Device and method for measuring gravity center of unmanned aerial vehicle

Abstract

A measuring tool comprises a measuring point A, a measuring point B and a measuring point C. The three points cooperate to measure the horizontal or inclination angle of the unmanned aerial vehicle and adjust the height of the measuring point A, so that the gravity center position measurement at different inclination angles can be realized, and the measurement accuracy is improved based on the numerical values. The inclination angle sensor is installed on the measurement tool and used for measuring the inclination angle of the unmanned aerial vehicle and providing inclination angle data for calculation of the gravity center position of the unmanned aerial vehicle, and then the gravity center measurement result of the unmanned aerial vehicle is obtained through subsequent calculation. The inclination angle of the unmanned aerial vehicle can be autonomously controlled, the inclination angle is relatively small, the unmanned aerial vehicle with a large size can be measured, the measurement process is relatively simple, and the three-point suspension measurement method adopts a hoisting measurement mode, so that the hoisting frame can move freely, the influence of lateral force is relatively small, and the measurement result of the gravity center position of the unmanned aerial vehicle is more accurate.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicle (UAV) center-of-gravity measurement, and relates to a UAV center-of-gravity measurement device and a measurement method. Background Art

[0002] Currently, with the progress of science and technology, UAVs have been widely used in both military and civilian fields and are constantly playing important roles, and have gradually become a pillar industry of the current national economy. UAVs generally adopt takeoff methods such as rocket boost, taxiing, and catapulting. Rocket boost launch, with its good maneuverability and strong site adaptability, has gradually become a common way of UAV launch, that is, the UAV is launched by rocket boost, and the booster rocket automatically detaches from the UAV after burning out. The axis of the connection interface between the booster rocket and the UAV is the thrust line of the rocket. To ensure launch safety and the flight trajectory of the UAV, the distance between the rocket thrust line and the center of gravity of the UAV must be controlled within a certain range. Therefore, before the UAV is launched, it is necessary to measure its actual center of gravity and adjust the thrust line or the center-of-gravity position to make the thrust line pass through the center of gravity of the UAV as much as possible.

[0003] Traditional UAV center-of-gravity measurement devices mostly only provide the measurement of the center-of-gravity coordinates on the X-axis and Y-axis in the horizontal plane. For some measurement methods that can measure the Z-axis center-of-gravity coordinates, they mainly rely on flipping and jacking measurements. Among them, the flipping measurement requires flipping the UAV by 90 degrees and measuring the Z-axis center-of-gravity position in a way similar to measuring the horizontal center of gravity. This measurement method is relatively difficult to flip a UAV with a large wingspan by 90 degrees. The jacking measurement is affected by processing and assembly errors. When measuring the center of gravity of different UAVs, it is often necessary to adjust the position of the jacking point of the measurement device, and the adjustment process is relatively cumbersome and prone to generating lateral loads, resulting in inaccurate measurement of the Z-axis center-of-gravity position. Summary of the Invention

[0004] The purpose of the present invention is to solve the problems in the prior art that the existing measurement methods are inaccurate in measuring the center of gravity of UAVs and it is difficult to measure the Z-direction center of gravity of large-volume UAVs, and to provide a UAV center-of-gravity measurement device and a measurement method.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A UAV center-of-gravity measurement device includes a measurement tooling. The measurement tooling includes measurement point A, measurement point B, and measurement point C, and the measurement tooling is used to place the UAV to be measured;

[0007] Both measurement point B and measurement point C are located at one end close to the measurement tooling, measurement point A is located at the other end close to the measurement tooling, measurement point B and measurement point C are arranged in a straight line, and measurement point A, measurement point B, and measurement point C are arranged in a triangle;

[0008] Corresponding lifting units are provided at the A measurement point, B measurement point and C measurement point, weighing sensors are provided on each lifting unit, and an inclination sensor is provided at the A measurement point.

[0009] A further improvement of the present invention lies in:

[0010] A plurality of A measurement points are provided, and the plurality of A measurement points are distributed in a straight line starting from the end of the measuring tooling and extending towards the B measurement point and the C measurement point.

