Unmanned aerial vehicle gravity center adjusting and measuring device and adjusting and measuring method thereof

Abstract

The invention discloses an unmanned aerial vehicle gravity center adjusting and measuring device and an adjusting and measuring method thereof. Comprising a supporting base, at least three first weighing sensors located on the supporting base and used for measuring the center of gravity of XY coordinates, and at least one second weighing sensor located on the supporting base and used for measuring the center of gravity of Z coordinates. The weighing platform is initially and horizontally placed above the first weighing sensor, the overturning base is located on the supporting base and used for rotating the weighing platform by 90 degrees to the position above the second weighing sensor, and the weighing platform is provided with a thrust line positioning interface used for being connected with the unmanned aerial vehicle and a front end fixing assembly used for clamping and fixing the unmanned aerial vehicle. According to the invention, X-direction and Y-direction barycentric coordinate measurement and Z-direction barycentric coordinate measurement are integrated on the same adjusting and measuring device by utilizing the overturning base, the barycentric coordinate can be measured at high precision through orthogonal overturning, and inclination angle measurement errors are avoided. According to the adjusting and testing method, the thrust line of the booster rocket of the unmanned aerial vehicle can be adjusted and tested on the ground.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a UAV center of gravity adjustment device and an adjustment method thereof. Background Art

[0002] At present, drones have been widely used in many fields, and there are many ways to take off. Among them, the zero-length launch takeoff method requires measuring the actual center of gravity of the drone before launch, and adjusting the thrust line so that its thrust direction is consistent with the actual center of gravity of the drone. That is, during launch, the thrust line of the rocket is required to pass through the center of gravity of the drone to ensure the safe launch of the drone.

[0003] Therefore, on the ground, counterweights and thrust mount adjustments are required to ensure the rocket's thrust line passes through the drone's center of gravity. Traditionally, the drone's thrust line calibration method involves hoisting the drone to a certain height and utilizing gravity to perform the calibration. However, this method requires high standards for slings, room height, and personnel skills, requiring personnel to work at height, which poses safety risks. In addition to the hoisting method, center of gravity calibration can also be performed using weighing methods. The most common method is tilt weighing, which measures the center of gravity coordinates in two horizontal coordinate directions through horizontal weighing. The center of gravity coordinates in the third vertical direction are then measured and calculated by tilting the object no more than 30 degrees. However, the tilt weighing method is limited by the weighing platform's structure and sensor capabilities. It requires both the load cell and the tilt angle sensor to be highly accurate, and the load cell must be highly resistant to lateral forces. Furthermore, conventional tilt weighing platforms for center of gravity measurement only measure the center of gravity and do not measure the thrust line, making it impossible to guarantee that the rocket's thrust line passes through the drone's center of gravity during launch. Summary of the Invention

[0004] Purpose of the invention: The first purpose of the present invention is to provide a drone center of gravity adjustment device that can safely and accurately measure the center of gravity.

[0005] A second object of the present invention is to provide a method for adjusting a center of gravity adjustment device of a UAV.

[0006] Technical solution: To achieve the above objectives, the present invention discloses a drone center of gravity adjustment device, comprising a support base, at least three first weighing sensors located on the support base and used to measure the XY coordinate center of gravity, at least one second weighing sensor located on the support base and used to measure the Z coordinate center of gravity, a weighing platform initially placed horizontally above the first weighing sensor, and a flip base located on the support base and used to rotate the weighing platform 90° to above the second weighing sensor, wherein the weighing platform is provided with a fixing component for clamping and fixing the drone.

[0007] Optionally, the fixing component includes a thrust line positioning interface for connecting to the drone and for determining the spatial coordinates of the thrust line.

[0008] Optionally, the fixing assembly includes a thrust line positioning interface for connecting the drone and for determining the spatial coordinates of the thrust line, and a front end fixing assembly for clamping and fixing the front end of the drone.

[0009] Optionally, the weighing platform includes an L-shaped platform consisting of a horizontal platform and a vertical platform and a rotating shaft located at both ends of the right-angled side of the L-shaped platform, and the flip base has a rotating shaft slot for passing the rotating shaft and extending in the vertical direction.

