Portable unmanned aerial vehicle gravity center weighing device

Abstract

The utility model discloses a portable unmanned aerial vehicle gravity center weighing device, which comprises a base, a front cushion block and a rear cushion block which are arranged on the base, and a front weighing mechanism and a rear weighing mechanism which are respectively positioned below the front cushion block and the rear cushion block, a front supporting point and a rear supporting point of the base are placed on the working faces of the front weighing mechanism and the rear weighing mechanism respectively. The front end and the rear end of the unmanned aerial vehicle are placed on the front cushion block and the rear cushion block respectively. The gravity center calculation mechanism is used for calculating the distance X from the actual gravity center point of the unmanned aerial vehicle to the theoretical gravity center original point according to # imgabs0 #, G1 and G2 are the readings of the front weighing mechanism and the rear weighing mechanism respectively, L1 is the distance from the front supporting point to the theoretical gravity center original point, and L2 is the distance from the rear supporting point to the theoretical gravity center original point. The portable unmanned aerial vehicle gravity center weighing device is convenient for measuring the gravity center of the unmanned aerial vehicle outdoors, and improves the field operation efficiency of the unmanned aerial vehicle.

Description

Technical Field

[0001] The utility model relates to the technical field of UAV gravity measurement, in particular to a portable UAV gravity weighing device. Background Art

[0002] With the continuous development of UAV technology, industrial UAVs are widely used in multiple working fields such as surveying and mapping, monitoring, etc. In order to meet the application requirements of various industries, UAVs need to carry different payloads to adapt to different task scenarios. However, when the payload of the UAV is changed, it will affect the gravity center position of the UAV, thereby affecting the flight attitude and stability of the UAV. Therefore, when the payload of the UAV is changed, it is necessary to counterweight the UAV. Most traditional aircraft counterweight methods use the "weighbridge method" or the "jack method" to weigh the gravity center of the aircraft. The above measurement methods are limited by the weighing device or the working site and cannot be used in the field. Therefore, designing a device that can quickly weigh the gravity center position of the UAV outdoors has become an urgent problem for those skilled in the art. Content of the Utility Model

[0003] The purpose of the utility model is to provide a portable UAV gravity weighing device, which is convenient for measuring the gravity center of the UAV outdoors and improves the efficiency of UAV field operation.

[0004] To solve the above technical problems, the utility model provides the following technical solutions:

[0005] A portable UAV gravity weighing device includes a base, a front cushion block and a rear cushion block installed on the base, and a front weighing mechanism and a rear weighing mechanism respectively located under the front cushion block and the rear cushion block. The front support point and the rear support point of the base are respectively placed on the working surfaces of the front weighing mechanism and the rear weighing mechanism, and the front end and the rear end of the UAV are respectively placed on the front cushion block and the rear cushion block; it also includes a gravity center calculation mechanism for calculating the distance X from the actual gravity center point of the UAV to the theoretical gravity center origin, where G and G 1 are the readings of the front weighing mechanism and the rear weighing mechanism respectively, L 2 is the distance from the front support point to the theoretical gravity center origin, and L 1 is the distance from the rear support point to the theoretical gravity center origin.

[0006] Preferably, it further includes a gravity center adjustment mechanism, which is connected to the gravity center calculation mechanism and is used to adjust the distance from the actual gravity center point to the theoretical gravity center origin within the theoretical gravity center range when the distance from the actual gravity center point to the theoretical gravity center origin exceeds the theoretical gravity center range.

[0007]

[0008] Preferably, the gravity center adjustment mechanism includes:

[0008] a receiving unit configured to receive distance information from the actual center of gravity point to the theoretical center of gravity origin;

[0009] a judging unit connected to the receiving unit and configured to judge whether the distance from the actual center of gravity point to the theoretical center of gravity origin is within the theoretical center of gravity range;

[0010] a counterweight adjusting part connected to the judging unit and configured to adjust the distance from the actual center of gravity point to the theoretical center of gravity origin to be within the theoretical center of gravity range when the distance from the actual center of gravity point to the theoretical center of gravity origin exceeds the theoretical center of gravity range.