[0011] The lifting units at the B measurement point and the C measurement point include a BC point quickly foldable gantry, and B point lifting devices and C point lifting devices are distributed at intervals on the BC point quickly foldable gantry;

[0012] Weighing sensors are provided on both the B point lifting device and the C point lifting device;

[0013] One end of the B point lifting device is connected to the BC point quickly foldable gantry, and the other end is connected to the B measurement point;

[0014] One end of the C point lifting device is connected to the BC point quickly foldable gantry, and the other end is connected to the C measurement point.

[0015] The lifting unit at the A measurement point includes an A point quickly foldable gantry, an A point lifting device is provided on the A point quickly foldable gantry, and a weighing sensor is provided on the A point lifting device;

[0016] One end of the A point quickly foldable gantry is connected to the A point quickly foldable gantry, and the other end is connected to the A measurement point.

[0017] Moving wheels are provided at the bottoms of both the BC point quickly foldable gantry and the A point quickly foldable gantry.

[0018] Lifting ring screws are provided at the A measurement point, B measurement point and C measurement point, and the lifting ring screws are connected to the corresponding lifting devices.

[0019] The lifting ring screws are all connected to the corresponding lifting devices through weighing sensor hook attachments, and the weighing sensors are provided on the corresponding weighing sensor hook attachments.

[0020] A measuring method including the device of the present invention includes the following steps:

[0021] Lift the A measurement point, B measurement point and C measurement point to the same height. When it is confirmed that the measuring tooling is in a horizontal state by observing the detection value of the inclination sensor, record the pulling forces at the A measurement point, B measurement point and C measurement point as F A1 、F B1 and FC1 ;

[0022] Keep the heights of measurement points B and C unchanged, move the height of measurement point A upward in the vertical direction. When it is confirmed that the measurement tooling is in an inclined state, record the pulling forces at measurement points A, B, and C as F A2 , F B2 , F C2 and the inclination angle is α;

[0023] According to F A1 , F B1 , F C1 , F A2 , F B2 , F C2 and the inclination angle is α, calculate the actual center-of-gravity coordinates of the drone on the X-axis, Y-axis, and Z-axis. Compare the actual center-of-gravity coordinates with the theoretical center-of-gravity coordinates designed for the drone to obtain the position deviation value. Adjust the weight of the drone according to the position deviation value in combination with the known weight positions of the drone, so that the final actual center-of-gravity coordinates of the drone correspond to the theoretical center-of-gravity coordinates designed for the drone.

[0024] The calculation of the actual center-of-gravity coordinate of the Z-axis of the drone includes:

[0025] Construct a coordinate system. Take the line connecting measurement points B and C as the y-axis, and in the line connecting measurement points B and C, the direction pointing to suspension point B is the positive direction of the y-axis;

[0026] Measurement point A is located on the perpendicular bisector of the line connecting measurement points B and C. Take the perpendicular bisector of the line connecting measurement points B and C as the x-axis, and the direction of the perpendicular bisector pointing to measurement point A is the positive direction of the x-axis;

[0027] Take the midpoint of the line connecting measurement points B and C as the origin O;

[0028] Perpendicular to the xOy plane upward through the origin O is the positive direction of the z-axis

[0029] In the horizontal state, calculate the actual center-of-gravity coordinate x G of the X-axis of the drone in the xOz plane G and the actual center-of-gravity coordinate y

[0030] of the Y-axis of the drone in the yOz plane; G .

[0031] The actual center-of-gravity coordinate x G of the X-axis is calculated by the following formula:

[0032]

[0033] Among them, a represents the distance from the A measurement point to the origin O;

[0034] The actual centroid coordinate y of the Y-axis G is calculated by the following formula:

[0035]

[0036] Among them, b represents the distance between the B measurement point and the C measurement point;

[0037] The actual centroid coordinate z of the Z-axis G is calculated by the following formula:

[0038]

