Automatic measuring device for gravity center of unmanned aerial vehicle

Abstract

The utility model discloses an unmanned aircraft gravity center automatic measuring device, and belongs to the technical field of unmanned aircraft gravity center measurement. Comprising a hoisting module and two weighing modules installed below the hoisting module, and the two weighing modules are connected with the front end and the rear end of the unmanned aerial vehicle through ropes wound by a winding mechanism; the lifting module serves as a supporting part of the whole device, is located at the top of the device and can suspend the unmanned aerial vehicle during working. The two groups of weighing modules are respectively used for measuring the weight values of the two ends of the unmanned aerial vehicle; the winding mechanism can wind and unwind the rope and is used for adjusting the lifting height of the two ends of the unmanned aerial vehicle. The utility model solves the problems that the operation process is tedious and complicated, and the requirements on the workload and experience of operators are extremely high.

Description

Technical Field

[0001] This utility model belongs to the field of unmanned aerial vehicle (UAV) center of gravity measurement technology, specifically relating to an automatic UAV center of gravity measurement device. Background Technology

[0002] The stability of an unmanned aerial vehicle (UAV) is primarily affected by the position of its center of gravity (COP) along its longitudinal axis. A COP located forward of the aerodynamic center results in stable flight, while a COP located aft leads to instability. The distance between the COP and the aerodynamic center determines the UAV's maneuverability. A shift in the COP can cause attitude control problems during flight and even lead to crashes. By measuring the COP, these shifts can be detected and corrected promptly, thus preventing flight accidents.

[0003] Traditionally, the measurement of the center of gravity of unmanned aerial vehicles (UAVs) has relied primarily on manual operation, reading, and calculation. Operators need to use a range of specialized tools and equipment, such as precision levels and sturdy adjustment brackets, to level the UAV. After leveling, operators must use other measuring tools, such as high-precision rulers and sensitive weighing instruments, to measure the UAV's center of gravity. This step is tedious and complex, demanding a high level of experience and workload from the operators. Furthermore, due to the intervention of human factors, the accuracy and reliability of the measurement results are often difficult to guarantee completely.

[0004] Therefore, this utility model provides an automatic center of gravity measurement device for unmanned aerial vehicles to meet the requirements. Summary of the Invention

[0005] The technical problem to be solved:

[0006] To overcome the shortcomings of existing technologies, this invention provides an automatic center of gravity measurement device for unmanned aerial vehicles (UAVs). A lifting module horizontally suspends the front and rear ends of the UAV, and weighing modules at both ends acquire the weight values ​​of the front and rear ends. This invention solves the problems of cumbersome and complex operation processes that require a high level of workload and experience from operators. It also addresses the issue that the accuracy and reliability of measurement results are often difficult to guarantee due to human intervention.

[0007] The technical solution of this utility model is: an automatic center of gravity measuring device for unmanned aerial vehicles, including a lifting module and two sets of weighing modules installed below it. The two sets of weighing modules are respectively connected to the front and rear ends of the unmanned aerial vehicle 6 through ropes wound by a winding mechanism 5.

[0008] The lifting module, which serves as the support for the entire device, is located at the top of the device and can suspend the unmanned aircraft 6 during operation.

[0009] The two sets of weighing modules are used to measure the weight values ​​at both ends of the unmanned aerial vehicle 6, respectively.

[0010] The winding mechanism 5 can wind up and unwind the rope to adjust the lifting height at both ends of the unmanned aerial vehicle 6.

[0011] A further technical solution of this utility model is: the lifting module includes a lifting ring 2 and a lifting rod 1 connected below it by a sling 3, wherein the axial direction of the lifting rod 1 is in the horizontal direction.

[0012] A further technical solution of this utility model is: the weighing module is an electronic crane scale 4, including a sensor, a scale frame and a weighing display instrument, a transmitting and receiving device, and a load-bearing hook; two sets of weighing modules are symmetrically arranged below both ends of the boom 1, and a winding mechanism 5 is respectively hung on the load-bearing hook; the transmitting and receiving device is connected to the host computer via wired or wireless connection to send weight information to the host computer.