[0011] Preferably, the counterweight adjusting part includes:

[0012] a calculating unit connected to the judging unit and configured to calculate a parameter value of the counterweight of the drone during leveling according to the distance from the actual center of gravity point to the theoretical center of gravity origin and the theoretical center of gravity origin;

[0013] an adjusting execution unit connected to the calculating unit and configured to adjust the counterweight according to the parameter value of the counterweight calculated by the calculating unit.

[0014] Preferably, the front cushion block has a front positioning surface in contact with the front bottom surface of the drone, the rear cushion block has a rear positioning surface in contact with the rear bottom surface of the drone, a positioning vertical plate is provided at the rear end of the rear cushion block, and the rear end surface of the drone abuts against the positioning vertical plate.

[0015] Preferably, the base includes a front base for mounting the front cushion block and a rear base for mounting the rear cushion block, the front base and the rear base are connected by a hinge mechanism, when in use, the front base and the rear base are placed along the horizontal plane, and the front base and the rear base have the same height; when not in use, the front base and the rear base are rotated and folded back to back.

[0016] Preferably, the theoretical center of gravity origin of the drone is located on the connection line between the front base and the rear base, and the connection line between the front base and the rear base is perpendicular to the center line of the drone.

[0017] Preferably, three support columns are connected to the bottom surface of the base, one is arranged at the first end of the base, and the other two are arranged at the second end of the base, and the connection line of the two support columns at the second end is perpendicular to the center line of the drone.

[0018] Preferably, the working surfaces of the front weighing mechanism and the rear weighing mechanism are along the horizontal plane and have the same height, and a leveling mechanism is further included for leveling the working surfaces of the front weighing mechanism and the rear weighing mechanism.

[0019] Preferably, the leveling mechanism includes:

[0020] A height sensor for detecting the height of the working surface of the front weighing mechanism;

[0021] A position sensor for detecting the height of the working surface of the rear weighing mechanism;

[0022] A leveling part connected to the height sensor and the position sensor, which is used to control the working surface of the front weighing mechanism to be level with the working surface of the rear weighing mechanism when the height of the working surface of the current weighing mechanism is not equal to the height of the working surface of the rear weighing mechanism.

[0023] In the portable UAV gravity weighing device provided by the present utility model, the front cushion block and the rear cushion block are installed at both ends of the top surface of the base. The base connects the front cushion block and the rear cushion block into a whole, and the front cushion block and the rear cushion block are used in combination. Since the bottom surface of the UAV is not a plane, the shapes and sizes of the front cushion block and the rear cushion block match the front bottom surface and the rear bottom surface of the UAV. During weighing, the front end and the rear end of the UAV are respectively placed on the front cushion block and the rear cushion block. The front cushion block and the rear cushion block support and position the UAV, and the UAV is in a horizontal state, preventing the UAV from shaking, swaying and being unstable.

[0024] There are a front support point and a rear support point at both ends of the bottom surface of the base. The distance from the front support point to the theoretical center of gravity origin O is L 1 , and the distance from the rear support point to the theoretical center of gravity origin O is L 2 . The front support point and the rear support point are respectively located below the front cushion block and the rear cushion block. During weighing, the front support point and the rear support point of the base are respectively placed on the working surfaces of the front weighing mechanism and the rear weighing mechanism, the front end and the rear end of the UAV are respectively placed on the front cushion block and the rear cushion block, and the front weighing mechanism and the rear weighing mechanism weigh the front end and the rear end of the UAV. The readings of the front weighing mechanism and the rear weighing mechanism are G 1 、G 2 . The center of gravity calculation mechanism is connected to the front weighing mechanism and the rear weighing mechanism, and there is a formula in the center of gravity calculation mechanism . The center of gravity calculation mechanism receives the weight values of the front weighing mechanism and the rear weighing mechanism, and calculates the distance from the actual center of gravity point of the UAV to the theoretical center of gravity origin according to the above formula.

