Device for testing cooperative capability of heterogeneous cluster of unmanned aerial vehicle and unmanned ship
Patent Information
- Application Number
- CN202510458690.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-11
- Publication Date
- 2025-07-29
Smart Images
Figure CN120383016A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of UAV and unmanned boat test equipment, and particularly relates to a test device for the collaborative ability of heterogeneous clusters of UAVs and unmanned boats. Background Art
[0002] A UAV, that is, an unmanned aerial vehicle, is an unpiloted aircraft controlled by a radio remote control device and a self - contained program control device, or is completely or intermittently autonomously operated by an on - vehicle computer. An unmanned boat is a fully automatic surface robot that can sail on the water according to a preset task without remote control, relying on precise satellite positioning and its own sensors. During the production and manufacturing process of UAVs and unmanned boats, it is necessary to test the collaborative ability of heterogeneous clusters. During the test process, a test platform needs to be built for testing. However, in the existing test platforms, when collecting data of UAVs and unmanned boats, most of the collection devices are fixedly installed, making it difficult to collect data from multiple angles and comprehensively. In the existing equipment and systems, a CCD camera is used to collect the movement trajectories of UAVs and unmanned boats. The data is relatively single, making it difficult to accurately obtain the movement trajectories and data of UAVs and unmanned boats, thereby reducing the accuracy of the test. There is a lot of redundant data and interference information in the collected data, which will cause slow operation if not cleared. Summary of the Invention
[0003] The present invention provides a test device for the collaborative ability of heterogeneous clusters of UAVs and unmanned boats to solve problems such as most of the existing test equipment being fixedly installed, using a CCD camera to collect the movement trajectories of UAVs and unmanned boats, with relatively single data, making it difficult to obtain accurate data of UAVs and unmanned boats, and having a lot of redundant data and interference information, resulting in slow operation.
[0004] To solve the above - mentioned technical problems, the present invention adopts the following technical solutions:
[0005] A test device for the collaborative ability of heterogeneous clusters of UAVs and unmanned boats includes: a cross - beam, a fixing plate, a main control module, an angle - adjusting mechanism, a protective block, and an object - capturing module; one end of the cross - beam is provided with a fixing plate for connecting a UAV, an unmanned boat, or an offshore test platform; the other end of the cross - beam is provided with a protective block for protecting the cross - beam; two angle - adjusting mechanisms are symmetrically installed at the bottom of the cross - beam, one end of each angle - adjusting mechanism is connected to the cross - beam, and an object - capturing module is installed at the other end of each angle - adjusting mechanism; the main control module is electrically connected to the object - capturing module and the angle - adjusting mechanism respectively; wherein, the object - capturing module is used for collecting data of the UAV or the unmanned boat, the angle - adjusting mechanism is used for adjusting the angle of the object - capturing module, and the main control module is used for controlling the collaborative work of the heterogeneous clusters of UAVs and unmanned boats, and is also used for controlling the angle - adjusting mechanism to adjust the angle of the object - capturing module for data collection.
[0006] Preferably, a plurality of mounting holes are symmetrically arranged on the fixing plate, and a plurality of reinforcing rib blocks connected to the cross beam are also arranged on the fixing plate, and the plurality of reinforcing rib blocks are symmetrically arranged.
