Experimental device and method for capturing rotor wing jitter of special unmanned aerial vehicle through dynamic vision

Abstract

The invention relates to an experimental device and method for capturing rotor jitter of a special unmanned aerial vehicle through dynamic vision, and belongs to the technical field of experimental devices. Comprising a box body, and an unmanned aerial vehicle can be arranged in an inner cavity of the box body; the supercharging device comprises a high-pressure gas cylinder and a valve group, and the high-pressure gas cylinder is connected with the box body through the valve group and used for supercharging adjustment of the inner cavity of the box body; the decompression device comprises a vacuum pump motor which is connected with the box body and is used for decompression regulation of the inner cavity of the box body; the air control device adjusts the airflow state in the inner cavity of the box body; the capturing system comprises a fisheye camera and a high-speed camera, the fisheye camera is carried on the unmanned aerial vehicle, and the high-speed camera is used for shooting and collecting the state of the unmanned aerial According to the method, unmanned aerial vehicle rotor jitter in an extreme environment is captured through dynamic vision, full-field capturing of high-speed dynamic deformation and matching tracking of the rotor can be achieved, unmanned aerial vehicle rotor dynamic deformation curve drawing under full working conditions is achieved, and data support is provided for unmanned aerial vehicle rotor flight control and optimization design.

Description

Technical Field

[0001] The present invention relates to a device and method for dynamically visually capturing the rotor jitter of a special unmanned aerial vehicle (UAV), belonging to the technical field of rotor jitter experimental devices. Background Art

[0002] In recent years, the operation of drones in extreme environments has garnered widespread attention. Affected by irregular airflow and extreme high and low pressure conditions, their rotors experience severe vibration, significantly impacting the stability and reliability of drone flight. Rotating at high speeds exceeding 5,000 rpm, the rotors are subjected to complex aerodynamic loads and centrifugal forces. Their dynamic deformation patterns, such as bending, twisting, and torsion, exacerbate the impact on flight performance and structural safety in extreme environments. Traditional drone rotors use a contact method to rigidly connect the rotating shaft during high-speed dynamic simulation tests. This results in rotor testing often deviating from actual flight performance in complex environments. Dynamic visual capture methods in extreme environments are both a hot topic and a challenge in the field of drone experiments, and a crucial tool for discovering new phenomena and developing new strategies.

[0003] Therefore, it is urgent to propose an experimental device and method for dynamic visual capture of special UAV rotor vibration to solve the above technical problems. Summary of the Invention

[0004] To address the complexities of propulsion systems, an experimental device and method for dynamically visually capturing the rotor vibration of specialized unmanned aerial vehicles (UAVs) is provided. A brief overview of the invention is provided below to provide a basic understanding of certain aspects of the invention. It should be understood that this overview is not an exhaustive overview of the invention. It is not intended to identify key or important aspects of the invention, nor is it intended to limit the scope of the invention.

[0005] The technical solution of the present invention:

[0006] An experimental device for dynamic visual capture of special UAV rotor vibration, including:

[0007] Box device: including a box, which is a transparent box and provides a space for the UAV to experiment;

[0008] Booster device: includes a high-pressure gas cylinder and a valve group. The high-pressure gas cylinder is connected to the box through a pipeline. The pipeline is equipped with a valve group for regulating the pressure increase in the box cavity.

[0009] Decompression device: including a vacuum tank, which is connected to the box body and is used for decompression adjustment in the box cavity;

[0010] Wind control device: The wind control device is installed in the box to adjust the airflow state in the box cavity;

[0011] Capture system: includes a fisheye camera and a high-speed camera. The fisheye camera is installed on the drone inside the box, and a high-speed camera is installed outside the box. The fisheye camera and the high-speed camera are used to capture the status of the drone.

[0012] Preferably: the box is made of acrylic or glass.

[0013] Preferably, the box device further includes a pressure sensor and a pressure relief valve, and the box is provided with the pressure sensor and the pressure relief valve.

