Unmanned aerial vehicle disturbance measurement system based on background image

Abstract

The invention provides a background image-based unmanned aerial vehicle disturbance measurement system, which comprises a background grid bracket, an unmanned aerial vehicle and a high-speed camera, the background grid support comprises a supporting base, a left supporting rod, a right supporting rod, an outer frame lower transverse rod, an outer frame left vertical rod, an outer frame right vertical rod, an outer frame upper transverse rod, an outer frame left vertical rod supporting rod, an outer frame right vertical rod supporting rod, an inner supporting transverse rod, an inner supporting vertical rod and a grid plate. The position change of the unmanned aerial vehicle in the background grid support is measured through the high-speed camera, for example, the displacement disturbance quantity of the unmanned aerial vehicle in different wind fields needs to be measured in the wind resistance performance test of the unmanned aerial vehicle, and therefore the wind resistance performance of the unmanned aerial vehicle is evaluated. The measurement process is convenient, and the movement displacement of the unmanned aerial vehicle can be measured without installing a monitoring instrument on the fuselage of the unmanned aerial vehicle during anti-disturbance measurement of the unmanned aerial vehicle; the measurement precision is high, the high-speed camera performs real-time acquisition, and the measurement displacement error is controlled within 1mm; the system is simple in structure and low in manufacturing cost; and the system size can be flexibly customized.

Description

Technical Field

[0001] The present invention relates to the field of aircraft technology, and in particular to a background image-based UAV disturbance measurement system, which can measure the wind resistance performance of a UAV when hovering and flying at different wind speeds. Background Art

[0002] With the rapid development of drones, the scale of the drone testing market is also growing continuously. Therefore, drone disturbance measurement systems based on background images have also become very important. For example, the flight stability and hovering performance of drones under different wind speeds are tested. Therefore, many drone testing projects require the use of drone disturbance measurement systems based on background images.

[0003] Currently, after the production of drones, they need to be tested in various aspects of their performance. For example, for the test of drone wind resistance, it is necessary to measure the displacement disturbance of the drone under different wind fields to evaluate its wind resistance. Usually, gyroscopes, accelerometers, RTK positioning and other related instruments are installed on the drone for monitoring. However, there are still some deficiencies in the test process. For example, the weight of the detection instrument will affect the performance of the drone, the installation location of the detection instrument is limited, the detection instrument that requires GPS positioning has a weak signal indoors, and there is a delay in the measurement process. The position information of the drone cannot be obtained in real time, resulting in low measurement accuracy, long measurement time, high measurement cost and other problems. For this reason, the present invention proposes a drone disturbance measurement system based on background image to solve the problem of drone wind resistance level measurement at low cost. Summary of the Invention

[0004] In order to overcome the problems of long test time, high test cost and low test accuracy in the existing UAV disturbance measurement process, the purpose of this invention is to propose a UAV disturbance measurement system based on background image, aiming to improve the problems of long measurement time, low measurement accuracy and high measurement cost of the UAV disturbance measurement method, and provide a new method for subsequent UAV disturbance measurement.

[0005] The present invention is achieved through the following technical solutions: A UAV disturbance measurement system based on background image includes a background grid support, a UAV to be measured, and a high-speed camera; The background grid support includes a support base, the left support rod, the right support rod, the lower horizontal rod of the outer frame, the left vertical rod of the outer frame, the right vertical rod of the outer frame, the upper horizontal rod of the outer frame, the left vertical rod support rod of the outer frame, the right vertical rod support rod of the outer frame, the internal support horizontal rod, the internal support vertical rod, and a grid plate; The left side of the outer frame upper cross bar is installed above the left vertical bar of the outer frame, and the right side of the outer frame upper cross bar is installed above the right vertical bar of the outer frame. The upper end of the outer frame left vertical bar support rod is installed on the rear of the outer frame left vertical bar, the lower end of the outer frame left vertical bar support rod is installed above the left support rod, the upper end of the outer frame right vertical bar support rod is installed on the rear of the outer frame right vertical bar, and the lower end of the outer frame right vertical bar support rod is installed above the right support rod, the two sides of the inner support cross bar are respectively installed on the outer frame left vertical bar and the outer frame right vertical bar, and the grid plate is installed on the inner support cross bar and the inner support vertical bar; The high-speed camera is used to collect the displacement of the UAV moving within the background grid support in real time.