[0007] Preferably, the angle adjustment mechanism includes a fixed box, a first servo motor, an arc-shaped sliding groove, an arc-shaped sliding rail, a mounting box, a cushion block, a side plate, a rotating shaft, a second servo motor, a worm, a connecting shaft, a bearing block, a worm gear, a rotating arm and a rotating disk; a fixed box is arranged at one end of the rotating arm close to the cross beam, and a mounting box is arranged at one end of the rotating arm far from the cross beam; an arc-shaped sliding groove is opened at the bottom of the fixed box, and an arc-shaped sliding rail is slidably connected in each arc-shaped sliding groove, and a rotating disk is installed at the bottom of the arc-shaped sliding rail; a first servo motor is installed in the fixed box, and the output end of the first servo motor is fixedly connected to the rotating disk and used for driving the rotating disk to rotate; the rotating disk is fixedly connected to the rotating arm; a cushion block and a side plate are installed in the mounting box, a second servo motor is installed on the cushion block, a rotating shaft is rotatably arranged on the side plate, the output end of the second servo motor is fixedly connected to the rotating shaft, and the second servo motor is used for driving the rotating shaft to rotate; a worm is sleeved and fixed on the rotating shaft, and the worm meshes with the worm gear; a connecting shaft is coaxially connected to the worm gear, and an object capture module is installed at one end of the connecting shaft far from the worm gear.
[0008] Preferably, the object capture module includes a CCD camera module, an optical positioning module, an action capture module, a trajectory tracking module and a data sending module. The data sending module is electrically connected to the CCD camera module, the optical positioning module, the action capture module and the trajectory tracking module respectively, and the data sending module is also electrically connected to the main control module; the CCD camera module is used for video shooting and acquisition, the optical positioning module is used for optical positioning, the action capture module is used for action capture, and the trajectory tracking module is used for trajectory tracking.
[0009] Preferably, the main control module includes an instruction issuing module, a wireless receiving module, a positioning and tracking module, a display module, a data preprocessing module, a motion trajectory generation module, a drone control module, a data storage module, a verification and comparison module and a result generation module; the wireless receiving module is electrically connected to the data sending module, the data storage module and the data preprocessing module respectively; the data storage module is electrically connected to the display module, the motion trajectory generation module and the data preprocessing module respectively; the data preprocessing module is electrically connected to the drone control module, and the drone control module is electrically connected to the instruction issuing module, the positioning and tracking module, the motion trajectory generation module, the verification and comparison module and the result generation module respectively.
[0010] Preferably, the data preprocessing module includes a noise reduction module, a compression module and a redundancy removal module; the redundancy removal module is electrically connected to the noise reduction module and the compression module respectively.
[0011] Preferably, the heterogeneous cluster cooperation ability test device for unmanned aerial vehicles and unmanned boats further includes: a GPS positioning module electrically connected to the main control module, and the GPS positioning module is used to be installed inside the unmanned aerial vehicle or the unmanned boat.
[0012] Compared with the prior art, the heterogeneous cluster cooperation ability test device for unmanned aerial vehicles and unmanned boats provided by the embodiments of the present invention has the following remarkable advantages:
[0013] Through the setting of the fixing block, the present invention can install the test device on the unmanned aerial vehicle or the unmanned boat, thus avoiding the problems of small data volume and single data caused by the fixed position of the test device. Further, the installation of the angle adjustment mechanism can realize the adjustment of the object capture module, which is convenient to adjust the collection angle according to the actual use requirements, is conducive to multi-angle and all-round data collection, and improves the comprehensiveness of data collection. Further, through the video collection of the CCD camera module, the present invention comprehensively collects the positions, movement trajectories, and movement actions of the unmanned aerial vehicle and the unmanned boat through the optical positioning module, the motion capture module, and the trajectory tracking module, realizes diversified data collection, and improves the accuracy of data collection. The present invention also performs noise reduction, redundancy removal, and compression processing on the collected data through the data preprocessing module, reduces the useless and interfering information in the data, and improves the data transmission and calculation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1 is a schematic three-dimensional structure diagram of the heterogeneous cluster cooperation ability test device for unmanned aerial vehicles and unmanned boats of the present invention;
[0015] Figure 2 is a front view of the heterogeneous cluster cooperation ability test device for unmanned aerial vehicles and unmanned boats of the present invention;
[0016] Figure 3 is a schematic cross-sectional structure diagram of the angle adjustment mechanism of the present invention;
[0017] Figure 4 is a partial rear view of the heterogeneous cluster cooperation ability test device for unmanned aerial vehicles and unmanned boats of the present invention;
[0018] Figure 5 is a schematic block diagram of a partial structure of the heterogeneous cluster cooperation ability test device for unmanned aerial vehicles and unmanned boats of the present invention;
[0019] Figure 6 is a signal flow chart of the heterogeneous cluster cooperation ability test device for unmanned aerial vehicles and unmanned boats of the present invention.
