CN113071707A

CN113071707A - Device, system and method for testing lift force of flight equipment

Info

Publication number: CN113071707A
Application number: CN202110464044.XA
Authority: CN
Inventors: 薛亚波; 周婷; 赵建龙
Original assignee: Shanghai Prospective Innovation Research Institute Co ltd
Current assignee: Shanghai Prospective Innovation Research Institute Co ltd
Priority date: 2021-04-26
Filing date: 2021-04-26
Publication date: 2021-07-06

Abstract

The invention relates to the technical field of mechanical measurement in the field of aviation, in particular to a device, a system and a method for testing the lift force of a flight device aiming at the lift force test of a small-sized and miniature bionic flapping wing aircraft, and the device, the system and the method comprise the following steps: the tension measuring component is used for measuring data which are generated by the flight equipment to the tension measuring component and used for representing tension in a flight state; the angle measurement component is used for measuring data used for representing a tension angle of the flight equipment in a flight state, and the tension angle is an included angle between a tension direction of the flight equipment on the tension measurement component and a measurement reference plane of the angle measurement component; and the attitude measurement component is used for measuring data used for representing the roll angle and/or the pitch angle of the flight equipment in the flight state. The invention ensures the accuracy of the measurement and calculation work of the lift force and eliminates the situations of inaccurate and unreliable lift force test which cannot reflect the flight state due to the over-constrained degree of freedom of a rigid connection scheme.

Description

Device, system and method for testing lift force of flight equipment

Technical Field

The invention relates to the technical field of mechanical measurement in the field of aviation, in particular to a device, a system and a method for testing the lift force of flight equipment.

Background

The lift force is the force that the flight device acts on the fluid (such as air) to overcome the self gravity and the load (since the range of vibration is limited to a small range in the height direction, the air resistance is neglected temporarily in the height direction in the present application) and make the flight device rise, and is one of the important indexes for evaluating the performance of the flight device.

The current lift force measuring device generally restrains the flight device in three directions of XYZ and in the Z direction), and a tension testing device is arranged in the Z direction to test the force of the flight device in the Z direction, and then the measured force is set as the lift force of the flight device, and in order to ensure that the lift force measuring device can accurately and directly measure the lift force, the tension testing device is also rigidly connected with the flight device to realize the restraint in the three directions of XYZ.

However, the inventor has realized that it is difficult to ensure that the lift measurement point of the lift measurement device is located on the plumb line of the center of mass of the flight device, so that the degree of freedom of the lift measurement device is excessively restricted due to the rigid connection in the three directions XYZ, which results in the so-called lift measured by the lift measurement device, and it is actually the case that the lift measurement of the flight device is inaccurate due to the distance between the lift measurement point and the center of mass in the plane of the X direction and the Y direction, the remaining force after the overturning torque is applied in the X direction and/or the Y direction, and not the true lift of the flight device; since the distance is usually unknown, the turning torque is also unknown, and therefore, different positions of the flight device are constrained in the three directions of XYZ, different lift forces are measured, and the accuracy and reliability of the lift force measurement are further affected.

Disclosure of Invention

The invention aims to provide a device, a system and a method for testing the lift force of flight equipment, which are used for solving the problems of inaccurate and unreliable lift force test caused by the fact that the mass center generates overturning torque applied in the X direction and/or the Y direction due to the fact that the mass center and the Z direction are not collinear and are not coplanar with the X direction and the Y direction in the lift force test of the flight equipment, particularly small and miniature bionic flapping wing aircrafts.

In order to achieve the above object, the present invention provides a lift force testing device for flight equipment, comprising:

the tension measuring component is flexibly connected with the flight equipment and is used for measuring data which are generated by the flight equipment to the tension measuring component and used for representing tension in a flight state;

the angle measuring component is connected with the tension measuring component and used for measuring data used for representing a tension angle of the flying equipment in a flying state, and the tension angle is an included angle between a tension direction of the flying equipment on the tension measuring component and a measuring reference plane of the angle measuring component;

and the attitude measurement component is arranged on the flight equipment and is used for measuring data used for representing the roll angle and/or the pitch angle of the flight equipment in a flight state.

In the above scheme, the tension measuring component includes a strain sensor with two sides respectively connected with a flexible connecting piece, wherein one end of the flexible connecting piece on one side is connected with the angle measuring component, and one end of the flexible connecting piece on the other side is connected with the flying equipment;

and the flying equipment generates acting force on the strain sensor through the flexible connecting piece in a flying state so as to enable the strain sensor to deform, and thus the data for representing the tensile force is measured.

In the above solution, the tension measuring unit further includes: the first wireless communication module is electrically connected with the strain sensor and used for outputting data measured by the strain sensor in a wireless transmission mode.

In the above aspect, the angle measuring unit includes: the device comprises an angle sensor and a rotating part, wherein the angle sensor is used for measuring the rotating angle of the rotating shaft, the rotating part is connected with the rotating shaft, the rotating part is also connected with a tension measuring part, the flying equipment pulls the tension measuring part to deviate from a reference surface in a flying state, the tension measuring part enables the rotating shaft to rotate through the rotating part, and the angle sensor obtains the tension angle through measuring the rotating angle of the rotating shaft.

In the above aspect, the angle measuring unit further includes: a bearing; the bearing is connected with the angle sensor, so that the flying equipment can fly around the bearing, wherein the axis of the bearing is intersected with the axis of the tension measuring component and the axis of the rotating shaft at a point.

In the above scheme, the bearing is a low-friction rolling bearing.

In the above aspect, the angle measuring unit further includes: and the second wireless communication module is electrically connected with the angle sensor and is used for outputting the data measured by the strain sensor in a wireless transmission mode.

