Sensor-based mechanical UAV thrust line measurement device and measurement method

Abstract

The present invention provides a sensor-based mechanical UAV thrust line measurement device and method, relating to the field of aviation technology. The device comprises: a fixed frame, the fixed frame including a base, on which four orthogonally connected mounting surfaces are vertically fixed; a first through-hole is defined at the center of the base, a sleeve is fixed at the first through-hole, and a sensor is mounted on the mounting surface; a thrust line measurement assembly comprises a thrust line measurement tube and a UAV suspension rod, the top end of the measurement tube is fixedly connected to the sleeve, the suspension rod extends through the thrust line measurement tube and the fixed frame, a signal acquisition port of the sensor contacts the UAV suspension rod, and the acquisition port is in a pre-tightened state, and the UAV is suspended from the bottom end of the UAV suspension rod; the sensor is used to collect the spacing value between the UAV suspension rod and the thrust line measurement tube, so as to calculate the inclination angle of the thrust line based on the spacing value. The present invention is simple and easy to use, reduces the workload of measurement personnel, and improves the accuracy and efficiency of thrust line measurement.

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 measurement device and a measurement method. Background Art

[0002] Rocket-assisted launch is a common method for launching drones. The drone accelerates from a stationary position to a safe speed and altitude using its own power and the thrust of a rocket booster, after which the rocket booster separates from the drone. The drone's takeoff is primarily powered by the thrust of the booster rocket or engine. The stability of the drone during takeoff is determined by the aircraft's pitch angle. The accuracy of measuring the rocket booster's thrust line directly impacts the success of the drone's launch.

[0003] Currently, drone thrust line measurements are typically performed using a sling. While the drone is suspended, the thrust line position is adjusted using a sling device installed at the contact point between the rocket booster and the drone. Currently, sling devices are generally available in two types: one made of steel cable and the other made of nylon rope. The distance between the sling device and the thrust line measurement tube is a key factor in measuring the thrust line inclination.

[0004] Although existing UAV thrust line measurement equipment and 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 during thrust line measurement and the measurement accuracy is low. 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, the embodiments of the present application provide 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 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 orthogonally connected planar mounting surfaces, each of the mounting surfaces having a mounting hole defined in the middle thereof; a first through hole defined in the center of the base, a sleeve being fixedly disposed in the first through hole in a direction away from the mounting surface; and a second through hole defined in the middle of the fixing frame cover;

[0008] Sensors, the sensors are fixedly mounted in the mounting holes of the four mounting surfaces, and the signal acquisition ports of the sensors extend into the fixing brackets, respectively. The fixing bracket cover is mounted on the open end surface formed by the four mounting surfaces;

[0009] A thrust line measuring assembly, the thrust line measuring assembly includes a thrust line measuring tube and a drone suspension rod, the top end of the thrust line measuring tube is fixedly sleeved with the sleeve, the bottom end of the thrust line measuring tube is fixed on the drone, the drone suspension rod passes through the thrust line measuring tube and the fixed frame through the first through hole and the second through hole, the signal acquisition port of the sensor contacts the drone suspension rod, and the signal acquisition port of the sensor and the drone suspension rod are in a pre-tightened state, and the axis of the drone suspension rod coincides with the axis of the thrust line measuring tube, and the drone is suspended at the bottom end of the drone suspension rod; the sensor is used to collect the spacing value between the drone 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 drone suspension rod and the thrust line measuring cylinder collected by the sensor, so as to calculate the inclination angle of the thrust line through the spacing value.

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

[0012] According to one embodiment of the present application, the upper cover of the fixing bracket 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 for the above-mentioned sensor-based mechanical UAV thrust line measurement device, comprising:

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

[0016] The sensor collects the distances l1, l2, l3, and l4 between the thrust line measuring cylinder 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 cylinder and r is the radius of the UAV suspension rod;

[0017] The inclination angles in the transverse and longitudinal directions are calculated based on the transverse and longitudinal offset distances formed by the two relative displacement sensors and the length l of the thrust line measuring cylinder.

[0018] According to an embodiment of the present application, the method further includes:

[0019] The data collected by 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, based on 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 achieved by at least one of the above-mentioned technical solutions employed in the embodiments of this specification include at least the following: The embodiments of the present invention provide a sensor-based mechanical drone thrust line measurement device. Based on traditional drone thrust line measurement methods, a thrust line measuring tube is attached to the drone to indicate the thrust line direction. A thrust line measurement device equipped with a displacement sensor is fixed to the measuring tube. This device can detect and display the distance between the thrust line and the edge of the measuring tube in real time. Continuously measured data can be exported and processed by a host computer to determine the thrust line inclination angle. This device is simple and easy to use, reduces the workload of measurement personnel, and improves thrust line measurement accuracy and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. 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 any creative work.

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

[0027] Figure 2 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 bracket 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 embodiments 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 embodiments, 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 features in the following embodiments and embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative work are within the scope of protection of this 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 this 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 an apparatus and / or practice a method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this apparatus 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 illustrations only show components related to the present application and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

[0036] Additionally, in the following description, specific details are provided to provide a thorough understanding of the examples. However, one skilled in the art will appreciate that the aspects described can be practiced without these specific details.