[0039] Among them, α represents the tilt angle of the drone.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] The present invention discloses a drone centroid measurement device. The measurement tooling includes an A measurement point, a B measurement point, and a C measurement point, and the A measurement point, the B measurement point, and the C measurement point are distributed in a triangle. The three points cooperate to measure the drone. When the three measurement points can maintain the same height, the tensile forces of each measurement point of the drone in the horizontal state are measured. By adjusting the height of the A measurement point, the centroid position measurement under different tilt angles can be realized. Based on these values, an inclination sensor is installed on the measurement tooling to measure the tilt angle of the drone, providing inclination data for calculating the centroid position of the drone. Then, through subsequent calculations, the centroid measurement result of the drone is obtained. Compared with single-point suspension measurement and flipping measurement, in the three-point suspension measurement method of the present invention, the tilt angle of the drone can be independently controlled, and the tilt angle is relatively small. Larger-sized drones can be measured. The measurement process is relatively simple. And because the three-point suspension measurement method uses a hoisting measurement method, the hoisting frame can move freely, and the influence of lateral force is relatively small. The measurement result of the drone centroid position is more accurate, providing more accurate measurement data for adjusting the centroid or thrust line of the drone.

[0042] Furthermore, in the present invention, several A measurement points are provided, with multiple hanging point positions. For small-sized drones, by moving the hanging point positions, the same tilt angle can be achieved with a shorter hoisting distance, achieving the purpose of rapid measurement.

[0043] Further, in the present invention, moving wheels are provided at the bottoms of both the BC-point quickly foldable gantry and the A-point quickly foldable gantry. The A-point quickly foldable gantry can move freely. During the process of the test fixture and the drone gradually changing from a horizontal state to an inclined state, the A-point quickly foldable gantry automatically finds the plumb direction under the action of a lateral force, so that the force-bearing axis of the A-point load cell is in the plumb direction, thereby obtaining a relatively accurate tensile force at point A and providing accurate data for calculating the actual center-of-gravity position of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0045] Figure 1 is a three-dimensional schematic diagram of the device of the present invention and the drone installed horizontally.

[0046] Figure 2 is a three-dimensional schematic diagram of the tensile force measuring assembly of the present invention.

[0047] Figure 3 is a three-dimensional schematic diagram of the test fixture and the drone in a horizontal state

[0048] Figure 4 is a top view of the drone in a horizontal state when calculating the center-of-gravity X and Y coordinates.

[0049] Figure 5 is a front view of the drone in an inclined state when calculating the center-of-gravity Z coordinate.

[0050] Figure 6 is a schematic diagram of the foldable state of the quickly foldable gantry (where a is a three-dimensional folding view; b is a side folding view; c is a top folding view).

[0051] In the figures, 1 - BC-point quickly foldable gantry; 2 - B-point lifting device; 3 - B-point load cell; 4 - B-point eye bolt; 5 - drone; 6 - C-point eye bolt; 7 - C-point load cell; 8 - C-point lifting device; 9 - measuring fixture; 10 - inclination sensor; 11 - A-point eye bolt; 12 - A-point quickly foldable gantry; 13 - A-point lifting device; 14 - A-point load cell; 15 - spare lifting point M of the measuring fixture; 16 - spare lifting point N of the measuring fixture; 17 - load cell hook attachment; 18 - load cell. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0052] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. The components of the embodiments of the present invention usually described and illustrated in the drawings here can be arranged and designed in various different configurations.

[0053] Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0054] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0055] In the description of the embodiments of the present invention, it should be noted that if terms such as "upper", "lower", "horizontal", "inner", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the inventive product is usually placed during use, it is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, terms such as "first", "second", etc. are only used for descriptive distinction and cannot be construed as indicating or implying relative importance.

[0056] In addition, if the term "horizontal" appears, it does not mean that the component is required to be absolutely horizontal, but it can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but it can be slightly inclined.

[0057] In the description of the embodiments of the present invention, it should also be noted that unless otherwise clearly specified and limited, if terms such as "set", "installed", "connected", "connected" are understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0058] The following further describes the present invention in detail with reference to the drawings:

[0059] SeeFigures 1 to 6 Embodiments of the present invention disclose an unmanned aerial vehicle (UAV) center-of-gravity measurement device, which realizes the measurement of the center-of-gravity coordinates of the UAV on the X-axis, Y-axis, and Z-axis by adjusting the UAV's horizontal and inclined postures. Compared with traditional measurement methods, this method is more convenient to operate and the measurement results are more accurate.

