Unmanned aerial vehicle test bench, test method and indoor test environment verification method

Abstract

The invention relates to an unmanned aerial vehicle test bench, a test method and an indoor test environment verification method. The test bench comprises a deck fixedly connected with an undercarriage of an unmanned aerial vehicle, a supporting shaft and a pose adjusting mechanism. The supporting shaft penetrates through the deck, is rotatably fixed to an existing structure on the back face of the deck and is used for fixing the unmanned aerial vehicle body on the front face of the deck. The pose adjusting mechanism comprises a bottom ring base fixedly installed on the front face of the deck; the top ring seat penetrates through the deck and is arranged between the supporting shaft and the bottom ring seat in a sleeving manner; the rotary bearing is arranged between the top ring seat and the bottom ring seat, so that the bottom ring seat and the top ring seat can rotate relatively; and the joint bearing is arranged between the top ring seat and the supporting shaft, so that the angle between the top ring seat and the supporting shaft can be adjusted at will. The test bench is provided for the unmanned aerial vehicle, the flight test of the unmanned aerial vehicle in the air can be avoided, and the test risk is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of low-altitude space product testing, in particular to a test bench for unmanned aerial vehicles, a test method and an indoor test environment verification method. BACKGROUND

[0002] Before being put into formal use, an unmanned aerial vehicle needs to be tested in flight, and the main test contents include: attitude simulation test, in which the unmanned aerial vehicle is set to different attitudes such as horizontal, vertical and inclined, to observe whether the attitude control system of the unmanned aerial vehicle can accurately respond; and angular velocity verification test, in which the unmanned aerial vehicle is rotated at a set angle and speed, and other measuring devices are used to measure whether the actual angular velocity of the unmanned aerial vehicle matches the set angle and speed.

[0003] Since the above flight tests are directly performed on a real machine, the risks are very high. Therefore, the current practice is to first use a computer to perform modeling, to obtain required mechanical data through simulation calculation, and then to use a real machine to perform the above flight tests. Although this method reduces the risks to some extent, with the development of science and technology, unmanned aerial vehicles are becoming heavier and heavier, and for larger unmanned aerial vehicles (such as medium-sized unmanned aerial vehicles with a maximum take-off weight of 25-150 kg and an empty weight of more than 15 kg), the cost is relatively high, and if only mechanical estimation is performed through computer simulation calculation, and then a real machine is directly used for flight test, the risks are still very high. SUMMARY

[0004] The present application provides a test bench for unmanned aerial vehicles, a test method and an indoor test environment verification method, which avoids flight tests of unmanned aerial vehicles in the air and reduces the test risks.

[0005] The present application is implemented by the following scheme, a test bench for unmanned aerial vehicles, the unmanned aerial vehicle comprising a vehicle body and a landing gear movably connected to the bottom of the vehicle body, the test bench for unmanned aerial vehicles comprising a deck, a support shaft and a pose adjustment mechanism, wherein: The deck is fixedly connected to the landing gear, and a first opening is formed in the center of the deck; The support shaft penetrates the first opening and is rotatably fixed to an existing structure on the back side of the deck, and the vehicle body is fixed on the front side of the deck; The pose adjustment mechanism comprises: A bottom ring seat is fixedly installed on the front side of the deck and surrounds the outer periphery of the first opening; A top ring seat penetrates the first opening and is sleeved between the support shaft and the bottom ring seat, a first gap is reserved between the top ring seat and the bottom ring seat, and a second gap is reserved between the top ring seat and the support shaft; A slewing bearing is arranged in the first gap, and an outer ring of the slewing bearing is fixed relative to the bottom ring seat, and an inner ring of the slewing bearing is fixed relative to the top ring seat, so that the bottom ring seat and the top ring seat can rotate relative to each other; A knuckle bearing is arranged in the second gap, and an outer ring of the knuckle bearing is fixed relative to the top ring seat, and an inner ring of the knuckle bearing is fixed relative to the support shaft, so that the top ring seat and the support shaft can be adjusted at any angle; A first clamping assembly includes a first clamping spring clamped on the inner periphery of the bottom ring seat and a second clamping spring clamped on the outer periphery of the top ring seat, and the first clamping spring and the second clamping spring are respectively blocked at one end of the outer ring of the slewing bearing and the other end of the inner ring of the slewing bearing; A second clamping assembly includes a flange formed on the outer periphery of the support shaft and a third clamping spring clamped on the inner periphery of the top ring seat, and the flange and the third clamping spring are respectively blocked at one end of the inner ring of the knuckle bearing and the other end of the outer ring of the knuckle bearing.