In the above aspect, the attitude measurement unit includes:

the attitude sensor is arranged on the flight equipment and used for measuring data used for representing the roll angle and/or the pitch angle of the flight equipment in a flight state.

In the above aspect, the attitude measurement unit further includes: and the third wireless communication module is electrically connected with the attitude sensor and is used for outputting the data measured by the attitude sensor in a wireless transmission mode.

In the above scheme, the attitude sensor is detachably arranged on the flying equipment.

In the above scheme, the apparatus further comprises:

a mounting base for mounting the angle measuring part;

and the adjusting component is arranged on the side of the mounting base opposite to the angle measuring part and used for adjusting the measuring reference surface of the angle measuring part by adjusting the mounting base.

In the above solution, the mounting base includes a mounting plane, and the angle measuring part is mounted on the mounting plane;

the adjustment member comprises at least three adjustment elements arranged on the mounting base along a non-straight line;

the mounting plane is made parallel to the horizontal plane by the at least three adjustment members, so that the measurement reference plane of the angle measurement portion is made parallel to the horizontal plane.

In order to achieve the above object, the present invention further provides a lift force testing system for flight equipment, including:

the lift force testing device of the flight equipment in the scheme is used for measuring flight data of the flight equipment in a flight state, wherein the flight data comprises data for representing a pulling force, a pulling force angle, a rolling angle and/or a pitching angle; wherein the flight state comprises a hover state and/or a hover state;

the flight control module is in communication connection with the flight equipment and is used for controlling the flight state of the flight equipment;

the data acquisition module is in communication connection with the flight equipment lift force testing device and is used for receiving the flight data measured by the flight equipment lift force testing device;

and the lift force calculation module is used for calculating the lift force generated by the flight equipment in the flight state according to the flight data.

In order to achieve the above object, the present invention further provides a method for testing a lift force of a flight device, where the system for testing a lift force of a flight device in the above scheme is used to test a lift force generated by the flight device in a flight state, and the method includes:

controlling the flight equipment to enter a flight state through a flight control module; wherein the flight state comprises a hover state and/or a hover state;

measuring flight data of the flight equipment in a flight state through a flight equipment lift force testing device, wherein the flight data comprise data for representing a pulling force, a pulling force angle, a rolling angle and/or a pitching angle;

receiving the flight data measured by the flight equipment lift force testing device through a data acquisition module;

and calculating the lift force generated by the flight equipment in the flight state according to the flight data through a lift force calculation module.

According to the device, the system and the method for testing the lifting force of the flight equipment, the intersection point, the center of mass of the flight equipment and the OYb axis passing through the center of mass are pulled to the same plane through the tension measuring component and the angle measuring component, and the tension angle applied to the tension measuring component by the flight equipment in the plane can be accurately measured in the same plane; and measuring OZb the roll angle of the axis relative to the Z direction axis passing through the mass center through the attitude measurement component, and finally performing mechanical calculation according to the measured pulling force, pulling force angle and deflection angle based on the force balance of the lifting force of the flight equipment and the known gravity of the flight equipment to obtain accurate lifting force.

Therefore, the coplanarity is realized, so that the flying equipment cannot generate torque in the direction beyond the axis of the tension measuring component, the accuracy of the measurement and calculation work of the lifting force is ensured, the overturning torque applied to the mass center in the X direction and/or the Y direction due to the fact that the mass center and the Z direction are not restricted to be collinear and are not coplanar with the X direction and the Y direction in the current lifting force measurement is eliminated, and meanwhile, the condition that the lifting force test is inaccurate and unreliable due to the fact that the rigid connection scheme cannot reflect the flying state due to the fact that the freedom degree is over-restricted is eliminated by adopting the multi-degree-of-freedom flexible force measuring mode.

Drawings

Fig. 1 is a schematic structural diagram of a first embodiment of a lift force testing device of flight equipment according to the present invention;

FIG. 2 is a force analysis diagram of a lift force testing device and a flight device according to a first embodiment of the lift force testing device of the flight device of the present invention; FIG. 3 is a schematic block diagram of a first embodiment of a lift force testing system for a flight device according to the present invention;

FIG. 4 is a flowchart of a second embodiment of a method for testing lift of a flight device according to the present invention;

FIG. 5 is a schematic structural diagram of a third embodiment of a lift force testing device of a flight apparatus according to the present invention;

fig. 6 is a force analysis diagram of a lift force testing device and a flight device in a third embodiment of the lift force testing device of the flight device of the present invention;

FIG. 7 is a schematic block diagram of a third embodiment of a lift force testing system of a flight device according to the present invention;

FIG. 8 is a flowchart of a fourth embodiment of a method for testing lift of a flight device according to the present invention;

fig. 9 is a schematic diagram of a hardware structure of a computer device according to a fifth embodiment of the present invention.

Description of the drawings:

1. flight equipment lift testing device 2 and flight equipment lift testing system

3. Flight equipment 4 and computer equipment

11. Tension measuring unit 12, angle measuring unit 13, and attitude measuring unit

14. Mounting base 15, adjustment member 21, flight control module

22. Data acquisition module 23, lift force calculation module 41, memory 42 and processor

111. Flexible connector 112, strain sensor 113, first wireless communication module

121. Angle sensor 122, rotating shaft 123, rotating part 124 and measuring module

125. Bearing 126, second wireless communication module 131, attitude sensor

132. Third wireless communication module 151, adjustment element

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention provides a device, a system and a method for testing the lift force of flight equipment, which are suitable for the technical field of mechanical measurement in the field of aviation, are used for measuring the lift force of the flight equipment in a hovering state, are particularly suitable for testing the lift force of a small-sized and miniature bionic flapping-wing aircraft in the hovering state, and are suitable for the first embodiment provided by the application:

as shown in fig. 1: a flight device lift test apparatus 1, comprising:

the tension measuring component 11 is flexibly connected with the flying equipment 3 and is used for measuring data which are generated by the flying equipment 3 to the tension measuring component 11 and used for representing tension in a flying state;

the angle measuring component 12 is connected with the tension measuring component 11 and is used for measuring data used for representing a tension angle of the flying equipment 3 in a flying state, wherein the tension angle is an included angle between a tension direction of the flying equipment 3 on the tension measuring component 11 and a measuring reference plane of the angle measuring component 12;

an attitude measurement component 13, provided on the flying apparatus 3, for measuring data characterizing the roll angle of the flying apparatus 3 in the flying state.