[0010] Optionally, the first weighing sensor and the second weighing sensor both include a weighing sensor body, a connecting stud passed through the weighing sensor body, a connecting nut passed through the connecting stud, a lower ball seat connected to the connecting stud and located above the connecting nut, and a sensing ball head located on the top of the lower ball seat; a sensor positioning seat is provided on the lower surface of the horizontal platform and the vertical platform, and the sensor positioning seat has a groove for accommodating the sensing ball head.

[0011] Optionally, the front-end fixing assembly includes a fixed beam lifting seat that can move up and down and forward and backward along the weighing platform, a screw base plate located on the top of the fixed beam lifting seat, a lifting nut located on the fixed beam lifting seat, a lifting screw that passes through the weighing platform, the lifting nut, the fixed beam lifting seat and the tightening nut in sequence and the upper end is connected to the screw base plate through a rolling bearing, a horizontal screw mounted on the screw base plate through a bearing seat, and a fixed beam connected to the horizontal screw through a horizontal screw nut and used to clamp the drone; a long strip slot is opened on the weighing platform for the fixed beam lifting seat to move back and forth.

[0012] Optionally, the lower surface of the support base is provided with liftable feet.

[0013] Based on the same inventive concept, the present invention discloses a method for adjusting a center of gravity adjustment device of a UAV, which is characterized by comprising the following steps:

[0014] In the initial position, first adjust the liftable feet so that the supporting base is horizontal; adjust the weighing platform to a horizontal state by adjusting the height of the first weighing sensor and the second weighing sensor, select any point as the origin of the reference coordinate system, the axial direction of the drone's fuselage is the X direction, and the direction pointing to the nose is the positive direction of the X axis; the wingspan direction of the drone is the Y direction, and the direction perpendicular to the weighing platform is the Z direction; first measure and calibrate the mass and center of gravity of the unloaded weighing platform. In the initial state, the rotating shaft can move up and down in the rotating shaft slot. Adjust the height of the first weighing sensor so that the weighing platform is horizontal. When the weighing platform is horizontal, adjust the height of the first weighing sensor so that the rotating shaft is suspended in the rotating shaft slot, that is, the rotating shaft does not contact the flip base. At this time, there is no force acting on the rotating shaft on the weighing platform; then the weighing platform is rotated 90° around the rotating shaft, and the height of the second weighing sensor is adjusted so that the weighing platform is horizontal, and the mass and center of gravity of the weighing platform are measured;

[0015] The front end of the drone is then secured to the front end securing assembly, the rear thrust seat of the drone is connected to the thrust line positioning interface, and the drone is secured to the weighing platform; data from the first load cell is obtained, and the X and Y distances of the drone's center of gravity relative to the reference point are calculated based on the data from the first load cell;

[0016] The weighing platform rotates 90° around the axis. After the weighing platform flips over, it is located above the second load cell. The weighing platform is in a state of force equilibrium. The Z coordinate of the center of gravity of the drone relative to the reference point is calculated based on the data from the second load cell.

[0017] Measure the actual center of gravity of the drone (X 机重 , Y 机重 , Z 机重 ), select the theoretical center of gravity (X0, Y0, Z0) of the UAV on the thrust line, and set the counterweight cabin at the head and tail of the UAV respectively. 机重 -X0<0, then the weight is balanced in the head weight compartment of the drone. If X 机重 -X0>0, then the weight is added to the tail weight compartment of the UAV. If X 机重 -X0=0, then it is necessary to add counterweights to the head and tail counterweight compartments of the UAV, and calculate the counterweight mass that needs to be added to each counterweight compartment so that the center of gravity of the UAV can pass through the thrust line of the booster rocket. After the counterweight is completed, repeat the above steps to measure the center of gravity again to verify whether the center of gravity of the UAV passes through the thrust line of the booster rocket.

[0018] Optionally, the specific formula for calculating the X-direction and Y-direction distances of the center of gravity of the drone relative to the reference point based on the data of the first weighing sensor is:

[0019]

[0020] Where: F i is the force measured by the first load cell, where i = 1, 2, ... n, where n is the number of first load cells; X i is the X distance of the first load cell relative to the reference point, Y i is the Y-direction distance of the first load cell relative to the reference point, G 机 is the gravity of the drone, X 机重 is the X-axis distance of the drone's center of gravity relative to the reference point, and Y 机重 G is the Y distance of the center of gravity of the UAV relative to the reference point. 台 is the gravity of the weighing platform, X 台重 is the X-axis distance of the weighing platform relative to the reference point, and Y 台重 is the Y-direction distance of the weighing platform relative to the reference point; the axial direction of the drone's fuselage is the X-direction, and the wingspan direction is the Y-direction;

[0021] The specific formula for calculating the Z coordinate of the drone's center of gravity relative to the reference point based on the data from the second weighing sensor is:

[0022]

[0023] F j is the force measured by the second load cell, where j = 1, 2, ... m, where m is the number of second load cells; Z j is the Z-direction distance of the second load cell relative to the reference point, Z 台重 Z is the Z distance of the weighing platform relative to the reference point, 机重 is the Z distance of the drone's center of gravity relative to the reference point.

