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

Abstract

This invention relates to a test bench for unmanned aerial vehicles (UAVs), a testing method, and an indoor testing environment verification method. The test bench includes a deck for fixedly connecting the UAV's landing gear, a support shaft, and an attitude adjustment mechanism. The support shaft penetrates the deck and is rotatably fixed to an existing structure on the back of the deck, while the UAV body is fixed on the front of the deck. The attitude adjustment mechanism includes: a bottom ring seat, fixedly installed on the front of the deck; a top ring seat, penetrating the deck and fitted between the support shaft and the bottom ring seat; a slewing bearing, installed between the top and bottom ring seats to allow relative rotation between them; and a spherical bearing, installed between the top ring seat and the support shaft to allow arbitrary angle adjustment between them. This invention provides a test bench for UAVs, avoiding in-flight flight testing and reducing testing risks.

Description

Technical Field

[0001] This invention relates to the field of low-altitude space product testing, and in particular to a test bench for unmanned aerial vehicles (UAVs), a testing method, and a method for verifying indoor testing environments. Background Technology

[0002] Before a drone can be used, it needs to undergo flight testing. The main test contents include: attitude simulation test, which sets the drone to different attitudes such as horizontal, vertical, and tilt, and observes whether the drone's attitude control system can respond accurately; angular velocity verification test, which makes the drone rotate at a set angle and speed, and uses other measuring equipment to measure whether the drone's actual angular velocity matches the set angle and speed.

[0003] Conducting the aforementioned flight tests directly with a real drone carries significant risks. Therefore, the current approach is to first use computer modeling to obtain the required mechanical data through simulation calculations before conducting the flight tests with a real drone. While this method reduces risks to some extent, with the advancement of technology, drones are becoming increasingly heavier. For larger drones (such as medium-sized drones with a maximum takeoff weight of 25-150 kg and an empty weight exceeding 15 kg), the high cost means that directly conducting flight tests with a real drone based solely on computer simulation calculations for mechanical estimations still poses a considerable risk. Summary of the Invention

[0004] This invention provides a drone test bench, a test method, and an indoor test environment verification method, which avoids conducting drone flight tests in the air and reduces test risks.

[0005] This invention is achieved through the following scheme: a drone test bench, wherein the drone includes a drone body and a landing gear movably connected to the bottom of the drone body, and the drone test bench includes a deck, a support shaft, and an attitude adjustment mechanism, wherein:

[0006] The deck is used for the fixed connection of the landing gear, and a first opening is provided at the center of the deck;

[0007] The support shaft passes through the first opening and is rotatably fixed to the existing structure on the back side of the deck, while the drone body is fixed on the front side of the deck.

[0008] The pose adjustment mechanism includes:

[0009] A bottom ring seat is fixedly installed on the front of the deck and surrounds the outer periphery of the first opening;

[0010] A top ring seat passes through 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.

[0011] A slewing bearing is installed in the first gap, and the outer ring of the slewing bearing is fixed relative to the bottom ring seat, and the 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;

[0012] A spherical bearing is installed in the second gap, and the outer ring of the spherical bearing is fixed relative to the top ring seat, and the inner ring of the spherical bearing is fixed relative to the support shaft, so that the top ring seat and the support shaft can be adjusted at any angle;

[0013] The first locking assembly includes a first retaining spring that is locked on the inner circumference of the bottom ring seat and a second retaining spring that is locked on the outer circumference of the top ring seat. The first retaining spring and the second retaining 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.

[0014] The second locking assembly includes a flange formed on the outer periphery of the support shaft and a third retaining spring locked on the inner periphery of the top ring seat. The flange 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.

[0015] A further improvement of the UAV test bench of the present invention is that the support shaft includes a main shaft and a bushing sleeved outside the main shaft, the first end of the main shaft extends out of the bushing sleeve, the spherical bearing is sleeved on the first end of the main shaft, the flange is formed at the first end of the main shaft, the first end of the bushing cooperates with the flange to abut against the other end of the inner ring of the spherical bearing, and a locking member for fixing the bushing and the main shaft is connected between the bushing and the main shaft.

[0016] A further improvement of the UAV test bench of the present invention is that the locking component includes a threaded pin and a threaded hole radially opened on the bushing. The threaded pin is screwed into the threaded hole and abuts against the main shaft to achieve locking between the bushing and the main shaft.