[0060] Specifically, it includes the following structures:

[0061] Refer to Figure 1 , an unmanned aerial vehicle (UAV) center-of-gravity measurement device, including a measurement tooling 9. The measurement tooling 9 includes an A measurement point, a B measurement point, and a C measurement point. The measurement tooling 9 is used to place the UAV to be measured; both the B measurement point and the C measurement point are located at one end close to the measurement tooling 9, the A measurement point is located at the other end close to the measurement tooling 9, the B measurement point and the C measurement point are arranged in a straight line, and the A measurement point, the B measurement point, and the C measurement point are arranged in a triangular shape; corresponding lifting units are provided at the A measurement point, the B measurement point, and the C measurement point, weighing sensors are provided on the lifting units, and an inclination sensor 10 is provided at the A measurement point.

[0062] Refer to Figure 2 , weighing sensor hook attachments 17 are provided both above and below the weighing sensor 18. The weighing sensor hook attachment 17 above the weighing sensor 18 is used to connect to the A measurement point, and the weighing sensor hook attachment 17 below is used to connect to the corresponding lifting device. Specifically:

[0063] The A measurement point, the B measurement point, and the C measurement point are respectively connected to the weighing sensor hook attachments 17 below the A-point weighing sensor 14, the B-point weighing sensor 3, and the C-point weighing sensor 7 through the A-point eye bolt 11, the B-point eye bolt 4, and the C-point eye bolt 6;

[0064] The A-point weighing sensor 14, the B-point weighing sensor 3, and the C-point weighing sensor 7 are respectively connected to the A-point lifting device 13, the B-point lifting device 2, and the C-point lifting device 8 through the weighing sensor hook attachments 17 above them.

[0065] Among them, the B-point lifting device 2 and the C-point lifting device 8 are connected to the BC-point quickly foldable gantry 1, and the A-point lifting device is connected to the A-point quickly foldable gantry 12.

[0066] During measurement, by changing the lifting heights of the A-point lifting device 13, the B-point lifting device 2, and the C-point lifting device 8, the horizontal and inclined states of the UAV 5 can be switched. The inclination sensor 10 is installed at the front end of the test tooling 9 to measure the levelness and inclination angle of the UAV 5. The A-point lifting device 13 can adopt a manual lifting or electric lifting device. By controlling the lifting height difference between the A-point lifting device 13, the B-point lifting device 2, and the C-point lifting device 8, different inclination angle requirements of the UAV 5 can be achieved.

[0067] Further, two spare lifting points are reserved at the front end of the test tooling 9 to adapt to the hoisting measurement of unmanned aerial vehicles (UAVs) of different volumes. By switching the position of the lifting point A to the spare lifting point M15 of the measurement tooling or the spare lifting point N16 of the measurement tooling, different lifting point spacing parameters are achieved to adapt to UAVs 5 of different volumes. For UAVs with a smaller volume, by moving the position of the lifting point A, the same tilting angle can be achieved with a shorter lifting distance, achieving the purpose of rapid measurement.

[0068] In this device, the lifting device is installed on the lifting frame and can adopt manual or electric hoisting methods to achieve the rapid horizontal hoisting or tilting hoisting of the UAV. By adjusting the lifting height of the lifting point at the head of the UAV, the measurement of the center of gravity position at different tilting angles can be achieved.

[0069] Further, the weighing sensors 14 at point A, 3 at point B, 7 at point C, and the inclination sensor 10 can all transmit the measurement data in real time in a wired or wireless manner to achieve the real-time measurement of the actual center of gravity position of the UAV 5. During measurement, the measurement data is sent to the controller (including industrial computers, etc.), and the control machine can calculate the current center of gravity coordinates of the UAV in real time through the built-in calculation program.