[0006] The further improvement of the unmanned aerial vehicle test bench is that the support shaft includes a main shaft and a shaft sleeve sleeved outside the main shaft, a first end of the main shaft extends out of the shaft sleeve, the knuckle bearing is sleeved on the first end of the main shaft, the flange is formed on the first end of the main shaft, and a first end of the shaft sleeve abuts against the other end of the inner ring of the knuckle bearing by cooperating with the flange, and a locking member for fixing the shaft sleeve and the main shaft is connected between the shaft sleeve and the main shaft.

[0007] The further improvement of the unmanned aerial vehicle test bench is that the locking member includes a threaded pin and a threaded hole radially formed on the shaft sleeve, and the threaded pin is screwed into the threaded hole and abuts against the main shaft to realize the locking between the shaft sleeve and the main shaft.

[0008] The further improvement of the unmanned aerial vehicle test bench is that the unmanned aerial vehicle body is detachably connected to the threaded pin.

[0009] The further improvement of the unmanned aerial vehicle test bench is that the slewing bearing is a ball bearing.

[0010] The application also provides an unmanned aerial vehicle test method, which includes the following steps: The unmanned aerial vehicle test bench is provided, and the support shaft is rotatably fixed to an existing structure on the back side of the deck; The unmanned aerial vehicle to be tested is provided, the landing gear is fixedly connected to the deck and is flush with the front side of the deck, the unmanned aerial vehicle body is fixed to the support shaft, the center of gravity of the unmanned aerial vehicle is adjusted, and the center of gravity falls on the position fixed by the support shaft. The UAV's motion control system controls the UAV to present a specified posture and angular velocity according to the set data. At the same time, the UAV's detection system detects the UAV's actual posture and angular velocity, and then compares the actual detection data with the set data to verify whether the motion control system meets the requirements.

[0011] A further improvement of the drone testing method of the present invention is that the method of adjusting the center of gravity of the drone so that the center of gravity of the drone falls at a position fixed to the support shaft includes: adjusting the center of gravity position of the drone by adjusting the battery position or other counterweight components of the drone.

[0012] The present invention further provides an indoor test environment verification method, comprising the steps of: providing a drone that has undergone a drone test and passed the test; performing a drone test on the drone again in the indoor environment to be tested using the drone testing method described above; and then analyzing whether the indoor environment to be tested meets the test requirements based on the accuracy of the test results.

[0013] The present invention includes but is not limited to the following beneficial effects: A test bench is provided for the UAV, and by dividing the posture adjustment into a relatively independent rotation part and an angle adjustment part, and through the mutual cooperation between the various components, the support shaft can provide both the rotation axis of the rotation part and the reference axis of the angle adjustment part. Therefore, no matter what posture the UAV needs to be adjusted to, the external force it is subjected to is concentrated on the support shaft, and the support shaft is fixed on the existing structure, which can ensure the structural strength of the entire test bench and the longitudinal ability of resisting tension and sinking.

[0014] The combination of retaining springs, bushings, and bearings ensures a secure attachment of the drone while ensuring it can be adjusted to various positions. This not only improves the test bench's longitudinal capacity but also prevents the drone from breaking free when facing lateral forces, such as left, right, and front, and back. This allows for flight testing of the drone on the test bench while ensuring that the drone maintains good attitude control during testing. Furthermore, retaining springs, bushings, and bearings are conventional and easily replaceable, allowing for flexible adjustments based on the drone's characteristics. This makes them suitable for testing a wide range of drones, demonstrating their versatility and flexibility.

[0015] Transferring flight testing from a real aircraft to a test bench avoids conducting tests in the air and reduces testing risks. Furthermore, the test bench's structure and dimensions are suitable for indoor use, allowing for indoor testing without the interference of complex outdoor environmental factors (such as wind speed and airflow) on test results, ensuring the accuracy and reliability of test data. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The figure shows a schematic diagram of the exploded state of the overall structure of the test bench of the present invention.

[0017] Figure 2 The schematic diagram shows the partial structural decomposition state of the posture adjustment mechanism in the test bench of the present invention. Figure 1 .

