A three-axis orthogonal multi-degree-of-freedom UAV attitude adjustment platform

Abstract

This invention discloses a three-axis orthogonal multi-degree-of-freedom UAV attitude adjustment platform. The platform mainly consists of a frame, a three-axis orthogonal rotation mechanism, a gravity balance counterweight system, a quick-assembly platform, multi-dimensional sensing units, an electronic control system, and an emergency stop protection system. The three-axis orthogonal rotation mechanism includes three main components: a yaw axis, a pitch axis, and a roll axis, which can simulate the full attitude motion of a UAV. The gravity balance counterweight system ensures stable operation of the rotation mechanism. The quick-assembly platform, equipped with adjustable sliding guide rails and quick-release connectors, is suitable for quick clamping of UAVs with different wheelbases. The equipment is equipped with multi-dimensional sensing units for angle, tension, current, temperature, vibration, etc., enabling simultaneous sampling of multiple parameters. Working in conjunction with the electronic control system and a host computer, it completes attitude adjustment and real-time data acquisition. This invention features a reasonable structural layout, strong adaptability, high testing accuracy, and safe and reliable operation, effectively completing UAV attitude performance adjustment work and is suitable for attitude detection and testing of various types of UAVs.

Description

Technical Field

[0001] This invention relates to the field of UAV ground testing equipment technology, specifically a three-axis orthogonal multi-degree-of-freedom UAV attitude adjustment platform. Background Technology

[0002] Currently, during the research, development, production, and factory testing of drones, simple single-axis / dual-axis brackets, non-orthogonal three-axis turntables, or direct ground fixing methods are commonly used for debugging, which has the following obvious drawbacks: Insufficient degrees of freedom make it impossible to simultaneously simulate pitch, roll, and yaw attitudes. The shaft system is not orthogonal, and the attitude angle coupling is severe, resulting in low test accuracy and data distortion. The weightless balancing structure and the fuselage weight lead to inaccurate attitude response and unreliable PID tuning. The sensor and the data acquisition system are separate, and the angle, tension, and current data are not synchronized. The lack of reliable mechanical locking and electrical emergency stop results in poor safety during propeller-driven commissioning. It has poor versatility, can only be adapted to a single model, and cannot meet the debugging needs of multiple wheelbases and multiple loads.

[0003] Therefore, there is an urgent need for an improved technology to solve this problem in the existing technology. Summary of the Invention

[0004] The purpose of this invention is to provide a three-axis orthogonal multi-degree-of-freedom UAV attitude adjustment platform to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a three-axis orthogonal multi-degree-of-freedom UAV attitude adjustment platform, comprising a frame, a gravity balance counterweight system, a multi-dimensional sensing unit, an electronic control system, a quick-assembly platform, and an emergency stop protection system. The frame is provided with a three-axis orthogonal rotation mechanism, which is mounted on the frame. The three-axis orthogonal rotation mechanism includes a yaw axis assembly rotating around the Z-axis, a pitch axis assembly rotating around the Y-axis, and a roll axis assembly rotating around the X-axis. The yaw axis assembly, pitch axis assembly, and roll axis assembly are arranged perpendicularly and orthogonally to each other in space, and the three axes intersect at the same point, which coincides with the preset center of mass position of the UAV under test. The pitch axis assembly is mounted on the yaw axis assembly, and the roll axis assembly is mounted on the pitch axis assembly; The gravity balance counterweight system includes a counterweight block, a counterweight guiding mechanism, and a counterweight locking mechanism. The counterweight block is coupled with the rotation of the pitch axis assembly around the Y-axis to counteract the off-center load torque generated by the weight of the UAV under test. The quick-mount platform is mounted on the roll axis assembly. The quick-mount platform includes at least two sets of radially adjustable sliding guides and quick-release connectors for fixing UAVs under test with different wheelbases. The multi-dimensional sensing unit, integrated into the three-axis orthogonal rotation mechanism and the quick-release platform, includes an angle sensor, a tension sensor, and a current sensor, and the angle sensor, tension sensor, and current sensor maintain synchronous sampling. The electronic control system is connected to the three-axis orthogonal rotation mechanism, the gravity balance counterweight system, the multi-dimensional sensing unit, and the host computer, respectively. The emergency stop protection system includes a mechanical locking mechanism and an electrical emergency stop switch. The mechanical locking mechanism is mounted on the pitch axis assembly and the roll axis assembly, and the electrical emergency stop switch is electrically connected to the electronic control system.

