JP2017132461A - Unmanned flying body characteristic measurement device and unmanned flying body evaluation system using the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an unmanned flying body characteristic measurement device capable of performing a flight test of an unmanned flying body under various aviation environments without a risk of a crash in a form that simulates an actual autonomous flight state, and an analysis/evaluation system for the flight characteristics using the measurement data.SOLUTION: An unmanned flying body characteristic measurement device includes a robot arm on which an unmanned flying body is placed, an environment sensor for measuring an aviation environment state on the unmanned flying body, an airframe motion sensor for measuring a motion of the airframe of the unmanned flying body, a power sensor for measuring a state of a power unit of the unmanned flying body, and a controller for measuring/controlling data from each sensor. The power unit of the unmanned flying body placed on the robot arm is operated so as to measure various kinds of flight characteristics of the unmanned flying body.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an unmanned aerial vehicle, and more particularly, to an apparatus for measuring characteristics and an evaluation system for an unmanned aerial vehicle having a rotating wing or a fixed wing such as a helicopter having a self-flight capability and a multicopter (multi-wing helicopter).

  In recent years, such unmanned aerial vehicles have attracted attention for industrial applications such as spraying of agrochemicals, aerial photography, disaster investigation, remote monitoring, and delivery by remote control or autonomous flight.

In general, a ground test using a simulator is indispensable for verification and evaluation related to flight control of an aircraft. The simulator measures the flight characteristics of the aircraft by simulating the airflow state and transmitting a control signal to the aircraft.
For example, Patent Document 1 discloses a flight control system verification / evaluation and a flight motion simulator using a three-dimensional airflow generation device. However, Patent Document 1 does not disclose verification / evaluation of flight control and flight motion simulation associated with autonomous flight.

JP-A-8-62091

Conventionally, R & D and quality assurance related to the production of unmanned aerial vehicles with autonomous flight capability have the following problems and issues.
1) In the case of wireless maneuvering, it was only necessary to operate accurately with respect to the operator's maneuvering, but in the case of autonomous flight, the unmanned air vehicle itself controls itself according to the flight environment, so it flies while actually flying. There was no choice but to conduct a flight test to verify the situation.
Even if a flight test is performed in a small indoor area, an unmanned air vehicle that performs autonomous flight uses a GPS (global positioning system) to identify its own position, so a flight test cannot be performed indoors where GPS signals do not reach. .
Furthermore, in the case of such an unmanned aerial vehicle for autonomous flight, the unmanned aerial vehicle is fixed even if it creates a simulated flight state that constitutes a flight environment of various conditions by fixing the flight movement amount from a GPS signal to a fixed position. Therefore, it is not possible to form a movement state in which the flight movement amount is obtained from the GPS signal.
2) In order to reproduce the behavior in the sky on the ground, it is necessary to input a disturbance (for example, a disturbance that is swept away by a crosswind) to an unmanned air vehicle, but there was no means to do so.
3) Although it was possible to generate a disturbance on the ground and measure the response of the unmanned air vehicle, the response to the disturbance is handled by the unmanned air vehicle itself by feedback control, so the feedback control of the unmanned air vehicle is reproduced on the ground. I couldn't.
4) There is a risk of crash in flight tests of unmanned air vehicles. Therefore, it is difficult to perform a limit experiment with a risk of crash.
5) Although the unmanned air vehicle has a function of automatically refusing flight in a preset prohibited zone, it is difficult to actually fly in the prohibited zone, so such a verification test cannot be performed.
6) In failure diagnosis, it is difficult to identify the failure location because there is a risk of crash when performing reproduction by flight. Therefore, it takes time for diagnosis to estimate the fault location, replace the parts, and perform verification by flight. In addition, since the failure location is specified by estimation, there is a risk of crash or runaway if it is not an accurate failure location. Furthermore, since there is no accumulation of flight data, it takes a lot of time to exchange parts in this state for flight.
7) Various parameters need to be set for flight control of unmanned aerial vehicles, but since there is no reproducibility in outdoor flight tests, quantitative parameter adjustment is not possible.