[0017] A further improvement of the UAV test bench of the present invention is that the UAV body is detachably connected to the threaded pin.

[0018] A further improvement of the UAV test bench of the present invention is that the slewing bearing is a ball bearing.

[0019] This invention also provides a method for testing unmanned aerial vehicles, comprising the following steps:

[0020] Provide the drone test bench as described above, and rotatably fix the support shaft to the existing structure on the rear side of the deck;

[0021] Provide the drone to be tested, fix the landing gear to the deck and ensure that the landing gear is flush with the front of the deck, fix the drone body to the support shaft, and adjust the center of gravity of the drone so that the center of gravity falls at the position fixed to the support shaft.

[0022] The drone's motion control system controls the drone to present a specified attitude and angular velocity according to the set data. At the same time, the drone's detection system detects the actual attitude and angular velocity of the drone. Then, the actual detection data is compared with the set data to verify whether the motion control system meets the requirements.

[0023] 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 the position fixed to the support axis includes: adjusting the position of the center of gravity of the drone by adjusting the position of the battery or other counterweight components of the drone.

[0024] The present invention also provides an indoor testing environment verification method, comprising the steps of: providing a drone that has undergone drone testing and passed the test; conducting drone testing again on the drone 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.

[0025] This invention includes, but is not limited to, the following beneficial effects:

[0026] A test bench is provided for the drone. By dividing the attitude adjustment into a relatively independent rotation part and an angle adjustment part, and through the 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. Thus, no matter what attitude the drone needs to be adjusted to, the external force it is subjected to is concentrated on the support shaft, which is fixed to the existing structure. This ensures the structural strength of the entire test bench and its longitudinal tensile and subsidence resistance.

[0027] By combining components such as snap rings, bushings, and bearings, a robust binding mechanism can be achieved while ensuring various attitude adjustments for the drone. This enhances the longitudinal strength of the test bench and prevents the drone from escaping when subjected to lateral forces (left, right, forward, backward, etc.). This allows for successful flight testing of the drone on the test bench while maintaining good attitude control. Furthermore, the snap rings, bushings, and bearings are standard and easily replaceable components, allowing for flexible adjustments based on the drone's characteristics. This makes the system suitable for testing various drones, demonstrating high versatility and flexibility.

[0028] By transferring actual aircraft flight testing to a test bench, flight testing is avoided in the air, reducing testing risks. Furthermore, the structure and dimensions of this test bench are suitable for indoor use, allowing indoor testing to avoid interference from complex outdoor environmental factors (such as wind speed and airflow) on test results, ensuring the accuracy and reliability of test data. Attached Figure Description

[0029] Figure 1 An exploded view of the overall structure of the test bench of the present invention is shown.

[0030] Figure 2 This diagram shows a partial exploded view of the pose adjustment mechanism in the test bench of the present invention. Figure 1 .

[0031] Figure 3 This diagram shows a partial exploded view of the pose adjustment mechanism in the test bench of the present invention. Figure 2 .

[0032] Figure 4 This diagram shows a partial exploded view of the pose adjustment mechanism in the test bench of the present invention. Figure 3 .

[0033] Figure 5 The diagram shows a top view of the partial assembly state of the pose adjustment mechanism in the test bench of the present invention.

[0034] Figure 6 A bottom view of the assembled posture adjustment structure in the test bench of the present invention is shown.

[0035] Figure 7 A schematic diagram of the overall structure of the test bench of the present invention in its assembled state is shown.

[0036] Figure 8 A cross-sectional schematic diagram of the overall structure of the test bench of the present invention in its assembled state is shown.

[0037] Figure 9 It shows Figure 8 Enlarged diagram of point A in the middle.

[0038] In the diagram: 10. Deck; 11. First opening; 12. Second opening; 20. Support shaft; 21. Main shaft; 211. Flange edge; 22. Bushing; 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. Cage; 334. Ball; 34. Spherical plain bearing; 341. Second outer ring; 342. Second inner ring; 35. First snap ring; 36. Second snap ring; 37. Third snap ring; 41. First clearance; 42. Second clearance. Detailed Implementation

[0039] To address the significant risks associated with conducting flight tests using actual drones in the air, this invention provides a drone test bench, testing method, and indoor testing environment verification method. This avoids conducting drone flight tests in the air, thus reducing testing risks. The following detailed description, in conjunction with accompanying drawings, further illustrates the drone test bench, testing method, and indoor testing environment verification method.