[0006] There are four supporting bases in total, which are respectively welded and fixed on the lower sides of the left supporting rod and the right supporting rod.

[0007] The upper part 50cm above the front end of the left support rod is welded to the lower part of the left vertical rod of the outer frame, and the inner part 50cm above the front end of the left support rod is welded to the left end of the lower horizontal rod of the outer frame; The upper 50cm of the front end of the right support rod is welded and fixed to the lower part of the right vertical rod of the outer frame, and the inner side 50cm of the front end of the right support rod is welded and fixed to the right end of the lower horizontal rod of the outer frame.

[0008] The left end of the lower cross bar of the outer frame is welded and fixed to the inner side of the left support bar, and the right end of the lower cross bar of the outer frame is welded and fixed to the inner side of the right support bar.

[0009] The lower part of the left vertical rod of the outer frame is welded and fixed 50 cm from the front end of the left support rod, and the upper part of the left vertical rod of the outer frame is welded and fixed to the lower left side of the upper horizontal rod of the outer frame; The lower part of the right vertical rod of the outer frame is welded and fixed at 50 cm from the front end of the right support rod, and the upper part of the right vertical rod of the outer frame is welded and fixed to the lower right side of the upper cross bar of the outer frame.

[0010] The upper end of the left vertical rod support rod of the outer frame is fixed by a screw at a position 1.5m behind the left vertical rod of the outer frame and 10cm above the edge of the left support rod.

[0011] The upper end of the right vertical rod support rod of the outer frame is fixed by a screw at a position 1.5m behind the right vertical rod of the outer frame and 10cm above the edge of the right vertical rod support rod.

[0012] The left side of the internal support cross bar is fixed to the left vertical bar of the outer frame through a screw rod, and the right side of the internal support cross bar is fixed to the right vertical bar of the outer frame through a screw rod.

[0013] The upper end of the internal support vertical rod is fixed to the upper cross bar of the outer frame through a screw rod, and the lower end of the internal support vertical rod is fixed to the lower cross bar of the outer frame through a screw rod.

[0014] The grid plate is embedded into the slots of the internal support horizontal rod and the internal support vertical rod through the wall panels on all sides.

[0015] The beneficial effects of the present invention are: First, the system offers convenient measurement. The system eliminates the need for monitoring equipment mounted on the drone itself to measure its displacement. Furthermore, high-speed cameras capture data in real time, keeping displacement errors within 1mm. Furthermore, the system boasts a simple structure and low manufacturing costs. Finally, the system size can be flexibly customized to suit the size of the product being tested. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The figure shows a schematic diagram of the structure of a UAV disturbance measurement system based on background image.

[0017] Figure 2 Shown is a front view of a background image-based UAV disturbance measurement system.

[0018] Figure 3 Shown is the rear view of a UAV disturbance measurement system based on background images.

[0019] Figure 4 Shown is a schematic diagram of the background grid support structure of a UAV disturbance measurement system based on background images.

[0020] Figure 5 Shown is a grid panel for a background image-based UAV disturbance measurement system.