[0014] Preferably, the valve group of the boosting device includes a second switch valve, a pressure reducing valve, a one-way valve, and a first switch valve, which are arranged in sequence from the high-pressure gas cylinder toward the box body.

[0015] Preferably: the pressure reducing device further comprises a third switch valve, a vacuum gauge, a fourth switch valve and a vacuum pump motor; the box body, the third switch valve, the vacuum tank, the fourth switch valve and the vacuum pump motor are connected in sequence; and a vacuum gauge is installed on the vacuum tank.

[0016] Preferably, the wind control device includes a vertical fan device and a horizontal fan device, the vertical fan device is arranged at the upper part of the box body, and the horizontal fan device is arranged at the side of the box body.

[0017] Preferably, the transverse fan device includes a first frequency-modulated motor, a first impeller, and a first telescopic rod, wherein the first frequency-modulated motor is fixedly connected to the box, and the output end of the first frequency-modulated motor is connected to the first impeller through the first telescopic rod;

[0018] The vertical fan device includes a second frequency-modulated motor, a second telescopic rod and a second impeller. The second frequency-modulated motor is fixedly connected to the box body, and the second frequency-modulated motor is connected to the second impeller through the second telescopic rod.

[0019] Preferably: the capture system also includes a first mobile platform, a signal converter, a photosensor, a signal synchronization controller, a second mobile platform and a light source device. The first mobile platform and the second mobile platform are symmetrically arranged on both sides of the box. The high-speed camera is arranged on the first mobile platform, the light source device is arranged on the second mobile platform, the photosensor is arranged on the same side as the high-speed camera, the photosensor is electrically connected to the signal converter, and the motor drive of the first mobile platform and the motor drive of the second mobile platform in parallel are electrically connected to the signal converter through the signal synchronization controller.

[0020] An experimental method for dynamically visually capturing the rotor jitter of a special UAV, using the experimental device for dynamically visually capturing the rotor jitter of a special UAV, comprises the following steps:

[0021] A high-pressure environment is created inside the box through a booster device, or a low-pressure environment is created inside the box through a decompression device. The airflow state is simulated inside the box through a wind control device, and a capture system is used to collect image information of the rotor when the drone is flying inside the box, thereby achieving full-field capture of high-speed dynamic deformation of the rotor and matching tracking.

[0022] Optimum: When the pressure sensor in the box shows that the pressure is too high or too low, fine adjustment is performed through the pressure relief valve;

[0023] When the spiral wind exerts a wind force on the body of the started UAV, the second telescopic rod rises at a uniform speed during the starting process of the UAV.

[0024] The present invention has the following beneficial effects:

[0025] The present invention integrates a pressurizing device, a decompressing device, and a wind control device. Combined with a dynamic visual capture system to capture the vibration of drone rotors in extreme environments, it can capture the high-speed dynamic deformation of the rotors and perform matching tracking. It can also draw dynamic deformation curves of drone rotors under all working conditions, providing data support for drone rotor flight control and optimization design.

[0026] The present invention realizes the reconstruction of complex coordinated extreme environments by controlling the impeller depth, height, speed, and specific pressurization and decompression environments. The targeted dynamic tracking system ensures the accuracy of the rotor shooting position under complex airflow, and the independent pressurization and decompression systems increase the reliability and service life of the experimental system. By changing the impeller speed, impeller position, vacuum degree, pressurization pressure, and mobile platform height, the rotor dynamic deformation matching tracking and optimal flow control under multi-parameter coordinated matching are realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 The diagram is a structural diagram of a system for dynamically visually capturing the rotor vibration of a special UAV.