[0018] Figure 3 The schematic diagram shows the partial structural decomposition state of the posture adjustment mechanism in the test bench of the present invention. Figure 2 .

[0019] Figure 4 The schematic diagram shows the partial structural decomposition state of the posture adjustment mechanism in the test bench of the present invention. Figure 3 .

[0020] Figure 5 A top schematic diagram of a partial structural assembly state of the posture adjustment mechanism in the test bench of the present invention is shown.

[0021] Figure 6 A bottom schematic diagram of the assembled state of the posture adjustment structure in the test bench of the present invention is shown.

[0022] Figure 7 The figure shows the assembled state of the overall structure of the test bench of the present invention.

[0023] Figure 8 The figure shows a cross-sectional schematic diagram of the assembled state of the overall structure of the test bench of the present invention.

[0024] Figure 9 Shown Figure 8 Enlarged schematic diagram of point A in the middle.

[0025] In the figure: 10, deck; 11, first opening; 12, second opening; 20, support shaft; 21, main shaft; 211, flange edge; 22, sleeve; 221, threaded hole; 23, threaded pin; 31, bottom ring seat; 311, third opening; 312, fixing pin; 313, first ring groove; 32, top ring seat; 321, second ring groove; 322, third ring groove; 33, slewing bearing; 331, first outer ring; 332, first inner ring; 333, retaining frame; 334, ball; 34, spherical bearing; 341, second outer ring; 342, second inner ring; 35, first retaining spring; 36, second retaining spring; 37, third retaining spring; 41, first gap; 42, second gap. DETAILED DESCRIPTION

[0026] In order to solve the great risk caused by the flight test in the air by using real machine at present, the unmanned aerial vehicle test bench, test method and indoor test environment verification method are provided, which avoids the flight test of the unmanned aerial vehicle in the air and reduces the test risk. The unmanned aerial vehicle test bench, test method and indoor test environment verification method are further described below in combination with the drawings.

[0027] Referring to Figure 1 , Figures 7 to 9 As shown in FIG. 1, an unmanned aerial vehicle test bench, the unmanned aerial vehicle includes an unmanned aerial vehicle body and a landing gear movably connected to the bottom of the unmanned aerial vehicle body, the unmanned aerial vehicle test bench includes a deck 10, a support shaft 20 and a pose adjusting mechanism, wherein: the deck 10 is fixedly connected with the landing gear, and a first opening 11 is formed at the center of the deck 10. The support shaft 20 penetrates the first opening 11 and is rotatably fixed to an existing structure on the back side of the deck 10 and is fixed for the unmanned aerial vehicle body on the front side of the deck 10. The pose adjusting mechanism includes a bottom ring seat 31, a top ring seat 32, a rotary bearing 33 and a joint bearing 34. The bottom ring seat 31 is fixedly installed on the front side of the deck 10 and surrounds the outer periphery of the first opening 11, and can be fixed by fixing nails 312. A plurality of third openings 311 are arranged on the bottom ring seat 31 in a circumferential direction, and a plurality of second openings 12 are arranged on the deck 10 at corresponding positions. A plurality of fixing nails 312 are used to penetrate and connect corresponding third openings 311 and second openings 12 to fix the bottom ring seat 31 and the deck 10, which can ensure the reliability of the fixation and facilitate disassembly. The top ring seat 32 penetrates the first opening 11 and is sleeved between the support shaft 20 and the bottom ring seat 31. A first gap 41 is reserved between the top ring seat 32 and the bottom ring seat 31, and a second gap 42 is reserved between the top ring seat 32 and the support shaft 20. The rotary bearing 33 is installed in the first gap 41, and the outer ring of the rotary bearing 33 is fixed relative to the bottom ring seat 31, and the inner ring of the rotary bearing 33 is fixed relative to the top ring seat 32, so that the bottom ring seat 31 and the top ring seat 32 can rotate relative to each other. The joint bearing 34 is installed in the second gap 42, and the outer ring of the joint bearing 34 is fixed relative to the top ring seat 32, and the inner ring of the joint bearing 34 is fixed relative to the support shaft 20, so that the top ring seat 32 and the support shaft 20 can be adjusted at any angle.