[0025] The portable UAV gravity weighing device provided by the present utility model is small in size, light in weight and convenient to carry; it has low requirements for the size and levelness of the operation environment site, has good adaptability and can be used outdoors; it has a wide application prospect. When the UAV replaces the load during outdoor operation, it can quickly weigh the weight and then calculate the UAV center of gravity position according to the readings of the weighing mechanism. The usage method is simple, the operation is convenient, and the efficiency of UAV center of gravity measurement is effectively improved. Description of the Drawings

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0027] Figure 1 It is a schematic structural diagram of a portable unmanned aerial vehicle (UAV) center of gravity weighing device provided by a specific embodiment of the present invention;

[0028] Figure 2 It is a schematic structural diagram of a cushion block;

[0029] Figure 3 It is an installation schematic diagram of the rear base and the rear cushion block;

[0030] Figure 4 It is an installation schematic diagram of the front base and the front cushion block;

[0031] Figure 5 It is a connection schematic diagram of the front base and the rear base;

[0032] Figure 6 It is an installation schematic diagram of a support column;

[0033] Figure 7 It is a schematic diagram of a UAV placed on the portable UAV center of gravity weighing device;

[0034] Figure 8 It is a schematic diagram for calculating the center of gravity position of the UAV.

[0035] Reference numerals:

[0036] Rear cushion block 1, front cushion block 2, screw 3, rear base 4, front base 5, front weighing mechanism 6, hinge 7, rear weighing mechanism 8, support column 9. Specific implementation manner

[0037] The core of the present invention is to provide a portable UAV center of gravity weighing device, which is convenient for measuring the center of gravity of the UAV outdoors and improves the efficiency of UAV field operations.

[0038] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0039] Please refer toFigures 1 to 8 , Figure 1 is a schematic structural diagram of a portable UAV center of gravity weighing device provided by a specific embodiment of the present utility model; Figure 2 is a schematic structural diagram of a cushion block; Figure 3 is an installation schematic diagram of a rear base and a rear cushion block; Figure 4 is an installation schematic diagram of a front base and a front cushion block; Figure 5 is a connection schematic diagram of a front base and a rear base; Figure 6 is an installation schematic diagram of a support column; Figure 7 is a schematic diagram of a UAV placed on a portable UAV center of gravity weighing device; Figure 8 is a schematic diagram for calculating the UAV center of gravity position.

[0040] In a specific embodiment, the portable UAV center of gravity weighing device provided by the present utility model includes a base, a front cushion block 2 and a rear cushion block 1 installed on the base, and a front weighing mechanism 6 and a rear weighing mechanism 8 respectively located below the front cushion block 2 and the rear cushion block 1. The front support point and the rear support point of the base are respectively placed on the working surfaces of the front weighing mechanism 6 and the rear weighing mechanism 8, and the front end and the rear end of the UAV are respectively placed on the front cushion block 2 and the rear cushion block; it also includes a center of gravity calculation mechanism for calculating the distance X from the actual center of gravity point of the UAV to the theoretical center of gravity origin, where G 、G 1 、G 2 are the readings of the front weighing mechanism 6 and the rear weighing mechanism 8 respectively, L 1 is the distance from the front support point to the theoretical center of gravity origin, and L 2 is the distance from the rear support point to the theoretical center of gravity origin.

[0041] In the above structure, the portable UAV center of gravity weighing device includes a base, a front cushion block 2, a rear cushion block 1, a front weighing mechanism 6, a rear weighing mechanism 8 and a center of gravity calculation mechanism.

[0042] The front cushion block 2 and the rear cushion block 1 are installed at both ends of the top surface of the base. For example, the base is connected to the front cushion block 2 and the rear cushion block 1 by screws 3. The front cushion block 2 and the rear cushion block 1 are used in combination, and the base connects the front cushion block 2 and the rear cushion block 1 into a whole, making it more convenient to use. Since the bottom surface of the UAV is not flat, the front cushion block 2 and the rear cushion block 1 match the shapes and sizes of the front bottom surface and the rear bottom surface of the UAV. During weighing, the front end and the rear end of the UAV are respectively placed on the front cushion block 2 and the rear cushion block, and the front cushion block 2 and the rear cushion block 1 support and position the UAV, and the UAV is in a horizontal state, preventing the UAV from shaking, swaying and being unstable.