[0006] Preferably, the frame includes a base and a support column. The base is a frame structure with leveling feet. The support column is vertically fixed at the center of the base. The three-axis orthogonal rotation mechanism is installed on the top of the support column.

[0007] Preferably, the counterweight of the gravity balance counterweight system is located on the side of the pitch axis assembly opposite to the quick-assembly platform. The counterweight guide mechanism is an arc-shaped guide rail or a screw drive mechanism. The position of the counterweight on the counterweight guide mechanism along the Y-axis is adjustable. The counterweight locking mechanism locks the counterweight after it is adjusted to the correct position.

[0008] Preferably, the quick-release connector of the quick-installation platform includes a quick clamp or a magnetic fixing base, and the sliding guide rail has equally spaced locking holes along its length. The quick-release connector is detachably fixed to the sliding guide rail through the locking holes.

[0009] Preferably, the multi-dimensional sensing unit further includes a temperature sensor and a vibration sensor. The temperature sensor is installed at the motor mounting base of the UAV under test on the quick-mount platform, and the vibration sensor is installed at the connection joint between the pitch axis assembly and the roll axis assembly.

[0010] Preferably, the yaw axis assembly includes a yaw drive motor and a yaw encoder, the pitch axis assembly includes a pitch drive motor and a pitch encoder, the roll axis assembly includes a roll drive motor and a roll encoder, and the angle sensor includes the yaw encoder, pitch encoder, and roll encoder.

[0011] Preferably, the mechanical locking mechanism includes an electromagnetic brake, which is electrically connected to the electronic control system. When the electrical emergency stop switch is triggered, the power is simultaneously cut off and the shaft is clamped. The manual latch is set independently of the electromagnetic brake.

[0012] Preferably, the electronic control system includes a controller, a multi-channel data acquisition card, and a motor driver. The multi-channel data acquisition card is connected in parallel with each sensor of the multi-dimensional sensing unit. The controller is connected to the host computer via Ethernet, CAN bus, or serial port communication.

[0013] Preferably, the host computer includes a data recording module and a report generation module.

[0014] Preferably, a method for using a three-axis orthogonal multi-degree-of-freedom UAV attitude adjustment platform includes the following steps: Install the drone to be debugged on the quick-release platform, adjust the quick-release connector of the sliding guide rail to adapt to the wheelbase of the drone, and fix the drone body to the quick-release platform through the quick-release connector. Adjust the gravity balance counterweight system by adjusting the position of the counterweight block along the counterweight guide mechanism so that the three-axis orthogonal rotation mechanism is in a zero off-center load state in the pitch direction, and lock the counterweight block through the counterweight locking mechanism. The electronic control system is activated, and a test command is issued through the host computer to drive the three-axis orthogonal rotation mechanism to move according to the set attitude trajectory; The multi-dimensional sensing unit synchronously collects the attitude angle, tension and current data of the tested drone, and the host computer displays and records the above data in real time; If any abnormality occurs during the test, the emergency stop protection system will be triggered, the electrical emergency stop switch will cut off the power output, and the mechanical locking mechanism will lock the three-axis rotating mechanism; after the test is completed, the debugging data will be exported from the host computer for analysis.

[0015] Compared with the prior art, the beneficial effects of the present invention are: This invention features a reasonable structural layout, strong adaptability, high testing accuracy, and safe and reliable operation. It can effectively complete the attitude performance debugging of UAVs and is suitable for attitude detection and testing of various types of UAVs. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the three-axis orthogonal multi-degree-of-freedom UAV attitude adjustment platform of the present invention; Figure 2 This is a schematic diagram of the three-axis orthogonal rotation mechanism of the multi-degree-of-freedom UAV of the present invention; Figure 3 This is a schematic diagram of the quick-release connector structure of the present invention; Figure 4 This is a schematic diagram of the host computer structure of the present invention.