[0028] This embodiment divides the posture adjustment mechanism into two parts. One part uses the slewing bearing 33 as the core to achieve rotational adjustment of the drone, and the other part uses the joint bearing 34 as the core to achieve arbitrary angle adjustment of the drone. The adjustment actions of these two aspects are relatively independent, and the coordinated arrangement of the bottom ring seat 31, the top ring seat 32, and the support shaft 20 and other components enables the support shaft 20 to provide both a rotation axis for rotational adjustment and a reference axis for angle adjustment. In other words, no matter what posture the drone needs to be adjusted to, the external forces it is subjected to are concentrated on the support shaft 20, and the support shaft 20 is fixed to the existing structure. This can ensure the structural strength and tensile strength of the entire test bench and can effectively prevent the drone from separating from the test bench. Moreover, when achieving various posture adjustments, it is only necessary to control the actions of the slewing bearing 33 and the joint bearing 34. The adjustment logic is simple, there are fewer moving parts, and it is easy to maintain.

[0029] In some preferred embodiments, the slewing bearing 33 is a ball bearing, comprising a first outer ring 331, a first inner ring 332, and a retainer 333 disposed between the inner periphery of the slewing bearing 33 and the outer periphery of the first inner ring 332. A plurality of balls 334 are movably connected to the retainer 333 at intervals, enabling relative rotation between the first outer ring 331 and the first inner ring 332. Because the first outer ring 331 is relatively fixed to the bottom ring seat 31, and the first inner ring 332 is relatively fixed to the top ring seat 32, relative rotation between the first outer ring 331 and the first inner ring 332 drives the bottom ring seat 31 and the top ring seat 32 to rotate synchronously.

[0030] In some preferred embodiments, the spherical bearing 34 includes a second outer ring 341 and a second inner ring 342. The second inner ring 342 is installed inside the second outer ring 341, and the second inner ring 342 can be adjusted to any angle relative to the second outer ring 341. Since the second inner ring 342 is relatively fixed to the support shaft 20, and the second outer ring 341 is relatively fixed to the top ring seat 32, when the angle of the second inner ring 342 is adjusted relative to the second outer ring 341, the angle between the support shaft 20 and the top ring seat 32 will be synchronously adjusted. This embodiment uses spherical bearings to enable the drone to perform multi-directional angle adjustments during testing, which is an important function for verifying the drone's attitude ring and angular velocity related data. The installation of the spherical bearing needs to ensure that it can rotate freely.

[0031] In some preferred embodiments, Figures 2 to 6As shown, the posture adjustment mechanism also includes a first retaining assembly and a second retaining assembly. The first retaining assembly includes a first retaining spring 35 and a second retaining spring 36. The first retaining spring 35 is a C-shaped retaining spring for the hole. The inner circumference of the bottom ring seat 31 defines a first annular groove 313 for the first retaining spring 35 to interlock with. The inner periphery of the first retaining spring 35 is used to retain one end of the first outer ring 331. The second retaining spring 36 is a C-shaped retaining spring for the shaft. The outer circumference of the top ring seat 32 defines a second annular groove 321 for the second retaining spring 36 to interlock with. The outer periphery of the second retaining spring 36 is used to retain the other end of the first inner ring 332. The coordinated arrangement of the first retaining spring 35 and the second retaining spring 36 restrains the slewing bearing 33 in the axial direction, ensuring that the slewing bearing 33 can withstand considerable external forces without loosening. Preferably, the outer periphery of the top ring seat 32 may be further formed with a flange that cooperates with the second retaining spring 36 to block one end of the first inner ring 332, thereby reliably fixing the first inner ring 332 to the top ring seat 32. The inner periphery of the bottom ring seat 31 may also be further formed with a flange that cooperates with the first retaining spring 35 to block the other end of the first outer ring 331, thereby reliably fixing the first outer ring 331 to the bottom ring seat 31.

[0032] The second securing assembly includes a flange 211 and a third retaining spring 37. The flange 211 is formed on the outer circumference of the support shaft 20 and serves to retain one end of the second inner ring 342. The third retaining spring 37 is a C-shaped retaining spring for a hole. The inner circumference of the top ring seat 32 defines a third annular groove 322 for interference fit of the third retaining spring 37. The inner periphery of the third retaining spring 37 retains the other end of the second outer ring 341. The combination of the flange 211 and the third retaining spring 37 restrains the spherical plain bearing 34 in the axial direction, ensuring that it can withstand considerable external forces without loosening. Preferably, the inner circumference of the top ring seat 32 may further include a flange that cooperates with the third retaining spring 37 to retain one end of the second outer ring 341, thereby securely securing the second outer ring 341 to the top ring seat 32.