[0040] See Figure 1 , Figures 7-9As shown, a drone test bench is provided. The drone includes a drone body and a landing gear movably connected to the bottom of the drone body. The drone test bench includes a deck 10, a support shaft 20, and an attitude adjustment mechanism. The deck 10 is used for the fixed connection of the landing gear, and a first opening 11 is provided at the center of the deck 10. The support shaft 20 passes through the first opening 11 and is rotatably fixed to an existing structure on the back side of the deck 10, while the drone body is fixed on the front side of the deck 10. The posture adjustment mechanism includes a bottom ring seat 31, a top ring seat 32, a slewing bearing 33, and a joint bearing 34. The bottom ring seat 31 is fixedly installed on the front of the deck 10 and surrounds the outer periphery of the first opening 11, specifically by fixing pins 312. Multiple third openings 311 are spaced circumferentially on the bottom ring seat 31, and multiple second openings 12 are correspondingly arranged on the deck 10. Multiple fixing pins 312 are used to connect the corresponding third openings 311 and second openings 12 to fix the bottom ring seat 31 to the deck 10. This connection method ensures reliable fixation while facilitating assembly and disassembly. The top ring seat 32 passes through the first opening 11 and is fitted 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 slewing bearing 33 is installed within the first gap 41, and its outer ring is fixed relative to the bottom ring seat 31, while its inner ring is fixed relative to the top ring seat 32, allowing relative rotation between the bottom ring seat 31 and the top ring seat 322. The spherical plain bearing 34 is installed within the second gap 42, and its outer ring is fixed relative to the top ring seat 32, while its inner ring is fixed relative to the support shaft 20, allowing arbitrary angle adjustment between the top ring seat 32 and the support shaft 20.

[0041] This embodiment divides the posture adjustment mechanism into two parts. One part uses the rotary bearing 33 as the core to realize the rotation adjustment of the UAV, and the other part uses the articulated bearing 34 as the core to realize the arbitrary angle adjustment of the UAV. The two adjustment actions are relatively independent, and the cooperative arrangement of components such as the bottom ring seat 31, top ring seat 32, and support shaft 20 allows the support shaft 20 to provide both a rotation axis for rotation adjustment and a reference axis for angle adjustment. In other words, no matter what posture the UAV needs to be adjusted to, the external force it experiences is concentrated on the support shaft 20, which is fixed to the existing structure. This ensures the structural strength and tensile strength of the entire test bench and effectively prevents the UAV from separating from the test bench. Moreover, when realizing various posture adjustments, only the movement of the rotary bearing 33 and the articulated bearing 34 needs to be controlled. The adjustment logic is simple, the number of moving parts is small, and it is easy to maintain.

[0042] In some preferred embodiments, the slewing bearing 33 is a ball bearing, including a first outer ring 331, a first inner ring 332, and a cage 333 disposed between the inner circumference of the slewing bearing 33 and the outer circumference of the first inner ring 332. A plurality of balls 334 are movably connected at intervals on the cage 333 to allow relative rotation between the first outer ring 331 and the first inner ring 332. Since 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 will cause the bottom ring seat 31 and the top ring seat 32 to rotate synchronously.

[0043] 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 at any angle relative to the second outer ring 341. Since the second inner ring 342 is fixed relative to the support shaft 20, and the second outer ring 341 is fixed relative to the top ring seat 32, when the second inner ring 342 is adjusted at an angle relative to the second outer ring 341, the support shaft 20 and the top ring seat 32 will be adjusted at an angle synchronously. This embodiment uses a spherical bearing, which allows the UAV to make multi-directional angle adjustments during testing. This is an important function for verifying the UAV's attitude ring and angular velocity related data. The installation of the spherical bearing needs to ensure that it can rotate freely.