[0043] Both ends of the bottom surface of the base have a front support point and a rear support point. The distance from the front support point to the theoretical center of gravity origin O is L 1 , and the distance from the rear support point to the theoretical center of gravity origin O is L 2, the front support point and the rear support point are respectively located below the front cushion block 2 and the rear cushion block 1. When weighing, the front support point and the rear support point of the base are respectively placed on the working surfaces of the front weighing mechanism 6 and the rear weighing mechanism 8, the front end and the rear end of the unmanned aerial vehicle are respectively placed on the front cushion block 2 and the rear cushion block, and the front weighing mechanism 6 and the rear weighing mechanism 8 weigh the front end and the rear end of the unmanned aerial vehicle. The readings of the front weighing mechanism 6 and the rear weighing mechanism 8 are respectively G 1 , G 2 . The center-of-gravity calculation mechanism is connected to the front weighing mechanism 6 and the rear weighing mechanism 8, and a formula is provided inside the center-of-gravity calculation mechanism. The center-of-gravity calculation mechanism receives the weight values of the front weighing mechanism 6 and the rear weighing mechanism 8, and calculates the distance from the actual center-of-gravity point of the unmanned aerial vehicle to the theoretical center-of-gravity origin according to .

[0044] The specific usage steps include:

[0045] Place the two weighing mechanisms on the ground, adjust the bottom supports of the weighing mechanisms to make their working surfaces horizontal and the working surfaces of the two weighing mechanisms at the same height, and turn on the power switch of the weighing mechanisms.

[0046] Place the base connected to the upper front cushion block 2 and rear cushion block 1 on the two weighing mechanisms. The front support point and the rear support point are respectively located on the working surfaces of the two weighing mechanisms, and zero the weighing mechanisms.

[0047] Place the assembled unmanned aerial vehicle on the two cushion blocks, and the unmanned aerial vehicle is in a horizontal state to achieve the positioning of the unmanned aerial vehicle.

[0048] After the readings of the weighing mechanisms are stable, record the readings of the weighing mechanisms.

[0049] According to the principle of moment balance, when the distance from the actual center-of-gravity point to the theoretical center-of-gravity origin O is X ,

[0050] That is ,

[0051] where G 1 , G 2 are respectively the readings of the front weighing mechanism 6 and the rear weighing mechanism 8;

[0052] O is the theoretical center-of-gravity origin;

[0053] L 1 is the distance from the front support point to the theoretical center-of-gravity origin O, which is the design constant L 1 ; L 2 is the distance from the rear support point to the theoretical center-of-gravity origin 0, which is the design constant L 2 ; see Figure 8 .

[0054] Therefore, it is only necessary to substitute the readings G 1 and G 2 of the front weighing mechanism 6 and the rear weighing mechanism 8 into the above formula to calculate the distance X between the actual center of gravity and the origin of the theoretical center of gravity. The smaller the distance X between the actual center of gravity and the origin of the theoretical center of gravity, the closer the actual center of gravity of the UAV is to the theoretical center of gravity. On the contrary, the farther the actual center of gravity of the UAV is from the theoretical center of gravity. It is necessary to adjust the size and position of the counterweight in time according to the value of X to make the center of gravity position of the UAV within the center of gravity envelope and ensure the balanced flight of the UAV.

[0055] The portable UAV center of gravity weighing device provided by the present utility model is small in size, light in weight and convenient to carry; it has low requirements for the size and levelness of the operation environment site, good adaptability and can be used outdoors; it has a wide application prospect. When the UAV replaces the load during outdoor operation, it can quickly weigh the weight and then calculate the center of gravity position of the UAV according to the readings of the weighing mechanism. The usage method is simple and the operation is convenient, effectively improving the efficiency of UAV center of gravity measurement.

[0056] On the basis of the above-mentioned specific embodiments, in order to realize the automatic judgment of whether the actual center of gravity position of the UAV is appropriate, the portable UAV center of gravity weighing device of the present application may further include a center of gravity adjustment mechanism, which is connected to the center of gravity calculation mechanism and is used to adjust the distance between the actual center of gravity point and the origin of the theoretical center of gravity to within the theoretical center of gravity range when the distance between the actual center of gravity point and the origin of the theoretical center of gravity exceeds the theoretical center of gravity range.