The working principle of the technical scheme is as follows: as shown in fig. 1 and 2, the hovering state refers to a flying state in which the flying apparatus 3 flies in the air and remains relatively stationary with respect to the ground, and at this time, the flying apparatus 3 is in a force equilibrium state. Since the flying apparatus 3 is only restricted by the tension measuring component 11, the center of mass of the flying apparatus 3, the axis of the tension measuring component 11, the intersection point between the axis of the tension measuring component 11 and the axis of the angle measuring component 12 are collinear in the hovering state, and since the flying apparatus 3 is generally regarded as a rigid body (i.e., no deformation occurs in the flying state or the static state), the OYb axis of the body coordinate system of the flying apparatus 3 passes through the center of mass, and therefore, the center of mass, the axis of the tension measuring component 11, the intersection point and the OYb axis are coplanar; the roll angle α is an angle between the axis OZb and the Z-direction axis passing through the centroid Ob of the flying apparatus 3.

Note that, the body coordinate system (Aircraft-body coordinate frame) Sb — OXbYbZb:

the origin Ob is taken at the center of mass of the flying equipment 3, and a coordinate system is fixedly connected with the flying equipment 3;

OXb axis is directed towards the nose in the plane of symmetry of the flying apparatus 3 and parallel to the design axis of the flying apparatus 3;

the OYb axis is directed to the right of the fuselage perpendicular to the plane of symmetry of the flying apparatus 3;

the OZb axis is in the plane of symmetry of the flying apparatus 3, perpendicular to the OXb axis and pointing above the fuselage.

Therefore, by pulling the intersection point, the center of mass of the flying apparatus 3 and the OYb axis passing through the center of mass into the same plane through the tension measuring component 11 and the angle measuring component 12, the tension applied by the flying apparatus 3 to the tension measuring component 11 in the plane and the direction of the tension, i.e. the tension angle θ, can be accurately measured, and in this embodiment, the reference plane for measuring the tension angle is a horizontal plane, i.e.: the plane of the X direction and the Y direction; then the deflection angle of the OZb axis relative to the Z-direction axis of the centroid is measured by the attitude measurement component 13, namely: a roll angle; and finally, based on the lift force of the flight equipment 3 and the known force balance of the gravity of the flight equipment 3, performing mechanical calculation according to the measured tension, the measured tension angle theta and the measured deflection angle alpha to obtain the accurate lift force.

In conclusion, the coplanarity is realized, so that the flying equipment 3 cannot generate torque in the direction other than the axis of the tension measuring component 11, the accuracy of the measurement and calculation work of the lift force is ensured, and the condition that the lift force test is inaccurate and unreliable due to the fact that the mass center generates overturning torque applied in the X direction and/or the Y direction because the mass center and the Z direction are not restricted to be collinear and are not coplanar with the X direction and the Y direction in the current lift force measurement is eliminated.

Further, since the flight device 3 may generate a shake in a flight state, especially a flapping wing aircraft; the conventional lift measurement device generally restrains the flight device 3 in three directions of XYZ, and a tension test device is arranged in the Z direction to test the force of the flight device 3 in the Z direction (i.e., the direction perpendicular to the horizontal plane and rising), and then the measured force is set as the lift of the flight device 3, and in order to ensure that the lift measurement device can accurately and directly measure the lift, the lift measurement device is rigidly connected to the flight device 3 to realize the restraint in the three directions of XYZ. However, the jitter force generated by jitter usually has component forces in the XYZ three directions, so if the flying device 3 is rigidly connected, the jitter force is easily converted into the pressure applied in the X direction constraint and the Y direction constraint, and the current lift force measuring device cannot obtain the influence of jitter on the lift force of the flying device 3, resulting in insufficient accuracy and reality of lift force measurement; according to the technical scheme provided by the embodiment, the jitter generated by the flight equipment 3 is effectively reflected on the tension measuring device, so that the change of the lift force of the flight equipment 3 during the jitter can be accurately measured, and the authenticity and accuracy of the lift force measurement are greatly improved.

In the present embodiment, the flying device 3 may be a flapping wing aircraft, a rotorcraft, an unmanned airship, or an umbrella wing aircraft.

Preferably, the tension measuring part 11 includes a strain sensor 112 having two sides respectively connected with a flexible connecting member 111, wherein one end of the flexible connecting member 111 on one side is connected with the angle measuring part 12, and one end of the flexible connecting member 111 on the other side is connected with the flying apparatus 3;

the flight device 3 generates a force on the strain sensor 112 through the flexible connector 111 in a flight state to deform the strain sensor 112, so that the data for representing the pulling force is measured.

In this embodiment, the tension measuring component 11 includes a strain sensor 112 having two sides respectively connected with a flexible connecting component 111, wherein the flexible connecting component 111 on one side is connected with the angle measuring component 12, and the flexible connecting component 111 on the other side is connected with the flying equipment 3;

and the strain sensor 112 is used for measuring a tensile force of the flying equipment 3, which is used for stretching the strain sensor 112 through the flexible connecting piece 111, and setting the tensile force as a tensile force generated by the flying equipment 3 in a flying state.