[0024] Optionally, the specific steps for calculating the ballast mass that needs to be added to each ballast compartment are:

[0025] When X 机重 -X0≠0,

[0026] The X coordinates of the head counterweight cabin and the tail counterweight cabin are fixed values, that is, in the XZ plane, the center of gravity of the counterweight (X 配重 , Y 配重 , Z 配重 ) to the plane where the theoretical center of gravity (X0, Y0, Z0) is located is a fixed value, and the distance from the counterweight of the head counterweight compartment to the theoretical center of gravity is l1, and the distance from the counterweight of the tail counterweight compartment to the theoretical center of gravity is l2; First, determine the mass of the counterweight block m 机重 For drone quality; That is, the mass and position of the counterweight are determined;

[0027] Assume that X 机重 -X0<0, then adjust Y on the counterweight mounting plate of the head counterweight compartment 配重 、Z 配重 Position, complete one weight balancing;

[0028] Assume that X 机重 -X0>0, adjust X on the counterweight mounting plate of the tail counterweight compartment 配重 、Z 配重 Position, complete one weight balancing;

[0029] When X 机重 -X0=0,

[0030] First, we need to determine the total mass of the counterweight:

[0031]

[0032] Where Y max 、Z max The edge of the counterweight area in the Y and Z directions to (Y 机重 , Z 机重 ),

[0033] Then according to Determine the position of the counterweight block. The mass of the counterweight block in the head counterweight compartment is The mass of the ballast block in the tail ballast compartment is Thus, the mass and position of each counterweight block are determined, and the counterweighting is completed once.

[0034] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: the present invention utilizes a flip base to realize the X, Y coordinate measurement of the center of gravity and the Z coordinate measurement of the center of gravity, which are integrated on the same adjustment and testing device. Through orthogonal flipping, the center of gravity can be measured with high precision to avoid inclination measurement errors; the present invention utilizes a first weighing sensor to measure the X, Y coordinates of the center of gravity of the drone and a second weighing sensor to measure the Z coordinate of the center of gravity of the drone. The present invention calculates the X, Y and Z distances of the center of gravity of the drone relative to the reference point based on the measurement data of the sensors, and solves the counterweight mass that needs to be added to each counterweight compartment of the drone. The counterweight method can be used to conveniently adjust the center of gravity. The center of gravity is controlled, which solves the problem of difficulty in adjusting the center of gravity of existing UAVs; when performing center of gravity adjustment, the present invention does not require an inclination angle measurement sensor, and the weighing sensor has low accuracy requirements, low lateral force resistance requirements and low cost; the adjustment method of the present invention realizes the adjustment of the thrust line of the UAV booster rocket on the ground, reduces the number of personnel and working hours required for thrust line adjustment, avoids the risk of the UAV falling during hanging and the risk of personnel climbing to work, avoids dependence on lifting equipment, and avoids the requirement for the height of the center of gravity adjustment site. The adjustment method has the advantages of safety and reliability, manpower saving, fast and accurate adjustment, and good adaptability to site facilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a structural schematic diagram of the present invention;

[0036] Figure 2 This is a schematic diagram of the structure of the present invention after being equipped with a drone;

[0037] Figure 3 This is a schematic structural diagram of the thrust line positioning interface in the present invention;

[0038] Figure 4 It is a structural schematic diagram of the weighing platform in the present invention;

[0039] Figure 5 This is a schematic diagram of the connection between the UAV and the thrust line positioning interface in the present invention;

[0040] Figure 6 This is a schematic diagram of the installation of the front-end fixing device of the present invention;

[0041] Figure 7 It is a structural schematic diagram of the front-end fixing device in the present invention;

[0042] Figure 8 A schematic diagram of the structure of the first weighing sensor and the second weighing sensor in the present invention;