[0057] In practical applications, the theoretical center of gravity range is set in the center of gravity adjustment mechanism. Assuming that the theoretical center of gravity range of the UAV is the design value of A ̴B, when the distance between the actual center of gravity point and the origin of the theoretical center of gravity is within the theoretical center of gravity range, that is, A≤X≤B, it can be determined that the UAV is in a balanced state, as Figure 8 shown. X being positive means that the actual center of gravity is between point O and G 1 point, and X being negative means that the actual center of gravity is between point O and point G2. When the distance between the actual center of gravity point and the origin of the theoretical center of gravity is not within the theoretical center of gravity range, that is, X B, it can be determined that the UAV is in an unbalanced state, and it is necessary to adjust the size and position of the counterweight to make X within the theoretical center of gravity range to ensure the balanced flight of the UAV.

[0058] Among them, the front weighing mechanism 6 and the rear weighing mechanism 8 can be electronic scales, which are convenient for reading, or can be stress-strain gauges and pressure sensors, which are high in precision and sensitive in response. The center of gravity adjustment mechanism includes a receiving unit, a judging unit and a counterweight adjustment part.

[0059] More specifically, the receiving unit is connected to the center of gravity calculation mechanism for receiving the distance information from the actual center of gravity point to the theoretical center of gravity origin. The judgment unit is connected to the receiving unit for judging whether the distance from the actual center of gravity point to the theoretical center of gravity origin is within the theoretical center of gravity range. The counterweight adjustment part is connected to the judgment unit for adjusting the distance from the actual center of gravity point to the theoretical center of gravity origin within the theoretical center of gravity range when the distance from the actual center of gravity point to the theoretical center of gravity origin exceeds the theoretical center of gravity range, so as to ensure that the distance from the actual center of gravity point to the theoretical center of gravity origin is within the theoretical center of gravity range and ensure the balanced flight of the UAV.

[0060] Based on the above specific embodiments, the counterweight adjustment part includes:

[0061] A calculation unit connected to the judgment unit for calculating the parameter values of the counterweight of the UAV during leveling according to the distance from the actual center of gravity point to the theoretical center of gravity origin and the theoretical center of gravity origin;

[0062] An adjustment execution unit connected to the calculation unit for adjusting the counterweight according to the parameter values of the counterweight calculated by the calculation unit.

[0063] In practical applications, the counterweight adjustment part includes a calculation unit and an adjustment execution unit. The calculation unit is connected to the judgment unit. When the unit judges that the distance from the actual center of gravity point to the theoretical center of gravity origin is not within the theoretical center of gravity range, the calculation unit can calculate the parameter values such as the weight and position of the counterweight required to adjust the center of gravity of the UAV to the theoretical center of gravity range under the current distance from the actual center of gravity point to the theoretical center of gravity origin and the weight of the UAV.

[0064] After the calculation unit calculates the parameter values such as the weight and position of the counterweight, it sends an adjustment signal to the adjustment execution unit to control the adjustment execution unit to adjust the counterweight to the parameter values, that is, to increase or decrease the counterweight or adjust the position of the counterweight, so as to ensure that the distance from the actual center of gravity point to the theoretical center of gravity origin is within the theoretical center of gravity range and ensure the balanced flight of the UAV.

[0065] It should be noted that in order to improve the accuracy of the center of gravity of the UAV, the calculation unit can calculate the parameter values such as the weight and position of the counterweight required when the center of gravity of the UAV is adjusted to the theoretical center of gravity origin.

[0066] Based on the above specific embodiments, the surface of the front cushion block 2 has a front positioning surface in contact with the front bottom surface of the UAV, the surface of the rear cushion block 1 has a rear positioning surface in contact with the rear bottom surface of the UAV, and a positioning vertical plate is provided at the rear end of the rear cushion block 1, and the rear end surface of the UAV abuts against the positioning vertical plate.

[0067] In a specific embodiment, the upper surface of the front cushion block 2 has an upper front positioning surface, and both sides specifically have side front positioning surfaces. After the unmanned aerial vehicle is placed on the front cushion block 2, the bottom surface of the front end of the unmanned aerial vehicle contacts the upper front positioning surface, and both sides of the front end of the unmanned aerial vehicle contact the side front positioning surfaces. The upper front positioning surface positions the vertical position of the front end of the unmanned aerial vehicle, and the front positioning surface positions both sides of the front end of the unmanned aerial vehicle.

