A debugging system for a drone recovery device

Abstract

The application discloses a debugging system for an unmanned aerial vehicle recovery device, relates to the technical fields of electrical control and unmanned aerial vehicle recovery, and solves different equipment debugging in one debugging system, simultaneously displays a current platform state in real time, reduces professional requirements of debugging personnel, mainly solves the problems of complex debugging process, incompatible debugging software and difficult positioning of equipment faults, and makes up for the problems of low debugging efficiency and high debugging cost.

Description

Technical Field

[0001] This invention relates to the fields of electrical control and drone recovery technology, and in particular to a debugging system for drone recovery devices. Background Technology

[0002] With the rapid development of drone technology, the safe and reliable recovery of drones after missions has become an important research direction. Drone recovery devices are crucial platforms for drone recovery, providing takeoff / landing platforms in specific areas, locking and protecting drones during transport, and charging them to improve their endurance. Currently, drone recovery devices mainly consist of servo motors, motor drivers, charging devices, proximity switches, centering mechanisms, and landing gear locking mechanisms. The debugging steps for drone recovery devices are as follows: 1. Use serial port debugging equipment to jointly debug the motors and drivers, adjusting the motor speed; 2. Use debugging software to send commands frame by frame according to the communication protocol to control the centering mechanism and proximity switches to adjust their centering and release positions; 3. Combine the landing gear locking mechanism and proximity switches to adjust the landing gear clamping and release positions; 4. Use a CAN adapter and debugging assistant to debug the charger output and adapt it for charging the drone battery.

[0003] The existing debugging system for drone recovery devices has the following drawbacks:

[0004] 1. Complex debugging process: The drone recovery device involves equipment from multiple manufacturers, and the required debugging equipment is different. Each debugging software can only complete the debugging of individual equipment, which increases the complexity of the debugging work and the workload of the debugging personnel.

[0005] 2. Difficulty in fault location: The drone recovery device is deployed by multiple devices, and faults are prone to occur during the debugging process. However, there is no unified debugging method or equipment to immediately obtain the current fault information, which makes it difficult to locate the fault point and make debugging work difficult.

[0006] 3. High skill requirements for debugging personnel: Debugging personnel usually need to master the debugging procedures of various devices, be proficient in the operation of debugging software, and be able to compare the data output by the debugging software with the communication protocol. If debugging personnel are replaced, a lot of time needs to be spent on training them.

[0007] 4. High debugging costs: There are many debugging software programs, and they are incompatible with each other, resulting in low debugging efficiency and increased debugging costs. Summary of the Invention

[0008] In view of the above problems, the present invention provides a debugging system for a drone recovery device to overcome or at least partially solve the above problems.

[0009] This invention provides the following solution:

[0010] A debugging system for a drone recovery device includes:

[0011] The debugging system is connected to the first motor driver, second motor driver, third motor driver, fourth motor driver, charging device, and proximity switch of the drone recovery device; the debugging system is used to perform the following operations:

[0012] Display the alarm information of each motor driver and perform initialization operations using the host computer software;

[0013] Control the centering mechanism to move its x-axis to the release position; and after confirming the installation of the proximity switch, send a command to the first motor driver to save parameter value 1;

[0014] After controlling the centering mechanism to move the X-axis to the clamping position and confirming that the proximity switch is installed on the inner side, a command to save parameter value 2 is sent to the first motor driver.

[0015] After controlling the centering mechanism to move its Y-axis to the release position and confirming the installation of the proximity switch, a command to save parameter value 1 is sent to the second motor driver.

[0016] After controlling the centering mechanism to move its Y-axis to the clamping position and confirming that the proximity switch is installed on the inner side, a command to save parameter value 2 is sent to the second motor driver.

[0017] After determining that the first tripod mechanism has entered a reasonable position, control the first tripod mechanism to be in the release position, and send a command to the third motor driver to save parameter value 1 to record the current release encoder value; use a jog command to control the motor to move to the clamping position, and send a command to the third motor driver to save parameter value 2 to record the current clamping encoder value;

[0018] After determining that the second tripod mechanism has entered a reasonable position, control the second tripod mechanism to be in the release position, and send a command to the fourth motor driver to save parameter value 1 to record the current release encoder value; use a jog command to control the motor to move to the clamping position, and send a command to the fourth motor driver to save parameter value 2 to record the current clamping encoder value;

[0019] The output voltage and output current of the charging device are set, and the charging device is controlled to output, so that the output voltage value of the charging device can be tested with a measuring tool and compared with the value displayed by the debugging system.

[0020] Preferably, the voltage, current, and output status of the charging device are read to configure the output voltage and current of the charging device.

[0021] Preferably, the debugging system is also used to perform one-click unfolding, one-click locking, and one-click charging test functions.

