Flight test equipment and flight test methods for unmanned aerial vehicles

Abstract

The objective is to provide a flight test device that, despite its simple mechanism, enables safe and easy flight testing of unmanned aerial vehicles. [Solution] The flight test device A includes a support frame body 1, a wire 2, a drone holder 3, and a landing plate 4. The support frame body 1 includes a base frame 10, a vertical frame 11, and an upper frame 12. The drone holder 3 consists of a frame-shaped main body 30, an upper wire attachment 31, and a lower wire attachment 32. The drone holder 3 holds the body of the drone D, and both ends of the wire are fixed to the upper wire attachment 31 or the lower wire attachment 32, connecting the wire 2 to the body of the drone D.

Description

Technical Field

[0001] The present invention relates to a flight test device and a method for flight testing an unmanned aircraft. More specifically, the present invention relates to a flight test device and a method for flight testing an unmanned aircraft that, while having a simple mechanism, can perform a safe and easy flight test of an unmanned aircraft.

Background Art

[0002] In recent years, unmanned aircraft, so-called drones, have been utilized in a wide range of fields, including infrastructure maintenance management, agriculture, and logistics.

[0003] There are various types of unmanned aircraft, ranging from small ones weighing less than 100 g with built-in cameras and used for surveying and inspection to large ones over 1 m in size capable of carrying loads and mounting tanks.

[0004] For these unmanned aircraft, a flight test is conducted to confirm whether safe flight is possible after manufacturing or when the airframe is repaired.

[0005] However, cases where normal flight cannot be achieved during the test are often seen due to poor connection of components such as sensors and motors, or inappropriate setting of parameters of PID control (Proportional-Integral-Differential Controller) for correcting the tilt of the airframe during flight.

[0006] For example, when conducting a flight test by actually flying an unmanned aircraft in an enclosed space such as outdoors in the same manner as normal flight, there is a risk that the aircraft will crash onto the ground or the like without being able to fly normally, resulting in damage to the airframe.

[0007] Under these circumstances, a device has been proposed that evaluates the flight performance of an unmanned aircraft without actually flying it while holding the airframe (see, for example, Non-Patent Document 1).

[0008] Here, the flight test device described in Non-Patent Document 1 is a device that holds an unmanned aerial vehicle at the tip of a robot, controls the rotation of the motor via software, and makes the robot move in accordance with the tilt of the unmanned aerial vehicle's body to reproduce its behavior during flight.

[0009] Furthermore, the flight test device described in Non-Patent Document 1 allows for the analysis of motion performance and measurement of output performance during flight through flight simulation on a robot. [Prior art documents] [Non-patent literature]

[0010] [Non-Patent Document 1] ciRobotics Co., Ltd. Homepage, Large Drone Performance Evaluation Device Drone Analyzer, [online], [Searched December 17, 2024], Internet<URL:https: / / www.cirobotics.jp / products / 449 / #manual> [Overview of the project] [Problems that the invention aims to solve]

[0011] However, the flight test apparatus described in Non-Patent Document 1 is large and difficult to transport, so flight tests had to be conducted at the facility where the flight test apparatus was installed, making it difficult to easily carry out flight tests.

[0012] Furthermore, the flight test equipment described in Non-Patent Document 1 is extremely expensive, and conducting flight tests using it also incurs considerable costs. Therefore, it has been difficult to easily conduct flight tests of unmanned aerial vehicles from a cost perspective.

[0013] Furthermore, since unmanned aerial vehicles include aircraft built by owners themselves and aircraft that have been purchased and modified from commercially available models, and many small-sized aircraft are in use, there is a strong demand for the development of a test device with a simple mechanism that allows for easy flight testing, in order to accommodate a wide range of users.