[0068] Meanwhile, the surface of the rear cushion block 1 has an upper rear positioning surface and side rear positioning surfaces. The rear positioning surfaces contact the rear bottom surface and rear side surfaces of the unmanned aerial vehicle. The upper rear positioning surface positions the vertical position of the rear end of the unmanned aerial vehicle, and the rear positioning surfaces position both sides of the rear end of the unmanned aerial vehicle.

[0069] In order to obtain the accurate position of the actual center of gravity of the unmanned aerial vehicle, it is necessary to position the front and rear ends of the unmanned aerial vehicle. A positioning vertical plate is provided at the rear end of the rear cushion block 1. After the unmanned aerial vehicle is placed on the cushion block, the rear end surface of the unmanned aerial vehicle abuts against the positioning vertical plate, which can limit the relative front and rear positions of the unmanned aerial vehicle and the cushion block, ensure the accurate relative position of the unmanned aerial vehicle and the cushion block, ensure accurate weighing by the weighing mechanism, and obtain an accurate calculated center of gravity position, so as to accurately adjust the position of the unmanned aerial vehicle and ensure stable flight of the unmanned aerial vehicle.

[0070] Based on the above various specific embodiments, the base includes a front base 5 for installing the front cushion block 2 and a rear base 4 for installing the rear cushion block 1. The front base 5 and the rear base 4 are connected by a hinge mechanism. When in use, the front base 5 and the rear base 4 are placed along the horizontal plane, and the front base 5 and the rear base 4 have the same height; when not in use, the front base 5 and the rear base 4 rotate and fold back to back.

[0071] In a specific embodiment, the base includes a front base 5 and a rear base 4. The front cushion block 2 is installed on the surface of the front base 5, and the rear cushion block 1 is installed on the surface of the rear base 4. The front base 5 and the rear base 4 are connected by a hinge mechanism. The front base 5 and the rear base 4 can rotate around the hinge mechanism. When in use, the front base 5 and the rear base 4 are unfolded and the front base 5 and the rear base 4 are flush and on the same horizontal plane. When not in use, the front base 5 and the rear base 4 are folded and put away. Specifically, the front base 5 and the rear base 4 rotate outwards, and the front base 5 and the rear base 4 rotate and fit back to back, with the front cushion block 2 and the rear cushion block 1 facing outwards, folding up the center of gravity weighing device, reducing the occupied area and being convenient to carry.

[0072] Preferably, the hinge mechanism can be a rotating shaft, which has a simple structure, or it can be a hinge 7. The pages of the hinge 7 are connected to the connection part of the front base 5 and the rear bottom surface by screws. The front base 5 and the rear bottom surface rotate around the rotating shaft of the hinge 7 to realize the unfolding and folding of the base, and the rotation is smooth and stable.

[0073] Based on the above various specific embodiments, the theoretical center of gravity origin of the drone is located on the connection line between the front base 5 and the rear base 4, and the connection line between the front base 5 and the rear base 4 is perpendicular to the center line of the drone.

[0074] In a specific embodiment, the length dimensions of the front base 5 and the rear base 4 are reasonably designed so that the connection line between the front base 5 and the rear base 4 coincides with the position of the theoretical center of gravity origin of the drone. By observing the connection line between the front base 5 and the rear base 4, the position where the theoretical center of gravity origin of the drone is located can be quickly obtained, making the theoretical center of gravity origin of the drone concrete and visualized. The distance from the actual center of gravity point of the drone to the theoretical center of gravity origin is also the distance from the actual center of gravity point to the connection line between the front base 5 and the rear base 4, which is more intuitive.

[0075] Based on the above various specific embodiments, three support columns 9 are connected to the bottom surface of the base. One of them is arranged at the first end of the base, and the other two are arranged at the second end of the base. The connection line of the two support columns 9 at the second end is perpendicular to the center line of the drone.