[0070] Further, moving wheels are provided at the bottoms of the quickly foldable gantry 1 at points B and C and the quickly foldable gantry 12 at point A to achieve the function of free movement. During the process of changing from the horizontal state to the inclined state, the quickly foldable gantry can automatically adjust its own position to adapt to the change in the lifting point spacing. Specifically, during the process of the test tooling 9 and the UAV 5 gradually changing from the horizontal state to the inclined state, the quickly foldable gantry 12 at point A automatically finds the plumb direction under the action of the lateral force, making the force axis of the weighing sensor 14 at point A in the plumb direction, so as to obtain a relatively accurate pulling force at point A and provide accurate data for the calculation of the actual center of gravity position of the UAV 5.

[0071] Further, the measurement tooling 9 is equipped with multiple UAV installation interfaces, and the UAV 5 is connected to the measurement tooling 9 through different installation interfaces, and the position of the UAV relative to the measurement points A, B, and C can be adjusted.

[0072] The present invention measures the center of gravity of an unmanned aerial vehicle (UAV) through a three-point suspension lifting method. The UAV is fixed to a measurement tooling, and the tensions of three lifting points of the UAV are measured respectively in the horizontal state and the inclined state (where the tensions generated by the weight of the measurement tooling at the three lifting points do not change in the same inclined state. After subtracting the weight of the measurement tooling from the total tension, the tension generated by the weight of the UAV is obtained), as well as the inclination angle. Based on the principle of moment balance, the position of the center of gravity of the UAV is calculated. Compared with the single-point suspension measurement and the flipping measurement, in the three-point suspension measurement method of the present invention, the inclination angle of the UAV can be independently controlled (adjustable from 0 to 20 degrees), and the inclination angle is relatively small, so that larger-sized UAVs can be measured, and the measurement process is relatively simple. At the same time, in the three-point suspension measurement method of the present invention, due to the use of the lifting measurement method, the lifting frame can move freely, and the influence of lateral force is relatively small, and the measurement result of the UAV center of gravity position is more accurate, providing more accurate measurement data for the adjustment of the UAV center of gravity or thrust line.

[0073] Further, the gantry in the measurement device disclosed in this embodiment includes a cross beam at the top and support beams at both ends of the cross beam. The cross beam and the support beams can be connected by a hinged manner. The bottom of the support beam can be supported by a two-point support manner, and the two-point support beams can also be connected by a hinged manner to realize the foldability of the entire device. See Figure 6 , which can realize the quick deployment and retraction operation of the measurement device outdoors, facilitating the improvement of the mobility of the measurement device.

[0074] Further, during measurement, by adjusting the height of the measurement device, the measurement requirements of UAVs with different volumes are met, making the adaptation range of the measurement device wider.

[0075] The present invention also discloses a method for measuring the center of gravity of a UAV, including the following steps:

[0076] After the device is powered on, before installing the UAV 5, first measure the tensions at points A, B, and C of the measurement tooling 9 in both the horizontal and inclined states, and calibrate the measurement device. After completing the calibration of the measurement tooling, install the UAV 5 on the measurement tooling 9.

[0077] As Figure 1 shown, lift the test tooling 9 to the horizontal state through the lifting device 13 at point A, the lifting device 2 at point B, and the lifting device 8 at point C; as Figure 4 shown, confirm that the UAV 5 is in the horizontal state by observing the output value of the inclination angle sensor 10. The load cell 14 at point A, the load cell 3 at point B, and the load cell 7 at point C respectively measure the tensions F A1 、F B1 、F C1 of the three lifting points at the A measurement point, the B measurement point, and the C measurement point in the horizontal state.

[0078] The hoisting device 2 at point B and the hoisting device 8 at point C remain stationary, and the test tooling 9 is lifted to an inclined state by the hoisting device 13 at point A. As Figure 5 shown, the load cell 14 at point A, the load cell 3 at point B, and the load cell 7 at point C respectively measure the tensile forces F A2 , F B2 , F C2 of the three lifting points at the A measurement point, B measurement point, and C measurement point in the inclined state. At the same time, the inclination sensor 10 measures the inclination angle α at this time.