[0013] A further technical solution of this utility model is as follows: the winding mechanism 5 includes a housing 51 and a winding reel 54 installed therein, and a winding drive assembly installed thereon. The top of the housing 51 is connected to the load-bearing hook of the weighing module through a weighing ring 52. The winding reel 54 is rotatably connected inside the housing 51, and a rope is wound on it. The fixed end of the rope is fixed to the winding reel 54, and the free end extends out of the winding mechanism 5 and connects to the unmanned aerial vehicle 6. The winding drive assembly is used to drive the directional rotation of the winding reel 54.

[0014] A further technical solution of this utility model is as follows: the winding drive assembly includes a rotating shaft 53, a ratchet 55 and a pawl 56 mounted on the rotating shaft 53. One end of the rotating shaft 53 passes through the housing 51 and is coaxially connected to the winding reel 54 inside the housing 51. The ratchet 55 is coaxially mounted on the other end of the rotating shaft 53 located outside the housing 51, and the pawl 56 is rotatably connected to the side plate of the housing 51. The pawl 56 is limited by engaging with the ratchet 55 through a limiting assembly. The fixed end of the pawl 56 is rotatably connected to the housing 51, and its free end extends into the tooth groove of the ratchet 55.

[0015] The limiting assembly includes a tension spring 59 and a first mounting rod 511 and a second mounting rod 561 installed at both ends thereon. The first mounting rod 511 is fixed to the housing 51 plate on the side of the mounting ratchet 55, and the second mounting rod 561 is fixed to the free end of the pawl 56.

[0016] A further technical solution of this utility model is: a driving part is installed at one end of the rotating shaft 53 outside the housing 51, and the driving part is a rocker arm 57 installed at the outer end of the rotating shaft 53.

[0017] A further technical solution of this utility model is: a drive wheel 58 is installed at one end of the rotating shaft 53 outside the housing 51. The drive wheel 58 is connected to the power equipment through a transmission component. The power equipment drives the transmission component, thereby driving the drive wheel 58 to rotate.

[0018] A further technical solution of this utility model is: a push rod 562 is also installed at the free end of the pawl 56, and the pawl 56 can be disengaged from the ratchet 55 by means of the push rod 562.

[0019] A further technical solution of this utility model is: a pulley group 9 for slowing down the descent speed of the rope is rotatably connected below the winding reel 54 inside the housing 51. The pulley group 9 includes multiple pulleys arranged in parallel along the axis, and the rope passes through the pulley group 9 in a wave-like manner to achieve deceleration.

[0020] A further technical solution of this utility model is: an electronic level 8 is horizontally installed on the unmanned aircraft 6.

[0021] Beneficial effects

[0022] The beneficial effects of this utility model are as follows: Through a simple weighing structure design, this utility model solves the problems of cumbersome operation, low accuracy, and poor safety in traditional unmanned aerial vehicle (UAV) center of gravity measurement, thus possessing high practical value and promising prospects for widespread application. Specific advantages are analyzed below:

[0023] 1. Automated measurement, reduced manual operation: Through the cooperation of the lifting and weighing modules, the center of gravity of the unmanned aerial vehicle (UAV) is automatically measured, avoiding the tedious leveling and measurement steps required in traditional manual operation. Operators can complete the measurement with simple operations, greatly reducing workload and operational difficulty.

[0024] 2. Improved Measurement Accuracy and Reliability: Since the measurement process is automated by the electronic crane scale and computer, human error is reduced, ensuring the accuracy and reliability of the measurement results. The introduction of an electronic level further guarantees the levelness of the unmanned aerial vehicle during the measurement process, avoiding measurement errors caused by horizontal deviations.

[0025] 3. Simple operation and wide applicability: This device has a simple structure and is easy to operate, making it suitable for measuring the center of gravity of various unmanned aerial vehicles. Whether indoors or outdoors, measurements can be taken simply by installing the hanging ring at a high position, demonstrating strong versatility and adaptability.