[0043] Figure 9 It is a structural schematic diagram of the flip base in the present invention;

[0044] Figure 10 This is a schematic diagram of the structure of the drone in the X-direction and Y-direction gravity center measurement state in the present invention;

[0045] Figure 11 This is a schematic diagram of the structure of the UAV in the Z-axis gravity center measurement state in the present invention;

[0046] Figure 12 Schematic diagram of the process of the debugging method of the present invention;

[0047] Figure 13 Schematic diagram of the flow of calculation configuration in the present invention. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0049] It should be understood that the present invention can be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to make the disclosure thorough and complete and to fully convey the scope of the invention to those skilled in the art. In the drawings, the sizes and relative sizes of components may be exaggerated for clarity. Like reference numerals throughout represent like components.

[0050] like Figure 1 and Figure 2 As shown, the present invention discloses a drone center of gravity adjustment device, including a support base 1, a first weighing sensor 2, a second weighing sensor 3, a weighing platform 4, a flip base 5, a liftable foot 6, a thrust line positioning interface 7, a front end fixing component 8 and a sensor positioning seat 9.

[0051] The support base 1 includes multiple support plates and support rods for connecting the support plates. The lower surface of the support base 1 is provided with four liftable feet 6, and the support base 1 can be leveled by adjusting the height of the liftable feet 6. The upper surface of the support base 1 is provided with three first weighing sensors 2, wherein the three first weighing sensors 2 are distributed in an isosceles triangle, and the weighing platform 4 is initially placed horizontally above the three first weighing sensors 2. The three first weighing sensors 2 are used to measure the center of gravity of the XY coordinates. Figure 8 As shown, the first weighing sensor 2 includes a weighing sensor body 201, a connecting stud 202, a connecting nut 203, a lower ball seat 204 and a sensing ball head 205, wherein the connecting stud 202 is provided on the weighing sensor body 201, the connecting nut 203 is threadedly connected to the connecting stud 202, the lower ball seat 204 is threadedly connected to the connecting stud 202, the lower ball seat 204 is located above the connecting nut 203, and the sensing ball head 205 is located on the top of the lower ball seat 204. Figure 4 As shown, the weighing platform 4 includes a horizontal platform 401, a vertical platform 402 and a rotating shaft 403. The horizontal platform 401 and the vertical platform 402 form an L-shaped platform, and the rotating shaft 403 is located at both ends of the right angle side of the L-shaped platform. The lower surface of the horizontal platform 401 is provided with a sensor positioning seat 9, which has a groove 901 for accommodating the sensor ball head 205. Figure 9 As shown, the flip base 5 is located on the support base 1, and the flip base 5 has a vertically extending shaft slot 501 for passing the shaft 403. The shaft 403 of the weighing platform 4 passes through the shaft slot 501 of the flip base 5, and the weighing platform 4 can rotate 90° around the shaft 403 to the top of the second weighing sensor. Figure 8As shown, a second load cell 3 is located on the support base 1 and is used to measure the Z coordinate center of gravity. There is one second load cell 3. The second load cell 3 comprises a load cell body 201, a connecting stud 202, a connecting nut 203, a lower ball seat 204, and a sensing ball head 205. The connecting stud 202 is threaded through the load cell body 201, the connecting nut 203 is threadedly connected to the connecting stud 202, the lower ball seat 204 is threadedly connected to the connecting stud 202, and the lower ball seat 204 is located above the connecting nut 203. The sensing ball head 205 is located on top of the lower ball seat 204. A sensor locating seat 9 is provided on the lower surface of the vertical platform 402. This sensor locating seat 9 has a recess 901 for accommodating the sensing ball head 205. The load cell body 201 can optionally utilize a spoke-type tension and compression sensor.

[0052] The present invention supports a horizontally placed weighing platform through the sensing joints of three first weighing sensors, and supports the weighing platform after being flipped 90° through the sensing joint of one second weighing sensor and a flip base; the first weighing sensor and the second weighing sensor can both be freely adjusted in height, which can ensure that the weighing platform is level and the measurement accuracy is guaranteed.