[0017] In the diagram: 100, frame; 101, base; 102, support column; 200, three-axis orthogonal rotation mechanism; 201, yaw axis assembly; 202, pitch axis assembly; 203, roll axis assembly; 300, gravity balance counterweight system; 301, counterweight block; 302, counterweight guide mechanism; 303, counterweight locking mechanism; 400, quick-release platform; 401, sliding guide rail; 402, quick-release connector; 500, multi-dimensional sensing unit; 600, electronic control system; 700, emergency stop protection system; 701, mechanical locking mechanism; 800, host computer. Detailed Implementation

[0018] 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 some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Please see Figures 1-4 This invention provides a technical solution: a three-axis orthogonal multi-degree-of-freedom UAV attitude adjustment platform, including a frame 100, a gravity balance counterweight system 300, a multi-dimensional sensing unit 500, an electronic control system 600, a quick-assembly platform 400, and an emergency stop protection system 700. A three-axis orthogonal rotation mechanism 200 is provided on the frame 100. The three-axis orthogonal rotation mechanism 200 includes a yaw axis assembly 201 rotating around the Z-axis, a pitch axis assembly 202 rotating around the Y-axis, and a roll axis assembly 203 rotating around the X-axis. The yaw axis assembly 201, the pitch axis assembly 202, and the roll axis assembly 203 are arranged perpendicularly and orthogonally to each other in space, and the three axes intersect at the same point, which coincides with the preset center of mass position of the UAV under test.

[0020] The pitch axis assembly 202 is mounted on the yaw axis assembly 201, and the roll axis assembly 203 is mounted on the pitch axis assembly 202.

[0021] The gravity balance counterweight system 300 includes a counterweight block 301, a counterweight guiding mechanism 302, and a counterweight locking mechanism 303. The counterweight block 301 is coupled with the rotation of the pitch axis assembly 202 around the Y-axis to counteract the off-center load torque generated by the weight of the UAV under test.

[0022] The quick-installation platform 400 is mounted on the roll axis assembly 203. The quick-installation platform 400 includes at least two sets of radially adjustable sliding guide rails 401 and quick-release connectors 402, which are used to fix the UAV under test with different wheelbases.

[0023] Integrated on the three-axis orthogonal rotation mechanism 200 and the quick-installation platform 400, the multi-dimensional sensing unit 500 includes an angle sensor 501, a tension sensor 502 and a current sensor 503, and the angle sensor 501, tension sensor 502 and current sensor 503 maintain synchronous sampling.

[0024] The electronic control system 600 is electrically connected to the three-axis orthogonal rotation mechanism 200, the gravity balance counterweight system 300, the multi-dimensional sensing unit 500, and the host computer 800.

[0025] The emergency stop protection system 700 includes a mechanical locking mechanism and an electrical emergency stop switch. The mechanical locking mechanism 701 is disposed on the pitch axis assembly 202 and the roll axis assembly 203, and the electrical emergency stop switch is electrically connected to the electronic control system 600.

[0026] The frame 100 includes a base 101 and a support column 102. The base 101 is a frame structure with leveling feet. The support column 102 is vertically fixed to the center of the base 101. A three-axis orthogonal rotation mechanism 200 is installed on the top of the support column 102.

[0027] The counterweight 301 of the gravity balance counterweight system 300 is set on the side opposite to the quick-release platform 400 on the pitch axis assembly 202. The counterweight guide mechanism 302 is an arc-shaped guide rail or a screw drive mechanism. The position of the counterweight 301 on the counterweight guide mechanism 302 along the Y-axis is adjustable. The counterweight locking mechanism 303 locks the counterweight 301 after the counterweight is adjusted to the correct position.

[0028] The quick-release connector 402 of the quick-release platform 400 includes a quick clamp or a magnetic fixing base. The sliding guide rail 401 has equally spaced locking holes along its length. The quick-release connector 402 is detachably fixed to the sliding guide rail 401 through the locking holes.

[0029] The multi-dimensional sensing unit 500 also includes a temperature sensor and a vibration sensor. The temperature sensor is installed at the motor mounting base of the UAV under test on the quick-mount platform, and the vibration sensor is installed at the connection joint between the pitch axis assembly 202 and the roll axis assembly 203.

[0030] The yaw axis assembly 201 includes a yaw drive motor and a yaw encoder, the pitch axis assembly 202 includes a pitch drive motor and a pitch encoder, the roll axis assembly includes a roll drive motor and a roll encoder, and the angle sensor includes the yaw encoder, pitch encoder, and roll encoder.

[0031] The mechanical locking mechanism 701 includes an electromagnetic brake, which is electrically connected to the electronic control system 600. When the electrical emergency stop switch is triggered, the power is simultaneously cut off and the rotating shaft is clamped. The manual latch is set independently of the electromagnetic brake.