[0020] Reference Signs:
[0021] 1. Crossbeam; 2. Mounting hole; 3. Fixed plate; 4. Reinforcing rib block; 5. Base plate; 6. Main control module; 7. Angle adjustment mechanism; 8. Protective block; 9. Object capture module; 701. Fixed box; 702. First servo motor; 703. Arc-shaped chute; 704. Arc-shaped slide rail; 705. Installation box; 706. Spacer block; 707. Side plate; 708. Rotating shaft; 709. Second servo motor; 710. Worm; 711. Connecting shaft; 712. Bearing block; 713. Worm gear; 714. Rotating arm; 715. Rotating disk; 10. CCD camera module; 11. Optical positioning module; 12. Action capture module; 13. Trajectory tracking module; 14. Data sending module; 15. Instruction issuing module; 16. Wireless receiving module; 17. Positioning and tracking module; 18. GPS positioning module; 19. Display module; 20. Data preprocessing module; 21. Motion trajectory generation module; 22. UAV control module; 23. Data storage module; 24. Verification and comparison module; 25. Result generation module; 2001. Noise reduction module: 2002. Compression module; 2003. Redundancy removal module. Specific embodiments
[0022] 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. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. 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 protection scope of the present invention.
[0023] As Figures 1 to 6 shown, the embodiment of the present invention provides a UAV and unmanned boat heterogeneous cluster cooperation ability test device, including a crossbeam. One end of the crossbeam is installed with a fixed plate, and the other end of the crossbeam is installed with a protective block. Two angle adjustment mechanisms are symmetrically installed at the bottom of the crossbeam. An object capture module is installed on one side of each angle adjustment mechanism, and the two object capture modules are data-linked to the main control module. The main control module is installed at the bottom of the base plate.
[0024] Preferably, four mounting holes are symmetrically opened at the four corners on one side of the fixed plate, and four reinforcing rib blocks are symmetrically installed at the four corners of the center of the fixed plate, and one side of the four reinforcing rib blocks is installed on the four side walls of the crossbeam.
[0025] Preferably, the angle adjustment mechanism includes a fixed box, a first servo motor, an arc-shaped chute, an arc-shaped slide rail, an installation box, a spacer block, a side plate, a rotating shaft, a second servo motor, a worm, a connecting shaft, a bearing block, a worm gear, a rotating arm, and a rotating disk.
[0026] A fixed box is installed at the bottom of the top frame of each rotating arm, and an arc-shaped sliding groove is opened at the bottom of each fixed box. An arc-shaped sliding rail is slidably connected inside the arc-shaped sliding groove, and a rotating disk is installed at the bottom of each arc-shaped sliding rail. A first servo motor is installed on the inner bottom surface of the fixed box, and the bottom of the output end of the first servo motor is fixedly connected to the center of the top of the rotating disk.
[0027] Preferably, a rotating arm is fixedly connected to the center of the bottom of the rotating disk, and an installation box is installed on one side of the rotating arm. A cushion block is installed on one side of the inner bottom surface of the installation box, and a second servo motor is installed at the center of the top of the cushion block. The output end of the second servo motor is fixedly connected to a rotating shaft, and a worm is sleeved and fixed at the center of the rotating shaft. A worm gear is meshed with the top of the worm. A side plate is installed at one end of the rotating shaft, and the side plate is rotatably connected to the rotating shaft.
[0028] Preferably, a connecting shaft is fixedly connected to the center of one side of the worm gear, and a bearing block is sleeved at one end of the center of the connecting shaft. The bearing block is rotatably connected to the connecting shaft, and the bearing block is installed at the center of one side inside the installation box. An object capture module is installed at one end of the connecting shaft.