[0053] like Figure 3 and Figure 5 As shown, the thrust line positioning interface 7 is provided on the horizontal platform 401 of the weighing platform 4, and the thrust line positioning interface 7 is used to connect the UAV 10. The booster rocket is connected to the thrust seat of the UAV 10. When the booster rocket is ignited, the booster rocket transmits the thrust to the UAV 10 through the thrust seat, thereby realizing the launch of the UAV. The connection interface between the thrust line positioning interface 7 and the UAV 10 simulates the connection interface between the booster rocket and the UAV 10. The spatial coordinate expression of the booster rocket thrust line can be determined by the thrust line positioning interface 7. Different thrust line positioning interfaces adapted thereto can be replaced according to different aircraft models. The thrust line positioning interface 7 serves as a rear support point to fix the rear end of the UAV; the front fixing assembly 8 serves as a front support point to fix the front end of the UAV; in some cases, only the thrust line positioning interface 7 can be used to fix the UAV.

[0054] like Figure 6 and Figure 7As shown, the front-end fixing assembly 8 is used to clamp and secure the drone and is located on a horizontal platform 401. The front-end fixing assembly 8 includes a fixed beam lifting base 801, a screw base plate 802, a lifting nut 803, a tightening nut 804, a lifting screw 805, a bearing seat 806, a horizontal screw 807, a horizontal screw nut 808, and a fixed beam 809. The fixed beam lifting base 801 includes two vertical plates and a horizontal plate connecting the two vertical plates. The horizontal platform 401 is provided with three parallel elongated slots 404 for the fixed beam lifting base to move forward and backward. The vertical plates of the fixed beam lifting base 801 pass through the left and right elongated slots 404 on the horizontal platform, allowing the vertical plates of the fixed beam lifting base 801 to move forward and backward along the elongated slots 404, and the vertical plates of the fixed beam lifting base 801 can move up and down along the elongated slots 404. The screw base plate 802 is located on top of the fixed beam lift base 801, with both ends of the screw base plate 802 connected to the ends of the vertical plate of the fixed beam lift base 801. The lifting nut 803 is located on the horizontal plate of the fixed beam lift base 801. The lower end of the lifting screw 805 has a nut head. The upper end of the lifting screw 805 passes through the long strip slot 404 located in the middle of the horizontal platform 401, the lifting nut 803, the horizontal plate of the fixed beam lift base 801, and the tightening nut 804. The upper end of the lifting screw 805 is connected to the screw base plate 802 via a rolling bearing. Two bearing seats 807 are located on the upper surface of the screw base plate 802. The two ends of the horizontal screw 807 are mounted on the screw base plate 802 through the bearing seats 807. Two horizontal screw nuts 808 are inserted into the horizontal screw 807, and the fixed beam 809 is fixedly connected to the horizontal screw nuts 808. The present invention overcomes the problem of adjusting the vertical position of the fixed beam lifting seat 801 by adjusting the lifting screw 805, and can also adjust the front and rear position of the fixed beam lifting seat 801 on the horizontal platform 401; the horizontal screw 807 can adjust the left and right positions of the two fixed beams 809, thereby achieving fixed clamping of different types of drones. When the present invention loosens the lifting nut 803, the fixed beam lifting seat 801 can move forward and backward along the horizontal platform 401 along the long strip notch 404. When the lifting nut 803 is tightened, the lifting nut 803 is pressed against the horizontal platform 401, and the fixed beam lifting seat 801 is locked on the horizontal platform 401; rotating the lifting screw 805 can drive the fixed beam lifting seat 801 to move up and down along the horizontal platform 401.

[0055] like Figure 10 、 Figure 11 and Figure 12 As shown, the present invention discloses a method for adjusting a center of gravity adjustment device of a UAV, comprising the following steps:

[0056] In the initial position, first adjust the liftable feet so that the supporting base is horizontal; adjust the weighing platform to a horizontal state by adjusting the height of the first weighing sensor and the second weighing sensor, select any point as the origin of the reference coordinate system, the axial direction of the drone's fuselage is the X direction, and the direction pointing to the nose is the positive direction of the X axis; the wingspan direction of the drone is the Y direction, and the direction perpendicular to the weighing platform is the Z direction; first measure and calibrate the mass and center of gravity of the unloaded weighing platform. In the initial state, the rotating shaft can move up and down in the rotating shaft slot. Adjust the height of the first weighing sensor so that the weighing platform is horizontal. When the weighing platform is horizontal, adjust the height of the first weighing sensor so that the rotating shaft is suspended in the rotating shaft slot, that is, the rotating shaft does not contact the flip base. At this time, there is no force acting on the rotating shaft on the weighing platform; then the weighing platform is rotated 90° around the rotating shaft, and the height of the second weighing sensor is adjusted so that the weighing platform is horizontal, and the mass and center of gravity of the weighing platform are measured;