[0026] 4. High safety: The winding mechanism and pulley system ensure smooth ascent and descent of the UAV during measurement, preventing equipment damage or accidents caused by excessive weight or improper operation. The pulley system's deceleration function further guarantees the safety of the UAV during descent.

[0027] 5. Improved efficiency and time savings: Traditional manual measurement methods are time-consuming, while this device significantly reduces measurement time and improves work efficiency through automated measurement. Its advantages are particularly evident in scenarios requiring frequent or batch measurements.

[0028] 6. Reduced reliance on operator experience: Traditional measurement methods require a high level of operator experience, while this device automatically calculates the center of gravity value through a computer, reducing reliance on operator experience and lowering the operating threshold.

[0029] 7. High scalability: The device can achieve automatic winding through power equipment, which further improves the convenience and automation of operation, and is especially suitable for measurement scenarios of heavy unmanned aerial vehicles. Attached Figure Description

[0030] Figure 1 A schematic diagram of an automatic center of gravity measurement device for unmanned aerial vehicles;

[0031] Figure 2 This is a three-dimensional structural diagram of the winding mechanism;

[0032] Figure 3 This is a side view of the winding mechanism.

[0033] Explanation of reference numerals in the attached drawings: 1. Lifting rod; 2. Lifting ring; 3. Lifting sling; 4. Electronic crane scale; 5. Rewinding mechanism; 51. Housing; 511. First mounting rod; 52. Weighing ring; 53. Rotating shaft; 54. Rewinding reel; 55. Ratchet; 56. Pad; 561. Second mounting rod; 562. Push rod; 57. Rocker arm; 58. Drive wheel; 59. Tension spring;

[0034] 6. Unmanned aerial vehicle; 7. Tungsten wire rope; 8. Electronic level; 9. Pulley block. Detailed Implementation

[0035] The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0036] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0037] Addressing the issues of cumbersome and complex traditional measurement methods, which place high demands on operator experience and workload, this invention provides an automatic center of gravity measurement device for unmanned aerial vehicles (UAVs). The device includes a lifting module and two weighing modules mounted below it. The two weighing modules are connected to the front and rear ends of the UAV via ropes wound by a winding mechanism. The lifting module, located at the top of the device, serves as the support for the entire system, suspending the UAV in the air during operation. The two weighing modules measure the weight at both ends of the UAV, providing data for center of gravity calculation. The winding mechanism can retract and extend the ropes to adjust the lifting height at both ends of the UAV, ensuring it remains horizontal during weighing and effectively avoiding the problem of excessively high requirements for operator experience.

[0038] The above technical solution will be further explained below with reference to the accompanying drawings:

[0039] In one embodiment, refer to Figure 1 As shown in the figure, this embodiment of an automatic center of gravity measuring device for unmanned aerial vehicles includes a boom 1, a lifting ring 2, a sling 3, an electronic crane scale 4, a winding mechanism 5, an unmanned aerial vehicle 6, a tungsten wire rope 7 (i.e., a rope), and an electronic level 8. The boom 1 and the lifting ring 2 are connected by the sling 3. The lifting ring 2 is installed at a high position (e.g., when operating indoors, the lifting ring 2 is suspended from the roof of the work site; when operating outdoors, the lifting ring 2 is suspended in the lifting equipment).

[0040] The two ends of the boom 1 are equipped with electronic crane scales 4 via hooks. The electronic crane scales 4 transmit data wirelessly or via wired connection to a computer. A winding mechanism 5 is installed at the weighing point of the electronic crane scales 4. (Refer to...) Figure 2 As shown, the winding mechanism 5 includes a housing 51, a weighing ring 52 is provided on the top of the housing 51, the weighing ring 52 is fitted onto the weighing point of the electronic crane scale 4, a rotating shaft 53 is rotatably connected to the housing 51 via a rotating shaft, one end of the rotating shaft 53 extends to the side of the housing 51, and a winding reel 54 for winding tungsten wire rope 7 is fixed on the rotating shaft 53, the winding reel 54 is located inside the housing 51;

[0041] The unmanned aircraft 6 is placed at a low position, and the tungsten wire rope 7 in the reel 54 is connected to the unmanned aircraft 6. Specifically, lifting rings are installed at the front and rear ends of the unmanned aircraft 6, and the tungsten wire rope 7 is wound in the lifting rings or hung in the lifting rings.