[0022] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0023] This application provides a debugging system for a drone recovery device, which centralizes the debugging of different devices into one system and displays the current platform status in real time. This reduces the professional requirements of debugging personnel and mainly solves the problems of complex debugging processes, incompatible debugging software, and difficulty in locating equipment faults. It also makes up for the problems of low debugging efficiency and high debugging costs.

[0024] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0026] Figure 1 This is a diagram illustrating the composition of a debugging system for a drone recovery device according to an embodiment of the present invention.

[0027] Figure 2 This is a schematic diagram of the structure of the drone recovery device provided in an embodiment of the present invention;

[0028] Figure 3 This is another structural schematic diagram of the drone recovery device provided in an embodiment of the present invention.

[0029] In the diagram: Debugging system 1, First motor driver 2, Second motor driver 3, Third motor driver 4, Fourth motor driver 5, Charging device 6, Centering mechanism X-axis 7, Centering mechanism Y-axis 8, First tripod mechanism 9, Second tripod mechanism 10, Release position of centering mechanism X-axis 11, Release position of first tripod mechanism 12, Clamping position of first tripod mechanism 13, Release position of second tripod mechanism 14, Clamping position of second tripod mechanism 15, Clamping position of centering mechanism Y-axis 16, Clamping position of centering mechanism X-axis 17, Release position of centering mechanism Y-axis 18. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the scope of protection of the present invention.

[0031] See Figure 1 , Figure 2 , Figure 3 This invention provides a debugging system for a drone recovery device, such as... Figure 1 , Figure 2 , Figure 3 As shown, the debugging system 1 is connected to the first motor driver 2, the second motor driver 3, the third motor driver 4, the fourth motor driver 5, the charging device 6, and the proximity switch of the drone recovery device; the debugging system is used to perform the following operations:

[0032] Display the alarm information of each motor driver and perform initialization operations using the host computer software;

[0033] The centering mechanism x-axis 7 is controlled to move to release position 11; and after confirming the installation of the proximity switch, a command to save parameter value 1 is sent to the first motor driver 2.

[0034] After controlling the centering mechanism X-axis 7 to move to the clamping position 17 and confirming that the proximity switch is installed on the inner side, a command to save parameter value 2 is sent to the first motor driver 2.

[0035] After controlling the centering mechanism Y-axis 8 to move to release position 18 and confirming the installation of the proximity switch, a command to save parameter value 1 is sent to the second motor driver 3.

[0036] After controlling the centering mechanism Y-axis 8 to move to the clamping position 16 and confirming that the proximity switch is installed on the inner side, a command to save parameter value 2 is sent to the second motor driver 3.

[0037] After determining that the first tripod mechanism 9 has entered a reasonable position, control the first tripod mechanism 9 to be in the release position 12, and send a command to the third motor driver 4 to save parameter value 1 to record the current release encoder value; use a jog command to control the motor to move to the clamping position 13, and send a command to the third motor driver 4 to save parameter value 2 to record the current clamping encoder value;

[0038] After confirming that the second tripod mechanism 10 has entered a reasonable position, control the second tripod mechanism 10 to be in the release position 14, and send a command to the fourth motor driver 5 to save parameter value 1 to record the current release encoder value; use a jog command to control the motor to move to the clamping position, and send a command to the fourth motor driver 5 to save parameter value 2 to record the current clamping encoder value;

[0039] The output voltage and output current of the charging device 6 are set, and the charging device 6 is controlled to output, so that the output voltage value of the charging device 6 can be tested with a measuring tool and compared with the value displayed by the debugging system 1.

[0040] The voltage, current, and output status of the charging device 6 are read to configure the output voltage and current of the charging device.

[0041] The debugging system 1 is also used to perform one-click unfolding, one-click locking, and one-click charging test functions.

[0042] The debugging system for drone recovery devices provided in this application integrates motor debugging, charger debugging, and platform mechanism debugging. It reorganizes the respective debugging software and tools, directly acquires and displays motor status, alarm information, and charger information, and realizes that one system can adjust the motor, charger, and platform at the same time, which greatly simplifies the debugging process of drone recovery devices and improves the debugging efficiency of drone recovery devices.

[0043] The debugging system for the drone recovery device provided in the embodiments of this application will be described in detail below.

[0044] like Figure 1 , Figure 2 , Figure 3 As shown, the drone recovery device includes a first motor driver 2, a second motor driver 3, a third motor driver 4, a fourth motor driver 5, a charging device 6, a centering mechanism X-axis 7, a centering mechanism Y-axis 8, a first tripod mechanism 9, a second tripod mechanism 10, a release position 11 for the centering mechanism X-axis, a release position 12 for the first tripod mechanism, a clamping position 13 for the first tripod mechanism, a release position 14 for the second tripod mechanism, a clamping position 15 for the second tripod mechanism, a clamping position 16 for the centering mechanism Y-axis, a clamping position 17 for the centering mechanism X-axis, and a release position 18 for the centering mechanism Y-axis.