[0021] Among them: drone 2, high-speed camera 3, support base 4, left support rod 5, right support rod 6, outer frame lower horizontal rod 7, outer frame left vertical rod 8, outer frame right vertical rod 9, outer frame upper horizontal rod 10, outer frame left vertical rod support rod 11, internal support horizontal rod 13, internal support vertical rod 14, grid plate 15. DETAILED DESCRIPTION

[0022] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0023] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 As shown, a background image-based UAV disturbance measurement system includes a background grid bracket, a UAV to be measured 2, a camera 3, a support base 4, a left support rod 5, a right support rod 6, a lower horizontal bar of the outer frame 7, a left vertical bar of the outer frame 8, a right vertical bar of the outer frame 9, an upper horizontal bar of the outer frame 10, a left vertical bar support rod 11 of the outer frame, a right vertical bar support rod of the outer frame, an internal support horizontal bar 13, an internal support vertical bar 14, and a grid plate 15. The test range of the drone 2 is within the background grid bracket, the high-speed camera 3 is fixed to the side of the drone 2, the support base 4 is installed below the two sides of the left support rod 5 and below the two sides of the right support rod 6, the left end of the outer frame lower cross bar 7 is installed on the inner side of the left support rod 5, the right end of the outer frame lower cross bar 7 is installed on the inner side of the right support rod 6, the outer frame left vertical rod 8 is installed above the left support rod 5, the outer frame right vertical rod 9 is installed above the right support rod 6, the outer frame upper cross bar 10 is installed on the left side above the outer frame left vertical rod 8, and the outer frame upper cross bar 10 is installed on the right side above the outer frame right vertical rod 9. The upper end of the outer frame left vertical rod support rod 11 is installed on the rear of the outer frame left vertical rod 8, the lower end of the outer frame left vertical rod support rod 11 is installed above the left support rod 5, the upper end of the outer frame right vertical rod support rod is installed on the rear of the outer frame right vertical rod 9, the lower end of the outer frame right vertical rod support rod is installed above the right support rod 6, the two sides of the internal support cross bar 13 are respectively installed on the outer frame left vertical rod 8 and the outer frame right vertical rod 9, the two sides of the internal support vertical rod 14 are respectively installed on the outer frame lower cross bar 7 and the outer frame upper cross bar 10, and the grid plate 15 is installed on the internal support cross bar 13 and the internal support vertical rod 14.

[0024] A disturbance measurement system for drones based on background images is proposed. The drone uses a multi-rotor drone. A reference point is marked at the center of gravity of the drone to facilitate tracking of the drone's movement trajectory. The movement trajectory of the reference point on the drone is captured by a high-speed camera.

[0025] The background grid bracket includes a support base, a left support rod, a right support rod, a lower horizontal bar of the outer frame, a left vertical bar of the outer frame, a right vertical bar of the outer frame, an upper horizontal bar of the outer frame, a left vertical bar support rod of the outer frame, a right vertical bar support rod of the outer frame, an internal support horizontal bar, an internal support vertical bar, and a grid plate. The width of the background grid bracket is 416cm and the height is 310cm. The size can be flexibly customized according to the user.

[0026] The support base is constructed of stainless steel, providing support for the left and right support rods. Because the left and right support rods are mounted on the support base with a 2cm gap from the ground, a flat-top crowbar can be inserted underneath the left or right support rod to lift the support base off the ground. Universal wheel movers can be placed beneath the support bases to allow for movement of the background grid. The left and right support rods are constructed of stainless steel square tubes, as are the left and right vertical rods of the outer frame. The internal support crossbars and vertical rods are also constructed of stainless steel square tubes to reinforce the entire background grid support, and a slot is designed into the center. The grid panels are constructed of PVC, and the surrounding siding slots fit into the slots of the internal support crossbars and vertical rods for securement.

[0027] The test range of test drone 2 is within the background grid bracket size, and the test range of test drone is 400*300cm.

[0028] Camera 3 collects the displacement trajectory of the drone's movement with a collection frequency of 24-1600fps.

[0029] The support base 4 provides support for the left support rod and the right support rod. A universal wheel mover can be placed at the bottom of the support base to realize the movement of the background grid bracket. The size of the support base 4 is 20*20cm.

[0030] The left support rod 5 is welded on the top of the support base, and the size of the left support rod is 200*8*5cm.