[0014] This invention was conceived in view of the above points, and aims to provide a flight test device and a flight test method for unmanned aerial vehicles that enable safe and easy flight testing of unmanned aerial vehicles with a simple mechanism. [Means for solving the problem]

[0015] To achieve the above objectives, the flight test apparatus of the present invention comprises a predetermined base frame provided on the floor surface, a vertical frame erected vertically upward from the predetermined base frame, an upper frame provided on the upper side of the vertical frame and formed extending in a direction perpendicular to the vertical frame and parallel to the predetermined base frame, a pair of upper rollers rotatably provided at both ends of the upper frame, a pair of lower rollers rotatably provided on the predetermined base frame at a position vertically below each of the upper rollers, a wire stretched along the pair of upper rollers and the pair of lower rollers so as to be movable, a holding frame that can be attached to the upper and lower parts of the body of an unmanned aerial vehicle, having a first wire fixing part on its upper side to which one end of the wire can be fixed, and a second wire fixing part on its lower side to which the other end of the wire can be fixed, and a stopper part that restricts the movement of the wire accompanying the upward movement of the first wire fixing part at a height position before the rising first wire fixing part contacts the upper frame.

[0016] Here, a frame body to support an unmanned aerial vehicle can be constructed with a simple structure using a predetermined base frame provided on the floor surface, vertical frames erected vertically upward from the predetermined base frame, and an upper frame provided on the upper side of the vertical frame, extending in a direction perpendicular to the vertical frame and parallel to the predetermined base frame. Furthermore, due to its simple structure, it is easy to install and can be transported to a desired location for testing. In addition, a space of a certain height is formed between the tip of the upper frame and the predetermined base frame, and this space can be used as a space for the unmanned aerial vehicle to move.

[0017] Furthermore, a structure can be constructed by using a pair of upper rollers rotatably mounted at both ends of the upper frame, a pair of lower rollers rotatably mounted vertically below each upper roller on a predetermined base frame, and a wire stretched along the pair of upper rollers and the pair of lower rollers, thereby creating a wire stretched over a predetermined base frame, vertical frames, and the base frame.

[0018] Furthermore, the unmanned aerial vehicle (UAV) can be suspended via a wire and a support frame, which can be attached to the upper and lower parts of the UAV's body. The support frame has a first wire fixing part on the upper side to which one end of the wire can be fixed, and a second wire fixing part on the lower side to which the other end of the wire can be fixed. In other words, even if the UAV cannot fly normally and the aircraft tilts significantly, it can be supported by being suspended by the wire, preventing it from crashing to the ground. Also, since the UAV can be supported in the air even if stable flight is not possible, it becomes easier to verify the validity of PID control constants, which are parameters that correct the tilt of the aircraft during flight. In addition, it becomes possible to fly the UAV with external wind applied to verify its behavior when subjected to external forces.

[0019] Furthermore, by having a wire stretched movably along a pair of upper rollers and a pair of lower rollers, and a holding frame that can be attached to the upper and lower parts of the unmanned aerial vehicle's body, having a first wire fixing part on the upper side to which one end of the wire can be fixed, and a second wire fixing part on the lower side to which the other end of the wire can be fixed, the range in which the unmanned aerial vehicle can move can be restricted, and the wire moves along the pair of upper rollers and the pair of lower rollers in accordance with the movement of the unmanned aerial vehicle, thereby allowing the unmanned aerial vehicle to fly within a certain range. That is, the unmanned aerial vehicle can fly between the tip of the upper frame and a predetermined base frame, allowing it to move up and down or hover at a certain height. Also, for example, by using a wire with a certain elastic modulus, elastic elongation occurs when tension is applied to the wire while the unmanned aerial vehicle is flying, allowing the unmanned aerial vehicle to move horizontally or turn left and right. In addition, even if the movement of the unmanned aerial vehicle becomes uncontrollable, it can be prevented from flying far outside the range of the device.

[0020] Furthermore, at a height position before the rising first wire fixing part contacts the upper frame, a stopper part restricts the movement of the wire accompanying the upward movement of the first wire fixing part, thereby preventing the unmanned aerial vehicle from flying upward and coming into contact with the upper frame.

[0021] Furthermore, if the system includes a tension measuring unit that measures the tension generated in the wire as the first wire fixing unit attempts to rise, while the wire's movement is restricted by a stopper, the maximum thrust of the unmanned aerial vehicle during flight can be measured based on the tension measurement. In addition, by measuring the maximum thrust of the unmanned aerial vehicle at different times and checking the change in maximum thrust over time, it becomes possible to predict whether or not there are any abnormalities in the flight performance of the unmanned aerial vehicle.