[0045] S1: Connect the first motor driver 2, the second motor driver 3, the third motor driver 4, the fourth motor driver 5, the charging device 6, and the proximity switch to the debugging system 1 respectively;

[0046] S2: After power-on, the alarm information of the motor driver is displayed, and the initialization operation is performed using the host computer software of the debugging system 1; the debugging system has jog control, which can control the motor to perform millimeter-level movements; the system can parse and display the alarm information returned by the motor driver;

[0047] S3: Use the debugging system to directly send control commands to move the centering mechanism x-axis 7 to release position 11, install the proximity switch, and send a command to save parameter value 1 to the first motor driver 2; the system can directly control the motor to record the current position.

[0048] S4: Use the debugging system to issue a command to move the centering mechanism X-axis 7 to the clamping position 17, install a proximity switch on the inside, and issue a command to save parameter value 2 to the first motor driver 2;

[0049] S5: Use the debugging system to move the centering mechanism Y-axis 8 to the release position 18, and after installing the proximity switch, send a command to the second motor driver 3 to save parameter value 1.

[0050] S6: Use the debugging system to issue a command to move the centering mechanism Y-axis 8 to the clamping position 16, install a proximity switch on the inside, and issue a command to the second motor driver 3 to save parameter value 2;

[0051] S7: Adjust the first leg mechanism 9 to a reasonable position: Use the debugging system to control the first leg mechanism 9 to the release position 12, send the command to save parameter value 1 to the third motor driver 4, record the current release encoder value, and then use the jog command to control the motor to move to the clamping position 13, send the command to save parameter value 2 to the third motor driver 4, and record the current clamping encoder value.

[0052] S8: Adjust the second tripod mechanism 10 to a reasonable position: Use the debugging system to control the second tripod mechanism to the release position 14, send the command to save parameter value 1 to the fourth motor driver 5, record the current release encoder value, and then use the jog command to control the motor to move to the clamping position 15, send the command to save parameter value 2 to the fourth motor driver 5, and record the current clamping encoder value.

[0053] S9: The debugging system sets the output voltage and output current of the charging device 6, controls the charging device to output, uses a metering tool to test the output voltage value of the charging device, and compares it with the value displayed by the debugging system; the debugging system can read the output voltage, current, and output status of the charging device; the debugging system can directly configure the output voltage and current of the charging device.

[0054] S10: Use the debugging system to test various functions of the drone recovery device, including one-click deployment, one-click locking, and one-click charging.

[0055] In summary, the debugging system for drone recovery devices provided in this application integrates the debugging of different devices into one system, while displaying the current platform status in real time. This reduces the professional requirements for debugging personnel and mainly solves the problems of complex debugging processes, incompatible debugging software, and difficulty in locating equipment faults. It also makes up for the problems of low debugging efficiency and high debugging costs.

[0056] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0057] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0058] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0059] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A debugging system for a drone recovery device, characterized in that, The debugging system is connected to the first motor driver, second motor driver, third motor driver, fourth motor driver, charging device, and proximity switch of the drone recovery device; the debugging system is used to perform the following operations: Display the alarm information of each motor driver and perform initialization operations using the host computer software; Control the centering mechanism to move its x-axis to the release position; and after confirming the installation of the proximity switch, send a command to the first motor driver to save parameter value 1; After controlling the centering mechanism to move the X-axis to the clamping position and confirming that the proximity switch is installed on the inner side, a command to save parameter value 2 is sent to the first motor driver. After controlling the centering mechanism to move its Y-axis to the release position and confirming the installation of the proximity switch, a command to save parameter value 1 is sent to the second motor driver. After controlling the centering mechanism to move its Y-axis to the clamping position and confirming that the proximity switch is installed on the inner side, a command to save parameter value 2 is sent to the second motor driver. After determining that the first tripod mechanism has entered a reasonable position, control the first tripod mechanism to be in the release position, and send a command to the third motor driver to save parameter value 1 to record the current release encoder value; use a jog command to control the motor to move to the clamping position, and send a command to the third motor driver to save parameter value 2 to record the current clamping encoder value; After determining that the second tripod mechanism has entered a reasonable position, control the second tripod mechanism to be in the release position, and send a command to the fourth motor driver to save parameter value 1 to record the current release encoder value; use a jog command to control the motor to move to the clamping position, and send a command to the fourth motor driver to save parameter value 2 to record the current clamping encoder value; The output voltage and output current of the charging device are set, and the charging device is controlled to output, so that the output voltage value of the charging device can be tested with a measuring tool and compared with the value displayed by the debugging system.

2. The debugging system for the UAV recovery device according to claim 1, characterized in that, The voltage, current, and output status of the charging device are read to configure the output voltage and current of the charging device.

3. The debugging system for the UAV recovery device according to claim 1, characterized in that, The debugging system is also used to perform one-click unfolding, one-click locking, and one-click charging test functions.

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