[0033] It should be noted that the structure and positioning of the first, second, and third retaining springs 35, 36, and 37 can be adjusted according to actual needs. Their elastic design should provide stable securing force while allowing for adjustment when needed. For example, the third retaining spring 37 can secure the second inner ring 342 of the spherical bearing 34 when needed, preventing relative rotation between the second inner ring 342 and the second outer ring 341. The installation of each retaining spring must ensure that it fits tightly against the component being secured. This embodiment, through the combined use of retaining springs, bushings, and bearings, securely binds the drone while ensuring that various drone positions can be adjusted. This not only improves the longitudinal capability of the test bench, but also prevents the drone from breaking free when facing lateral forces, such as left, right, and forward, as well as forward, backward, and forward. This allows for flight testing of the drone on the test bench and ensures that the drone exhibits good attitude control capabilities during testing. Moreover, components such as retaining springs, bushings, and bearings are conventional and easy to replace. They can be flexibly adjusted according to the characteristics of the UAV, and can be used to test a variety of UAVs, with high versatility and flexibility.

[0034] In some preferred embodiments, the support shaft 20 includes a main shaft 21 rotatably connected to an existing structure, such as the ground, and a sleeve 22 sleeved over the main shaft 21. The main shaft 21 may be hollow, with a rotatable shaft member pre-installed on the existing structure, such as the ground. The shaft member is inserted and secured into the hollow portion of the main shaft 21 to achieve rotatable connection between the main shaft 21 and the existing structure. Of course, other rotatable connection methods may also be employed depending on practical circumstances and are not limited herein. In this embodiment, the first end of the main shaft 21 (i.e., the portion located on the back of the deck 10) extends beyond the sleeve 22. The second inner ring 342 sleeves over the first end of the main shaft 21. The flange 211 is formed at the first end of the main shaft 21. The first end of the sleeve 22 extends to the other end of the second inner ring 342. A locking member is connected between the sleeve 22 and the main shaft 21 to secure the sleeve 22 and the main shaft 21. The sleeve 22 and flange 211 cooperate to intercept both ends of the second inner ring 342, forming a coaxial unit with the main shaft 21, the sleeve 22, and the second inner ring 342. Since the second outer ring 341 and the top ring seat 32 are relatively fixed, any angular adjustment of the second inner ring 342 relative to the second outer ring 341 also causes the unit to adjust its angle relative to the top ring seat 32. However, since the support shaft 20 is rotatably connected to the existing structure and cannot be axially separated from it, any angular adjustment of the second inner ring 342 relative to the second outer ring 341, other than rotation, actually results from the top ring seat 32 driving the bottom ring seat 31 and the drone's landing gear to adjust their angle relative to the unit (i.e., the drone body). It should be noted that the unit should not completely occupy the second gap 42; some space should be left for angular adjustment between the unit and the top ring seat 32.

[0035] Regarding the locking member, in this embodiment, it includes a threaded pin 23 and a threaded hole 221 radially defined in the sleeve 22. The threaded pin 23 is screwed into the threaded hole 221 and abuts against the main shaft 21, thereby locking the sleeve 22 and the main shaft 21. Preferably, the drone body is detachably connected to the threaded pin 23. The threaded pin 23 simultaneously secures the main shaft 21, the sleeve 22, and the drone body, resulting in a simple structure and easy assembly and disassembly.

[0036] The present invention provides a test bench for a drone. Through the coordinated design of the bottom ring seat 31, the top ring seat 32, the slewing bearing 33, the spherical bearing 34, and the clamping assembly, the drone adjustment mechanism has the longitudinal (i.e., axial) ability to change angles at any angle and resist tension and sinking. When facing lateral tension such as left and right, front and back, the drone can be prevented from breaking free during the process, thereby enabling flight testing of the drone on the test bench and ensuring that the drone can better demonstrate attitude control capabilities during the test.

[0037] Based on the above-mentioned UAV test bench, the present invention also provides a UAV testing method, see Figures 1 to 9 As shown, the steps include: Step 1: Provide the UAV test bench as described above, and rotatably fix the support shaft 20 on the back side of the deck 10 to the existing structure. Specifically, First, provide the deck 10 and ensure that the surface of the deck 10 is flat and level.