[0022] In addition, when the stopper portion is fixed to the wire and moves together with the wire, and has a block portion and a stopper piece that protrudes from the side surface of the vertical frame and is formed at a position on the downward movement path of the block portion, it has a simple structure and can regulate the flight altitude of the unmanned aircraft. That is, the block portion descends together with the wire and abuts against the stopper piece at a certain height position, thereby stopping the downward movement of the block portion and preventing the wire from moving further downward, and the ascent of the unmanned aircraft can be regulated.

[0023] In addition, when it includes a landing plate which is a plate-like body disposed on the upper part of a predetermined base frame and has a hole portion through which the wire can be inserted, the unmanned aircraft can be landed and take off on the flat landing plate. Thereby, it is possible to easily stabilize the movement of the unmanned aircraft at the start of flight and at the time of landing.

[0024] In addition, when the first wire fixing portion and the second wire fixing portion are rotatably connected to the holding frame along the horizontal direction, when the unmanned aircraft is rotated along the horizontal direction, the wire does not follow the movement of the rotating holding frame, and a smoother rotational operation can be performed.

[0025] In addition, when a counterweight that balances the weight of the holding frame is provided in the region where the wire moves within the range of the vertical frame, when measuring the tension generated in the wire by the tension measuring portion, the influence of the weight of the holding frame can be canceled and the tension can be measured. That is, it becomes possible to measure the tension more accurately.

[0026] In addition, in order to achieve the above object, a flight test method for an unmanned aircraft of the present invention includes a flight step of fixing one end and the other end of a wire that is movably spanned along a plurality of rollers provided on a frame body to the upper part and the lower part of the main body of the unmanned aircraft, and flying the unmanned aircraft while regulating the movement range of the unmanned aircraft.

[0027] Here, by fixing one end and the other end of a wire spanned over a plurality of rollers provided on a frame body to the upper part and the lower part of the main body of the unmanned aircraft, the unmanned aircraft can be suspended via the frame body and the wire.

[0028] Also, during the flight process, by fixing one end and the other end of a wire spanned movably along a plurality of rollers provided on the frame body, and flying the unmanned aircraft while restricting the movement range of the unmanned aircraft, it becomes possible to conduct a flight test while the unmanned aircraft is supported by the wire. According to this, even if the unmanned aircraft cannot fly normally and the fuselage tilts greatly, etc., it is possible to support the unmanned aircraft in a suspended state with the wire and prevent it from crashing onto the ground or the like. Also, within the restricted movement range, the unmanned aircraft can be flown, moved up and down, or hovered at a certain height position. Also, even when the movement of the unmanned aircraft cannot be controlled, it is possible to prevent the aircraft from flying out of the range of the device by a large margin. <0>

[0029] In addition, when the flight test device includes an ascending regulation step of regulating the movement of the wire and restricting further ascent of the unmanned aircraft when the unmanned aircraft reaches a certain height position, it is possible to prevent the unmanned aircraft from ascending excessively and coming into contact with the frame body or flying out of the range of the frame body by a large margin.

Advantages of the Invention

[0030] The flight test device according to the present invention is a simple mechanism, yet it can safely and easily conduct a flight test of an unmanned aircraft. Also, the flight test method of an unmanned aircraft according to the present invention is a method that can safely and easily conduct a flight test of an unmanned aircraft using a simple mechanism.

Brief Description of the Drawings

[0031] [Figure 1] It is a schematic perspective view showing the overall appearance of the flight test device which is an embodiment of the present invention. [Figure 2] Figure 1 is a schematic side view of the flight test device shown. [Figure 3] This is a schematic perspective view showing the structure of the drone holder. [Figure 4] Figure 3 is a schematic plan view of the drone holder shown. [Figure 5] Figure 3 is a schematic front view of the drone holder. [Figure 6] This is a schematic diagram showing a drone with an inclined attitude being supported using a flight test device. [Modes for carrying out the invention]

[0032] Hereinafter, embodiments for carrying out the present invention (hereinafter referred to as "embodiments") will be described with reference to the drawings. The following description concerns Flight Test Device A, which is an example of a flight test device to which the present invention is applied. The present invention is not limited to this, and the design can be modified as appropriate.