[0042] The specific workflow in the above embodiment is as follows: the lifting ring 2 is installed at a high place (roof or lifting equipment), the electronic crane scale 4 is installed at both ends of the boom 1, the winding mechanism 5 is suspended at the weighing point of the electronic crane scale 4, the tungsten wire rope 7 in the winding reel 54 is connected to the drone 6, and the drone is lifted away from the low place and suspended in the air by rotating the shaft 53 to make the winding reel 54 wind up. The center of gravity calculation data is obtained through the weighing data on the electronic crane scale 4, and the accurate center of gravity value is calculated by the computer.

[0043] The weight data on the electronic crane scale 4 should be reduced by the weight of the winding mechanism 5 and the tungsten wire rope 7.

[0044] In one embodiment, refer to Figure 1 As shown, an electronic level 8 is installed on the unmanned aerial vehicle (UAV) 6, and the electronic level 8 is horizontally installed on the plane of the UAV 6. The electronic level 8 is wirelessly or wiredly transmitted to the computer. By horizontally installing the electronic level 8 on the UAV 6, when the UAV 6 is hoisted, the electronic level 8 feeds back the level of the suspended UAV 6 to the computer. If one end is not on the horizontal plane, the tungsten wire rope 7 is contracted by rotating the winding reel 54 of the winding mechanism 5 in the electronic crane scale 4 at one end, thereby adjusting the level of both ends of the UAV 6 when suspended, ensuring the accuracy of the leveling work.

[0045] In one embodiment, refer to Figure 2 and Figure 3 As shown, a ratchet 55 is fixed on the extended end of the rotating shaft 53. A pawl 56 is rotatably connected to one side of the ratchet 55 on the housing 51 via a connecting rod. The pawl 56 engages with the ratchet 55 for limiting. The ratchet 55 and the pawl 56 cooperate to limit the movement, preventing the tungsten wire rope 7 from slipping due to the weight of the drone 6 when it is horizontally suspended. This would cause the drone 6 to deviate from its horizontal position and result in inaccurate measurement data.

[0046] Specifically, when the ratchet 55 rotates, it causes the pawl 56 to move upward, thereby disengaging the pawl 56 from the tooth groove of the ratchet 55. When it reaches the next tooth groove, the pawl 56 engages in the tooth groove, restricting the rotation of the ratchet 55.

[0047] In one embodiment, refer to Figure 2 and Figure 3As shown, a first mounting rod 511 is fixed on the side of the ratchet 55 on the housing 51, and a second mounting rod 561 is fixed on the side of the pawl 56. A tension spring 59 is installed between the first mounting rod 511 and the second mounting rod 561. The two ends of the tension spring 59 are respectively sleeved on the first mounting rod 511 and the second mounting rod 561. The tension spring 59 prevents the pawl 56 from being unable to accurately engage with the next tooth groove when it is lifted away from the tooth groove of the ratchet 55, which would cause the ratchet 55 to rotate and cause the hovering unmanned aircraft 6 to change horizontally.

[0048] In one embodiment, refer to Figure 2 As shown, a push rod 562 is also fixed on the pawl 56 and on one side of the second mounting rod 561. By pushing the push rod 562 upward, the pawl 56 is dislodged from the tooth groove of the ratchet 55, causing the rotating shaft 53 to drive the winding reel 54 to rotate, thereby placing the unmanned aircraft 6 after the measurement is completed at a low position.

[0049] In one embodiment, refer to Figure 2 and Figure 3 As shown, the end of the rotating shaft 53 is provided with a rocker arm 57 that drives the rotating shaft 53 to rotate. By rotating the rocker arm 57, the winding reel 54 on the rotating shaft 53 is driven to rotate, thereby winding up the tungsten wire rope 7 and lifting the unmanned aircraft 6 away from the low position.