The axis of the tension measuring unit 11 is a symmetry line of the tension measuring unit 11 in the longitudinal direction when the flexible connecting members 111 on both sides of the strain sensor 112 are stretched in opposite directions.

Specifically, a flexible connection line is employed as the flexible connection member 111. The flexible strain sensor 112 is used as the strain sensor 112, and the light flexible wire is used as the flexible connecting piece 111, so that the overall flexibility degree of the tension measuring component 11 is improved, and the situation that the tension measuring component 11 is disturbed to cause inaccurate final lifting force calculation results due to the fact that a heavier rigid component or the flexible connecting piece 111 appears in the tension measuring component 11 is avoided.

The flexible strain sensor 112 may be a flexible sensor, which refers to a sensor made of a flexible material, and has good flexibility and ductility, and can be bent or even folded freely, and the structure form is flexible and various, and can be arranged arbitrarily according to the requirement of the measurement condition, and can detect the complex unit to be measured very conveniently.

The flexible strain sensor 112 may also be a stretchable and compressible hydrogel strain sensor 112, wherein the stretchable and compressible hydrogel strain sensor 112, a sensor created using the new manufacturing strategy, may accurately detect tensile forces.

The flexible strain sensor 112 may also be a flexible high-stretch sensor that uses rubber polymers as the stretch substrate and carbon black and single-walled carbon nanotubes as the conductive filler, which may be used in a flexible high-stretch sensor. The flexible high-tension sensor not only has ultrahigh tension rate, but also has excellent dynamic characteristics.

The flexible strain sensor 112 may also be a high-sensitivity flexible pressure strain sensor 112, which utilizes a high-sensitivity giant magneto-impedance effect and adopts an LC oscillating circuit structure to obtain the high-sensitivity flexible pressure strain sensor 112 with digital pulse output, and has excellent recovery characteristics.

Preferably, the tension measuring unit 11 further includes: a first wireless communication module 113, wherein the first wireless communication module 113 is electrically connected to the strain sensor 112, and is configured to output data measured by the strain sensor 112 through wireless transmission. The first wireless communication module 113 may be a Bluetooth (Bluetooth) device, a wireless broadband (Wi-Fi) device, an Ultra Wideband (UWB) device, or a Near Field Communication (NFC) device.

Preferably, the angle measuring part 12 includes: the flight equipment 3 comprises an angle sensor 121 and a rotating part 123, wherein the angle sensor 121 is used for measuring the rotating angle of the rotating shaft 122, the rotating part 123 is connected with the rotating shaft 122, the rotating part 123 is also connected with the tension measuring part 11, the flight equipment 11 pulls the tension measuring part 11 to deviate from a reference surface in a flight state, the tension measuring part 11 rotates the rotating shaft 122 through the rotating part 123, and the angle sensor 121 obtains the tension angle by measuring the rotating angle of the rotating shaft 122.

Preferably, the angle measuring part 12 further includes: a second wireless communication module 126, where the second wireless communication module 126 is electrically connected to the angle sensor 121 and is configured to output data measured by the strain sensor 112 through wireless transmission. The second wireless communication module 126 may be a Bluetooth (Bluetooth) device, a wireless broadband (Wi-Fi) device, an ultra-wideband (UWB) device, or a Near Field Communication (NFC) device.

Illustratively, a rotary encoder connected with a rotating shaft 122 is adopted as the angle sensor 121, wherein the measuring module 124 has a grating, a pulse device associated with the grating and a counter connected with the pulse device, the rotating shaft 122 cuts the grating by rotating, and the pulse device sends a pulse signal to the counter when sensing that the grating is cut; obtaining the rotation angle of the rotating shaft 122 according to the number of the pulse signals recorded by the counter; for example, a rotation of the shaft 122 requires cutting 0 rasters and the counter will indicate that it has received 0 pulses.

Preferably, the attitude measurement section 13 includes:

an attitude sensor 131, which is disposed on the flying apparatus 3, is used for measuring data representing the roll angle of the flying apparatus 3 in the flying state.

Preferably, the attitude measurement section 13 further includes: a third wireless communication module 132 electrically connected to the attitude sensor 131, for outputting data measured by the attitude sensor 131 through wireless transmission; the third wireless communication module 132 may be a Bluetooth (Bluetooth) device, a wireless broadband (Wi-Fi) device, an Ultra Wideband (UWB) device, or a Near Field Communication (NFC) device.

Specifically, the attitude sensor 131 is a three-dimensional motion attitude measurement system. The system comprises motion sensors such as a three-axis gyroscope, a three-axis accelerometer and a three-axis electronic compass, and three-dimensional attitude data and orientation data subjected to temperature compensation are obtained through an embedded low-power ARM processor; the three-dimensional attitude is based on a roll angle and a pitch angle generated between the body coordinate system and the X direction, the Y direction and the Z direction in the space; the roll angle is the angle between the axis in the Z direction passing through the center of mass of the flying apparatus 3 and the axis OZb; the pitch angle is the angle between the axis in the X direction passing through the centre of mass of the flying apparatus 3 and the axis OXb of the flying apparatus 3.

Preferably, the attitude sensor 131 is detachably provided on the flying apparatus 3.

Preferably, the apparatus further comprises:

a mounting base 14 for mounting the angle measuring part 12;

and an adjusting member 15, provided on the opposite side of the mounting base 14 from the angle measuring part, for adjusting a measuring reference surface of the angle measuring part by adjusting the mounting base 14.

Preferably, the mounting base 14 includes a mounting plane on which the angle measuring part is mounted;

the adjusting member 15 comprises at least three adjusting elements 151, and the at least three adjusting elements 151 are arranged on the mounting base 14 along a non-straight line;

the installation plane is made parallel to the horizontal plane by the at least three adjustment members 151, so that the measurement reference plane of the angle measurement part is made parallel to the horizontal plane.