However, there are no known quantitative evaluation / verification systems using numerical values that comprehensively solve the problems and problems of unmanned air vehicles having such autonomous flight capabilities.
However, it is conceivable to analyze only the specific flight characteristics of the flying object based on the data at the time of flight measured by various sensors mounted in advance on the flying object that is operated by the remote controller. For example, there may be a method in which the flying object is evaluated by individually measuring and analyzing the voltage, current, rotational speed, lift, etc., levitation force, posture, center of gravity, etc. of the flight power.
However, there has been no unmanned air vehicle having autonomous flight capability that can comprehensively evaluate unmanned air vehicles by organically combining various flight characteristics.
In other words, it was not possible to simulate the actual flight state using measurement data obtained under various aviation environments.

  The present invention has been made in view of such circumstances. Basically, various sensors for detecting the flight state of the unmanned air vehicle by mounting the unmanned air vehicle on the robot arm and operating the power unit of the unmanned air vehicle. By recording and controlling information from the server and controlling it, an unmanned air vehicle characteristic measuring device that can create a virtual flight form of a virtual unmanned air vehicle and simulate the actual flight state, and flight characteristics using the measurement data In addition, the robot arm is made to follow the movement of the unmanned aerial vehicle by feeding back information from the airframe motion sensor, and the artificial GPS signal is controlled to control the unmanned flight. The feedback control associated with autonomous body flight can be reproduced and measured on the ground.

  In this way, unmanned aerial vehicle flight testing can be performed in various aeronautical environments in the form of simulated autonomous flight conditions without risk of crash, and flight characteristics using the measurement data The purpose is to provide an analysis and evaluation system.

  In the unmanned air vehicle characteristic measurement device of the present invention, a robot arm on which the unmanned air vehicle is mounted, an environment sensor that measures the state of the unmanned air vehicle's aeronautical environment, and a body motion that measures the motion of the unmanned air vehicle body A sensor and a power sensor for measuring the state of the power unit of the unmanned air vehicle are provided, and a controller for measuring and controlling data from each sensor is provided to measure various flight characteristics of the unmanned air vehicle. It is characterized by comprising.

  Furthermore, the unmanned aerial vehicle characteristic measurement apparatus of the present invention is also characterized in that it includes an aviation environment chamber that simulates the aviation environment.

  Furthermore, the unmanned air vehicle characteristic measurement device of the present invention includes a pseudo GPS generator, operates a power unit of the unmanned air vehicle mounted on the robot arm, and feeds back data from the airframe motion sensor to the robot arm. By operating the robot arm and controlling the pseudo GPS signal, various flight characteristics of the unmanned air vehicle can be measured while performing the simulated autonomous flight of the unmanned air vehicle.

  Further, in the unmanned air vehicle characteristic measurement device of the present invention, the unmanned air vehicle is swingably connected to the robot arm via a ball joint, so that the following movement of the robot arm is complemented and the autonomous flight of the unmanned air vehicle is performed. Therefore, it is possible to measure various flight characteristics of the unmanned air vehicle while performing simulated autonomous flight of the unmanned air vehicle.

  Further, in the unmanned air vehicle characteristic measurement device of the present invention, the controller operates the power unit of the unmanned air vehicle mounted on the robot arm based on data from a power sensor by actual flight, Based on the airframe position information obtained from the above, the actual flight state is fed back to the robot arm to reproduce the airframe motion data of the unmanned air vehicle due to an external cause.

  The unmanned air vehicle evaluation system of the present invention includes an unmanned air vehicle characteristic measurement device, a server, a client terminal, and a network that connects the server to the unmanned air vehicle characteristic measurement device and the client terminal in a communicable manner. And a means for analyzing various flight characteristics of the unmanned aerial vehicle based on the characteristic measurement data of the unmanned aerial vehicle accumulated in the server.

  In addition, the unmanned air vehicle evaluation system of the present invention is an analysis of various flight characteristics of the unmanned air vehicle, including the analysis of the center of gravity of the unmanned air vehicle, the analysis of the flight, and the power such as voltage, current, rotation speed, and lift force. Analysis, analysis of the unmanned air vehicle's levitation force, analysis of the attitude control of the unmanned air vehicle, analysis of the electromagnetic environment of the power unit of the unmanned air vehicle, analysis of vibration of the unmanned air vehicle, and simulation of the unmanned air vehicle It is also characterized by one or more types of analysis selected from flight analysis and analysis of the environment required for flight control of unmanned air vehicles.