[0028] In the figure, 1-box, 2-pressure sensor, 3-pressure relief valve, 4-drone, 5-fisheye camera, 6-high-speed camera, 7-first mobile platform, 8-signal converter, 9-photosensitive instrument, 10-buffer chamber, 11-signal synchronization controller, 12-second mobile platform, 13-light source equipment, 14-first flange, 15-third switch valve, 16-first switch valve, 17-one-way valve, 18-pressure reducing valve, 19-second switch valve, 20-high-pressure gas cylinder, 21-vacuum tank, 22-vacuum gauge, 23-fourth switch valve, 24-vacuum pump motor, 25-water tank, 26-first frequency modulation motor, 27-first impeller, 28-first telescopic rod, 29-second frequency modulation motor, 30-second telescopic rod, 31-second impeller. DETAILED DESCRIPTION

[0029] To make the objectives, technical solutions, and advantages of the present invention more clearly apparent, the present invention is described below using specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are merely illustrative and are not intended to limit the scope of the present invention. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present invention.

[0030] Specific implementation method 1: Combination Figure 1 This embodiment describes an experimental device for dynamically visually capturing the rotor vibration of a special UAV, including:

[0031] Box device: including box 1, the inner cavity of box 1 can be provided with drone 4;

[0032] Box 1 is a colorless, transparent, hard acrylic closed box;

[0033] The box device also includes a pressure sensor 2 and a pressure relief valve 3. The box 1 is provided with a pressure sensor 2 and a pressure relief valve 3;

[0034] The booster device includes a high-pressure gas cylinder 20 and a valve group. The high-pressure gas cylinder 20 is connected to the box body 1 through the valve group and is used for boosting and regulating the inner cavity of the box body 1.

[0035] The valve group of the boosting device includes a first switch valve 16, a one-way valve 17, a pressure reducing valve 18 and a second switch valve 19. The high-pressure gas cylinder 20, the second switch valve 19, the pressure reducing valve 18, the one-way valve 17, the first switch valve 16 and the box 1 are connected in sequence;

[0036] Decompression device: including a vacuum pump motor 24, which is connected to the box body 1 and is used for regulating the decompression of the inner cavity of the box body 1;

[0037] The pressure reducing device further includes a third switch valve 15, a vacuum tank 21, a vacuum gauge 22, and a fourth switch valve 23. The housing 1, the third switch valve 15, the vacuum tank 21, the fourth switch valve 23, and the vacuum pump motor 24 are connected in sequence. The vacuum tank 21 is equipped with a vacuum gauge 22. The vacuum pump motor 24 is connected to a water tank 25 for cooling the vacuum pump. The water tank 25 is a self-circulating vacuum pump water tank.

[0038] Wind control device: adjusts the airflow state in the inner cavity of box 1;

[0039] The wind control device includes a vertical wind device and a horizontal fan device. The box body 1 is a cube. The vertical fan device is arranged on the upper part of the box body 1, and the horizontal fan device is arranged on the upper right side of the box body 1.

[0040] The transverse fan device includes a first frequency-modulated motor 26, a first impeller 27 and a first telescopic rod 28. The first frequency-modulated motor 26 is fixedly connected to the box body 1, and the output end of the first frequency-modulated motor 26 is connected to the first impeller 27 through the first telescopic rod 28;

[0041] The vertical fan device includes a second frequency-modulated motor 29, a second telescopic rod 30, and a second impeller 31. The second frequency-modulated motor 29 is fixedly connected to the housing 1. The second frequency-modulated motor 29 is connected to the second impeller 31 via the second telescopic rod 30.

[0042] The vertical first telescopic rod 28 and the horizontal second telescopic rod 30 are arranged perpendicularly;

[0043] The present invention realizes the reconstruction of complex coordinated extreme environments by controlling the depth, height, and rotation speed of the impeller, as well as the specific pressurization and decompression environments. The targeted dynamic tracking system ensures the accuracy of the rotor shooting position under complex airflows. The independent pressurization and decompression systems increase the reliability and service life of the experimental system. By changing the impeller speed, impeller position, vacuum degree, pressurization pressure, and mobile platform height, the rotor dynamic deformation matching tracking and optimal flow control under multi-parameter coordinated matching are realized; by changing the impeller speed, impeller position, vacuum degree, pressurization pressure, and mobile platform height, the rotor dynamic deformation matching tracking and optimal flow control under multi-parameter coordinated matching are realized.