[0079] As Figure 3 shown, taking the connection line between the lifting point B and the lifting point C of the measuring tooling 9 as the y-axis, and the direction from the connection line between the lifting point B and the lifting point C to the lifting point B as the positive direction of the y-axis. The lifting point A is located on the perpendicular bisector of the connection line between the lifting point B and the lifting point C. Taking the perpendicular bisector of the connection line between the lifting point B and the lifting point C as the x-axis, and the direction from the perpendicular bisector to the lifting point A as the positive direction of the x-axis, the midpoint of the connection line between the lifting point B and the lifting point C is the origin O, and the direction perpendicular to the xOy plane upward through the origin O is the positive direction of the z-axis.

[0080] As Figure 3 and Figure 4 shown, in the xOz plane in the horizontal state, according to the principle of moment balance, the moment of the tensile force F A1 at the lifting point A about point O is equal to the moment of the gravity G1 about point O, and the actual centroid coordinate x G of the X-axis of the UAV can be obtained. The calculation formula is:

[0081]

[0082] where a represents the distance from the A measurement point to the origin O;

[0083] As Figure 3 , Figure 4 , in the yOz plane, according to the principle of moment balance, the vector sum of the moments of the tensile forces F B1 , F C1 at the lifting points B and C about point O is equal to the moment of the gravity G1 about point O, and the actual centroid coordinate y G of the Y-axis of the UAV can be obtained. The calculation formula is:

[0084]

[0085] where b represents the distance between the B measurement point and the C measurement point;

[0086] As Figure 5 shown, in the xOz plane in the inclined state, according to the principle of moment balance, the moment of the tensile force F A2 at the lifting point A in the inclined state about point O is equal to the moment of the gravity G2 about point O, and the actual centroid coordinate z of the Z-axis of the UAV can be obtained.G Calculation formula:

[0087]

[0088] By placing the calculation formula in the calculation program, the tensions F A1 、F B1 、F C1 of the three suspension points A, B, and C in the horizontal state, and the tensions F A2 、F B2 、F C2 of the three suspension points A, B, and C and the inclination angle α in the inclined state can be measured, and the actual center-of-gravity coordinates of the X-axis, Y-axis, and Z-axis of the drone 5 can be quickly calculated. By comparing the deviation between the actual center-of-gravity coordinates of the drone 5 and the designed center-of-gravity coordinates, under the condition of knowing the weight position, the accurate weight value of the required counterweight can be quickly calculated, and then the drone can be counterweighted according to the accurate weight value of the required counterweight, so that the actual center-of-gravity coordinates after counterweighting of the drone are consistent with the designed ideal center-of-gravity coordinates, avoiding multiple blind counterweightings and repeated counterweight operations, saving the time of the counterweight operation, and improving the counterweight operation efficiency.

[0089] The design center described in this embodiment refers to the ideal standard center-of-gravity coordinates of the designed drone.

[0090] The above is only the preferred embodiment of the present invention and is not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An unmanned aerial vehicle gravity center measuring device, characterized in that, It includes a measuring tooling (9) which has an A measuring point, a B measuring point and a C measuring point, and the measuring tooling (9) is used to place the unmanned aerial vehicle to be measured; Both the B measuring point and the C measuring point are located at one end close to the measuring tooling (9), the A measuring point is located at the other end close to the measuring tooling (9), the B measuring point and the C measuring point are arranged in a straight line, and the A measuring point, the B measuring point and the C measuring point are arranged in a triangle; Corresponding lifting units are arranged at the A measuring point, the B measuring point and the C measuring point, weighing sensors are arranged on the lifting units, and an inclination sensor (10) is arranged at the A measuring point.

2. The gravity center measuring device for a drone according to claim 1, wherein A plurality of A measuring points are arranged, and the plurality of A measuring points are arranged in a straight line starting from the end of the measuring tooling (9) and extending in the direction close to the B measuring point and the C measuring point.

3. The drone gravity center measuring device according to claim 1, characterized in that, The lifting units at the B measuring point and the C measuring point include a BC-point quickly foldable gantry (1), and B-point lifting devices (2) and C-point lifting devices (8) are spacedly distributed on the BC-point quickly foldable gantry (1); Weighing sensors are arranged on both the B-point lifting device (2) and the C-point lifting device (8); One end of the B-point lifting device (2) is connected to the BC-point quickly foldable gantry (1), and the other end is connected to the B measuring point; One end of the C-point lifting device (8) is connected to the BC-point quickly foldable gantry (1), and the other end is connected to the C measuring point.

