannot achieve continuous measurement of thrust line distance data. Therefore, there are defects in the real-time, accuracy and visualization of the data. Summary of the invention

[0005] In view of this, an embodiment of the present application provides a sensor-based mechanical UAV thrust line measurement device and measurement method to achieve the purpose of being simple and easy to use, reducing the workload of measurement personnel, and improving the thrust line measurement accuracy and measurement efficiency.

[0006] The embodiment of the present application provides the following technical solution: a sensor-based mechanical UAV thrust line measurement device, comprising:

[0007] A fixing frame, the fixing frame comprising a base and a fixing frame cover, the base being vertically fixed with four planar mounting surfaces connected orthogonally in sequence, and a mounting hole being respectively provided in the middle of each mounting surface; a first through hole being provided at the center of the base, a sleeve being fixedly provided at the first through hole in a direction away from the mounting surface, and a second through hole being provided in the middle of the fixing frame cover;

[0008] Sensors, the sensors are fixedly mounted in the mounting holes of the four mounting surfaces respectively, and the signal acquisition ports of the sensors extend into the fixing frames respectively, and the fixing frame upper cover is mounted on the open end faces formed by the four mounting surfaces;

[0009] A thrust line measuring assembly, the thrust line measuring assembly comprising a thrust line measuring tube and a UAV suspension rod, the top end of the thrust line measuring tube being fixedly sleeved with the sleeve, the bottom end of the thrust line measuring tube being fixed on the UAV, the UAV suspension rod penetrating the thrust line measuring tube and the fixing frame through the first through hole and the second through hole, the signal acquisition port of the sensor being in contact with the UAV suspension rod, and the signal acquisition port of the sensor and the UAV suspension rod being in a pre-tightened state, and the axis of the UAV suspension rod being coincident with the axis of the thrust line measuring tube, and the UAV being suspended at the bottom end of the UAV suspension rod; the sensor being used to collect the spacing value between the UAV suspension rod and the thrust line measuring tube, so as to calculate the inclination angle of the thrust line through the spacing value.

[0010] According to one embodiment of the present application, a host computer is further included, which is connected to the sensor and is used to receive the spacing value between the UAV suspension rod and the thrust line measuring tube collected by the sensor, so as to calculate the inclination angle of the thrust line through the spacing value.

[0011] According to an embodiment of the present application, the sensor includes a sensor body, which is fixedly mounted on the mounting surface by a fixing nut, and the end of the sensor body is the signal acquisition port, which is a planar contact head fixed by threads.

[0012] According to an embodiment of the present application, the upper cover of the fixing frame is fixed to the open end surface formed by the mounting surface by screws.

[0013] According to an embodiment of the present application, the sensor is a displacement sensor.

[0014] The present application also provides a measurement method of the sensor-based mechanical UAV thrust line measurement device as described above, comprising:

[0015] The drone is suspended by the drone suspension rod, and the sensor is powered on;

[0016] The sensor collects the distance l between the thrust line measuring tube and the UAV suspension rod 1 , l 2 , l 3 , l 4 , the calculated offset distances of the UAV suspension rods are |Rrl 1 |、|Rrl 2 |、|Rrl 3 |、|Rrl 4|, where R is the inner diameter of the thrust line measuring tube, and r is the radius of the UAV suspension rod;

[0017] According to the transverse and longitudinal offset distances formed by the two relative displacement sensors and the length l of the thrust line measuring tube, the inclination angles in the transverse and longitudinal directions are calculated.

[0018] According to an embodiment of the present application, it also includes:

[0019] The collected data of the two opposite displacement sensors are averaged to obtain the lateral and longitudinal offset distances formed by the two pairs of displacement sensors:

[0020]

[0021] According to the offset distance, the inclination angles in the horizontal and vertical directions are calculated as follows:

[0022]

[0023] According to an embodiment of the present application, according to usage requirements, if the thrust line is set to pass through the center of mass, the position of the thrust line measuring cylinder is adjusted so that Δx=Δy=0.