[0044] Capture system: includes a fisheye camera 5 and a high-speed camera 6. The fisheye camera 5 is mounted on the drone 4, and the high-speed camera 6 is used to capture the status of the drone 4;

[0045] The capture system also includes a first mobile platform 7, a signal converter 8, a photosensor 9, a signal synchronization controller 11, a second mobile platform 12 and a light source device 13. The first mobile platform 7 and the second mobile platform 12 can both adopt three-dimensional mobile platforms. The high-speed camera 6 and the light source device 13 are symmetrically arranged on both sides of the box 1. The high-speed camera 6 is fixedly arranged on the first mobile platform 7, and the light source device 13 is fixedly arranged on the second mobile platform 12. The photosensor 9 and the high-speed camera 6 are both electrically connected to the signal converter 8. The motor drive of the first mobile platform 7 and the motor drive of the second mobile platform 12 are electrically connected to the signal converter 8 through the signal synchronization controller 11; the photosensor 9 detects the light intensity generated by the light source device 13, and the analog signal of the photosensor is converted into a digital signal by the signal converter 8 and then transmitted to the PLC. After processing the received signal, the PLC sends the signal to the signal synchronization controller 11 via Ethernet communication. The signal synchronization controller 11 then sends the signal to the first mobile platform 7 and the second mobile platform 12 respectively. The high-speed fisheye camera 5 is connected to the PLC (computer) via wireless;

[0046] The present invention is applied to dynamic visual capture to create UAV rotor jitter in extreme environments and is an experimental device that can be applied in engineering projects. It can achieve full-field capture of high-speed dynamic deformation of the rotor and matching tracking, providing data support for UAV rotor flight control and optimization design.

[0047] Specific implementation method 2: Combination Figure 1 This embodiment describes an experimental method for dynamically visually capturing the rotor jitter of a special unmanned aerial vehicle (UAV). The experimental device for dynamically visually capturing the rotor jitter of a special unmanned aerial vehicle (UAV) is used. The high-speed camera device includes a high-speed camera 6 and a light source device 13 arranged relative to each other. The high-speed camera 6 and the light source device 13 are highly synchronized through a photosensor 9, a signal converter 8, and a signal synchronization controller 11. The high-speed camera 6 generates an image on a computer after processing the image using photo processing software. The high-speed fisheye camera 5 wirelessly transmits the data to the computer. The high-speed camera 6 can capture rotor jitter at 240,000 frames per second, and the high-speed fisheye camera can achieve a maximum shooting speed of 1,000 frames per second.

[0048] Telescopic rods 28, 30 are made of stainless steel and are rigidly connected to impellers 27, 31. Frequency-modulated motors 26, 29 (servo motors) adjust the impeller speed from 5000 rpm to 10000 rpm. Pressure sensor 2 is fixed and connected above the closed box 1. The closed box has dimensions of 1000mm×1000mm×1800mm. The outer diameter of the impeller is 50mm. The maximum depth of the telescopic rod is 300mm. The working gauge pressure of the pressure relief valve is set to -0.06MPa-0.6MPa. When the working pressure deviates, the pressure relief valve 3 automatically opens to balance the ambient pressure with the pressure inside the box.

[0049] The vacuum gauge 22 is loaded into the vacuum tank 21, which is fixed to the ground. The vacuum pump motor 24 extracts the gas in the vacuum tank to make it less than the atmospheric pressure. The water tank 25 provides the transport medium and cooling for the vacuum pump motor 24.

[0050] The high-pressure gas cylinder 20 is detachable and can be used to replace the gas type. The pressurizing device and the decompression device are independently set. At most, only one of the switch valves 15 and 16 can be opened. When the gas flow is stable, the high-speed camera 6 and the fisheye camera 5 capture the dynamic deformation of the drone 4 rotor.