[0033] In the following explanation, using Figure 2 as a reference, the direction of the upper frame 12 as seen from the base frame 10 will be referred to as "up" or "upper side," and the direction of the base frame 10 as seen from the upper frame 12 will be referred to as "down" or "lower side." The direction connecting the upper and lower parts will be referred to as the "up-down direction" or "vertical direction."

[0034] Furthermore, using Figure 2 as a reference, the direction of drone D as seen from vertical frame 11 is referred to as "front" or "front side," and the direction of vertical frame 11 as seen from drone D is referred to as "back" or "back side." Also, using Figure 2 as a reference, the front side of the page is referred to as "left" or "left side," and the back side of the page is referred to as "right" or "right side." The direction connecting front and back is referred to as the "front-to-back direction," and the direction connecting left and right is referred to as the "left-to-right direction." In addition, the direction perpendicular to the up and down direction, and including the front-to-back and left-to-right directions, is referred to as the "horizontal direction."

[0035] Furthermore, using Figure 2 as a reference, the direction in which wire 2 moves in conjunction with the upward movement of drone D is referred to as the "clockwise direction," and the direction in which wire 2 moves in conjunction with the downward movement of drone D is referred to as the "counterclockwise direction."

[0036] As shown in Figures 1 and 2, the flight test device A includes a support frame 1, a wire 2, a drone holder 3, and a landing plate 4.

[0037] This flight test device A is a device for conducting flight tests with drone D (see Figures 1 and 2) connected to wire 2.

[0038] Furthermore, the support frame 1 is installed on the floor and forms the main body of the flight test device A. The support frame 1 is also a component that allows the wire 2 to be movably stretched across it via a plurality of rollers, which will be described later.

[0039] Furthermore, wire 2 is connected to drone D via drone holder 3 and is a component that restricts the range of movement of drone D. Wire 2 also serves to suspend and support drone D if it becomes unable to fly normally.

[0040] Furthermore, the drone holder 3 is a component that holds the body of the drone D and connects the wire 2 to the body of the drone D. The landing plate 4 is the base that the drone D uses when taking off and landing.

[0041] Here, it is not necessarily required that the flight test device A has a landing plate 4. However, it is preferable that the flight test device A has a landing plate 4 in order to enable stable takeoff and landing of the drone D.

[0042] Furthermore, as shown in Figures 1 and 2, the support frame 1 has a base frame 10, a vertical frame 11, and an upper frame 12. The base frame 10, vertical frame 11, and upper frame 12 are columnar members, and together they form a roughly U-shape.

[0043] Furthermore, the base frame 10 is placed on the floor surface, and a flat landing plate 4 is attached to the upper half of its front side (see Figures 1 and 2). In addition, a vertical frame 11 is erected on the rear end side of the base frame 10.

[0044] Furthermore, the upper frame 12 is formed to the same length as the base frame 10, and the upper part of the vertical frame 11 is connected to the rear end of the upper frame 12. Also, in a side view, the base frame 10 and the upper frame 12 are arranged parallel to each other.

[0045] Furthermore, an upper roller 120 is rotatably mounted on the side of the front end of the upper frame 12. Also, an upper roller 121 is rotatably mounted on the side of the rear end of the upper frame 12.

[0046] Furthermore, a lower roller 110 is rotatably mounted on the side of the front end of the base frame 10. Also, a lower roller 111 is rotatably mounted on the side of the rear end of the base frame 10.

[0047] Furthermore, in the front-to-back direction, the upper roller 120 and the lower roller 110 are positioned at corresponding locations, and the upper roller 121 and the lower roller 111 are positioned at corresponding locations.

[0048] The upper roller 120, upper roller 121, lower roller 110, and lower roller 111 are members through which the wire 2 is stretched, and the wire 2 is movable along each roller in a clockwise or counterclockwise direction.

[0049] Furthermore, a through-hole (not shown) is formed in the central part of the landing plate 4, allowing the wire 2, which is stretched across the lower roller 110, to pass through this through-hole and be positioned above the landing plate 4.

[0050] Furthermore, the drone holder 3 consists of a frame-shaped main body 30, an upper wire attachment 31, and a lower wire attachment 32 (see Figures 3 to 5).

[0051] Furthermore, the size of the inner circumferential surface 300 (see Figure 5) of the main body 30 of the drone holder 3 is sized to fit with the outer circumferential surface of the main body of the drone D, thereby holding the main body of the drone D.