[0057] The front end of the drone is then secured to the front end securing assembly, the rear thrust seat of the drone is connected to the thrust line positioning interface, and the drone is secured to the weighing platform; data from the first load cell is obtained, and the X and Y distances of the drone's center of gravity relative to the reference point are calculated based on the data from the first load cell;

[0058] The specific formula for calculating the X and Y distances of the drone's center of gravity relative to the reference point based on the data from the first load cell is:

[0059]

[0060] Where: F i is the force measured by the first load cell, where i = 1, 2, ... n, where n is the number of first load cells, n is 3; X i is the X distance of the first load cell relative to the reference point, Y i is the Y-direction distance of the first load cell relative to the reference point, G 机 is the gravity of the drone, X 机重 is the X-axis distance of the drone's center of gravity relative to the reference point, and Y 机重 G is the Y distance of the center of gravity of the UAV relative to the reference point. 台 is the gravity of the weighing platform, X 台重 is the X-axis distance of the weighing platform relative to the reference point, and Y 台重 is the Y distance of the weighing platform relative to the reference point;

[0061] The weighing platform rotates 90° around the axis. After the weighing platform flips over, it is located above the second load cell. The weighing platform is in a state of force equilibrium. The Z coordinate of the center of gravity of the drone relative to the reference point is calculated based on the data from the second load cell.

[0062] The specific formula for calculating the Z coordinate of the drone's center of gravity relative to the reference point based on the data from the second weighing sensor is:

[0063]

[0064] F j is the force measured by the second load cell, where j = 1, m is the number of second load cells, and m is 1; Z j is the Z-direction distance of the second load cell relative to the reference point, Z 台重 Z is the Z distance of the weighing platform relative to the reference point, 机重 is the Z-direction distance of the drone's center of gravity relative to the reference point;

[0065] Three ballast compartments are set up at the head and tail of the drone. By adding or removing ballast blocks from the ballast compartments at the head and tail of the drone, the center of gravity position in the X, Y, and Z directions is adjusted. The mass of ballast that needs to be added to each ballast compartment is calculated so that the center of gravity of the drone can pass through the thrust line of the booster rocket. After the ballast is completed, the above steps are repeated to measure the center of gravity again to verify whether the center of gravity of the drone passes through the thrust line of the booster rocket.

[0066] like Figure 13 As shown in the figure, a fixed counterweight mounting plate is set at the head and tail of the UAV, and the actual center of gravity (X 机重 , Y 机重 , Z 机重 ), select the theoretical center of gravity of the drone (X0, Y0, Z0) on the thrust line. If X 机重 -X0<0, then the weight is balanced in the head weight compartment of the drone. If X 机重 -X0>0, then the weight is added to the tail weight compartment of the UAV. If X 机重 - If X0=0, then weights need to be added to both the head and tail weight compartments of the drone;

[0067] Now let’s explain the specific weight distribution:

[0068] Case 1: X 机重 -X0≠0

[0069] The X coordinates of the counterweight mounting plates on the head counterweight compartment and the tail counterweight compartment are fixed values, that is, the center of gravity of the counterweight (X 配重 , Y 配重 , Z 配重 ) to the plane where the theoretical center of gravity (X0, Y0, Z0) is located is a fixed value, and the distance from the counterweight of the head counterweight compartment to the theoretical center of gravity is l1, and the distance from the counterweight of the tail counterweight compartment to the theoretical center of gravity is l2;

[0070] Assume that X机重 -X0<0, first determine the mass of the counterweight m 机重 The mass of the drone; then adjust the Y on the counterweight mounting plate of the head counterweight cabin 配重 、Z 配重 location, That is, the mass and position of the counterweight block are determined, and the counterweighting is completed.

[0071] Assume that X 机重 -X0>0, first determine the mass of the counterweight Then adjust the Y on the counterweight mounting plate of the tail counterweight compartment. 配重 、Z 配重 location, That is, the mass and position of the counterweight block are determined, and the counterweighting is completed.