[0024] Compared with the prior art, the beneficial effects that can be achieved by at least one of the above technical solutions adopted in the embodiments of this specification include at least: the embodiments of the present invention provide a sensor-based mechanical UAV thrust line measurement device, based on the traditional UAV thrust line measurement method, a thrust line measurement tube is connected to the UAV to indicate the thrust line direction, and a thrust line measurement device with a displacement sensor installed is fixed on the measuring tube, which can detect the distance between the thrust line and the edge of the measuring tube in real time and display it, and after the continuously measured data is exported, the data can be calculated and processed on the host computer to obtain the thrust line inclination angle. The device is simple and easy to use, reduces the workload of the measurement personnel, and can improve the thrust line measurement accuracy and measurement efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 It is a schematic diagram of the structural installation process of the thrust line continuous measurement device based on the displacement sensor according to an embodiment of the present invention;

[0027] Figure 2 is a schematic diagram of the arrangement of the displacement sensor according to an embodiment of the present invention;

[0028] Figure 3 is a schematic diagram of the connection between the displacement sensor and the fixing frame according to an embodiment of the present invention;

[0029] Figure 4 It is an overall structural assembly diagram of an embodiment of the present invention;

[0030] Figure 5 is a flow chart of the thrust line continuous measurement method of the present invention;

[0031] Among them, 1. displacement sensor; 2. fixing bracket; 3. fixing bracket cover; 4. thrust line measuring tube; 5. UAV suspension rod; 101. displacement sensor body; 102. flat contact head; 103. fixing nut. DETAILED DESCRIPTION

[0032] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0033] The following describes the implementation methods of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the following embodiments and the features in the embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0034] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present application, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspect described herein can be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this device and / or practice this method.

[0035] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. The drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0036] Additionally, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects described may be practiced without these specific details.

[0037] The technical solutions provided by various embodiments of the present application are described below in conjunction with the accompanying drawings.

[0038] The embodiment of the present invention provides a mechanical UAV thrust line measurement technology based on displacement sensors, specifically using four displacement sensors to continuously measure the distance between the thrust line boom and the cylinder, and measuring the actual position of the thrust line through digital quantity acquisition. The scheme of using displacement sensors or similar sensors to continuously measure the thrust line is realized, which improves the thrust line measurement accuracy and measurement efficiency, is conducive to data collation and calculation, and is suitable for the field of propulsion system inclination measurement of UAVs, fighters, etc. launched by rocket engines. The embodiments of this specification provide the following technical solutions:

[0039] like Figure 1 As shown, an embodiment of the present invention provides a sensor-based mechanical UAV thrust line measurement device, comprising:

[0040] A fixing frame 2, the fixing frame 2 includes a base and a fixing frame cover 3, four planar mounting surfaces which are orthogonally connected in sequence are vertically fixed on the base, and a mounting hole is respectively provided in the middle of each of the mounting surfaces; a first through hole is provided at the center of the base, a sleeve is fixedly arranged at the first through hole in a direction away from the mounting surface, and a second through hole is provided in the middle of the fixing frame cover 3.

[0041] The sensors are respectively fixedly mounted in the mounting holes of the four mounting surfaces, and the signal acquisition ports of the sensors are respectively extended into the fixing frame 2, and the fixing frame upper cover 3 is mounted on the open end surface formed by the four mounting surfaces; in this embodiment, the fixing frame upper cover 3 is fixed to the open end surface formed by the mounting surface by screws.

[0042] A thrust line measuring assembly, the thrust line measuring assembly comprising a thrust line measuring tube 4 and a UAV suspension rod 5, the top end of the thrust line measuring tube 4 being fixedly sleeved with the sleeve, the bottom end of the thrust line measuring tube 4 being fixed on the UAV, the UAV suspension rod 5 penetrating the thrust line measuring tube 4 and the fixing frame 2 through the first through hole and the second through hole, the signal acquisition port of the sensor being in contact with the UAV suspension rod 5, and the signal acquisition port of the sensor and the UAV suspension rod 5 being in a pre-tightened state, and the axis of the UAV suspension rod 5 being coincident with the axis of the thrust line measuring tube 4, and the bottom end of the UAV suspension rod 5 suspending the UAV; the sensor being used to collect the spacing value between the UAV suspension rod 5 and the thrust line measuring tube 4, so as to calculate the inclination angle of the thrust line through the spacing value.