[0032] The electronic control system 600 includes a controller, a multi-channel data acquisition card, and a motor driver. The multi-channel data acquisition card is connected in parallel with each sensor of the multi-dimensional sensing unit 500. The controller is connected to the host computer 800 via Ethernet, CAN bus, or serial communication. The host computer 800 includes a data recording module and a report generation module.

[0033] How to use the three-axis orthogonal multi-degree-of-freedom UAV attitude adjustment platform: Install the UAV to be adjusted on the quick-release platform 400, adjust the quick-release connector 402 of the sliding guide rail 401 to adapt to the wheelbase of the UAV, and fix the UAV body on the quick-release platform 400 through the quick-release connector 402.

[0034] The gravity balance counterweight system 300 is adjusted, and the position of the counterweight block 301 is adjusted along the counterweight guide mechanism 302 so that the three-axis orthogonal rotation mechanism 200 is in a zero off-center load state in the pitch direction, and the counterweight block 301 is locked by the counterweight locking mechanism 303.

[0035] The electronic control system 600 is started, and the host computer 800 issues a test command to drive the three-axis orthogonal rotation mechanism 200 to move according to the set attitude trajectory.

[0036] The multi-dimensional sensing unit 500 synchronously collects the attitude angle, tension and current data of the tested UAV, and the host computer 800 displays and records the above data in real time.

[0037] If an abnormality occurs during the test, the emergency stop protection system 700 is triggered, the electrical emergency stop switch cuts off the power output, and the mechanical locking mechanism locks the three-axis rotating mechanism; after the test is completed, the debugging data is exported from the host computer 800 for analysis.

[0038] This invention features a reasonable structural layout, strong adaptability, high testing accuracy, and safe and reliable operation. It can effectively complete the attitude performance debugging of UAVs and is suitable for attitude detection and testing of various types of UAVs.

[0039] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A three-axis orthogonal multi-degree-of-freedom UAV attitude adjustment platform, comprising a frame (100), a gravity balance counterweight system (300), a multi-dimensional sensing unit (500), an electronic control system (600), a quick-assembly platform (400), and an emergency stop protection system (700), characterized in that: The frame (100) is provided with a three-axis orthogonal rotation mechanism (200). The three-axis orthogonal rotation mechanism (200) is mounted on the frame (100). The three-axis orthogonal rotation mechanism (200) includes a yaw axis assembly (201) that rotates around the Z-axis, a pitch axis assembly (202) that rotates around the Y-axis, and a roll axis assembly (203) that rotates around the X-axis. The yaw axis assembly (201), the pitch axis assembly (202), and the roll axis assembly (203) are arranged perpendicularly and orthogonally to each other in space, and the three axes intersect at the same point. This intersection point coincides with the preset center of mass position of the UAV under test. The pitch axis assembly (202) is mounted on the yaw axis assembly (201), and the roll axis assembly (203) is mounted on the pitch axis assembly (202); The gravity balance counterweight system (300) includes a counterweight block (301), a counterweight guiding mechanism (302), and a counterweight locking mechanism (303). The counterweight block (301) is coupled with the rotation of the pitch axis assembly (202) around the Y-axis to counteract the off-center load torque generated by the self-weight of the UAV under test. The quick-mount platform (400) is mounted on the roll shaft assembly (203). The quick-mount platform (400) includes at least two sets of radially adjustable sliding guides (401) and quick-release connectors (402) for fixing UAVs under test with different wheelbases. The multi-dimensional sensing unit (500), which is integrated on the three-axis orthogonal rotation mechanism (200) and the quick-installation platform (400), includes an angle sensor (501), a tension sensor (502), and a current sensor (503), and the angle sensor (501), tension sensor (502), and current sensor (503) maintain synchronous sampling. The electronic control system (600) is electrically connected to the three-axis orthogonal rotation mechanism (200), the gravity balance counterweight system (300), the multi-dimensional sensing unit (500), and the host computer (800), respectively; The emergency stop protection system (700) includes a mechanical locking mechanism and an electrical emergency stop switch. The mechanical locking mechanism (701) is disposed on the pitch axis assembly (202) and the roll axis assembly (203). The electrical emergency stop switch is electrically connected to the electronic control system (600).