[0072] Case 2: X 机重 -X0=0

[0073] First, we need to determine the total mass of the counterweight:

[0074]

[0075] Where Y max 、Z max The edge of the counterweight area in the Y and Z directions to (Y 机重 , Z 机重 ),

[0076] Then according to Determine the position of the counterweight block. The mass of the counterweight block in the head counterweight compartment is The mass of the ballast block in the tail ballast compartment is Thus, the mass and position of each counterweight block are determined, and the counterweighting is completed once.

Claims

1. A drone center of gravity adjustment device, characterized in that: The invention comprises a support base (1), at least three first weighing sensors (2) located on the support base and used for measuring the center of gravity of the XY coordinates, at least one second weighing sensor (3) located on the support base and used for measuring the center of gravity of the Z coordinate, a weighing platform (4) initially horizontally placed above the first weighing sensors, and a flip base (5) located on the support base and used for rotating the weighing platform 90 degrees to above the second weighing sensor, wherein the weighing platform (4) is provided with a fixing component for clamping and fixing the drone.

2. The drone center of gravity adjustment device according to claim 1, characterized in that: The fixing assembly comprises a thrust line positioning interface (7) for connecting to the drone (10) and for determining the spatial coordinates of the thrust line.

3. The drone center of gravity adjustment device according to claim 1, characterized in that: The fixing component comprises a thrust line positioning interface (7) for connecting the drone (10) and for determining the spatial coordinates of the thrust line, and a front end fixing component (8) for clamping and fixing the front end of the drone.

4. The drone center of gravity adjustment device according to claim 1, characterized in that: The weighing platform (4) comprises an L-shaped platform consisting of a horizontal platform (401) and a vertical platform (402), and a rotating shaft (403) located at both ends of the right-angled sides of the L-shaped platform, and the flip base (5) has a rotating shaft slot (501) for passing the rotating shaft (403) and extending in the vertical direction.

5. The drone center of gravity adjustment device according to claim 4, characterized in that: The first weighing sensor (2) and the second weighing sensor (3) both comprise a weighing sensor body (201), a connecting stud (202) inserted through the weighing sensor body, a connecting nut (203) inserted through the connecting stud, a lower ball seat (204) connected to the connecting stud and located above the connecting nut, and a sensing ball head (205) located on the top of the lower ball seat; the lower surfaces of the horizontal platform (401) and the vertical platform (402) are both provided with a sensor positioning seat (9), and the sensor positioning seat (9) has a groove (901) for accommodating the sensing ball head (205).

6. The drone center of gravity adjustment device according to claim 3, characterized in that: The front-end fixing assembly (8) comprises a fixed beam lifting seat (801) that can move up and down and forward and backward along the weighing platform (4), a screw base plate (802) located at the top of the fixed beam lifting seat, a lifting nut (803) located on the fixed beam lifting seat, a lifting screw (805) that passes through the weighing platform (401), the lifting nut (803), the fixed beam lifting seat (801) and the tightening nut (804) in sequence and the upper end of which is connected to the screw base plate (802) via a rolling bearing, a horizontal screw (807) mounted on the screw base plate (802) via a bearing seat (806), and a fixed beam (809) that is connected to the horizontal screw (807) via a horizontal screw nut (808) and is used to clamp the drone, and the weighing platform (4) is provided with a long strip notch (404) that allows the fixed beam lifting seat to move forward and backward.

7. The drone center of gravity adjustment device according to claim 1, characterized in that: The lower surface of the support base (1) is provided with liftable feet (6).