[0051] The high-speed fisheye camera 5 is mounted on top of the drone 4. Several bolts of appropriate specifications are passed through the preset mounting holes of the high-speed fisheye camera and the corresponding connection holes of the drone, and then tightened with matching nuts. The two remain relatively stationary. The shooting modes of the high-speed fisheye camera 5 and the high-speed video camera 6 include four states of the drone 4: the start-up-stable transition process, the hovering stable state, the accelerated ascent state, and the accelerated descent state. They coordinate with the negative pressure-high pressure variable pressure condition and the three wind conditions of straight wind, oblique wind, and spiral wind.

[0052] The present invention creates a complex and diverse impact environment through ingenious structural design, providing sufficient and diverse data support for dynamic capture research of rotors. It can also achieve cyclones without using expensive high-power motors. Through a reasonable layout of wind control devices, the number of installed devices and the space occupied are reduced, saving costs. A variable pressure environment is provided by a vacuum tank, a vacuum pump motor, and a high-pressure gas cylinder. The environmental wind direction and wind speed are controlled by a retractable impeller connected to the motor. In combination with a targeted dynamic tracking system, the rotor vibration during acceleration, deceleration, stabilization, and hovering is monitored, revealing the rotor deformation mechanism in extreme environments and further proposing a rotor cooperative control strategy.

[0053] The method comprises the following steps:

[0054] Step 1: Adjust the ambient pressure to create a high-pressure environment and / or a low-pressure environment;

[0055] Place the drone in the box and create a high-pressure environment in the box 1 through the booster device. That is, open the high-pressure gas cylinder 20 and the valve group to pressurize the system. After the pressure sensor 2 detects that the pressure is stable and the leak test passes, close the first switch valve 16 and the second switch valve 19.

[0056] A low-pressure environment is created in the box body 1 through the decompression device. The on-off valve 16 is kept closed. The third on-off valve 15 and the fourth on-off valve 23 are opened, and the vacuum pump motor 24 is turned on. As the vacuum pump motor 24 continuously draws suction from the vacuum tank 21, the pressure in the box body 1 decreases. The pressure reaches the desired set value detected by the pressure sensor 2. The vacuum pump motor 24 and the third on-off valve 15 are turned off, and the value of the pressure sensor 2 is allowed to stabilize.

[0057] In step 1, when the pressure sensor 2 in the box 1 shows that the pressure is too high (higher than the high pressure environment setting value) or too low (lower than the low pressure environment setting value), the pressure relief valve 3 can be used for fine adjustment to facilitate operation;

[0058] Step 2: Adjust the airflow state, which can be straight wind, oblique wind and / or spiral wind;

[0059] Direct wind: The wind direction is perpendicular to the drone 4. Given that the length of the second telescopic rod 30 remains unchanged, the second frequency-modulated motor 29 is turned on to exert wind force on the drone 4 body directly below the second impeller 31.

[0060] Oblique wind: The wind direction forms an acute angle with the fuselage of the UAV 4. Given that the length of the first telescopic rod 28 remains unchanged, the first frequency-modulated motor 26 is turned on to exert wind force on the fuselage of the UAV 4 obliquely below the first impeller 27.

[0061] Spiral wind: Turn on the second frequency-modulated motor 29 or the first frequency-modulated motor 26. The second frequency-modulated motor 29 drives the second impeller 31 to rotate through the second telescopic rod 30. The first frequency-modulated motor 26 rotates through the first telescopic rod 28. The second telescopic rod 30 changes its length and retracts or extends while the second impeller 31 rotates, so that the air flows to the low-pressure area. Under the rotation of the second impeller 31, the air flows in a spiral, thereby realizing spiral wind and exerting a wind force on the fuselage of the drone 4. There is no need to specially design blades or add unnecessary structures and complicated operations. In a limited space, a set of devices can realize the adjustment of multiple airflow states, saving costs and facilitating operation. The wind speed can be adjusted by changing the motor speed.