[0031] The right support rod 6 is welded on the top of the support base, and the size of the left support rod is 200*8*5cm.

[0032] The outer frame lower cross bar 7 is welded to the front end 50 cm of the left support bar 5 and the right support bar 6. The size of the outer frame lower cross bar 7 is 400*8*5 cm.

[0033] The left vertical rod 8 of the outer frame is welded above the left support rod, and the size of the left vertical rod of the outer frame is 8*5*300cm.

[0034] The right vertical rod 9 of the outer frame is welded above the right support rod, and the size of the right vertical rod of the outer frame is 8*5*300cm.

[0035] The left side of the outer frame upper cross bar 10 is welded above the left vertical bar of the outer frame, and the right side of the outer frame upper cross bar 10 is welded above the right vertical bar of the outer frame. The size of the outer frame upper cross bar 10 is 400*8*5cm.

[0036] The upper end of the left vertical rod support rod 11 of the outer frame is fixed by a screw at a distance of 1.5m from the bottom behind the left vertical rod of the outer frame, and the lower end of the left vertical rod support rod 11 is fixed by a screw at a distance of 10cm from the edge above the left support rod. The size of the left vertical rod support rod of the outer frame is 210*6*5cm.

[0037] The upper end of the right vertical rod support rod of the outer frame is fixed by a screw at 1.5m behind the right vertical rod of the outer frame, and the lower end of the right vertical rod support rod 11 of the outer frame is fixed by a screw at 10cm above the right support rod. The size of the right vertical rod support rod of the outer frame is 210*6*5cm.

[0038] Both sides of the internal support cross bar 13 are fixed to the left vertical bar and the right vertical bar of the outer frame by screws respectively. The size of the internal support cross bar is 400*2*2cm.

[0039] Both sides of the internal support vertical rod 14 are fixed to the lower cross bar of the outer frame and the upper cross bar 10 of the outer frame by screws respectively. The size of the internal support vertical rod is 300*2*2cm.

[0040] The mesh panel 15 is embedded in the slots of the internal support horizontal rod and the internal support vertical rod 14 through the wall panels on all sides. The size of the mesh panel is 10*10 cm.

[0041] The above-described embodiments merely represent several implementations of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that a person skilled in the art would be able to make numerous modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of the present invention. The scope of the present invention is defined by the appended claims and any equivalents thereof.

Claims

1. A UAV disturbance measurement system based on background image, characterized in that: It includes a background grid support, a drone to be tested (2), and a high-speed camera (3); The background grid support comprises a support base (4), the left support rod (5), the right support rod (6), the outer frame lower horizontal rod (7), the outer frame left vertical rod (8), the outer frame right vertical rod (9), the outer frame upper horizontal rod (10), the outer frame left vertical rod support rod (11), the outer frame right vertical rod support rod, the inner support horizontal rod (13), the inner support vertical rod (14), and a grid plate (15); The test range of the drone (2) to be tested is within the background grid bracket, the support base (4) is installed below the two sides of the left support rod (5) and below the two sides of the right support rod (6), the left end of the outer frame lower crossbar (7) is installed on the inner side of the left support rod (5), the right end of the outer frame lower crossbar (7) is installed on the inner side of the right support rod (6), the outer frame left vertical rod (8) is installed above the left support rod (5), the outer frame right vertical rod (9) is installed above the right support rod (6), the outer frame upper crossbar (10) is installed on the left side above the outer frame left vertical rod (8), the outer frame upper crossbar (10) is installed on the right side above the outer frame right vertical rod (9), and the outer frame lower crossbar (7) is installed on the left side above the outer frame left vertical rod (8). The upper end of the left vertical rod support rod (11) of the frame is installed on the rear of the left vertical rod (8) of the outer frame, the lower end of the left vertical rod support rod (11) of the outer frame is installed on the upper part of the left support rod (5), the upper end of the right vertical rod support rod of the outer frame is installed on the rear of the right vertical rod (9) of the outer frame, the lower end of the right vertical rod support rod of the outer frame is installed on the upper part of the right support rod (6), the two sides of the internal support cross bar (13) are respectively installed on the left vertical rod (8) of the outer frame and the right vertical rod (9) of the outer frame, the two sides of the internal support vertical rod (14) are respectively installed on the lower cross bar (7) of the outer frame and the upper cross bar (10) of the outer frame, and the grid plate (15) is installed on the internal support cross bar (13) and the internal support vertical rod (14); The high-speed camera (3) is used to collect the displacement of the UAV moving within the background grid support in real time.