[0029] The heterogeneous cluster cooperation ability test system for unmanned aerial vehicles and unmanned boats includes an object capture module, a main control module, and a GPS positioning module. The object capture module establishes a data link with the main control module, and the main control module establishes a data link with the GPS positioning module. The GPS positioning module is built into the unmanned aerial vehicles and unmanned boats.
[0030] Preferably, the object capture module is composed of a CCD camera module, an optical positioning module, an action capture module, a trajectory tracking module, and a data sending module. The data sending module establishes data links with the CCD camera module, the optical positioning module, the action capture module, and the trajectory tracking module respectively, and the data sending module conducts data transmission with the main control module.
[0031] Preferably, the main control module includes an instruction issuing module, a wireless receiving module, a positioning and tracking module, a display module, a data preprocessing module, a motion trajectory generation module, an unmanned aerial vehicle control module, a data storage module, a verification and comparison module, and a result generation module. The data sending module establishes a data link with the wireless receiving module, and the wireless receiving module establishes a data link with the data storage module. The data storage module establishes data links with the display module and the data preprocessing module respectively. The data preprocessing module establishes a data link with the unmanned aerial vehicle control module, and the unmanned aerial vehicle control module establishes data links with the instruction issuing module, the positioning and tracking module, the motion trajectory generation module, the verification and comparison module, and the result generation module respectively.
[0032] Preferably, the data preprocessing module includes a noise reduction module, a compression module, and a redundancy removal module. The noise reduction module and the redundancy removal module establish a data link, and the redundancy removal module establishes a data link with the compression module.
[0033] As shown Figures 1 to 4 in the figure, a test device for the collaborative ability of a heterogeneous cluster of drones and unmanned boats according to a specific embodiment of the present application includes a cross beam 1. One end of the cross beam 1 is installed with a fixed plate 3, and the other end of the cross beam 1 is installed with a protective block 8. Two angle adjustment mechanisms 7 are symmetrically installed at the bottom of the cross beam 1. The angle adjustment mechanism 7 includes a fixed box 701, a first servo motor 702, an arc-shaped chute 703, an arc-shaped slide rail 704, an installation box 705, a cushion block 706, a side plate 707, a rotating shaft 708, a second servo motor 709, a worm 710, a connecting shaft 711, a bearing block 712, a worm gear 713, a rotating arm 714 and a rotating disc 715. Two fixed boxes 701 are symmetrically installed at the bottom of the cross beam 1, and an arc-shaped chute 703 is opened at the bottom of the fixed box 701. An arc-shaped slide rail 704 is slidably connected inside the arc-shaped chute 703, and a rotating disc 715 is installed at the bottom of the arc-shaped slide rail 704. A first servo motor 702 is installed on the inner bottom surface of the fixed box 701, and the bottom of the output end of the first servo motor 702 is fixedly connected to the center of the top of the rotating disc 715. The center of the bottom of the rotating disc 715 is fixedly connected to a rotating arm 714, and an installation box 705 is installed on one side of the rotating arm 714. A cushion block 706 is installed on one side of the inner bottom surface of the installation box 705, and a second servo motor 709 is installed at the center of the top of the cushion block 706. The output end of the second servo motor 709 is fixedly connected to a rotating shaft 708, and a worm 710 is fixedly sleeved at the center of the rotating shaft 708. A worm gear 713 is engaged with the top of the worm 710. One end of the rotating shaft 708 is installed with a side plate 707, and the side plate 707 is rotatably connected to the rotating shaft 708. The center of one side of the worm gear 713 is fixedly connected to a connecting shaft 711, and a bearing block 712 is sleeved at one end of the center of the connecting shaft 711. The bearing block 712 is rotatably connected to the connecting shaft 711, and the bearing block 712 is installed at the center of one side inside the installation box 705. An object capture module 9 is installed at one end of the connecting shaft 711, which is beneficial to realizing the angle adjustment of the object capture module 9 through the angle adjustment mechanism 7. An object capture module 9 is installed on one side of the angle adjustment mechanism 7, and the object capture module 9 establishes a data link with the main control module 6. The main control module 6 is installed at the bottom of a bottom plate 5. Four installation holes 2 are symmetrically opened at the four corners on one side of the fixed plate 3, and four reinforcing rib blocks 4 are symmetrically installed at the four corners of the center of the fixed plate 3, and one side of the four reinforcing rib blocks 4 is installed on the four side walls of the cross beam 1.