[0052] Here, the main body 30 of the drone holder 3 can be appropriately shaped and sized as long as it is structured to cover and hold the upper and lower parts of the target drone's body. Furthermore, for example, a structure can be adopted in which an elastic member is placed on the inner surface of the main body 30 to hold the drone's body, or a mechanism is provided to adjust the size of the inner surface of the main body 30 to hold the drone's body.

[0053] Furthermore, the upper wire attachment 31 is an annular member capable of securing one end of the wire 2. The lower wire attachment 32 is also an annular member capable of securing the other end of the wire 2. By tying both ends of the wire 2 to either the upper wire attachment 31 or the lower wire attachment 32, both ends of the wire 2 can be secured.

[0054] Specifically, both ends of wire 2 are connected to drone D via upper wire attachment 31 and lower wire attachment 32, forming a ring shape overall (see Figure 2).

[0055] Furthermore, this annular wire 2 can restrict the range of movement of the flying drone D by moving clockwise or counterclockwise in response to the movement of the drone D, or by elastically stretching the wire 2 due to tension from the drone D.

[0056] Furthermore, the upper wire attachment 31 is attached to the upper surface of the main body 30 of the drone holder 3 via a swivel 310. This structure allows the upper wire attachment 31 to be rotatably mounted horizontally to the upper surface of the main body 30.

[0057] Furthermore, the lower wire attachment 32 is attached to the underside of the main body 30 of the drone holder 3 via a swivel 320. This structure allows the lower wire attachment 32 to be rotatably mounted horizontally to the underside of the main body 30.

[0058] According to this, when the drone D connected to wire 2 is flown and the drone D rotates horizontally or turns left or right, the wire 2 does not follow, and the drone D and the drone holder 3 can rotate smoothly.

[0059] Here, it is not necessarily required that both ends of the wire 2 be tied and fixed to the upper wire attachment 31 or the lower wire attachment 32; any structure that allows both ends to be fixed can be appropriately selected. For example, a configuration in which loops are formed at both ends of the wire 2 and these loops are hooked and fixed can also be adopted.

[0060] Furthermore, it is not necessarily required that the upper wire attachment 31 be attached to the upper surface of the main body 30 of the drone holder 3 via the swivel 310, and the lower wire attachment 32 be attached to the lower surface of the main body 30 of the drone holder 3 via the swivel 320. However, as described above, it is preferable that the upper wire attachment 31 and the lower wire attachment 32 be rotatably connected to the main body 30 of the drone holder 3, in order to enable smooth rotation of the drone D and the drone holder 3.

[0061] Furthermore, wire 2 is composed of a metal linear body of a certain length. The length of wire 2 can be appropriately set according to the length of the support frame 1 and the size of the drone D.

[0062] Furthermore, since it is preferable that the wire 2 undergoes a certain elastic elongation due to the tension of the flying drone D, it is preferable that the material forming the wire 2 has a certain elastic modulus.

[0063] As shown in Figures 1 and 2, a spherical stopper block 5 is fixed to a portion of the wire 2 that is stretched between the upper roller 121 and the lower roller 111. In addition, a stopper piece 110 is formed on the lower side of the vertical frame 11, protruding rearward from the rear surface of the vertical frame 11.

[0064] The stopper block 5 and stopper piece 110 constitute a stopper section that restricts the movement of the drone D so that it does not rise any further than a certain height.

[0065] In this stopper section, the stopper piece 110 is positioned on the line of movement of the stopper block 5, which descends integrally with the wire 2. When the stopper block 5 contacts the upper surface of the stopper piece 110, the descent of the stopper block 5 is restricted. That is, the clockwise movement of the wire 2 is restricted, and the ascent of the drone D is restricted.

[0066] Furthermore, the position at which the drone D's ascent is restricted by the stopper is set at the highest possible height where the upper wire attachment point 31 does not come into contact with the lower surface of the upper frame 12. This structure prevents the upper surface of the rising drone D from coming into contact with the lower surface of the upper frame 12.

[0067] Here, the stopper section does not necessarily have to consist of a stopper block 5 and a stopper piece 110; any structure that can restrict the ascent of the drone D at a certain height can be adopted as appropriate.