Specifically, the bottom of the angle measuring part 12 is connected to the top of the mounting base 14, and a plurality of adjustment elements 151 are arranged in a matrix form at the bottom of the adjustment member 15 and connected to the bottom of the adjustment member 15.

Illustratively, an alloy plate may be employed as the mounting base 14, wherein the alloy plate may be an alloy steel plate, or a galvanized steel plate, or a tin-plated steel plate, or a clad steel plate, or an aluminum alloy plate; the high polymer material plate can also be used as the mounting base 14 to avoid the interference of the metal material to the signals in the lift force testing device 1 and the system of the flight equipment.

A horizontal adjusting foot is used as the adjusting element 151, wherein the horizontal adjusting foot can be a stainless steel horizontal adjusting support, or a heavy-duty damping adjusting support, or a nylon adjusting foot.

The angle measuring member 12 is fixed to the upper surface of the alloy plate, wherein the angle measuring member 12 may be fixed to the alloy plate by welding, riveting, bolting, or the like.

The horizontal adjusting foot seats are arranged on the lower surface of the alloy plate in a matrix form and are connected with the alloy plate.

As shown in fig. 3, a flight device lift test system 2 includes:

the flight equipment lift force testing device 1 is used for measuring flight data of the flight equipment 3 in a flight state, wherein the flight data comprises data for representing a pulling force, a pulling force angle and a rolling angle; wherein the flight state comprises a hover state;

the flight control module 21 is in communication connection with the flight device 3 and is used for controlling the flight state of the flight device 3;

the data acquisition module 22 is in communication connection with the flight equipment lift force testing device 1 and is used for receiving the flight data measured by the flight equipment lift force testing device 1;

a lift force calculation module 23, configured to calculate, according to the flight data, a lift force generated by the flight device 3 in a flight state.

Specifically, the flight control module 21 sends a state instruction to the flight device 3 to enable the flight device 3 to be in a specified flight state; the state instructions comprise a takeoff instruction, a hovering instruction and a landing instruction.

The takeoff instruction is used for starting the flying equipment 3 to fly;

the hovering instruction is used for controlling the flying equipment 3 to stop at a specified spatial position and enter a hovering state, and the hovering instruction has spatial coordinates expressing the spatial position;

the hovering instruction is used for controlling the flying device 3 to fly around the origin by taking the designated position as the origin and taking the designated distance as the radius, and the hovering instruction has space coordinates reflecting the designated position and length data reflecting the designated distance; generally, the specified distance is determined by the length of the tension measuring member;

the landing command is used to control the flying apparatus 3 to land to stop the flight and to turn off the flying apparatus 3.

Specifically, the data acquisition module 22 establishes communication connections with the tension measurement component 11, the angle measurement component 12 and the attitude control component through wireless receiving devices, wherein the wireless receiving devices may be Bluetooth (Bluetooth) devices, wireless broadband (Wi-Fi) devices, Ultra Wideband (UWB) devices or Near Field Communication (NFC) devices.

Specifically, the hover calculation module is a computer module that takes a hover calculation formula as a target formula, where the hover calculation formula is:

F_L＝(F_c×cos(90°-θ)+G)/cosα

wherein, F_LIs referred to as lift force, F_cIs the tension, G is the weight of the flying apparatus 3, theta is the tension angle and alpha is the roll angle.

In order to realize the target of testing the lift force of the flight device 3 in the hovering state through the lift force testing device 1 and the system of the flight device, the application provides the second embodiment:

as shown in fig. 4, a method for testing the lift of a flight device, which uses the flight device lift testing system 2 to test the lift generated by the flight device 3 in a flight state, includes:

s100: the leveling member is adjusted so that the mounting base 14 is parallel to the horizontal plane, the tension measuring member 11, the angle measuring member 12, and the attitude measuring member 13 are initialized, and the weight of the flying apparatus 3 is acquired.

In the step, a level meter is arranged on the horizontal adjusting component, and the horizontal adjusting component is adjusted to enable the level meter to reach a horizontal state, so that the accuracy of the lift force test is ensured;

the tension value of the tension measuring component 11 is reset to zero by initializing the tension measuring component, so that the interference of data of the previous test on the test is avoided;

the deflection angle of the rotating part 123 is zero by initializing the angle measuring part 12, namely, the indication direction of the rotating part 123 connected with the tension measuring part 11 is parallel to the horizontal plane, so as to eliminate the interference of the data of the previous test on the current test;

by initializing the attitude measurement unit 13, the roll angle recorded in the attitude measurement unit 13 is cleared to eliminate the interference of the data of the previous test on the current test.

S101: controlling the flying equipment 3 to enter a flying state through the flying control module 21; wherein the flight state comprises a hover state;

in this step, the flight device 3 is started by the flight control module 21 to enable the flight device 3 to take off; a takeoff instruction is sent to the flying device 3 through the flying control module 21, and is used for starting the flying device 3 to fly. The flying device 3 is controlled by the flight control module 21 to enter a hovering state, wherein the hovering state refers to a flying state in which the flying device 3 flies in the air and remains relatively still with respect to the ground. After the flying device 3 takes off, the space coordinates are sent to the flight control module 21, and a hovering instruction is generated by the flight control module 21, so that the flying device 3 hovers at a space position corresponding to the space coordinates.