[0044] In some preferred embodiments, in conjunction with Figures 2-6 As shown, the posture adjustment mechanism also includes a first locking assembly and a second locking assembly. The first locking assembly includes a first retaining spring 35 and a second retaining spring 36. The first retaining spring 35 is a C-type retaining spring for use with holes. The inner circumference of the bottom ring seat 31 has a first annular groove 313 for the first retaining spring 35 to be interference-fitted into. The inner periphery of the first retaining spring 35 is used to stop at one end of the first outer ring 331. The second retaining spring 36 is a C-type retaining spring for use with shafts. The outer circumference of the top ring seat 32 has a second annular groove 321 for the second retaining spring 36 to be interference-fitted into. The outer periphery of the second retaining spring 36 is used to stop at the other end of the first inner ring 332. Through the cooperation of the first retaining spring 35 and the second retaining spring 36, the slewing bearing 33 can be limited in the axial direction, ensuring that the slewing bearing 33 can withstand considerable external force 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, so that the first inner ring 332 is reliably fixed 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, so that the first outer ring 331 is reliably fixed to the bottom ring seat 31.

[0045] The second locking assembly includes a flange 211 and a third retaining spring 37. The flange 211 is formed on the outer periphery of the support shaft 20 and is used to stop one end of the second inner ring 342. The third retaining spring 37 is a C-type retaining spring for use with holes. The inner periphery of the top ring seat 32 has a third ring groove 322 for the third retaining spring 37 to be interference-fitted into. The inner periphery of the third retaining spring 37 is used to stop the other end of the second outer ring 341. Through the cooperation of the flange 211 and the third retaining spring 37, the spherical bearing 34 can be limited in the axial direction, ensuring that the spherical bearing 34 can withstand considerable external force without loosening. Preferably, the inner periphery of the top ring seat 32 can be further formed with a flange that cooperates with the third retaining spring 37 to stop one end of the second outer ring 341, so that the second outer ring 341 and the top ring seat 32 are reliably fixed.

[0046] It should be noted that the structural form and locking position of the aforementioned first retaining ring 35, second retaining ring 36, and third retaining ring 37 can be adjusted according to actual needs. Their elastic design should provide a stable fixing force while allowing for adjustment when needed. For example, the third retaining ring 37 can fix the second inner ring 342 of the joint bearing 34 when needed, preventing relative rotation between the second inner ring 342 and the second outer ring 341. The installation of each retaining ring must ensure a tight fit with the fixed component. This embodiment, through the combined use of retaining rings, bushings, bearings, and other components, achieves a secure binding of the UAV while ensuring various attitude adjustments can be made. This improves the longitudinal capability of the test bench and prevents the UAV from breaking free when facing lateral forces such as left, right, forward, and backward tensions. This allows the UAV to conduct flight tests on the test bench and ensures good attitude control during the test. Moreover, components such as snap rings, bushings, and bearings are conventional and easy to replace, and can be flexibly adjusted according to the characteristics of drones, thus making them suitable for testing various drones and exhibiting high versatility and flexibility.

[0047] 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 bushing 22 sleeved outside the main shaft 21. The main shaft 21 may be hollow, and a rotatable shaft component is pre-installed on the existing structure such as the ground. The rotatable connection between the main shaft 21 and the existing structure is achieved by inserting and fixing the shaft component into the hollow of the main shaft 21. Of course, other rotatable connection forms may also be used depending on the actual situation, and are not limited here. In this embodiment, the bushing 22 extends from the first end of the main shaft 21 (i.e., the part located on the back of the deck 10). The second inner ring 342 is sleeved on the first end of the main shaft 21. The flange edge 211 is formed at the first end of the main shaft 21. The first end of the bushing 22 stops at the other end of the second inner ring 342. A locking member for fixing the bushing 22 and the main shaft 21 is connected between the bushing 22 and the main shaft 21. The bushing 22, in conjunction with the flange edge 211, blocks both ends of the second inner ring 342, forming a coaxial assembly of the main shaft 21, the bushing 22, and the second inner ring 342. Since the second outer ring 341 is relatively fixed to the top ring seat 32, any angle adjustment of the second inner ring 342 relative to the second outer ring 341 will cause the entire assembly to adjust at any angle relative to the top ring seat 32. However, because the support shaft 20 is rotatably connected to the existing structure and cannot detach axially from it, any angle adjustment of the second inner ring 342 relative to the second outer ring 341, excluding rotation, actually involves the top ring seat 32 driving the bottom ring seat 31 and the UAV's landing gear to adjust at the same angle relative to the entire assembly (i.e., the UAV body). It should be noted that the entire assembly should not completely fill the second gap 42, leaving sufficient space for angle adjustments between the assembly and the top ring seat 32.