[0068] As shown in Figures 1 and 2, a tension meter 6 is attached to a portion of the wire 2 stretched between the upper roller 121 and the lower roller 111, and at a position below the vertical position of the stopper piece 110. A measuring device 7 is connected to the tension meter 6.

[0069] Furthermore, the tension meter 6 can measure the tension when the stopper block 5 is in contact with the upper surface of the stopper piece 110, restricting the downward movement of the stopper block 5 (restricting the upward movement of the drone D), and when the drone D attempts to move upward, the wire 2 is pulled downwards by this movement. Alternatively, instead of the tension meter 6, the stopper piece 110 can be made of a load cell, and the tension of the wire 2 can be measured using the stopper piece 110.

[0070] Furthermore, the measuring device 7 is a device that calculates the thrust of the drone D based on the tension measured by the tension meter 6. The measuring device 7 is also a device capable of recording and analyzing the calculated thrust of the drone D.

[0071] For example, with the ascent of drone D restricted by the stopper, the motor of drone D can be set to maximum output to raise it, the tension can be measured with the tension meter 6, and the maximum thrust of drone D can be measured via the measuring device 7.

[0072] Furthermore, for example, by periodically measuring the maximum thrust of drone D, such as once a year, and analyzing the time-series changes in the maximum thrust using the measuring device 7, it becomes possible to predict whether or not there are any abnormalities in the flight performance of drone D.

[0073] Furthermore, a counterweight 8 is attached near the top of the stopper block 5 on the wire 2. This counterweight 8 is a weight component used to balance the weight on the front and rear sides of the wire 2, as shown in Figure 1 or Figure 2.

[0074] Here, the weight of the counterweight 8 is set so that the combined weight of the counterweight 8, stopper block 5, and tension meter 6 is equal to the weight of the drone holder 3. This cancels out the weight of the stopper block 5, tension meter 6, and drone holder 3, allowing the tension meter 6 to measure the tension.

[0075] Alternatively, instead of attaching the counterweight 8, it is also possible to design the system so that the combined weight of the stopper block 5 and the tension meter 6 is equal to the weight of the drone holder 3. Furthermore, without attaching the counterweight 8, it is possible to calculate the tension from the tension meter 6 by subtracting the combined weight of the stopper block 5 and the tension meter 6 from the weight of the drone holder 3.

[0076] Furthermore, by positioning the tension meter 6 in the area of ​​the wire 2 located along the upper frame 2 (the upper horizontal area) or the area of ​​the wire 2 located along the base frame 10 (the lower horizontal area), and making the direction in which the tension meter 6 measures horizontal, the weight of the tension meter 6 between the front and rear sides can be ignored.

[0077] Next, we will describe an example of a drone flight test using flight test device A.

[0078] First, the main body of the drone D to be tested is attached to the main body 30 of the drone holder 3, integrating the drone D and the drone holder 3. Additionally, one end of the wire 2, which is stretched across the support frame 1 via the upper roller 121, is fixed to the upper wire attachment 31, and the other end is fixed to the lower wire attachment 32.

[0079] Next, place drone D on top of landing plate 4, and with this setup, preparations for the flight test are complete.

[0080] For example, when confirming the hovering operation in which drone D maintains flight at a constant height in the vertical direction, drone D is flown upward from the landing plate 4 and maintained at a constant height. As drone D rises, the connected wire 2 moves clockwise along the upper roller 120, etc., so that the rise of drone D and the movement of wire 2 are synchronized.

[0081] Furthermore, when the drone D is lowered from above, the connected wire 2 moves counterclockwise along the upper roller 120, etc., so that the descent of the drone D and the movement of the wire 2 are synchronized.

[0082] Furthermore, by providing a stopper, the drone D can be prevented from rising any further before the top surface of the drone D's body comes into contact with the bottom surface of the upper frame 12.

[0083] Furthermore, as described above, with the upward movement of drone D restricted by the stopper, the maximum thrust of drone D can be measured by raising the drone D's motor to maximum output and measuring the tension with the tension meter 6.

[0084] Furthermore, moving drone D in the forward / backward or left / right direction causes elastic stretching of wire 2, allowing drone D to fly in those directions within the range of its stretching capability. It is also possible to make drone D rotate left or right.