[0034] Please refer to Figures 5 - 6, an embodiment provided by the present invention: a heterogeneous cluster cooperation ability test device for drones and unmanned boats, comprising an object capture module 9, a main control module 6, and a GPS positioning module 18. The object capture module 9 establishes a data link with the main control module 6, and the main control module 6 establishes a data link with the GPS positioning module 18. The GPS positioning module 18 is built into the drones and unmanned boats. The object capture module 9 consists of a CCD camera module 10, an optical positioning module 11, a motion capture module 12, a trajectory tracking module 13, and a data sending module 14. The data sending module 14 establishes data links with the CCD camera module 10, the optical positioning module 11, the motion capture module 12, and the trajectory tracking module 13 respectively, and the data sending module 14 conducts data transmission with the main control module 6. The main control module 6 includes an instruction issuing module 15, a wireless receiving module 16, a positioning and tracking module 17, a display module 19, a data preprocessing module 20, a motion trajectory generation module 21, a drone control module 22, a data storage module 23, a verification and comparison module 24, and a result generation module 25. The data sending module 14 establishes a data link with the wireless receiving module 16, and the wireless receiving module 16 establishes a data link with the data storage module 23. The data storage module 23 establishes data links with the display module 19 and the data preprocessing module 20 respectively. The data preprocessing module 20 establishes a data link with the drone control module 22, and the drone control module 22 establishes data links with the instruction issuing module 15, the positioning and tracking module 17, the motion trajectory generation module 21, the verification and comparison module 24, and the result generation module 25 respectively. The data preprocessing module 20 includes a noise reduction module 2001, a compression module 2002, and a redundancy removal module 2003. The noise reduction module 2001 and the redundancy removal module 2003 establish a data link, and the redundancy removal module 2003 and the compression module 2002 establish a data link.
[0035] Working principle: During the use of the present invention, when testing the drone, the fixing plate 3 is installed on the auxiliary drone. When it is necessary to test the unmanned boat, the fixing plate 3 is installed on the auxiliary unmanned boat or the marine test platform. During the test, the pre-programmed test control program in the background is transmitted to the main control module 6. After the drone control module 22 in the main control module 6 receives the control program, the instruction issuing module 15 is used for the heterogeneous cluster cooperative control of the drone and the unmanned boat. At this time, the angle of the object capture module 9 is adjusted according to the requirements. First, the first servo motor 702 in the angle adjustment mechanism 7 is turned on. The output end of the first servo motor 702 drives the rotating disk 715 to rotate around the Z-axis direction. The arc-shaped chute 703 and the arc-shaped slide rail 704 are used for the limit of the rotating disk 715. As the rotating disk 715 rotates, it drives the rotating arm 714 to rotate around the Z-axis direction, and then drives the mounting box 705 to rotate around the Z-axis direction, and then drives the connecting shaft 711 to rotate around the Z-axis direction, so as to drive the object capture module 9 to rotate around the Z-axis direction. Immediately afterwards, the second servo motor 709 is turned on. The output end of the second servo motor 709 drives the rotating shaft 708 to rotate, then drives the worm 710 to rotate, and then drives the worm gear 713 to rotate. Subsequently, it drives the connecting shaft 711 to rotate around the X-axis direction, and then drives the object capture module 9 to rotate around the X-axis direction, realizing the angle adjustment of the object capture module 9, facilitating the adjustment of the angle of the object capture module 9 according to the actual requirements, and facilitating the collection of information in multiple directions and at multiple angles. The cross beam 1 is used to install the angle adjustment mechanism 7. When collecting information, the CCD camera module 10 in the object capture module 9 is used for video shooting and collection, the optical positioning module 11 is used for optical positioning, the motion capture module 12 is used for motion capture, and the trajectory tracking module 13 is used for trajectory tracking. Multiple methods are used for information collection, improving the accuracy of information collection. After the information collection is completed, the