[0076] In a specific embodiment, according to the fact that three points determine a plane, three support columns 9 are arranged on the base. Specifically, holes are drilled at specific positions on the base and screws are installed as the support points of the base. The bottom surface heights of the three support columns 9 are equal, and the bottom surfaces of the three support columns 9 are in contact with the working surface of the weighing mechanism. The contact between point and surface is good, and the front and rear weights of the drone can be accurately measured; the lever arm position from the origin to the support point can be quickly and accurately found and the lever arm distance can be measured.

[0077] Based on the above various specific embodiments, the working surfaces of the front weighing mechanism 6 and the rear weighing mechanism 8 are along the horizontal plane and have the same height. After the support columns 9 support on the working surface, the drone is in a horizontal state, and the weighing of the drone by the front weighing mechanism 6 and the rear weighing mechanism 8 is more real and accurate.

[0078] Based on the above various specific embodiments, a leveling mechanism is further included for leveling the working surfaces of the front weighing mechanism 6 and the rear weighing mechanism 8.

[0079] A plurality of leveling mechanisms are installed at the bottoms of the front weighing mechanism 6 and the rear weighing mechanism 8, and the height of the leveling mechanism is adjustable. Through the leveling mechanism, not only can the working surfaces of the front weighing mechanism 6 and the rear weighing mechanism 8 be leveled respectively, but also the working surfaces of the front weighing mechanism 6 and the rear weighing mechanism 8 can be leveled. The adjustment is convenient and precise.

[0080] More specifically, the leveling mechanism includes a height sensor, a position sensor and a leveling part. The height sensor is installed on the working surface of the front weighing mechanism 6, and the position sensor is installed on the working surface of the rear weighing mechanism 8.

[0081] The height sensor detects the height of the working surface of the front weighing mechanism 6, and the position sensor detects the position of the height of the working surface of the rear weighing mechanism 8.

[0082] The leveling unit is connected to the height sensor and the position sensor. When the height of the working surface of the current front weighing mechanism 6 is not equal to the height of the working surface of the rear weighing mechanism 8, it controls the height of the working surface of the front weighing mechanism 6 to be leveled with the height of the working surface of the rear weighing mechanism 8, ensuring that the working surfaces of the front weighing mechanism 6 and the rear weighing mechanism 8 are level.

[0083] In a preferred embodiment, a plurality of height sensors are arranged on the working surface of the front weighing mechanism 6, respectively arranged at the corners of the working surface of the front weighing mechanism 6. The leveling unit is connected to the plurality of height sensors. When the heights of the respective corners of the working surface of the front weighing mechanism 6 are not equal, it controls the heights of the respective corners of the working surface of the front weighing mechanism 6 to be leveled, ensuring that the working surface of the front weighing mechanism 6 is horizontal.

[0084] Similarly, a plurality of position sensors are arranged on the working surface of the rear weighing mechanism 8, respectively arranged at the corners of the working surface of the rear weighing mechanism 8. The leveling unit is connected to the plurality of position sensors. When the heights of the respective corners of the working surface of the rear weighing mechanism 8 are not equal, it controls the heights of the respective corners of the working surface of the rear weighing mechanism 8 to be leveled, ensuring that the working surface of the rear weighing mechanism 8 is horizontal.

[0085] In this specification, each embodiment is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other.

[0086] The above has introduced in detail the portable UAV gravity weighing device provided by the present invention. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention. It should be pointed out that for those of ordinary skill in the art in this technical field, without departing from the principle of the present invention, several improvements and modifications can still be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention. Therefore, the present invention will not be limited to these embodiments shown in this article, but will conform to the widest scope consistent with the principles and novel features disclosed in this article.

Claims

1. A portable drone center of gravity weighing device, characterized in that: The invention comprises a base, a front pad (2) and a rear pad (1) mounted on the base, and a front weighing mechanism (6) and a rear weighing mechanism (8) respectively located below the front pad (2) and the rear pad (1), wherein the front support point and the rear support point of the base are respectively placed on the working surfaces of the front weighing mechanism (6) and the rear weighing mechanism (8), and the front end and the rear end of the drone are respectively placed on the front pad (2) and the rear pad; and further comprises a method according to The center of gravity calculation mechanism is used to calculate the distance X from the actual center of gravity of the drone to the theoretical center of gravity origin, where G1 and G2 are the readings of the front weighing mechanism (6) and the rear weighing mechanism (8), respectively, L1 is the distance from the front support point to the theoretical center of gravity origin, and L2 is the distance from the rear support point to the theoretical center of gravity origin.