[0043] In some embodiments of the present invention, a host computer is further included, which is connected to the sensor and is used to receive the spacing value between the drone suspension rod 5 and the thrust line measuring tube 4 collected by the sensor, so as to calculate the inclination angle of the thrust line through the spacing value. The use of host computer software can realize the functions of data averaging and thrust line calculation, thereby improving the accuracy and efficiency of measurement.

[0044] The embodiment of the present invention designs a cylindrical fixing frame 2 with orthogonal mounting surfaces; the fixing frame 2 is provided with four mutually orthogonal planar mounting surfaces around it, and a through hole for fixing a sensor is provided in the center of the mounting surface, wherein the sensor adopts a displacement sensor 1, which is fixed in the middle by bolt connection and extends the measuring head into the fixing frame 2 to contact with the UAV suspension rod 5; the fixing frame 2 adopts an outer cylindrical structure to be sleeved on the thrust line measuring cylinder 4 to achieve fixation with the thrust line measuring cylinder 4; when the UAV suspension rod 5 is in the center position, the measuring head of the displacement sensor 1 is in a pre-tightened position to ensure that the distance measurement can be maintained when the thrust line measuring cylinder 4 moves to this side and the suspension rod moves away; the output signal of the displacement sensor 1 is connected to the computer through a signal line, and data aggregation is realized through specific host computer software, so that the distance between the current thrust line and the measuring cylinder can be obtained in real time and its changes can be observed, which is convenient for the next adjustment.

[0045] In some embodiments of the present invention, Figure 2 and Figure 3 As shown, four displacement sensors 1 are arranged in a mutually perpendicular manner and installed on a fixing frame 2, wherein the displacement sensor 1 includes a sensor body, and the displacement sensor body 101 is tightened on the fixing frame 2 by a fixing nut 103, and the end thereof is the signal acquisition port, and the signal acquisition port is a planar contact head 102 fixed by a thread.

[0046] In some embodiments of the present invention, Figure 4As shown, the fixing frame 2 and the displacement sensor 1 are mounted on the thrust line measuring tube 4. The drone is suspended at the lower end of the drone suspension rod 5, which passes through the thrust line measuring tube 4 and the fixing frame 2. By measuring the distance between the drone suspension rod 5 and the thrust line measuring tube 4, the inclination angle of the thrust line can be obtained.

[0047] like Figure 5 As shown, the specific implementation process of the measurement method of the sensor-based mechanical UAV thrust line measurement device of the present invention is as follows:

[0048] like Figure 1 As shown in the figure, the thrust line continuous measurement device is assembled, the displacement sensor 1 is connected to the power supply, and the UAV is suspended through the UAV suspension rod 5. The upper computer is connected to the signal transmission line of the displacement sensor 1, and the distance l between the thrust line measurement tube 4 and the UAV suspension rod 5 is collected. 1 , l 2 , l 3 , l 4 Given that the inner diameter of the thrust line measuring tube 4 is R and the radius of the drone suspension rod 5 is r, the offset distance of the drone suspension rod 5 can be calculated to be |Rrl 1 |、|Rrl 2 |、|Rrl 3 |、|Rrl 4 |. The data collected by the two opposite sensors are averaged to reduce the error, and the offset distances in the horizontal and vertical directions (directions of the two pairs of displacement sensors 1) can be obtained respectively.

[0049]

[0050] It is known that the length of the thrust line measuring tube 4 is l, so the inclination angles in the horizontal and longitudinal directions can be obtained as

[0051]

[0052]

[0053] If the thrust line needs to pass through the center of mass, just adjust the cylinder position so that Δx = Δy = 0; if you want to set the thrust line to a certain inclination angle, you can follow the above θ x ,θ y These four formulas can be automatically read by the host computer to collect data from the displacement sensor and present them in real time, which is convenient for operators to operate and adjust on site, and can intuitively show the current thrust line situation and improve the adjustment efficiency.