data sending module 14 transmits the collected data to the wireless receiving module 16 in the main control module 6. After the wireless receiving module 16 receives the data, it is transmitted to the data preprocessing module 20. The noise reduction module 2001, the compression module 2002 and the redundancy removal module 2003 in the data preprocessing module 20 are used for noise reduction, redundancy removal and compression processing, reducing the interference information in the data and improving the data transmission and calculation efficiency. After the data preprocessing is completed, it is transmitted to the data storage module 23 for temporary storage. At the same time, the GPS positioning modules 18 on the drone and the unmanned boat transmit the position information to the positioning and tracking module 17. At this time, the motion trajectory generation module 21 generates the motion trajectories of the drone and the unmanned boat according to the position information in the positioning and tracking module 17 and the data stored in the data storage module 23. The actual motion trajectory is compared with the simulated trajectory of the test control program, and the verification and comparison module 24 is used for verification and comparison. Subsequently, the result generation module 25 obtains the test result, and the result is transmitted to the display module 19 for display. Bolts are passed through the mounting holes 2, and the fixing plate 3 is installed through the bolts.The reinforcing rib block 4 is used to enhance the structural strength of the fixing plate 3 and the cross beam 1, and the protective block 8 is used to protect the cross beam 1.,
[0036] The beneficial effects of the present invention are as follows:
[0037] By installing the angle adjustment mechanism, the present invention realizes the adjustment of the object capture module, which is convenient to adjust the acquisition angle according to the actual use requirements, is conducive to multi-angle and all-round data acquisition, and improves the comprehensiveness of data acquisition; and by installing the fixing block, the testing device can be installed on an unmanned aerial vehicle or an unmanned boat, so that the position can be moved, and the collected data is more comprehensive and the angles are more abundant.
[0038] Through the video acquisition of the CCD camera module, the present invention comprehensively acquires the positions, movement trajectories and movement actions of the unmanned aerial vehicle and the unmanned boat through the optical positioning module, the motion capture module and the trajectory tracking module, realizes the diversified acquisition of data, and improves the accuracy of data acquisition;
[0039] 3. The present invention processes the collected data through the data preprocessing module for noise reduction, redundancy removal and compression, which is beneficial to reducing the useless and interference information in the data and improving the data transmission and calculation efficiency.
[0040] In the description of this specification, specific features, structures, materials or characteristics may be combined in a suitable manner in any one or more embodiments or examples.
[0041] Certainly, the present invention can also have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and deformations according to the present invention, but these changes and deformations should all fall within the protection scope of the claims of the present invention.
Claims
1. An unmanned aerial vehicle and unmanned surface vehicle heterogeneous cluster collaborative ability test device, characterized in that Comprising: A crossbeam, a fixed plate, a main control module, an angle adjustment mechanism, a protective block, and an object capture module; One end of the crossbeam is installed with a fixed plate, and the fixed plate is used to connect a drone or an unmanned boat or an offshore test platform; The other end of the crossbeam is installed with a protective block, and the protective block is used to protect the crossbeam; Two angle adjustment mechanisms are symmetrically installed at the bottom of the crossbeam. One end of each angle adjustment mechanism is connected to the crossbeam, and an object capture module is installed at the other end of each angle adjustment mechanism; The main control module is electrically connected to the object capture module and the angle adjustment mechanism respectively; Wherein, the object capture module is used to collect data of the drone or the unmanned boat, the angle adjustment mechanism is used to adjust the angle of the object capture module, and the main control module is used to control the collaborative work of the heterogeneous cluster of the drone and the unmanned boat, and is also used to control the angle adjustment mechanism to adjust the angle of the object capture module for data collection.