S102: measuring flight data of the flight equipment 3 in a flight state through a flight equipment lift force testing device 1, wherein the flight data comprises data for representing a pulling force, a pulling force angle and a rolling angle;

in the step, the data acquisition module 22 acquires the tension, the tension angle and the roll angle of the aircraft in the hovering state; specifically, the data acquisition module 22 acquires the tension in the hovering state from the tension measurement unit 11, acquires the tension angle of the tension measurement unit 11 in the hovering state from the angle measurement unit 12, and acquires the roll angle of the flying apparatus 3 in the hovering state from the attitude measurement unit 13.

S103: receiving the flight data measured by the flight equipment lift force testing device 1 through a data acquisition module 22;

in this step, data representing the tension, the tension angle, and the roll angle are obtained through the first wireless communication module 113, the second wireless communication module 126, and the third wireless communication module 132.

S104: and calculating the lift force generated by the flight equipment 3 in the flight state according to the flight data through a lift force calculation module 23.

In this step, the lift force generated by the flying device 3 during flying is calculated by the hovering calculation module according to the pulling force, the pulling force angle, the rolling angle and the weight of the flying device 3. Specifically, the target formula of the hovering calculation module is called to calculate the pulling force, the pulling force angle, the rolling angle and the weight of the flying device 3, so as to obtain the lift force generated by the flying device 3 during flying.

The invention provides a device, a system and a method for testing the lift force of flight equipment, which are suitable for the technical field of mechanics measurement in the field of aviation, are used for measuring the lift force of the flight equipment in a hovering state, are particularly suitable for testing the lift force of a small-sized and miniature bionic flapping-wing aircraft in the hovering state, and are suitable for the third embodiment provided by the application:

as shown in fig. 5, a lift test device 1 for flight equipment includes:

and an attitude measurement component 13, which is arranged on the flying apparatus 3 and is used for measuring data used for representing the roll angle and the pitch angle of the flying apparatus 3 in a flying state.

The working principle of the technical scheme is as follows: as shown in fig. 5 and 6, the hover state is a flight state that refers to the movement of the flying apparatus 3 about the axis of the angle measuring unit 12, and the flying speed thereof is V. Since the flying apparatus 3 is only constrained by the tension measuring part 11, the center of mass of the flying apparatus 3, the axis of the tension measuring part 11, and the intersection point between the axis of the tension measuring part 11 and the axis of the angle measuring part 12 are collinear in the hovering state, and since the flying apparatus 3 is generally regarded as a rigid body (i.e., no deformation occurs in the flying state or the static state), the OXb axis and the OYb axis of the body coordinate system of the flying apparatus 3 pass through the center of mass, so the center of mass, the axis of the tension measuring part 11, the intersection point and the OYb axis are coplanar, and the center of mass, the axis of the tension measuring part 11, the intersection point and the OYb axis are coplanar, while the OXb axis and the OYb axis are perpendicular to each other; the roll angle α is an angle between a Z-direction axis passing through the center of mass of the flying apparatus 3 and the OZb axis, and the pitch angle γ is an angle between an X-direction axis passing through the center of mass of the flying apparatus 3 and the OXb axis of the flying apparatus 3.

Therefore, the intersection point, the center of mass of the flying apparatus 3, and the OYb axis passing through the center of mass are drawn into the same plane by the tension measuring means 11 and the angle measuring means 12, while the flying apparatus 3 is hovering, the intersection point, the center of mass of the flying apparatus 3, and the OXb axis passing through the center of mass are also drawn into the same plane by the tension measuring means 11 and the angle measuring means 12; in this way, the lift force of the flight device 3 can be converted as an unknown quantity to the axial direction of the tension measuring unit 11 through the roll angle α and the pitch angle γ, and then the accurate lift force can be calculated through the tension, the tension angle θ, the gravity of the flight device 3, and the current flight speed V of the flight device 3. In this embodiment, the reference plane for measuring the pulling force angle θ is a horizontal plane, that is: the X direction and the Y direction are located on the plane.

Specifically, a flexible connecting line is used as the flexible connecting part 111, the flexible strain sensor 112 is used as the strain sensor 112, and a light flexible line is used as the flexible connecting part 111, so that the overall flexibility of the tension measuring part 11 is improved, and the situation that the tension measuring part 11 is disturbed due to the fact that a heavier rigid part or flexible connecting part 111 appears in the tension measuring part 11, and the final lifting force calculation result is inaccurate is avoided.

The flexible strain sensor 112 may also be a stretchable and compressible hydrogel strain sensor 112, wherein the stretchable and compressible hydrogel strain sensor 112 may accurately detect strain forces using sensors created using new manufacturing strategies.

Preferably, the angle measuring part 12 includes: an angle sensor 121 having a rotation shaft 122, and a rotation member 123, wherein the angle sensor 121 is configured to measure an angle of rotation of the rotation shaft 122,

the rotating part 123 is connected with the rotating shaft 122, the rotating part 123 is further connected with the tension measuring component 11, the flying equipment 3 pulls the tension measuring component 11 to deviate from a reference surface in a flying state, the tension measuring component 11 rotates the rotating shaft 122 through the rotating part 123, and the angle sensor 121 obtains the tension angle by measuring the rotating angle of the rotating shaft 122.

Preferably, the angle measuring part 12 includes: an angle sensor 121, and a rotating member 123 connected to a rotating shaft 122 of the angle sensor 121, the rotating member 123 being connected to the tension measuring unit 11;

an angle sensor 121 for measuring an angle at which the flying apparatus 3 rotates the rotation piece 123 by the tension measuring means 11, and setting the angle as a tension angle.

Further, the center point of the rotating member 123 is located on the axis of the bearing 125, so as to ensure that the component force of the lift force and the centrifugal force on the axis of the tension measuring component 11 can be calculated by using only the tension angle under the hovering state, thereby ensuring the convenience and accuracy of the measurement and calculation of the lift force.