[0038] A main shaft 21 is provided, passed through the first opening 11 of the deck 10 and rotatably connected to the existing structure in a direction perpendicular to the deck 10 .

[0039] A top ring seat 32, a spherical bearing 34 and a third retaining spring 37 are provided. The spherical bearing 34 is sleeved on the first end of the main shaft 21, the top ring seat 32 is sleeved on the spherical bearing 34 and passed through the first opening 11, and the third retaining spring 37 is clamped between the top ring seat 32 and the spherical bearing 34 to prevent the spherical bearing 34 from loosening.

[0040] A bottom ring seat 31, a slewing bearing 33, a first retaining spring 35 and a second retaining spring 36 are provided. The bottom ring seat 31 is mounted on the main shaft 21 from the front of the deck 10, the first retaining spring 35 is clamped in the bottom ring seat 31, and then the slewing bearing 33 is installed in the first gap 41. The second retaining spring 36 is clamped outside the top ring seat 32, so that the first retaining spring 35 and the second retaining spring 36 are respectively blocked at both ends of the slewing bearing 33 to prevent the slewing bearing 33 from loosening. Finally, the bottom ring seat 31 is fixed to the deck 10 using fixing nails 312.

[0041] Step 2: Provide the drone to be tested and place it at the center of deck 10. Secure the landing gear to the deck 10, ensuring it is flush with the front of the deck 10. Specifically, the landing gear can be secured to the deck 10 mechanically, using cable ties, or ropes. Secure the drone to the support shaft 20. Adjust the position of the drone's battery or other counterweight components so that the drone's center of gravity falls on the position fixed to the support shaft 20 to ensure the drone's balance and stability during testing.

[0042] The installation of steps 1 and 2 ensures that the test bench can support the drone during drone testing without affecting its arbitrary posture movements. This arbitrary posture is primarily reflected in the tilt angle changes of the drone body relative to the landing gear and the rotational movement of the drone as a whole. When the drone needs to change its tilt angle, the configuration of the slewing bearing 33 ensures that the tilt angle changes between the drone body and the landing gear are synchronized with the tilt angle changes between the support shaft 20 and the base assembly (including the top ring seat 32, the bottom ring seat 31, and the deck 10). Furthermore, when the drone needs to rotate, the coordinated configuration of the slewing bearing 33 and the spherical bearing 34 ensures that when the drone body and the landing gear rotate together, the support shaft 20, the bottom ring seat 31, and the deck 10 simultaneously rotate in the same manner, while the top ring seat 32 remains stationary. In addition, through the coordinated arrangement of the first retaining spring 35, the second retaining spring 36, the third retaining spring 37, the flange edge 211 and the shaft sleeve 22, when the test bench presents any posture and rotational movement with the drone, it can have strong longitudinal resistance to tension and sinking, and when facing lateral tension such as left and right, front and back, it can prevent the drone from breaking free during the process.

[0043] Step 3: The drone's motion control system controls the drone to assume a specified attitude (e.g., horizontal, vertical, tilted, etc.) and angular velocity (including a set angle and rotation speed) according to the set data. Simultaneously, the drone's detection system detects the drone's actual attitude and angular velocity. The actual detection data is then compared with the set data to verify that the motion control system meets the requirements. The detailed steps of the drone testing method are consistent with the aerial testing method and are not repeated here.

[0044] Based on the above-mentioned drone test bench and drone testing method, the present invention further provides an indoor test environment verification method, comprising the steps of: Provide drones that have undergone drone testing and passed the test. The drone can be a drone that has passed the aerial flight test, or a drone that has passed the test using this drone test bench in a test environment that meets the requirements.

[0045] The drone test method described above is used to perform drone testing on the drone again in the indoor environment to be tested, that is, a drone test bench is installed in the indoor environment to be tested, and the drone that has passed the test is installed on the drone test bench to perform drone testing again.

[0046] Then, based on the accuracy of the retest results, analyze whether the indoor environment to be tested meets the test requirements.

[0047] The above method can be used to verify the indoor test environment of drones. For the qualified indoor test environment, it can be used for drone testing to avoid the interference of complex environmental factors (such as wind speed, airflow, etc.) on the test results, ensuring the accuracy and reliability of the test data.