[0085] Furthermore, while drone D is hovering, it is also possible to rotate drone D horizontally together with the drone holder 3.

[0086] Furthermore, the flight test device A has a structure that allows the drone D to be suspended and supported by a wire 2 via a drone holder 3.

[0087] Therefore, if drone D is unable to fly normally during flight testing, becomes uncontrollable, or tilts significantly, drone D can be suspended by wire 2 and supported in mid-air.

[0088] For example, as shown in Figure 6, even if the body of drone D tilts significantly and loses its balance, making flight impossible, drone D can be suspended by wire 2 and supported in the air, preventing it from crashing to the ground or flying away from flight test device A.

[0089] As described above, the flight test device according to the present invention has a simple mechanism, yet it makes it possible to conduct flight tests of unmanned aerial vehicles safely and easily. Furthermore, the flight test method for unmanned aerial vehicles according to the present invention is a method that allows for safe and easy flight testing of unmanned aerial vehicles using a simple mechanism.

[0090] The terms and expressions used in this specification and claims are for illustrative purposes only and are not limiting in any way, and there is no intention to exclude terms or expressions equivalent to the features and parts thereof described herein and in the claims. Furthermore, it goes without saying that various modifications are possible within the scope of the technical concept of the present invention. [Explanation of symbols]

[0091] A Flight test device D Drone 1. Support frame 10 Base frame 11 Vertical Frames 110 Stopper piece 12. Upper frame 120 Upper roller 121 Upper roller 2 wires 3. Drone holder 30 Main Unit 300 (Inner surface of the main body) 31 Upper wire mounting bracket 310 Swivel 32 Lower wire mounting bracket 320 Swivel 4 Landing board 5 Stopper Block 6 Tension meter 7. Measuring device 8 counterweights

Claims

1. A predetermined base frame is provided on the floor surface, A vertical frame erected vertically upward from the aforementioned predetermined base frame, An upper frame provided on the upper side of the vertical frame, formed to extend in a direction perpendicular to the vertical frame and parallel to the predetermined base frame, A pair of upper rollers are rotatably mounted at both ends of the upper frame, A pair of lower rollers are rotatably mounted in the predetermined base frame, at a position vertically below each of the upper rollers, A wire movably stretched along the pair of upper rollers and the pair of lower rollers, A retaining frame that can be attached to the upper and lower parts of the main body of an unmanned aerial vehicle, having a first wire fixing part on its upper side to which one end of the wire can be fixed, and a second wire fixing part on its lower side to which the other end of the wire can be fixed, The first wire fixing part, which rises, is provided with a stopper part at a height position before it contacts the upper frame, which restricts the movement of the wire accompanying the upward movement of the first wire fixing part. Flight test equipment.

2. The device includes a tension measuring unit attached to the wire, which measures the tension generated in the wire as the first wire fixing unit attempts to rise, while the movement of the wire is restricted by the stopper unit. The flight test apparatus according to claim 1.

3. The stopper portion includes a block portion fixed to the wire and moving together with the wire, and a stopper piece that protrudes from the side of the vertical frame and is formed at a position on the downward movement path of the block portion. The flight test apparatus according to claim 1 or claim 2.

4. It is a plate-like body positioned on top of the predetermined base frame, and comprises a landing plate with a hole formed therein through which the wire can be inserted. The flight test apparatus according to claim 1 or claim 2.

5. The first wire fixing part and the second wire fixing part are rotatably connected to the holding frame in the horizontal direction. The flight test apparatus according to claim 1 or claim 2.

6. A counterweight is provided in the region of the wire that moves within the range of the vertical frame, so as to balance the weight of the holding frame. The flight test apparatus according to claim 2.

7. The flight process involves fixing one end and the other end of a wire, which is movably stretched across multiple rollers on a frame, to the upper and lower parts of the unmanned aerial vehicle's body, thereby restricting the range of movement of the unmanned aerial vehicle while it is in flight. Flight testing methods for unmanned aerial vehicles.

8. The system includes an ascent restriction step that restricts the movement of the wire when the unmanned aerial vehicle reaches a certain altitude, thereby restricting the further ascent of the unmanned aerial vehicle. A method for conducting flight tests of an unmanned aerial vehicle according to claim 7.

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