8. A method for adjusting the center of gravity of a drone according to any one of claims 1 to 7, characterized in that: The steps include: In the initial position, first adjust the liftable feet so that the supporting base is in a horizontal state; adjust the weighing platform to a horizontal state by adjusting the height of the first weighing sensor and the second weighing sensor, select any point as the origin of the reference coordinate system, the axial direction of the fuselage of the UAV is the X direction, and the direction pointing to the nose is the positive direction of the X axis; the wingspan direction of the UAV is the Y direction, and the direction perpendicular to the weighing platform is the Z direction; first measure and calibrate the mass and center of gravity position of the unloaded weighing platform, in the initial state, the rotating shaft can move up and down in the rotating shaft slot, adjust the height of the first weighing sensor so that the weighing platform is in a horizontal state, when the weighing platform is horizontal, adjust the height of the first weighing sensor so that the rotating shaft is suspended in the rotating shaft slot, that is, the rotating shaft does not contact the flip base, and at this time, there is no force acting on the rotating shaft on the weighing platform; then the weighing platform is rotated 90° around the rotating shaft, and the height of the second weighing sensor is adjusted so that the weighing platform is in a horizontal state, and the mass and center of gravity position of the weighing platform are measured; Then, the front end of the drone is fixed to the front end fixing assembly, the rear end thrust seat of the drone is connected to the thrust line positioning interface, and the drone is fixed to the weighing platform; the data of the first weighing sensor is obtained, and the X-direction and Y-direction distances of the center of gravity of the drone relative to the reference point are calculated according to the data of the first weighing sensor; The weighing platform rotates 90° around the axis. After the weighing platform flips over, the weighing platform is located above the second weighing sensor. The weighing platform is in a force balance state. The Z coordinate of the center of gravity of the drone relative to the reference point is calculated based on the data of the second weighing sensor. Measure the actual center of gravity of the drone (X 机重 , Y 机重 , Z 机重 ), select the theoretical center of gravity (X0, Y0, Z0) of the drone on the thrust line, and set the counterweight cabin at the head and tail of the drone respectively. 机重 -X0<0, then the weight is added to the head weight compartment of the drone. If X 机重 -X0>0, then the weight is added to the tail weight compartment of the drone. If X 机重 -X0=0, then it is necessary to add counterweights to the head and tail counterweight compartments of the UAV, and calculate the counterweight mass that needs to be added to each counterweight compartment so that the center of gravity of the UAV can pass through the thrust line of the booster rocket. After the counterweight is completed, repeat the above steps to measure the center of gravity again to verify whether the center of gravity of the UAV passes through the thrust line of the booster rocket.

9. The method for adjusting the center of gravity of a drone according to claim 8, characterized in that: The specific formula for calculating the X-direction and Y-direction distances of the center of gravity of the drone relative to the reference point based on the data of the first weighing sensor is: Where: F i is the force measured by the first load cell, where i = 1, 2, ... n, where n is the number of the first load cells; Y i is the X-direction distance of the first load cell relative to the reference point, Y i is the Y distance of the first weighing sensor relative to the reference point, G 机 is the gravity of the drone, X 机重 is the X-direction distance of the drone's center of gravity relative to the reference point, and Y 机重 G is the Y distance of the center of gravity of the drone relative to the reference point. 台 is the gravity of the weighing platform, X 台重 is the X-direction distance of the weighing platform relative to the reference point, Y 台重 is the Y distance of the weighing platform relative to the reference point; The specific formula for calculating the Z coordinate of the center of gravity of the drone relative to the reference point based on the data of the second weighing sensor is: F j is the force measured by the second load cell, where j = 1, 2, ... m, where m is the number of second load cells; z j is the Z-direction distance of the second load cell relative to the reference point, Z 台重 Z is the Z distance of the weighing platform relative to the reference point. 机重 It is the Z distance of the center of gravity of the drone relative to the reference point.

10. The method for adjusting the center of gravity of a drone according to claim 8, characterized in that: The specific steps for calculating the weight of the counterweight that needs to be added to each counterweight compartment are: When X 机重 -X0≠0, The X coordinates of the head counterweight compartment and the tail counterweight compartment are fixed values, that is, in the XZ plane, the center of gravity of the counterweight (X 配重 , Y 配重 , Z 配重 ) to the plane where the theoretical center of gravity (X0, Y0, Z0) is located is a certain value, and the distance from the counterweight of the head counterweight compartment to the theoretical center of gravity is l1, and the distance from the counterweight of the tail counterweight compartment to the theoretical center of gravity is l2; first determine the mass of the counterweight block m 机重 For drone quality; That is, the mass and position of the counterweight are determined; Assume that x 机重 -x0<0, then adjust Y on the counterweight mounting plate of the head counterweight compartment 配重 , Z 配重 position, completing one weight counterweight; Assume that X 机重 -X0>0, adjust X on the counterweight mounting plate of the tail counterweight compartment 配重 , Z 配重 position, completing one weight counterweight; When x 机重 -x0=0, First, we need to determine the total mass of the counterweight: Where Y max , Z max The edge of the counterweight area in the Y and Z directions to (Y 机重 , Z 机重 ), Then according to Determine the position of the counterweight block. The mass of the counterweight block in the head counterweight compartment is The mass of the ballast block in the tail ballast compartment is Thereby, the mass and position of each counterweight block are determined, and the counterweighting is completed.

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