[0048] The present invention has been described in detail above with reference to the embodiments of the accompanying drawings. A person skilled in the art can make various modifications to the present invention based on the above description. Therefore, certain details in the embodiments should not be construed as limiting the present invention. The scope of protection of the present invention shall be determined by the scope defined in the appended claims.

Claims

1. A UAV test bench, wherein the UAV comprises a UAV body and a landing gear movably connected to the bottom of the UAV body, characterized in that: The UAV test bench includes a deck, a support shaft and a posture adjustment mechanism, wherein: The deck is for fixed connection of the landing gear, and a first opening is opened at the center of the deck; The support shaft passes through the first opening and is rotatably fixed to the existing structure on the back side of the deck, and the drone body is fixed on the front side of the deck; The posture adjustment mechanism comprises: a bottom ring seat, fixedly mounted on the front side of the deck and surrounding the outer periphery of the first opening; a top ring seat, passing through the first opening and sleeved between the support shaft and the bottom ring seat, with a first gap reserved between the top ring seat and the bottom ring seat, and a second gap reserved between the top ring seat and the support shaft; a slewing bearing, mounted in the first gap, wherein the outer ring of the slewing bearing is relatively fixed to the bottom ring seat, and the inner ring of the slewing bearing is relatively fixed to the top ring seat, so that the bottom ring seat and the top ring seat can rotate relative to each other; A spherical plain bearing is installed in the second gap, and the outer ring of the spherical plain bearing is relatively fixed to the top ring seat, and the inner ring of the spherical plain bearing is relatively fixed to the support shaft, so that the angle between the top ring seat and the support shaft can be adjusted to any angle; A first clamping assembly includes a first clamping spring clamped on the inner periphery of the bottom ring seat and a second clamping spring clamped on the outer periphery of the top ring seat, wherein the first clamping spring and the second clamping spring respectively block one end of the outer ring of the slewing bearing and the other end of the inner ring of the slewing bearing; The second fixing assembly includes a flange edge formed on the outer periphery of the support shaft and a third retaining spring clamped on the inner periphery of the top ring seat. The flange edge and the third retaining spring respectively block one end of the inner ring of the spherical bearing and the other end of the outer ring of the spherical bearing.

2. The UAV test bench according to claim 1, characterized in that: The support shaft includes a main shaft and a sleeve sleeved outside the main shaft, the first end of the main shaft extends out of the sleeve, the spherical bearing is sleeved on the first end of the main shaft, the flange edge is formed on the first end of the main shaft, the first end of the sleeve cooperates with the flange edge to press against the other end of the inner ring of the spherical bearing, and a locking member for fixing the sleeve and the main shaft is connected between the sleeve and the main shaft.

3. The UAV test bench according to claim 2, characterized in that: The locking member includes a threaded pin and a threaded hole radially opened on the shaft sleeve. The threaded pin is screwed into the threaded hole and abuts against the main shaft to achieve locking between the shaft sleeve and the main shaft.

4. The UAV test bench according to claim 3, characterized in that: The drone body is detachably connected to the threaded pin.

5. The UAV test bench according to claim 1, characterized in that: The slewing bearing is a ball bearing.

6. A drone testing method, characterized in that: Including steps: Providing a UAV test bench as described in any one of claims 1 to 5, and rotatably fixing the support shaft on the back side of the deck to the existing structure; Provide a drone to be tested, securely connect the landing gear to the deck, and ensure that the landing gear is flush with the front of the deck. Secure the drone body to the support shaft, and adjust the center of gravity of the drone so that it falls on the position fixed to the support shaft. The UAV's motion control system controls the UAV to present a specified posture and angular velocity according to the set data. At the same time, the UAV's detection system detects the UAV's actual posture and angular velocity, and then compares the actual detection data with the set data to verify whether the motion control system meets the requirements.

7. The UAV testing method according to claim 6, wherein: The method for adjusting the center of gravity of the drone so that the center of gravity of the drone falls at a position fixed to the support shaft includes: adjusting the position of the center of gravity of the drone by adjusting the battery position or other counterweight components of the drone.

8. A method for verifying an indoor test environment, characterized in that: The method comprises the following steps: providing a drone that has undergone drone testing and passed the test; The drone test method according to claim 6 or 7 is used to perform a drone test on the drone again in the indoor environment to be tested; and then, based on the accuracy of the test results, it is analyzed whether the indoor environment to be tested meets the test requirements.

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