[0054] To sum up, the mechanical UAV thrust line measurement technology based on displacement sensor described in the embodiment of the present invention can automatically obtain the deviation value between the UAV thrust line and the center of gravity by simultaneously measuring the distance between the thrust line measuring tube and the UAV suspension rod, and collect thrust line change data in real time through continuous measurement, which is convenient for on-site debugging personnel to operate and improves measurement efficiency and measurement accuracy.

[0055] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A sensor-based mechanical UAV thrust line measurement device, characterized in that: include: A fixing frame, the fixing frame comprising a base and a fixing frame cover, the base being vertically fixed with four planar mounting surfaces connected orthogonally in sequence, and a mounting hole being respectively provided in the middle of each mounting surface; a first through hole being provided at the center of the base, a sleeve being fixedly provided at the first through hole in a direction away from the mounting surface, and a second through hole being provided in the middle of the fixing frame cover; Sensors, the sensors are fixedly mounted in the mounting holes of the four mounting surfaces respectively, and the signal acquisition ports of the sensors extend into the fixing frames respectively, and the fixing frame upper cover is mounted on the open end faces formed by the four mounting surfaces; A thrust line measuring assembly, the thrust line measuring assembly comprising a thrust line measuring tube and a UAV suspension rod, the top end of the thrust line measuring tube being fixedly sleeved with the sleeve, the bottom end of the thrust line measuring tube being fixed on the UAV, the UAV suspension rod penetrating the thrust line measuring tube and the fixing frame through the first through hole and the second through hole, the signal acquisition port of the sensor being in contact with the UAV suspension rod, and the signal acquisition port of the sensor and the UAV suspension rod being in a pre-tightened state, and the axis of the UAV suspension rod being coincident with the axis of the thrust line measuring tube, and the UAV being suspended at the bottom end of the UAV suspension rod; the sensor being used to collect the spacing value between the UAV suspension rod and the thrust line measuring tube, so as to calculate the inclination angle of the thrust line through the spacing value.

2. The sensor-based mechanical UAV thrust line measurement device according to claim 1, characterized in that: It also includes a host computer, which is connected to the sensor and is used to receive the distance value between the drone suspension rod and the thrust line measuring tube collected by the sensor, so as to calculate the inclination angle of the thrust line through the distance value.

3. The sensor-based mechanical UAV thrust line measurement device according to claim 1, characterized in that: The sensor comprises a sensor body, and the sensor body is fixedly mounted on the mounting surface by a fixing nut. The end of the sensor body is the signal acquisition port, and the signal acquisition port is a planar contact head fixed by threads.

4. The sensor-based mechanical UAV thrust line measurement device according to claim 1, characterized in that: The upper cover of the fixing frame is fixed to the open end surface formed by the mounting surface by screws.

5. The sensor-based mechanical UAV thrust line measuring device according to claim 1, characterized in that: The sensor is a displacement sensor.

6. A method for measuring a mechanical UAV thrust line measuring device based on a sensor according to any one of claims 1 to 5, characterized in that: include: The drone is suspended by the drone suspension rod, and the sensor is powered on; The sensor collects the distances l1, l2, l3, and l4 between the thrust line measuring tube and the UAV suspension rod, and calculates the offset distances of the UAV suspension rod to be |Rr-l1|, |Rr-l2|, |Rr-l3|, and |Rr-l4|, respectively, where R is the inner diameter of the thrust line measuring tube and r is the radius of the UAV suspension rod; According to the transverse and longitudinal offset distances formed by the two relative displacement sensors and the length l of the thrust line measuring tube, the inclination angles in the transverse and longitudinal directions are calculated.

7. The measuring method according to claim 6, characterized in that: Also includes: The collected data of the two opposite displacement sensors are averaged to obtain the lateral and longitudinal offset distances formed by the two pairs of displacement sensors: According to the offset distance, the inclination angles in the horizontal and vertical directions are calculated as follows:

8. The measuring method according to claim 6, characterized in that: According to the use requirements, if the thrust line is set to pass through the center of mass, the position of the thrust line measuring cylinder is adjusted so that Δx=Δy=0.

Images