[0048] Regarding the locking component, in this embodiment, the locking component includes a threaded pin 23 and a threaded hole 221 radially formed on the bushing 22. The threaded pin 23 is screwed into the threaded hole 221 and abuts against the main shaft 21 to achieve locking between the bushing 22 and the main shaft 21. Preferably, the drone body is detachably connected to the threaded pin 23. The threaded pin 23 simultaneously achieves a fixed connection between the main shaft 21, the bushing 22, and the drone body, resulting in a simple structure and convenient assembly and disassembly.

[0049] This invention provides a test bench for unmanned aerial vehicles (UAVs). Through the coordinated design of the bottom ring seat 31, top ring seat 32, slewing bearing 33, joint bearing 34, and locking components, the UAV adjustment mechanism has the longitudinal (i.e., axial) capability to change angles at will and resist tension and sinking. When facing lateral tension forces such as left, right, front, and back, the UAV can be prevented from breaking free during the process. This enables the UAV to conduct flight tests on the test bench and ensures that the UAV exhibits good attitude control capabilities during the test.

[0050] Based on the aforementioned UAV test bench, this invention also provides a UAV testing method, see below. Figures 1-9 As shown, the steps include:

[0051] Step 1: Provide the UAV test bench as described above, and rotatably fix the support shaft 20 to the existing structure on the rear side of the deck 10. Specifically,

[0052] First, provide deck 10, and ensure that the surface of deck 10 is flat and level.

[0053] A main shaft 21 is provided, which passes through the first opening 11 of the deck 10 and is rotatably connected to the existing structure in a direction perpendicular to the deck 10.

[0054] A top ring seat 32, a spherical bearing 34, and a third retaining ring 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 passes through the first opening 11. The third retaining ring 37 is secured between the top ring seat 32 and the spherical bearing 34 to prevent the spherical bearing 34 from becoming loose.

[0055] A bottom ring seat 31, a slewing bearing 33, a first retaining ring 35, and a second retaining ring 36 are provided. The bottom ring seat 31 is fitted onto the main shaft 21 from the front of the deck 10. The first retaining ring 35 is secured inside the bottom ring seat 31. The slewing bearing 33 is then installed into the first gap 41. The second retaining ring 36 is then secured outside the top ring seat 32, so that the first retaining ring 35 and the second retaining ring 36 respectively block the two ends of the slewing bearing 33 to prevent the slewing bearing 33 from becoming loose. Finally, the bottom ring seat 31 is fixed to the deck 10 using a fixing pin 312.

[0056] Step 2: Place the drone to be tested at the center of deck 10. Securely attach the landing gear to deck 10, ensuring it is flush with the front of deck 10. This can be done mechanically, with cable ties or ropes. Fix the drone body to the support shaft 20. Adjust the position of the drone's battery or other counterweights to ensure the drone's center of gravity is located at the position fixed to the support shaft 20, guaranteeing the drone's balance and stability during testing.

[0057] By following steps 1 and 2, the test bench can support the UAV during testing without affecting its arbitrary attitude movement. This arbitrary attitude mainly manifests in two aspects: the tilt angle change of the UAV body relative to the landing gear and the overall rotational movement of the UAV. When the UAV needs to change its tilt angle, the slewing bearing 33 ensures that the support shaft 20 and the base assembly (including the top ring seat 32, bottom ring seat 31, and deck 10) can undergo the same tilt angle change when the tilt angle between the UAV body and the landing gear changes. When the UAV needs to rotate, the cooperation between the slewing bearing 33 and the joint bearing 34 ensures that when the UAV body and the landing gear rotate together, the support shaft 20, bottom ring seat 31, and deck 10 rotate synchronously, while the top ring seat 32 remains fixed. In addition, the coordinated arrangement of components such as the first retaining ring 35, the second retaining ring 36, the third retaining ring 37, the flange edge 211, and the bushing 22 enables the test bench to have strong longitudinal tensile and anti-sinking capabilities when it moves in any posture and rotation with the UAV, and can prevent the UAV from breaking free when facing lateral tensile forces such as left, right, front, and back.

[0058] Step 3: Using the drone's motion control system, control the drone to present a specified attitude (e.g., setting the drone to horizontal, vertical, or tilted) and angular velocity (including set angle and set rotation speed) according to the set data. Simultaneously, use the drone's detection system to detect the actual attitude and angular velocity of the drone. Then, compare the actual detection data with the set data to verify whether the motion control system meets the requirements. The detailed steps of the drone testing method are consistent with the aerial testing method and will not be repeated here.