  According to the first aspect of the present invention, in the unmanned air vehicle characteristic measurement device of the present invention, a robot arm on which the unmanned air vehicle is mounted, an environmental sensor for measuring the state of the air environment of the unmanned air vehicle, and the unmanned air vehicle A vehicle motion sensor for measuring the motion of the aircraft, and a power sensor for measuring the state of the power unit of the unmanned aerial vehicle, and a controller for measuring and controlling data from each sensor. Since the various flight characteristics of the body can be measured, the actual flight environment can be simulated and the simulated flight condition can be displayed, so the flight test was conducted without the risk of crashing and the actual flight condition was simulated. This has the effect of measuring the characteristics of an unmanned air vehicle in the form.

  According to the invention of claim 2, by providing the aviation environment chamber that simulates the aviation environment, it is possible to measure the characteristics of the unmanned air vehicle in a form that simulates the actual flight environment such as wind speed, atmospheric pressure, and temperature. There is.

  According to a third aspect of the present invention, a pseudo GPS signal generator is provided, the power unit of the unmanned air vehicle mounted on the robot arm is operated, and data from the body motion sensor is fed back to the robot arm. By operating the robot arm and controlling the simulated GPS signal to perform simulated autonomous flight of the unmanned air vehicle, various flight characteristics of the unmanned air vehicle can be measured, thereby simulating the actual autonomous flight state In this way, the characteristics of the unmanned air vehicle can be measured.

  In addition, it is possible to perform a limit test on the battery that is the power source of the power unit of the unmanned air vehicle without risk of crashing, and it is also possible to use an external power source as the power source of the power unit of the unmanned air vehicle. It can be done without danger.

  According to the fourth aspect of the present invention, since the robot arm and the unmanned air vehicle are swingably coupled via the ball joint, the following movement performance of the robot arm accompanying the rotational motion from the airframe motion sensor is not sufficient. It is also possible to simulate feedback control associated with autonomous flight of an unmanned air vehicle.

  According to the invention of claim 5, the power unit of the unmanned air vehicle mounted on the robot arm is operated based on data from the power sensor by actual flight, and based on the aircraft position information by actual flight. By feeding back to the robot arm and reproducing the actual flight state, it was configured to be able to measure the unmanned air vehicle motion data due to external factors, so it was reproduced based on the data obtained when actually performing the flight test Experiments can be performed to measure triaxial forces and torques due to external factors (such as airflow) that were unknown in actual flight tests.

According to invention of Claim 6, it comprises the unmanned air vehicle characteristic measuring device, the server, the client terminal, and the circuit network that connects the server to the unmanned air vehicle characteristic measuring device and the client terminal. By providing means for analyzing various flight characteristics of the unmanned air vehicle based on the characteristic measurement data of the unmanned air vehicle accumulated in the server, the measurement data from the unmanned air vehicle characteristic measurement device is transmitted via the network. Can be collected in a server and recorded as a database, and various flight characteristics of the unmanned air vehicle can be analyzed and evaluated based on the measurement data, and the analysis results can be fed back to the research and development of the unmanned air vehicle. Accordingly, the repeated labor of “assembly-test flight” is eliminated, and the accuracy and speed of research and development are improved.
In addition, in the product inspection, there is an effect that the adjustment process is automated and mass production is possible.

  According to the invention of claim 7, the unmanned air vehicle evaluation system of the present invention includes an analysis of the center of gravity of the unmanned air vehicle and the voltage, current, rotational speed, lift force of the unmanned air vehicle as the analysis of various flight characteristics of the unmanned air vehicle. Power analysis, unmanned air vehicle flight analysis, unmanned air vehicle attitude control analysis, unmanned air vehicle levitation force analysis, unmanned air vehicle vibration analysis, unmanned air vehicle power By selecting one or more types of analysis selected from the analysis of the electromagnetic environment of the aircraft, analysis of simulated flight of unmanned aircraft, and analysis of aviation environment required for flight control of unmanned aircraft It has a great effect.

  In other words, the analysis of the various flight characteristics of the unmanned aerial vehicle is based on the analysis of the center of gravity of the unmanned aerial vehicle. The center of gravity position of the unmanned air vehicle can be identified from the force. In addition, even when the airframe is tilted by the robot arm, the three-dimensional center of gravity position of the unmanned air vehicle can be specified by the data from the 6-axis force sensor.