2. The portable drone center of gravity weighing device according to claim 1, characterized in that: It also includes a center of gravity adjustment mechanism, which is connected to the center of gravity calculation mechanism and is used to adjust the distance from the actual center of gravity to the theoretical center of gravity origin to within the theoretical center of gravity range when the distance from the actual center of gravity to the theoretical center of gravity origin exceeds the theoretical center of gravity range.

3. The portable drone center of gravity weighing device according to claim 2, characterized in that: The center of gravity adjustment mechanism comprises: A receiving unit for receiving distance information from the actual center of gravity to the theoretical center of gravity origin; A judging unit connected to the receiving unit and used to judge whether the distance from the actual center of gravity to the theoretical center of gravity origin is within the range of the theoretical center of gravity; A counterweight adjustment part connected to the judgment unit and used for adjusting the distance from the actual center of gravity to the theoretical center of gravity origin to within the theoretical center of gravity range when the distance from the actual center of gravity to the theoretical center of gravity origin exceeds the theoretical center of gravity range.

4. The portable drone center of gravity weighing device according to claim 3, characterized in that: The counterweight adjustment unit comprises: A calculation unit connected to the judgment unit, used to calculate the parameter value of the counterweight body when the drone is leveled according to the distance from the actual center of gravity to the theoretical center of gravity origin and the theoretical center of gravity origin; An adjustment execution unit connected to the calculation unit and used for adjusting the counterweight according to the counterweight body parameter value calculated by the calculation unit.

5. The portable drone center of gravity weighing device according to any one of claims 1 to 4, characterized in that: The surface of the front pad (2) has a front positioning surface in contact with the front bottom surface of the drone, the surface of the rear pad (1) has a rear positioning surface in contact with the rear bottom surface of the drone, and the rear end of the rear pad (1) is provided with a positioning vertical plate, and the rear end surface of the drone abuts against the positioning vertical plate.

6. The portable drone center of gravity weighing device according to any one of claims 1 to 4, characterized in that: The base comprises a front base (5) for mounting the front cushion block (2) and a rear base (4) for mounting the rear cushion block (1); the front base (5) and the rear base (4) are connected via a hinge mechanism; when in use, the front base (5) and the rear base (4) are placed along a horizontal plane, and the front base (5) and the rear base (4) are at the same height; when not in use, the front base (5) and the rear base (4) are rotated and folded back to back.

7. The portable drone center of gravity weighing device according to claim 6, characterized in that: The theoretical center of gravity of the drone is located on a connection line between the front base (5) and the rear base (4), and the connection line between the front base (5) and the rear base (4) is perpendicular to the center line of the drone.

8. The portable drone center of gravity weighing device according to claim 7, characterized in that: The bottom surface of the base is connected to three support columns (9), one of which is arranged at the first end of the base, and the other two are arranged at the second end of the base, and the line connecting the two support columns (9) at the second end is perpendicular to the center line of the drone.

9. The portable drone center of gravity weighing device according to any one of claims 1 to 4, characterized in that: The working surfaces of the front weighing mechanism (6) and the rear weighing mechanism (8) are along a horizontal plane and have the same height, and also include a leveling mechanism for leveling the working surfaces of the front weighing mechanism (6) and the rear weighing mechanism (8).

10. The portable drone center of gravity weighing device according to claim 9, characterized in that: The leveling mechanism comprises: A height sensor for detecting the height of the working surface of the front weighing mechanism (6); A position sensor for detecting the height of a working surface of the rear weighing mechanism (8); A leveling part connected to the height sensor and the position sensor, and used to control the height of the working surface of the front weighing mechanism (6) to be level with the height of the working surface of the rear weighing mechanism (8) when the height of the working surface of the front weighing mechanism (6) is not equal to the height of the working surface of the rear weighing mechanism (8).

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