[0062] Step 3, dynamic visual capture; start the drone 4 and make the drone be in the start-stabilization transition process, hovering stable state, accelerated rise or accelerated descent state, the high-speed camera 6 and the light source device 13 follow the movement of the drone 4 through the corresponding first mobile platform 7 and the first mobile platform 12 and move synchronously, keeping the relative position of the high-speed camera 6 and the following drone 4 unchanged, the high-speed camera 6 shoots the rotor on one side of the drone 4, and the fisheye camera 5 shoots the rotor on the other side of the drone 4 to obtain multiple frames of high-speed camera pictures, so as to achieve full-field capture of high-speed dynamic deformation of the rotor and matching tracking. The present invention can be used to capture the axial jitter of the drone rotor, and provide a clear and effective data set for the displacement and acceleration of the drone. The displacement and acceleration are calculated after processing the multiple frames of high-speed camera pictures, which greatly simplifies the subsequent processing and calculation; the present invention integrates a pressurizing device, a decompression device, and a wind control device, and combines the dynamic visual capture system to shoot the drone rotor jitter under extreme conditions, which can achieve full-field capture of high-speed dynamic deformation of the rotor and matching tracking, and realize the drawing of dynamic deformation curves of the drone rotor under all working conditions, providing data support for the flight control and optimization design of the drone rotor;

[0063] In step 2 and step 3, when the spiral wind exerts a wind force on the body of the started drone 4, the second telescopic rod 30 rises at a uniform speed during the startup of the drone 4;

[0064] The present invention can control the environmental pressure of UAV flight, adjust the hovering angle of UAV, match the incoming wind speed and direction, and realize dynamic observation of rotor deformation in extreme environments. This targeted dynamic visual capture system can capture the strain distribution of the rotor from startup to steady state, acceleration, and hovering in the entire field, focusing on the rotor jitter control strategy under the coordinated matching control of different wind directions, different wind speeds, and different environmental pressures; the control parameters of the experimental system include: environmental pressure, wind speed, and wind direction. The existing visual observation system and the experimental device for coordinated control of extreme environments are independent of each other, and the system structure is stable. It breaks through the disadvantage of traditional pseudo-dynamic tests that deviate from the real application environment of the rotor, can operate for a long time, and provides a theoretical basis for improving the life, reliability, operability and stability of the rotor. By collaboratively matching multiple parameters, the dynamic deformation curve of the UAV rotor under all working conditions can be drawn.

[0065] Working principle:

[0066] The present invention relates to a device for dynamically visually capturing rotor vibration of a drone in an extreme environment, belonging to the field of experimental devices. The device comprises an acrylic closed box, a drone, a high-speed fisheye camera, a gas loop pipe, a vacuum tank, a vacuum pump motor, a high-speed camera device, a wind control device, a pressure sensor, a vacuum sensor, a self-circulating vacuum pump water tank, a photosensor, a frequency modulation motor, and a telescopic rod. The high-speed fisheye camera is rigidly fixedly connected to the drone, a high-pressure gas cylinder is connected to the closed box via a loop pipe and various control valves, a low-pressure device is connected to the vacuum pump motor, the vacuum tank, and the closed box via a loop pipe, a high-speed camera and a light source are respectively arranged on opposite sides of the acrylic closed box, the high-speed camera is connected to a signal converter, a photosensor, a signal synchronization controller, and a power supply, and targeted dynamic visual capture of the drone is achieved through a mobile platform. Two impellers rotate at high speed to generate straight wind, oblique wind, and spiral wind.