4. The gravity center measuring device for an unmanned aerial vehicle according to claim 3, characterized in that, The lifting unit at the A measuring point includes an A-point quickly foldable gantry (12), an A-point lifting device (13) is arranged on the A-point quickly foldable gantry (12), and a weighing sensor is arranged on the A-point lifting device (13); One end of the A-point quickly foldable gantry (12) is connected to the A-point quickly foldable gantry (12), and the other end is connected to the A measuring point.

5. The gravity center measuring device for an unmanned aerial vehicle according to claim 4, wherein Moving wheels are arranged at the bottoms of both the BC-point quickly foldable gantry (1) and the A-point quickly foldable gantry (12).

6. The gravity center measuring device for an unmanned aerial vehicle according to claim 4, characterized in that, Lifting eye bolts are arranged at the A measuring point, the B measuring point and the C measuring point, and the lifting eye bolts are connected to the corresponding lifting devices.

7. The gravity center measuring device for an unmanned aerial vehicle according to claim 6, wherein, The lifting eye bolts are all connected to the corresponding lifting devices through weighing sensor hook accessories (17), and the weighing sensors are arranged on the corresponding weighing sensor hook accessories (17).

8. A measurement method comprising the device according to claim 1, characterized in that, It includes the following steps: Lift the measurement points A, B, and C to the same height. When the measurement tooling (9) is confirmed to be in a horizontal state by observing the detection values of the inclination sensors (10), record the tensile forces at the measurement points A, B, and C as F A1 , F B1 and F C1 ; Keep the heights of Measuring Point B and Measuring Point C stationary, move the height of Measuring Point A vertically upward. When it is confirmed that the measuring tooling (9) is in an inclined state, record the tensile forces at Measuring Point A, Measuring Point B, and Measuring Point C as F A2 , F B2 , F C2 , and the inclination angle is α; According to F A1 、F B1 、F C1 、F A2 、F B2 、F C2 and the tilt angle is α, calculate the actual center of gravity coordinates of the X-axis, Y-axis and Z-axis of the drone, compare the actual center of gravity coordinates with the theoretical center of gravity coordinates designed for the drone, obtain the position deviation value, and adjust the weight of the drone according to the position deviation value in combination with the known weight positions of the drone, so that the final actual center of gravity coordinates of the drone correspond to the theoretical center of gravity coordinates designed for the drone.

9. A method for measuring the center of gravity of an unmanned aerial vehicle according to claim 8, characterized in that, Calculating the actual Z-axis center of gravity coordinates of the unmanned aerial vehicle includes: Constructing a coordinate system, taking the connection line between the B measuring point and the C measuring point as the y-axis, and in the connection line between the B measuring point and the C measuring point, the direction pointing to the lifting point B is the positive direction of the y-axis; The A measuring point is located on the perpendicular bisector of the connection line between the B measuring point and the C measuring point, taking the perpendicular bisector of the connection line between the B measuring point and the C measuring point as the x-axis, and the direction of the perpendicular bisector pointing to the A measuring point is the positive direction of the x-axis; Taking the midpoint of the connection line between the B measuring point and the C measuring point as the origin O; The direction perpendicular to the xOy plane and upward through the origin O is the positive direction of the z-axis In the horizontal state, calculate the actual center-of-gravity coordinate x of the X-axis of the UAV in the xOz plane G and the actual center-of-gravity coordinate y of the Y-axis of the UAV in the yOz plane G ; When in an inclined state, calculate the actual center-of-gravity coordinate z of the Z-axis of the UAV in the xOz plane G .

10. A method for measuring the center of gravity of an unmanned aerial vehicle according to claim 9, characterized in that, The actual center of gravity coordinate x of the X axis G is calculated by the following formula: Wherein, a represents the distance from the A measuring point to the origin O; The actual centroid coordinate y of the Y axis G is calculated by the following formula: Wherein, b represents the distance between the B measuring point and the C measuring point; The actual centroid coordinate z of the Z axis G is calculated by the following formula: Wherein, α represents the inclination angle of the unmanned aerial vehicle.

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