Specifically, the angle sensor 121 includes a rotating shaft 122 and a measuring module 124 connected to each other, the measuring module 124 is configured to measure a rotation angle of the rotating shaft 122, and one end of the rotating shaft 122, which is opposite to the measuring module 124, is connected to a central point of the rotating member 123, so that the rotating member 123 can drive the rotating shaft 122 to rotate when rotating. Here, the axis of the angle sensor 121 refers to the axis of the rotating shaft 122.

Preferably, the angle measuring part 12 further includes: a bearing 125; the bearing 125 is connected to the angle sensor 121, so that the flying apparatus 3 can fly around the bearing 125, wherein the axis of the bearing 125 intersects with the axis of the tension measuring unit 11 and the axis of the rotating shaft 122 at a point.

Preferably, the bearing 125 is a low friction rolling bearing 125. The bearing 125 is a low friction bearing 125, which has good sealing performance and wider applicable temperature, and can reduce the friction force applied to the angle measurement component 12 during rotation, so as to ensure the accuracy of the measurement and calculation of the lift force.

Preferably, the attitude measurement section 13 includes:

an attitude sensor 131, which is disposed on the flying apparatus 3, is used for measuring data of the flying apparatus 3 in a flying state, wherein the data is used for representing a rolling angle and a pitching angle.

Preferably, the attitude measurement section 13 further includes: and a third wireless communication module 132 electrically connected to the attitude sensor 131, and configured to output data measured by the attitude sensor 131 in a wireless transmission manner. The third wireless communication module 132 may be a Bluetooth (Bluetooth) device, a wireless broadband (Wi-Fi) device, an Ultra Wideband (UWB) device, or a Near Field Communication (NFC) device.

Preferably, the apparatus further comprises:

a mounting base 14 for mounting the angle measuring part 12;

Preferably, the mounting base 14 includes a mounting plane on which the angle measuring part is mounted.

Specifically, the bottom of the angle sensor 121 is connected to the inner race of the bearing 125, and the outer race of the bearing 125 is connected to the top of the mounting base 14, wherein the axis of the rotating shaft 122 of the angle measuring member 12, the axis of the tension measuring member 11, and the axis of the bearing 125 intersect at a point, so that the angle measuring member 12 is fixed to the mounting base 14, and the angle measuring member 12 is allowed to rotate about the axis of the bearing 125. A plurality of the adjusting elements 151 are arranged in a matrix form at the bottom of the adjusting member 15 and connected to the bottom of the adjusting member 15.

As shown in fig. 7, a flight device lift test system 2 includes:

the flight equipment lift force testing device 1 is used for measuring flight data of the flight equipment 3 in a flight state, wherein the flight data comprises data for representing a pulling force, a pulling force angle, a rolling angle and a pitching angle; wherein the flight state comprises a hover state;

Specifically, the flight control module 21 has a computer program recorded therein for sending status instructions to the flight device 3, where the status instructions include a takeoff instruction, a hover instruction, and a landing instruction.

The takeoff instruction is used for starting the flying equipment 3 to fly;

the hovering instruction is used for controlling the flying device 3 to stop at a specified spatial position and enter a hovering state, and the hovering instruction has spatial coordinates for expressing the spatial position;

Specifically, the hover calculation module is a computer module that takes a hover calculation formula as a target formula, and the hover calculation formula is:

F_L＝【F_c×cos(90°-θ)+G)】/(cosα×cosγ)

wherein, F_LIs referred to as lift force, F_cIs the tension, G is the weight of the flying apparatus 3, theta is the tension angle, alpha is the roll angle, gamma is the pitch angleG is the gravitational acceleration, v is the flying speed, and R is the flying radius.

In order to realize the target of testing the lift force of the flight equipment 3 in the hovering state through the lift force testing device 1 and the system of the flight equipment, the application provides the following fourth embodiment:

as shown in fig. 8, a method for testing the lift of a flight device, which uses the flight device lift testing system 2 to test the lift generated by the flight device 3 in a flight state, includes:

s200: adjusting the horizontal adjusting component to enable the mounting base 14 to be parallel to the horizontal plane, and initializing the tension measuring component 11, the angle measuring component 12 and the attitude measuring component 13;

by initializing the attitude measurement unit 13, the roll angle recorded in the attitude measurement unit 13 is cleared to eliminate interference of the data of the previous test on the current test 2.

S201: controlling the flying equipment 3 to enter a flying state through the flying control module 21; wherein the flight state comprises a hover state;

in this step, the flying device 3 is started by the flying control module 21 to take off the flying device 3, the flying control module 21 controls the flying device 3 to enter a hovering state, and sets the flying speed and the flying radius of the flying device 3, wherein the hovering state is the flying state in which the flying device 3 moves around the axis of the angle measuring unit 12 (i.e., the axis of the bearing 125).

Specifically, a takeoff instruction is sent to the flying device 3 through the flight control module 21, and is used for starting the flying device 3 to fly; after the flying equipment 3 takes off, sending speed data, space coordinates and length data to the flight control module 21, wherein the speed data is the flying speed of the flying equipment 3, the length data is the flying radius of the flying equipment 3, and the flight control module 21 generates a hovering instruction according to the speed data, the space coordinates and the length data so that the flying equipment 3 flies around an origin point by taking the specified position as the origin point, the length data as the flying radius and the speed data as the flying speed radius; wherein the specified position is an intersection of the axis of the angle measuring means 12, the axis of the bearing 125, and the axis of the tension measuring means 11.

S202: measuring flight data of the flight equipment 3 in a flight state through a flight equipment lift force testing device 1, wherein the flight data comprises data for representing a pulling force, a pulling force angle, a rolling angle and a pitching angle;

in this step, the data acquisition module 22 acquires the tension in the hovering state from the tension measurement unit 11, acquires the tension angle of the tension measurement unit 11 in the hovering state from the angle measurement unit 12, and acquires the roll angle and pitch angle of the flying apparatus 3 in the hovering state from the attitude measurement unit 13.