2. The test device for the collaborative ability of the heterogeneous cluster of drones and unmanned boats according to claim 1, wherein A plurality of mounting holes are symmetrically arranged on the fixed plate, and a plurality of reinforcing rib blocks connected to the crossbeam are also arranged on the fixed plate, and the plurality of reinforcing rib blocks are symmetrically arranged.
3. The test device for the collaborative ability of the heterogeneous cluster of drones and unmanned boats according to claim 1 or 2, wherein The angle adjustment mechanism includes a fixed box, a first servo motor, an arc-shaped chute, an arc-shaped slide rail, a mounting box, a cushion block, a side plate, a rotating shaft, a second servo motor, a worm, a connecting shaft, a bearing block, a worm gear, a rotating arm, and a rotating disk; One end of the rotating arm close to the crossbeam is provided with a fixed box, and one end of the rotating arm far from the crossbeam is provided with a mounting box; An arc-shaped chute is opened at the bottom of the fixed box, and an arc-shaped slide rail is slidably connected in each arc-shaped chute, and a rotating disk is installed at the bottom of the arc-shaped slide rail; A first servo motor is installed in the fixed box, and the output end of the first servo motor is fixedly connected to the rotating disk and is used to drive the rotating disk to rotate; The rotating disk is fixedly connected to the rotating arm; A cushion block and a side plate are installed in the mounting box, a second servo motor is installed on the cushion block, a rotating shaft is rotatably arranged on the side plate, the output end of the second servo motor is fixedly connected to the rotating shaft, and the second servo motor is used to drive the rotating shaft to rotate; A worm is sleeved and fixed on the rotating shaft, and the worm meshes with the worm gear; The worm gear is coaxially connected with a connecting shaft, and the object capture module is installed at one end of the connecting shaft far from the worm gear.
4. The test device for the collaborative ability of the heterogeneous cluster of drones and unmanned boats according to claim 3, wherein The object capture module includes a CCD camera module, an optical positioning module, an action capture module, a trajectory tracking module, and a data sending module. The data sending module is electrically connected to the CCD camera module, the optical positioning module, the action capture module, and the trajectory tracking module respectively, and the data sending module is also electrically connected to the main control module; The CCD camera module is used for video shooting and collection, the optical positioning module is used for optical positioning, the action capture module is used for action capture, and the trajectory tracking module is used for trajectory tracking.
5. The test device for the collaborative ability of the heterogeneous cluster of drones and unmanned boats according to claim 4, wherein The main control module includes an instruction issuing module, a wireless receiving module, a positioning and tracking module, a display module, a data preprocessing module, a motion trajectory generation module, a UAV control module, a data storage module, a verification and comparison module, and a result generation module; The wireless receiving module is electrically connected to the data sending module, the data storage module, and the data preprocessing module respectively; The data storage module is electrically connected to the display module, the motion trajectory generation module, and the data preprocessing module respectively; The data preprocessing module is electrically connected to the UAV control module, and the UAV control module is electrically connected to the instruction issuing module, the positioning and tracking module, the motion trajectory generation module, the verification and comparison module, and the result generation module respectively.
6. The UAV and unmanned boat heterogeneous cluster collaborative ability test device according to claim 5, wherein The data preprocessing module includes a noise reduction module, a compression module, and a redundancy removal module; The redundancy removal module is electrically connected to the noise reduction module and the compression module respectively.
7. The drone and unmanned boat heterogeneous cluster collaborative ability testing device according to claim 6, characterized in that It further includes: A GPS positioning module, electrically connected to the main control module, and the GPS positioning module is used to be installed inside the UAV or the unmanned boat.