2. The three-axis orthogonal multi-degree-of-freedom UAV attitude adjustment platform according to claim 1, characterized in that: The frame (100) includes a base (101) and a support column (102). The base (101) is a frame structure with leveling feet. The support column (102) is vertically fixed at the center of the base (101). The three-axis orthogonal rotation mechanism (200) is installed on the top of the support column (102).

3. The three-axis orthogonal multi-degree-of-freedom UAV attitude adjustment platform according to claim 1, characterized in that: The counterweight block (301) of the gravity balance counterweight system (300) is located on the side opposite to the quick-release platform (400) on the pitch axis assembly (202). The counterweight guide mechanism (302) is an arc-shaped guide rail or a screw drive mechanism. The position of the counterweight block (301) on the counterweight guide mechanism (302) along the Y-axis is adjustable. The counterweight locking mechanism (303) locks the counterweight block (301) after the counterweight is adjusted to the correct position.

4. The three-axis orthogonal multi-degree-of-freedom UAV attitude adjustment platform according to claim 1, characterized in that: The quick-release connector (402) of the quick-release platform (400) includes a quick clamp or a magnetic fixing seat. The sliding guide rail (401) has equally spaced locking holes along its length. The quick-release connector (402) is detachably fixed to the sliding guide rail (401) through the locking holes.

5. The three-axis orthogonal multi-degree-of-freedom UAV attitude adjustment platform according to claim 1, characterized in that: The multi-dimensional sensing unit (500) also includes a temperature sensor and a vibration sensor. The temperature sensor is installed at the motor mounting base of the UAV under test on the quick-mount platform, and the vibration sensor is installed at the joint connecting the pitch axis assembly (202) and the roll axis assembly (203).

6. The three-axis orthogonal multi-degree-of-freedom UAV attitude adjustment platform according to claim 1, characterized in that: The yaw axis assembly (201) includes a yaw drive motor and a yaw encoder, the pitch axis assembly (202) includes a pitch drive motor and a pitch encoder, the roll axis assembly includes a roll drive motor and a roll encoder, and the angle sensor includes the yaw encoder, the pitch encoder and the roll encoder.

7. The three-axis orthogonal multi-degree-of-freedom UAV attitude adjustment platform according to claim 1, characterized in that: The mechanical locking mechanism (701) includes an electromagnetic brake, which is electrically connected to the electronic control system (600). When the electrical emergency stop switch is triggered, the power is simultaneously cut off and the rotating shaft is clamped. The manual latch is set independently of the electromagnetic brake.

8. The three-axis orthogonal multi-degree-of-freedom UAV attitude adjustment platform according to claim 1, characterized in that: The electronic control system (600) includes a controller, a multi-channel data acquisition card and a motor driver. The multi-channel data acquisition card is connected in parallel with each sensor of the multi-dimensional sensing unit (500). The controller is connected to the host computer (800) via Ethernet, CAN bus or serial port communication.

9. The three-axis orthogonal multi-degree-of-freedom UAV attitude adjustment platform according to claim 1, characterized in that: The host computer (800) includes a data recording module and a report generation module.

10. The method for using the three-axis orthogonal multi-degree-of-freedom UAV attitude adjustment platform as described in claim 1 includes the following steps: The drone to be debugged is installed on the quick-installation platform (400), the quick-release connector (402) of the sliding guide rail (401) is adjusted to adapt to the wheelbase of the drone, and the drone body is fixed on the quick-installation platform (400) through the quick-release connector (402). The gravity balance counterweight system (300) is adjusted, and the position of the counterweight block (301) is adjusted along the counterweight guide mechanism (302) so that the three-axis orthogonal rotation mechanism (200) is in a zero off-center load state in the pitch direction, and the counterweight block (301) is locked by the counterweight locking mechanism (303). Start the electronic control system (600), and issue test commands through the host computer (800) to drive the three-axis orthogonal rotation mechanism (200) to move according to the set attitude trajectory; The multi-dimensional sensing unit (500) synchronously collects the attitude angle, tension and current data of the tested UAV, and the host computer (800) displays and records the above data in real time; If an abnormality occurs during the test, the emergency stop protection system (700) will be triggered, the electrical emergency stop switch will cut off the power output, and the mechanical locking mechanism will lock the three-axis rotating mechanism. After the test is completed, the debugging data is exported from the host computer (800) for analysis.

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