[0050] In one embodiment, refer to Figure 3 As shown, a drive wheel 58 is also fixed on the rotating shaft 53. The drive wheel 58 is connected to the power equipment through a transmission component. The drive wheel 58 is a pulley or gear, the transmission component is a belt or chain, and the power equipment is a motor. The main drive wheel is installed on the drive end of the power equipment and drives the drive wheel 58 to rotate in conjunction with the transmission component. This drives the winding reel 54 on the rotating shaft 53 to rotate and wind up the tungsten wire rope 7, so that the unmanned aircraft 6 is lifted away from the low position, thereby achieving the purpose of automatic winding. At the same time, it can avoid the situation where the resistance is too great and the rocker arm 57 cannot be rocked when measuring the heavy unmanned aircraft 6 by manually shaking it.

[0051] When the drive wheel 58 is used for driving, after the UAV 6 is suspended horizontally, the transmission component should be removed from the drive wheel 58 to prevent the weight of the transmission component from causing inaccurate measurement data.

[0052] In one embodiment, refer to Figure 3As shown, a pulley block 9 is rotatably connected to the housing 51 and located below the reel 54. The pulley block 9 slows down the descent speed of the tungsten wire rope 7. The tungsten wire rope 7 is arranged in an "S"-shaped wave pattern in the pulley block 9. When the push rod 562 drives the pawl 56 to disengage from the tooth groove of the ratchet 55, the pulley block 9 increases the friction with the tungsten wire rope 7, causing the tungsten wire rope 7 to descend slowly. This prevents the unmanned aerial vehicle 6 from being too heavy and descending too fast, thus avoiding impact with a low point and damage to the unmanned aerial vehicle 6.

[0053] Specifically, the “S”-shaped wave setting is implemented as follows: the tungsten wire rope 7 first passes from the right side of the first pulley to the left side of the second pulley, and then repeats in this manner. By increasing the number of pulleys, the friction between the pulleys and the tungsten wire rope 7 can be increased, thereby slowing down the descent speed.

[0054] The computer used for calculation in the above embodiments includes a processor and a memory. The memory stores multiple program modules, which are loaded by the processor to calculate the unmanned aerial vehicle's center of gravity measurement data. The specific measurement formula is as follows:

[0055] C = w1 / w2

[0056] In the formula, C is the center of gravity, w1 is the measured weight value of one end of the electronic crane scale 4, and w2 is the measured weight value of the other end of the electronic crane scale 4.

[0057] The working principle provided by this utility model is as follows: when in use, the electronic crane scale 4 is installed at both ends of the boom 1, the winding mechanism 5 is suspended at the weighing point of the electronic crane scale 4, the lifting ring 2 is installed at a high position, and the tungsten wire rope 7 in the winding reel 54 is connected to the unmanned aircraft 6.

[0058] By rotating the rocker arm 57 or the drive wheel 58, the winding reel 54 on the shaft 53 is rotated, thereby retracting the tungsten wire rope 7 and lifting the drone 6 away from the low position (the height is more than 50 cm, ensuring that the drone 6 is suspended in the air).

[0059] When the drone 6 is lifted, the electronic level 8 feeds back the level of the suspended drone 6 to the computer. If one end is not on the horizontal plane, the tungsten wire rope 7 is contracted by rotating the rocker arm 57 or the drive wheel 58 to rotate the winding reel 54 of the winding mechanism 5 in the electronic crane scale 4 at one end, thereby adjusting the level of both ends of the drone 6 when it is suspended. The computer obtains the parallel data of the electronic level 8 until the suspended drone 6 is in a parallel state.

[0060] After leveling, the center value is calculated by computer using the weight measurements from the electronic crane scales 4 at both ends.

[0061] After the measurement is completed, the push rod 562 is pushed upward to cause the pawl 56 to disengage from the tooth groove of the ratchet 55, so that the rotating shaft 53 drives the winding reel 54 to rotate, thereby slowly placing the unmanned aircraft 6, which has completed the measurement, at a low position.

[0062] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention.