  In addition, as an analysis of various flight characteristics of an unmanned aerial vehicle, power, such as voltage, current, rotation speed, and lift, is analyzed. As a flight characteristic, an analysis of power and levitation force results in an unmanned aerial vehicle. Using the power measurement data, the maximum payload, the prediction of the flight time in combination with the battery, and the reaction speed at the time of gust are analyzed, and there is an effect that the design according to the customer's request is possible.

  In addition, by analyzing the flight of unmanned air vehicles, environmental data, aircraft motion data, and power data are integrated as characteristics of unmanned air vehicles to comprehensively analyze flight characteristics. Since the flight characteristics at the time (maintenance) are recorded and managed in the database, the database can be used to diagnose failures and diagnose parts, and to speed up and automate failure diagnosis. Further, the flight control parameters can be easily set and adjusted by numerical evaluation using numerical values without relying on experience values.

  In addition, the analysis of various flight characteristics of the unmanned aerial vehicle is quantitative by comparing the data from the airframe motion sensor and the movement of the unmanned aerial vehicle by analyzing the flying force and attitude control of the unmanned aerial vehicle. In addition, there is an effect that performance analysis of flight control can be performed.

  In addition, since analysis of vibration was performed as an analysis of various flight characteristics of the unmanned air vehicle, by measuring the vibration of each part of each power unit (motor, etc.) and frequency-decomposing the vibration, By separating the vibrations of the propeller balance system and implementing the respective measures, it becomes possible to obtain a combination that does not resonate as the entire system, and the vibration isolation can be improved.

  In addition, since the analysis of various types of unmanned air vehicles is performed as an analysis of electromagnetic environment, it is possible to evaluate the influence of electromagnetic noise generated from the power unit of unmanned air vehicles on other electronic devices. .

  In addition, since the analysis of various flight characteristics of the unmanned aerial vehicle was performed as a simulated flight analysis, the flight until the unmanned air vehicle reached the destination by controlling the pseudo GPS signal in conjunction with the robot arm. The route can be analyzed. Further, the use of the pseudo GPS signal in the no-fly zone has an effect that the behavior of the unmanned air vehicle with respect to the no-fly zone can be actually measured.

  In addition, since the measurement of the aviation environment is performed as an analysis of various flight characteristics of the unmanned air vehicle, there is an effect that the aviation resistance performance (for example, wind resistance performance) can be measured.

FIG. 1 is a schematic diagram showing a schematic configuration of an unmanned air vehicle characteristic measurement apparatus according to an embodiment of the present invention. FIG. 2 is a block diagram showing a functional configuration of the unmanned air vehicle characteristic measuring apparatus according to the embodiment of the present invention. FIG. 3 is a perspective view showing attachment of the unmanned air vehicle and the robot arm according to the embodiment of the present invention. FIG. 4 is a side view showing attachment of the unmanned air vehicle and the robot arm according to the embodiment of the present invention. FIG. 5 is a side view showing attachment of the robot arm and the six-axis force sensor according to the embodiment of the present invention. FIG. 6 is a perspective view showing a ball joint and a horizontal support rod according to an embodiment of the present invention. FIG. 7 is a side view showing attachment of the ball joint and the robot arm according to the embodiment of the present invention. FIGS. 8A and 8B are perspective views showing attachment of the case and the ball joint of the six-axis force sensor according to the embodiment of the present invention, where FIG. 8A is in an equilibrium state and FIG. 8B is in a swinging state. FIG. 9 is a schematic diagram showing a schematic configuration of the unmanned air vehicle evaluation system according to the embodiment of the present invention. FIG. 10 is a block diagram showing a functional configuration of the server of the unmanned air vehicle evaluation system according to the embodiment of the present invention. FIG. 11 is an explanatory diagram of analysis and measurement contents in the unmanned air vehicle evaluation system according to the embodiment of the present invention. FIG. 12 is a schematic diagram illustrating an example of a flow accompanying an operation in the unmanned air vehicle characteristic measurement apparatus according to the embodiment of the present invention.