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

[0038] The present invention provides a displacement sensor-based mechanical UAV thrust line measurement technology. Specifically, four displacement sensors are used to continuously measure the distance between the thrust line boom and the cylinder, and the actual position of the thrust line is measured through digital data acquisition. This technology implements a solution for continuous thrust line measurement using displacement sensors or similar sensors, improves thrust line measurement accuracy and efficiency, facilitates data organization and calculation, and is suitable for measuring the inclination angle of propulsion systems of UAVs, fighter jets, and other aircraft launched using rocket engines. The present invention provides 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] The fixing frame 2 includes a base and a fixing frame cover 3. Four planar mounting surfaces connected orthogonally to each other are vertically fixed on the base, and a mounting hole is respectively provided in the middle of each mounting surface; a first through hole is provided in the center of the base, and a sleeve is fixedly provided at the first through hole in a direction away from the mounting surface; a second through hole is provided in the middle of the fixing frame cover 3.

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

[0042] A thrust line measuring assembly, the thrust line measuring assembly includes a thrust line measuring tube 4 and a drone hanging rod 5, the top of the thrust line measuring tube 4 is fixedly sleeved with the sleeve, the bottom end of the thrust line measuring tube 4 is fixed on the drone, the drone hanging rod 5 passes through the thrust line measuring tube 4 and the fixed frame 2 through the first through hole and the second through hole, the signal acquisition port of the sensor is in contact with the drone hanging rod 5, and the signal acquisition port of the sensor and the drone hanging rod 5 are in a pre-tightened state, and the axis of the drone hanging rod 5 coincides with the axis of the thrust line measuring tube 4, and the drone is suspended at the bottom end of the drone hanging rod 5; the sensor is used to collect the spacing value between the drone hanging 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] Some embodiments of the present invention further include a host computer connected to the sensor and configured to receive the distance value between the drone suspension rod 5 and the thrust line measuring tube 4, as acquired by the sensor, and to calculate the thrust line inclination angle based on the distance value. The host computer software can implement data averaging and thrust line calculation functions, thereby improving measurement accuracy and efficiency.

[0044] The embodiment of the present invention designs a cylindrical fixing frame 2 with orthogonal mounting surfaces; the fixing frame 2 is surrounded by four mutually orthogonal planar mounting surfaces, and a through hole for fixing a sensor is opened in the center of the mounting surface. The sensor adopts a displacement sensor 1, which is fixed in the middle by bolt connection and the measuring head is extended into the fixing frame 2 to contact the drone 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 drone 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 is 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. The current distance between the 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 perpendicular to each other and mounted on a fixing frame 2, wherein the displacement sensor 1 includes a sensor body, 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, which is a flat contact head 102 fixed by a thread.

[0046] In some embodiments of the present invention, Figure 4 As shown, the thrust line measuring tube 4 is mounted above a fixing frame 2 and a displacement sensor 1. The drone is suspended from the lower end of a 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 1As shown in the figure, the thrust line continuous measurement device is assembled, and after the power supply is connected to the displacement sensor 1, 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 to collect the distances l1, l2, l3, and l4 between the thrust line measuring tube 4 and the UAV suspension rod 5 at this time. It is known that the inner diameter of the thrust line measuring tube 4 is R, and the radius of the UAV suspension rod 5 is r. The offset distances of the UAV suspension rod 5 can be calculated as |Rr-l1|, |Rr-l2|, |Rr-l3|, and |Rr-l4|. The collected data of the two relative sensors are averaged to reduce the error, and the offset distances in the horizontal and vertical directions (the 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 vertical 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 solved by the host computer to automatically read the displacement sensor data and present it in real time, facilitating on-site adjustments by operators. They can intuitively display the current thrust line situation and improve adjustment efficiency.

[0054] In summary, the mechanical UAV thrust line measurement technology based on a 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 facilitates the operation of on-site debugging personnel and improves measurement efficiency and accuracy.

[0055] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection 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 orthogonally connected planar mounting surfaces, each of the mounting surfaces having a mounting hole defined in the middle thereof; a first through hole defined in the center of the base, a sleeve being fixedly disposed in the first through hole in a direction away from the mounting surface; and a second through hole defined in the middle of the fixing frame cover; Sensors, the sensors are fixedly mounted in the mounting holes of the four mounting surfaces, and the signal acquisition ports of the sensors extend into the fixing brackets, respectively. The fixing bracket cover is mounted on the open end surface formed by the four mounting surfaces; A thrust line measuring assembly, the thrust line measuring assembly includes a thrust line measuring tube and a drone suspension rod, the top end of the thrust line measuring tube is fixedly sleeved with the sleeve, the bottom end of the thrust line measuring tube is fixed on the drone, the drone suspension rod passes through the thrust line measuring tube and the fixed frame through the first through hole and the second through hole, the signal acquisition port of the sensor contacts the drone suspension rod, and the signal acquisition port of the sensor and the drone suspension rod are in a pre-tightened state, and the axis of the drone suspension rod coincides with the axis of the thrust line measuring tube, and the drone is suspended at the bottom end of the drone suspension rod; the sensor is used to collect the spacing value between the drone 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 cylinder 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 includes a sensor body, which is fixedly mounted on the mounting surface via a fixing nut. The end of the sensor body is the signal acquisition port, which is a planar contact head fixed via 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 installation surface by screws.

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

6. A measurement method for a mechanical UAV thrust line measurement 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 cylinder 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 cylinder and r is the radius of the UAV suspension rod; The inclination angles in the transverse and longitudinal directions are calculated based on the transverse and longitudinal offset distances formed by the two relative displacement sensors and the length l of the thrust line measuring cylinder.

7. The measuring method according to claim 6, characterized in that Also includes: The data collected by 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 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.

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