[0059] Based on the aforementioned UAV test bench and UAV testing method, this invention further provides an indoor testing environment verification method, including the following steps:

[0060] We provide drones that have undergone and passed drone testing. These drones can be those that have passed in-flight testing or those that have passed testing on our drone test bench under compliant testing conditions.

[0061] The drone is tested again in the indoor environment to be tested using the drone testing method described above. That is, the 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 for another drone test.

[0062] Then, based on the accuracy of the results of the retest, analyze whether the indoor environment to be tested meets the test requirements.

[0063] The above methods can be used to verify the indoor testing environment for drones. Once the indoor testing environment has been verified, it can be applied to drone testing, avoiding interference from complex environmental factors (such as wind speed and airflow) on the test results and ensuring the accuracy and reliability of the test data.

[0064] The present invention has been described in detail above with reference to the accompanying drawings and embodiments. Those 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, and the scope of protection of the present invention shall be defined by the appended claims.

Claims

1. A drone test bench, the drone comprising a drone body and landing gear movably connected to the bottom of the drone body, characterized in that, The UAV test bench includes a deck, a support shaft, and an attitude adjustment mechanism, wherein: The deck is used for the fixed connection of the landing gear, and a first opening is provided 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, while the drone body is fixed on the front side of the deck. The pose adjustment mechanism includes: A bottom ring seat is fixedly installed on the front of the deck and surrounds the outer periphery of the first opening; A top ring seat passes through 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 installed in the first gap, and the outer ring of the slewing bearing is fixed relative to the bottom ring seat, and the 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 spherical bearing is installed in the second gap, and the outer ring of the spherical bearing is fixed relative to the top ring seat, and the inner ring of the spherical bearing is fixed relative to the support shaft, so that the top ring seat and the support shaft can be adjusted at any angle; The first locking assembly includes a first retaining spring that is locked on the inner circumference of the bottom ring seat and a second retaining spring that is locked on the outer circumference of the top ring seat. The first retaining spring and the second retaining 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 locking assembly includes a flange formed on the outer periphery of the support shaft and a third retaining spring locked on the inner periphery of the top ring seat. The flange 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 as described in claim 1, characterized in that, The support shaft includes a main shaft and a bushing sleeved outside the main shaft. The first end of the main shaft extends out of the bushing sleeve. The spherical bearing is sleeved on the first end of the main shaft. The flange is formed at the first end of the main shaft. The first end of the bushing cooperates with the flange to abut against the other end of the inner ring of the spherical bearing. A locking member for fixing the bushing sleeve and the main shaft is connected between the bushing sleeve and the main shaft.

3. The UAV test bench as described in claim 2, characterized in that, The locking element includes a threaded pin and a threaded hole radially formed on the bushing. The threaded pin is screwed into the threaded hole and abuts against the spindle to achieve locking between the bushing and the spindle.

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

5. The UAV test bench as described in claim 1, characterized in that, The slewing bearing is a ball bearing.

6. A method for testing unmanned aerial vehicles (UAVs), characterized in that, Including the following steps: Provide a drone test bench as described in any one of claims 1 to 5, and rotatably fix the support shaft to an existing structure on the rear side of the deck; Provide the drone to be tested, fix the landing gear to the deck and ensure that the landing gear is flush with the front of the deck, fix the drone body to the support shaft, and adjust the center of gravity of the drone so that the center of gravity falls at the position fixed to the support shaft. The drone's motion control system controls the drone to present a specified attitude and angular velocity according to the set data. At the same time, the drone's detection system detects the actual attitude and angular velocity of the drone. Then, the actual detection data is compared with the set data to verify whether the motion control system meets the requirements.

7. The UAV testing method as described in claim 6, characterized in that, The method for adjusting the center of gravity of the drone so that it falls at a position fixed to the support axis includes adjusting the position of the drone's center of gravity by adjusting the position of the drone's battery or other counterweight components.

8. A method for verifying an indoor testing environment, characterized in that, The steps include: providing drones that have undergone and passed drone testing; The drone is tested again in the indoor environment to be tested using the drone testing method described in claim 6 or 7; then, the accuracy of the test results is used to analyze whether the indoor environment to be tested meets the test requirements.

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