Claims

1. An unmanned aerial vehicle (UAV) center of gravity (CG) automatic measurement device, comprising: a UAV; a CG measurement device; a UAV control system; and a CG measurement device control system. Including hoist module and two groups of weighing module installed below it, the two groups of weighing module are connected with the front and rear ends of unmanned aerial vehicle (6) through the rope wound by winding mechanism (5) respectively; The hoist module serves as the support part of the whole device, is located at the top of the device and can suspend unmanned aerial vehicle (6) during work; The two groups of weighing module are used for measuring the weight values of the two ends of unmanned aerial vehicle (6) respectively; The winding mechanism (5) can wind and unwind the rope and is used for adjusting the hoisting height of the two ends of unmanned aerial vehicle (6).

2. The device for automatically measuring the center of gravity of a UAV according to claim 1, wherein: The hoist module comprises a lifting ring (2) and a lifting rod (1) connected below it through a sling (3), and the axial direction of the lifting rod (1) is horizontal.

3. The apparatus of claim 2, wherein: The weighing module is an electronic sling scale (4) comprising a sensor, a scale frame, a weighing display instrument, a transmitting and receiving device and a load-bearing hook; two groups of weighing module are symmetrically arranged below the two ends of the lifting rod (1), and the load-bearing hooks thereof are respectively hung with winding mechanisms (5); the transmitting and receiving device is connected with the upper computer through wire or wireless, and sends weight information to the upper computer.

4. The apparatus according to claim 3, wherein: The winding mechanism (5) comprises a shell (51), a winding disc (54) installed in the shell (51), a winding drive assembly installed on the shell (51), the top of the shell (51) is connected with the load-bearing hook of the weighing module through a weighing lifting ring (52), the winding disc (54) is rotationally connected in the shell (51), a rope is wound on the winding disc (54), the fixed end of the rope is fixed on the winding disc (54), and the free end of the rope extends out of the winding mechanism (5) and is connected with the unmanned aerial vehicle (6), and the winding drive assembly is used for driving the directional rotation of the winding disc (54).

5. The apparatus of claim 4, wherein: The winding drive assembly comprises a rotating shaft (53), a ratchet wheel (55) and a pawl (56) sleeved on the rotating shaft (53), one end of the rotating shaft (53) penetrates through the shell (51) and is coaxially connected with the winding disc (54) in the shell (51), the end of the rotating shaft (53) located outside the shell (51) is coaxially installed with the ratchet wheel (55), and the pawl (56) is rotationally connected to the side plate surface of the shell (51), the pawl (56) is engaged and limited with the ratchet wheel (55) through a limiting assembly, and the fixed end of the pawl (56) is rotationally connected with the shell (51), and the free end of the pawl (56) extends to the tooth groove of the ratchet wheel (55); The limiting assembly comprises a tension spring (59), a first mounting rod (511) and a second mounting rod (561) installed at two ends of the tension spring (59), the first mounting rod (511) is fixed on the side plate surface of the shell (51) where the ratchet wheel (55) is installed, and the second mounting rod (561) is fixed on the free end of the pawl (56).

6. The apparatus of claim 5, wherein: The end of the rotating shaft (53) located outside the shell (51) is provided with a driving part, and the driving part is a rocker arm (57) installed on the outer end of the rotating shaft (53).

7. The apparatus of claim 5, wherein: The end of the rotating shaft (53) located outside the shell (51) is provided with a driving wheel (58), the driving wheel (58) is drivingly connected with the power equipment through a transmission member, the power equipment drives the transmission member, and then drives the driving wheel (58) to rotate.

8. The apparatus of claim 5, wherein: The free end of the pawl (56) is further provided with a push rod (562), and the pawl (56) can be separated from the ratchet wheel (55) through the push rod (562).

9. The apparatus of any one of claims 4-8, wherein: The shell (51) is rotationally connected with a pulley block (9) below the winding disc (54) for slowing down the rope descending speed, the pulley block (9) comprises a plurality of axially parallel arranged pulleys, and the rope is wavedly passed through the pulley block (9) to realize the speed reduction.

10. The apparatus of claim 9, wherein: The electronic level (8) is horizontally installed on the unmanned plane (6).

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