2. The background image-based UAV disturbance measurement system according to claim 1, characterized in that: There are four supporting bases (4) in total, which are respectively welded and fixed below both sides of the left supporting rod (5) and the right supporting rod (6).

3. The background image-based UAV disturbance measurement system according to claim 1, characterized in that: The upper portion 50 cm from the front end of the left support rod (5) is welded to the lower portion of the left vertical rod (8) of the outer frame, and the inner portion 50 cm from the front end of the left support rod (5) is welded to the left end of the lower horizontal rod (7) of the outer frame; The upper portion 50 cm of the front end of the right support rod (6) is welded and fixed to the lower portion of the right vertical rod (9) of the outer frame, and the inner portion 50 cm of the front end of the right support rod (6) is welded and fixed to the right end of the lower horizontal rod (7) of the outer frame.

4. The background image-based UAV disturbance measurement system according to claim 1, characterized in that: The left end of the outer frame lower cross bar (7) is welded and fixed to the inner side of the left support bar (5), and the right end of the outer frame lower cross bar (7) is welded and fixed to the inner side of the right support bar (6).

5. The background image-based UAV disturbance measurement system according to claim 1, characterized in that: The lower part of the left vertical rod (8) of the outer frame is welded and fixed to the front end 50 cm of the left support rod (5), and the upper part of the left vertical rod (8) of the outer frame is welded and fixed to the lower left side of the upper horizontal rod (10) of the outer frame; The lower portion of the right vertical rod (9) of the outer frame is welded and fixed to the front end 50 cm of the right support rod (6), and the upper portion of the right vertical rod (9) of the outer frame is welded and fixed to the lower right side of the upper horizontal rod (10) of the outer frame.

6. The background image-based UAV disturbance measurement system according to claim 1, characterized in that: The upper end of the outer frame left vertical rod support rod (11) is fixed to the rear of the outer frame left vertical rod (8) at a distance of 1.5 m from the bottom by a screw rod, and the lower end of the outer frame left vertical rod support rod (11) is fixed to the upper part of the left support rod (5) at a distance of 10 cm from the edge by a screw rod.

7. The background image-based UAV disturbance measurement system according to claim 1, characterized in that: The upper end of the right vertical rod support rod of the outer frame is fixed to the rear of the right vertical rod (9) of the outer frame at a distance of 1.5m from the bottom by a screw rod, and the lower end of the right vertical rod support rod of the outer frame is fixed to the upper part of the right support rod (6) at a distance of 10cm from the edge by a screw rod.

8. The background image-based UAV disturbance measurement system according to claim 1, characterized in that: The left side of the internal support cross bar (13) is fixed to the left vertical bar (8) of the outer frame via a screw, and the right side of the internal support cross bar (13) is fixed to the right vertical bar (9) of the outer frame via a screw.

9. The background image-based UAV disturbance measurement system according to claim 1, characterized in that: The upper end of the internal support vertical rod (14) is fixed to the outer frame upper crossbar (10) via a screw, and the lower end of the internal support vertical rod (14) is fixed to the outer frame lower crossbar (7) via a screw.

10. The background image-based UAV disturbance measurement system according to claim 1, characterized in that: The grid plate (15) is embedded in the slots of the internal support horizontal rod (13) and the internal support vertical rod (14) through the surrounding wall panels.

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