[0067] First, in an extremely high-pressure environment, the pressurizing device is turned on, that is, the high-pressure gas cylinder 20 is turned on, the switch valves 19 and 16, the pressure reducing valve 18, and the one-way valve 17 are turned on to pressurize the system. According to the pressure sensor 2, when the pressure is stable and the leak detection is passed, the switch valves 16 and 19 are closed, and the depth of the telescopic rod 28 and the height of the given telescopic rod 30 are further adjusted. The frequency-modulated motors 26 and 29 are turned on to realize the constant speed rotation of the impellers 27 and 31. The high-speed camera 6 and the light source device 13 are turned on, and the photosensor 9, the signal converter 8 and the signal synchronization controller 11 are powered. The fisheye camera 5 is turned on and the remote operation is performed. The drone 4 is in operation and is given four working states: the start-up-stabilization transition process, the hovering stable state, the accelerated ascent and accelerated descent states. The high-speed camera 6 and the light source move synchronously with the drone outside the closed box 1 to capture the strain distribution of the rotor from startup to steady state. The fisheye camera also captures the images synchronously to obtain two-dimensional or three-dimensional displacement, velocity and acceleration measurement results. On this basis, the speed of the impellers 27 and 31 is adjusted to capture the vibration of the rotor under different wind speeds. Furthermore, the frequency modulation motor 26 or 29 is turned off to induce three wind states: straight wind, oblique wind and spiral wind for shooting. For the implementation of low-pressure extreme environment, the low-pressure device is turned on under initial conditions, the switch valve 16 is closed, the switch valves 14 and 23 are opened, and the vacuum pump motor 24 is turned on. As the vacuum pump motor 24 continuously sucks the vacuum tank 21, the pressure of the closed box 1 is also reduced. When the test negative pressure is reached, the vacuum pump motor 24 and the switch valve 15 are turned off. After the pressure gauge 2 is stable, the UAV flight state under the above pressurized environment is repeated, and the three wind conditions of straight wind, oblique wind and spiral wind are matched at the same time. The implementation system shows a schematic diagram of the principle of dynamic visual capture of UAV rotor vibration in extreme environments. In fact, the size of the closed box 1 and the type of UAV 4 can be adjusted according to the application environment to achieve full-field capture of high-speed dynamic deformation of the rotor and matching tracking.

[0068] The principle of dynamic visual capture of UAV rotor vibration in extreme environments: Unlike traditional UAV rotors that use a contact method to rigidly connect the rotating axis in high-speed rotation dynamic simulation tests, through targeted dynamic visual capture systems, independently connected closed box pressurization and depressurization devices, and follow-up shooting with high-speed fisheye cameras, the high-speed dynamic deformation of the rotor can be captured throughout the field. The matching tracking method can realize real flight performance testing in complex environments, the implementation of experimental projects, and provide data support for UAV rotor flight control and optimization design.

[0069] It should be noted that in the above embodiments, as long as the technical solutions are not contradictory, they can be permuted and combined. Those skilled in the art can exhaust all possibilities based on the mathematical knowledge of permutations and combinations. Therefore, the present invention will no longer describe the technical solutions after permutations and combinations one by one, but it should be understood that the technical solutions after permutations and combinations have been disclosed by the present invention.

[0070] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. An experimental device for capturing the rotor vibration of a special UAV using dynamic vision, characterized by: include: The box device comprises a box (1), the box (1) is a transparent box, and the box (1) provides a space for the UAV (4) to conduct experiments; The pressurizing device comprises a high-pressure gas cylinder (20) and a valve group, wherein the high-pressure gas cylinder (20) is connected to the box (1) via a pipeline, and the valve group is provided on the pipeline for regulating the pressurization of the inner cavity of the box (1); The decompression device comprises a vacuum tank (21), which is connected to the box (1) and is used for regulating the decompression of the inner cavity of the box (1); Wind control device: The wind control device is installed in the box (1) to adjust the airflow state in the inner cavity of the box (1); The capture system comprises a fisheye camera (5) and a high-speed camera (6). The fisheye camera (5) is mounted on a drone (4) arranged in a box (1), and a high-speed camera (6) is arranged outside the box (1). The fisheye camera (5) and the high-speed camera (6) are used to capture the status of the drone (4).

2. The experimental device for dynamically visually capturing the rotor vibration of a special UAV according to claim 1 is characterized by: The box body (1) is made of acrylic or glass.