S203: receiving the flight data measured by the flight equipment lift force testing device 1 through a data acquisition module 22;

in this step, data representing the tension, the tension angle, the roll angle, and the pitch angle are obtained through the first wireless communication module 113, the second wireless communication module 126, and the third wireless communication module 132

S204: and calculating the lift force generated by the flight equipment 3 in the flight state according to the flight data through a lift force calculation module 23.

In this step, the target formula of the hovering calculation module is called to calculate the pulling force, the pulling force angle, the rolling angle, the flying speed and the weight of the flying device 3, so as to obtain the lift force generated by the flying device 3 during flying.

Example five:

in order to achieve the above object, the present invention further provides a computer device 4, and computer codes of the lift force testing method for flight devices in the second embodiment and the fourth embodiment may be distributed in different computer devices, where the computer device 4 may be a smart phone, a tablet computer, a notebook computer, a desktop computer, a rack server, a blade server, a tower server, or a rack server (including an independent server or a server cluster formed by multiple application servers) that executes programs, and the like. The computer device of the embodiment at least includes but is not limited to: a memory 41 and a processor 42 communicatively connected to each other via a system bus, as shown in fig. 9. It should be noted that fig. 9 only shows a computer device with components, but it should be understood that not all of the shown components are required to be implemented, and more or fewer components may be implemented instead.

In the present embodiment, the memory 41 (i.e., a readable storage medium) includes a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, and the like. In some embodiments, the memory 41 may be an internal storage unit of the computer device, such as a hard disk or a memory of the computer device. In other embodiments, the memory 41 may be an external storage device of the computer device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the computer device. Of course, the memory 41 may also include both internal and external storage devices of the computer device. In the present embodiment, the memory 41 is generally used to store an operating system and various types of application software installed on a computer device, such as program codes for implementing the lift test method of the flight device in the second and fourth embodiments. Further, the memory 41 may also be used to temporarily store various types of data that have been output or are to be output.

Processor 42 may be a Central Processing Unit (CPU), controller, microcontroller, microprocessor, or other data Processing chip in some embodiments. The processor 42 is typically used to control the overall operation of the computer device. In the present embodiment, the processor 42 is configured to execute the program codes stored in the memory 41 or process data, for example, execute computer codes implementing the lift test method of the flight device according to the second embodiment and the fourth embodiment.

Example six:

to achieve the above objects, the present invention also provides a computer readable storage medium, such as a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, an optical disk, a server, an App application store, etc., on which a computer program is stored, which when executed by the processor 42, implements corresponding functions. The computer-readable storage medium of the present embodiment is used for storing a computer program for implementing the flight device lift test method, and when being executed by the processor 42, implements the flight device lift test method of the second embodiment and the fourth embodiment.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A flight device lift test device, characterized in that includes:

2. The lift test device of a flying apparatus of claim 1, wherein the tension measuring component comprises a strain sensor having flexible connectors connected to two sides thereof, respectively, wherein one end of the flexible connector on one side is connected to the angle measuring component, and one end of the flexible connector on the other side is connected to the flying apparatus;

3. The lift test apparatus of claim 2, wherein the tension measurement component further comprises: the first wireless communication module is electrically connected with the strain sensor and used for outputting data measured by the strain sensor in a wireless transmission mode.

4. The flying apparatus lift test device of claim 1, wherein the angle measurement component comprises: the device comprises an angle sensor and a rotating part, wherein the angle sensor is used for measuring the rotating angle of the rotating shaft, the rotating part is connected with the rotating shaft, the rotating part is also connected with a tension measuring part, the flying equipment pulls the tension measuring part to deviate from a reference surface in a flying state, the tension measuring part enables the rotating shaft to rotate through the rotating part, and the angle sensor obtains the tension angle through measuring the rotating angle of the rotating shaft.

5. The lift test apparatus of claim 4, wherein the angle measurement component further comprises: a bearing; the bearing is connected with the angle sensor, so that the flying equipment can fly around the bearing, wherein the axis of the bearing is intersected with the axis of the tension measuring component and the axis of the rotating shaft at a point.

6. The lift test apparatus of claim 5, wherein the bearings are low friction rolling bearings.

7. The lift test apparatus of claim 4, wherein the angle measurement component further comprises: and the second wireless communication module is electrically connected with the angle sensor and is used for outputting the data measured by the strain sensor in a wireless transmission mode.

8. The flying apparatus lift test device of claim 1, wherein the attitude measurement component comprises:

9. The lift test apparatus of claim 8, wherein the attitude measurement component further comprises: and the third wireless communication module is electrically connected with the attitude sensor and is used for outputting the data measured by the attitude sensor in a wireless transmission mode.

10. The lift test apparatus of claim 8, wherein the attitude sensor is removably disposed on the flying apparatus.

11. The flying apparatus lift test apparatus of claim 1, wherein the apparatus further comprises:

a mounting base for mounting the angle measuring part;

12. The lift test apparatus of claim 11, wherein said mounting base includes a mounting plane, said angle measurement portion being mounted to said mounting plane;

13. A flight device lift test system, comprising:

the flying apparatus lift test device of any one of claims 1-12, configured to measure flight data of the flying apparatus in a flight state, the flight data comprising data indicative of a drag, a drag angle, a roll angle, and/or a pitch angle; wherein the flight state comprises a hover state and/or a hover state;

14. A method for testing the lift of a flight device, wherein the method for testing the lift of the flight device generated in a flight state by using the system for testing the lift of the flight device as claimed in claim 13 comprises the following steps: