CN115014489B - Unmanned helicopter flight weight measuring method and device - Google Patents
Unmanned helicopter flight weight measuring method and device Download PDFInfo
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- CN115014489B CN115014489B CN202210543397.3A CN202210543397A CN115014489B CN 115014489 B CN115014489 B CN 115014489B CN 202210543397 A CN202210543397 A CN 202210543397A CN 115014489 B CN115014489 B CN 115014489B
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000001514 detection method Methods 0.000 claims description 11
- 238000005259 measurement Methods 0.000 claims description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 5
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000004260 weight control Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/02—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles
- G01G19/07—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles for weighing aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
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Abstract
The invention relates to the field of unmanned helicopters, and discloses a method and a device for measuring the flying weight of an unmanned helicopter.
Description
Technical Field
The invention relates to the field of unmanned helicopters, in particular to a method and a device for measuring flying weight of an unmanned helicopter.
Background
When the unmanned helicopter flies, the weight of the unmanned helicopter can be greatly changed along with the spraying of liquid medicine due to fuel consumption, in particular to the unmanned helicopter for plant protection, which is a challenge for a flight control system. The flight control system needs to obtain the weight data of the aircraft to calculate the required control quantity in the mathematical model, and the more accurate the weight data is, the more accurate the control rate is, and the higher the flight quality is.
At present, as the actual flight weight of the unmanned helicopter cannot be directly monitored, a flight control system generally sets various different flight control rate data, and the control rate is switched according to the sequence from heavy to light in the process of taking off to landing of the unmanned helicopter. The main defect of the method is that a certain deviation exists between the weight set in the weight control rate and the actual weight of the helicopter during flight due to objective working environment or other reasons, and the unmanned helicopter is very easy to cause flight accidents due to the influence of the deviation.
Therefore, how to directly monitor the actual flying weight of an unmanned helicopter is a problem that is currently urgent to be solved by those skilled in the art.
Disclosure of Invention
In order to solve the technical problems, the invention provides a method and a device for measuring the flying weight of an unmanned helicopter, which can directly monitor the actual flying weight of the unmanned helicopter.
In order to achieve the above object, the present invention provides the following solutions:
the invention provides a method for measuring the flying weight of an unmanned helicopter, which comprises the following steps: acquiring the position of the tilting disk in a hovering state; determining a blade angle of a rotor wing of the unmanned helicopter according to the position of the tilting disk; determining the lift force of the unmanned helicopter according to the blade angle of the unmanned helicopter; and determining the weight of the unmanned helicopter according to the lifting force.
The invention also provides a flying weight measuring device of the unmanned helicopter, which comprises: the position detection device is used for detecting the position of the swashplate, the swashplate is slidably arranged on a main shaft of the unmanned helicopter, the position detection device and the swashplate are oppositely arranged, and the position detection device and the swashplate are sequentially arranged along the axial direction of the main shaft.
Preferably, the position detecting device includes a linear hall sensor and a magnet, one of the linear hall sensor and the magnet is disposed on the tilting disk, the other is disposed on the spindle, and the linear hall sensor is disposed opposite to the magnet.
Preferably, the unmanned helicopter flight weight measuring device further comprises a connecting piece, the magnet is arranged on the tilting disk, the connecting piece is arranged on the main shaft, and the linear Hall sensor is arranged on the connecting piece.
Preferably, the tilting disk is provided with a mounting groove, one end of the magnet is provided with a mounting block, and the mounting block is arranged in the mounting groove and fixedly connected with the mounting groove.
Preferably, the magnet is of a cylindrical structure, a guide groove is formed in the connecting piece, the length direction of the guide groove is parallel to the axis direction of the main shaft, the magnet is slidably arranged in the guide groove, and the diameter of the cross section of the magnet is equal to the width of the guide groove.
Preferably, the connecting piece comprises a first connecting plate and a second connecting plate which are perpendicular to each other, the first connecting plate is arranged on the main shaft, the main shaft is perpendicular to the first connecting plate, and the second connecting plate is provided with the guide groove.
Preferably, the first connecting plate is sleeved on the main shaft and is fixedly connected with the main shaft.
Compared with the prior art, the invention has the following technical effects:
according to the unmanned helicopter flight weight measuring method and device, the blade angle of the unmanned helicopter rotor wing is determined by detecting the position of the tilting disk in a hovering state, the lifting force of the unmanned helicopter can be determined according to the blade angle of the unmanned helicopter, and the weight of the unmanned helicopter can be determined according to the lifting force.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an unmanned helicopter flight weight measurement apparatus provided in an embodiment of the present invention;
fig. 2 is a schematic structural view of a connection member of an unmanned helicopter flying weight measuring device according to an embodiment of the invention.
Reference numerals illustrate: 1. a tilting plate; 2. a main shaft; 3. a magnet; 4. a mounting block; 5. a guide groove; 6. a first connection plate; 7. and a second connecting plate.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a method and a device for measuring the flying weight of an unmanned helicopter, which can directly monitor the actual flying weight of the unmanned helicopter.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
As shown in fig. 1, the embodiment provides a method for measuring flying weight of an unmanned helicopter, which includes the following steps: in the hovering state, the position of the swashplate 1 is acquired; determining a blade angle of the unmanned helicopter rotor (an included angle of the unmanned helicopter rotor relative to the horizontal) according to the position of the tilting disk 1; determining the lifting force of the unmanned helicopter according to the blade angle of the unmanned helicopter; the weight of the unmanned helicopter is determined from the lift. According to the unmanned helicopter flight weight measuring method, the actual flight weight of the unmanned helicopter can be directly monitored by detecting the position of the tilting disk 1, so that the situation that the unmanned helicopter is easy to generate flight accidents due to deviation between the weight set in the control rate and the actual weight of the helicopter during flight is effectively avoided.
The embodiment also provides an unmanned helicopter flight weight measuring device, including: a position detection device for detecting the position of the swashplate 1, the swashplate 1 is slidably disposed on the main shaft 2 of the unmanned helicopter, the position detection device and the swashplate 1 are disposed opposite to each other, and the position detection device and the swashplate 1 are disposed in sequence along the axial direction of the main shaft 2.
Specifically, the position detecting device includes a linear hall sensor and a magnet 3, one of the linear hall sensor and the magnet 3 is provided on the tilting disk 1, the other is provided on the spindle 2, and the linear hall sensor is provided opposite to the magnet 3. The linear Hall sensor senses the position of the magnet 3 and outputs different electric signals along with the position change of the magnet 3, and the control system of the unmanned helicopter receives the electric signals output by the linear Hall sensor and determines the weight of the unmanned helicopter through the electric signals. The control system of the unmanned helicopter belongs to the existing structure, and only the position detection device (linear Hall sensor) of the unmanned helicopter flight weight measuring device provided by the invention is required to be in communication connection with the control system of the unmanned helicopter.
Further, as shown in fig. 1, the embodiment further provides an unmanned helicopter flying weight measuring device, which further comprises a connecting piece, the magnet 3 is arranged on the tilting disk 1, the connecting piece is arranged on the main shaft 2, and the linear hall sensor is arranged on the connecting piece.
Further, a mounting groove is formed in the tilting disk 1, a mounting block 4 is arranged at one end of the magnet 3, and the mounting block 4 is arranged in the mounting groove and fixedly connected with the mounting groove.
Further, as shown in fig. 1, the magnet 3 has a cylindrical structure, the connecting member is provided with a guide groove 5, the length direction of the guide groove 5 is parallel to the axial direction of the spindle 2, the magnet 3 is slidably disposed in the guide groove 5, and the diameter of the cross section of the magnet 3 is equal to the width of the guide groove 5. As shown in fig. 2, specifically, the connecting member includes a first connecting plate 6 and a second connecting plate 7 perpendicular to each other, the first connecting plate 6 is disposed on the spindle 2, the spindle 2 is perpendicular to the first connecting plate 6, and the second connecting plate 7 is provided with a guide groove 5. Specifically, the first connecting plate 6 is sleeved on the main shaft 2 and is fixedly connected with the main shaft 2.
The unmanned helicopter flight weight measuring device provided by the embodiment is specifically used for calibrating the maximum Hall data in a hovering state during take-off, and the descending amount of the tilting disk can be monitored by hovering the plane during flight, so that a basis is provided for changing the control rate of a flight control system.
The principle of measuring the actual flight weight of the aircraft by the unmanned helicopter flight weight measuring method and the unmanned helicopter flight weight measuring device provided by the embodiment is as follows:
the existing unmanned helicopter is provided with a tilting disk 1, the tilting disk 1 is used for changing the lifting force of the unmanned helicopter, the tilting disk 1 is slidably arranged on a main shaft 2, and along with the sliding of the tilting disk 1, the blade angle of a rotor wing of the unmanned helicopter changes, the larger the blade angle is, the larger the generated lifting force is, the smaller the blade angle is, otherwise, the position of the tilting disk 1 is in linear relation with the lifting force of the unmanned helicopter. In a specific flight process, when the unmanned helicopter is in a hovering state, the lifting force of the unmanned helicopter is equal to the gravity of the unmanned helicopter, the unmanned helicopter is in a balanced state, the actual flight weight of the unmanned helicopter can be monitored by monitoring the position of the tilting disk 1, and the position of the tilting disk 1 is linearly related to the lifting force of the unmanned helicopter and the actual flight weight of the unmanned helicopter.
The principles and embodiments of the present invention have been described in this specification with reference to specific examples, the description of which is only for the purpose of aiding in understanding the method of the present invention and its core ideas; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (6)
1. An unmanned helicopter flight weight measurement device, comprising: the position detection device is used for detecting the position of the swashplate, the swashplate is slidably arranged on the main shaft of the unmanned helicopter, the position detection device and the swashplate are oppositely arranged, and the position detection device and the swashplate are sequentially arranged along the axial direction of the main shaft;
the position detection device comprises a linear Hall sensor and a magnet;
the magnet set up in on the inclined disc, be provided with the connecting piece on the main shaft, linear hall sensor set up in on the connecting piece, just linear hall sensor with magnet sets up relatively.
2. The unmanned helicopter flight weight measuring device of claim 1, wherein a mounting groove is formed in the tilting disk, a mounting block is arranged at one end of the magnet, and the mounting block is arranged in the mounting groove and fixedly connected with the mounting groove.
3. The unmanned helicopter flight weight measuring device according to claim 1, wherein the magnet has a cylindrical structure, the connecting piece is provided with a guide groove, the length direction of the guide groove is parallel to the axis direction of the main shaft, the magnet is slidably arranged in the guide groove, and the diameter of the cross section of the magnet is equal to the width of the guide groove.
4. The unmanned helicopter flight weight measurement apparatus of claim 3, wherein the connection member comprises a first connection plate and a second connection plate which are perpendicular to each other, the first connection plate is disposed on the main shaft, the main shaft is perpendicular to the first connection plate, and the second connection plate is provided with the guide groove.
5. The unmanned helicopter flying weight measuring device of claim 4, wherein the first connecting plate is sleeved on the main shaft and fixedly connected with the main shaft.
6. An unmanned helicopter flight weight measuring method, which adopts the unmanned helicopter flight weight measuring device as claimed in any one of claims 1 to 5, and is characterized by comprising the following steps:
acquiring the position of the tilting disk in a hovering state;
determining a blade angle of a rotor wing of the unmanned helicopter according to the position of the tilting disk;
determining the lift force of the unmanned helicopter according to the blade angle of the unmanned helicopter;
and determining the weight of the unmanned helicopter according to the lifting force.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210543397.3A CN115014489B (en) | 2022-05-18 | 2022-05-18 | Unmanned helicopter flight weight measuring method and device |
| JP2022205417A JP7480967B2 (en) | 2022-05-18 | 2022-12-22 | Measuring device for unmanned helicopter flight weight |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210543397.3A CN115014489B (en) | 2022-05-18 | 2022-05-18 | Unmanned helicopter flight weight measuring method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115014489A CN115014489A (en) | 2022-09-06 |
| CN115014489B true CN115014489B (en) | 2024-03-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210543397.3A Active CN115014489B (en) | 2022-05-18 | 2022-05-18 | Unmanned helicopter flight weight measuring method and device |
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| Country | Link |
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| JP (1) | JP7480967B2 (en) |
| CN (1) | CN115014489B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4574360A (en) * | 1983-04-01 | 1986-03-04 | Sundstrand Data Control, Inc. | Helicopter weight measuring system |
| US5229956A (en) * | 1991-03-06 | 1993-07-20 | United Technologies Corporation | Helicopter weight measurement |
| CN101376433A (en) * | 2008-10-10 | 2009-03-04 | 南京航空航天大学 | Helicopter rotor operation method and system |
| CN107972862A (en) * | 2017-11-21 | 2018-05-01 | 歌尔科技有限公司 | Load-carrying control method, equipment and unmanned plane based on unmanned plane |
| JP2020117203A (en) * | 2019-01-23 | 2020-08-06 | 東光鉄工株式会社 | Weight measuring device for drone |
| WO2022034001A1 (en) * | 2020-08-14 | 2022-02-17 | Volkswagen Aktiengesellschaft | Method for operating an aircraft which takes off and lands vertically, and aircraft which takes off and lands vertically |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120068004A1 (en) | 2010-01-19 | 2012-03-22 | Mehdi Hatamian | Auto-hover and auto-pilot helicopter |
| WO2011119458A1 (en) | 2010-03-23 | 2011-09-29 | Bell Helicopter Textron Inc. | Swashplate-mounted permanent magnet alternator |
| US8955792B2 (en) * | 2012-08-31 | 2015-02-17 | Bell Helicopter Textron Inc. | Rotor position determination system with hall-effect sensors |
-
2022
- 2022-05-18 CN CN202210543397.3A patent/CN115014489B/en active Active
- 2022-12-22 JP JP2022205417A patent/JP7480967B2/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4574360A (en) * | 1983-04-01 | 1986-03-04 | Sundstrand Data Control, Inc. | Helicopter weight measuring system |
| US5229956A (en) * | 1991-03-06 | 1993-07-20 | United Technologies Corporation | Helicopter weight measurement |
| CN101376433A (en) * | 2008-10-10 | 2009-03-04 | 南京航空航天大学 | Helicopter rotor operation method and system |
| CN107972862A (en) * | 2017-11-21 | 2018-05-01 | 歌尔科技有限公司 | Load-carrying control method, equipment and unmanned plane based on unmanned plane |
| JP2020117203A (en) * | 2019-01-23 | 2020-08-06 | 東光鉄工株式会社 | Weight measuring device for drone |
| WO2022034001A1 (en) * | 2020-08-14 | 2022-02-17 | Volkswagen Aktiengesellschaft | Method for operating an aircraft which takes off and lands vertically, and aircraft which takes off and lands vertically |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2023171209A (en) | 2023-12-01 |
| JP7480967B2 (en) | 2024-05-10 |
| CN115014489A (en) | 2022-09-06 |
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