3. The experimental device for dynamically visually capturing the rotor vibration of a special UAV according to claim 2 is characterized by: The box device further comprises a pressure sensor (2) and a pressure relief valve (3), and the box (1) is provided with the pressure sensor (2) and the pressure relief valve (3).

4. The experimental device for dynamically visually capturing rotor vibration of a special unmanned aerial vehicle according to any one of claims 1 to 3, characterized in that: The valve group of the pressure boosting device comprises a second switch valve (19), a pressure reducing valve (18), a one-way valve (17), and a first switch valve (16) which are sequentially arranged from the high-pressure gas cylinder (20) toward the box body (1).

5. The experimental device for dynamically visually capturing the rotor vibration of a special unmanned aerial vehicle according to any one of claims 1 to 3, characterized in that: The pressure reducing device further comprises a third switch valve (15), a vacuum gauge (22), a fourth switch valve (23) and a vacuum pump motor (24); the box (1), the third switch valve (15), the vacuum tank (21), the fourth switch valve (23) and the vacuum pump motor (24) are connected in sequence, and the vacuum tank (21) is equipped with a vacuum gauge (22).

6. The experimental device for dynamically visually capturing the rotor vibration of a special unmanned aerial vehicle according to any one of claims 1 to 3, characterized in that: The wind control device comprises a vertical fan device and a horizontal fan device, wherein the vertical fan device is arranged at the upper part of the box body (1), and the horizontal fan device is arranged at the side of the box body (1).

7. The experimental device for dynamically visually capturing the rotor vibration of a special UAV according to claim 6, characterized in that: The transverse fan device comprises a first frequency-modulated motor (26), a first impeller (27) and a first telescopic rod (28); the first frequency-modulated motor (26) is fixedly connected to the housing (1); and the output end of the first frequency-modulated motor (26) is connected to the first impeller (27) via the first telescopic rod (28); The vertical fan device comprises a second frequency-modulated motor (29), a second telescopic rod (30) and a second impeller (31); the second frequency-modulated motor (29) is fixedly connected to the box (1); and the second frequency-modulated motor (29) is connected to the second impeller (31) via the second telescopic rod (30).

8. The experimental device for dynamically visually capturing the rotor vibration of a special unmanned aerial vehicle according to any one of claims 1 to 3, characterized in that: The capture system further comprises a first mobile platform (7), a signal converter (8), a photosensor (9), a signal synchronization controller (11), a second mobile platform (12) and a light source device (13). The first mobile platform (7) and the second mobile platform (12) are symmetrically arranged on both sides of the box (1). The high-speed camera (6) is arranged on the first mobile platform (7). The light source device (13) is arranged on the second mobile platform (12). The photosensor (9) and the high-speed camera (6) are arranged on the same side. The photosensor (9) is electrically connected to the signal converter (8). The motor drive of the first mobile platform (7) and the motor drive of the second mobile platform (12) are electrically connected to the signal converter (8) via the signal synchronization controller (11).

9. An experimental method for capturing the rotor vibration of a special UAV using dynamic vision, characterized by: An experimental device for dynamically visually capturing the rotor vibration of a special unmanned aerial vehicle according to any one of claims 1 to 8 comprises the following steps: A high-pressure environment is created in the box (1) by a pressurizing device, or a low-pressure environment is created in the box (1) by a decompression device, an airflow state is simulated in the box by a wind control device, and a capture system is used to collect image information of the rotor of the UAV when it flies in the box, thereby achieving full-field capture of high-speed dynamic deformation of the rotor and matching tracking.

10. The experimental device for dynamically visually capturing the rotor vibration of a special UAV according to claim 9, characterized in that: When the pressure sensor (2) in the box (1) indicates that the pressure is too high or too low, fine adjustment is performed through the pressure relief valve (3); When the spiral wind exerts a wind force on the fuselage of the started UAV (4), the second telescopic rod (30) rises at a uniform speed during the starting process of the UAV (4).

Images