  The gist of the present invention is that a robot arm on which an unmanned aerial vehicle is mounted, an environmental sensor that measures the state of an aerial environment of the unmanned aerial vehicle, an airframe motion sensor that measures the motion of the unmanned aerial vehicle, A power sensor for measuring the state of the power unit of the flying object is provided, and a controller for measuring and controlling data from each sensor is provided so that various flight characteristics of the unmanned flying object can be measured. Features.

  Furthermore, the present invention is also characterized in that an aviation environment chamber that simulates the aviation environment is provided.

  Furthermore, a pseudo GPS generator is provided, the power unit of the unmanned air vehicle mounted on the robot arm is operated, and the robot arm is operated by feeding back data from the body motion sensor to the robot arm. By controlling the pseudo GPS signal, various flight characteristics of the unmanned air vehicle can be measured while performing the simulated autonomous flight of the unmanned air vehicle.

  Furthermore, the power unit of the unmanned air vehicle mounted on the robot arm is operated based on the data from the power sensor by actual flight, and the actual flight is fed back to the robot arm based on the aircraft position information by actual flight. By reproducing the state, it is possible to measure the airframe motion data of the unmanned air vehicle due to external factors.

  In addition, as an analysis of various flight characteristics of the unmanned air vehicle, the unmanned air vehicle characteristic measurement device, the server, the client terminal, and a line that connects the server to the unmanned air vehicle characteristic measurement device and the client terminal so as to communicate with each other. And a means for analyzing various flight characteristics of the unmanned air vehicle based on the characteristic measurement data of the unmanned air vehicle accumulated in the server, and as a means for analyzing the various flight characteristics Consists of one or more selected from the following analysis.

That is,
Analysis of center of gravity of unmanned air vehicle Analysis of flight of unmanned air vehicle,
Analysis of power such as voltage, current, rotation speed, lift,
Analysis of levitation force of unmanned air vehicles,
Analysis of attitude control of unmanned air vehicles,
Analysis of vibrations of unmanned air vehicles,
Analysis of the electromagnetic environment of the power section of an unmanned air vehicle,
Analysis of simulated flight of unmanned air vehicles,
Analysis of the environment required for flight control of unmanned air vehicles.

  First, in the case of an unmanned aerial vehicle having rotating wings, an example of an unmanned aerial vehicle characteristic measuring device will be described in detail with reference to the drawings.

FIG. 1 is a diagram showing a schematic configuration of the unmanned air vehicle characteristic measuring apparatus 1.
In the aeronautical environment chamber 10, a robot arm 20 is accommodated, and an unmanned air vehicle 90 having a plurality of rotary wing bodies 91 is placed at the tip of the robot arm 20.

  In FIG. 3, an unmanned air vehicle 90 having a plurality of rotary wing bodies 91 includes a body frame 91c and a body frame 91c made of plates for mounting and suspending various kinds of equipment at the center depending on the application. It consists of four support rods 91d extending in four directions and a rotary wing body 91 as a power unit attached to the tip of each support rod 91d. The rotary wing body 91 is composed of a propeller 91b and a motor 91a.

  In addition, an airflow generation device 30 is provided at a predetermined position of the aviation environment chamber 10, for example, a predetermined position such as a ceiling portion, a side wall, or a floor portion.

  The airflow generation device 30 has a predetermined airflow fan, and is configured to generate an airflow form having a predetermined condition by forcibly circulating air outside the chamber from the air outlet. In short, when the unmanned aerial vehicle 90 performs a simulated flight in the aviation environment chamber 10, it is configured to form various types of controlled airflow as in actual aerial flight.

  Specifically, a simulated airflow is generated from either the upper or lower side by the airflow generator 30 so as to form an airflow that simulates a controlled aviation environment such as wind direction, wind speed, temperature, and humidity from a predetermined arbitrary direction. It is configured.

  Further, at least four or more GPS signal transmitters are provided at predetermined intervals inside or outside the aviation environment chamber 10 so as to maintain the inside of the flight controller (flight control device) of the unmanned air vehicle 90. Has a built-in antenna for GPS signal receiver. Usually, the unmanned air vehicle 90 receives GPS signals from four artificial satellites and confirms the position of the unmanned air vehicle 90.

  The apparatus for measuring the characteristics of the unmanned air vehicle 90 and the GPS signal transmission system in the unmanned air vehicle evaluation system 2 using the unmanned air vehicle 90 are provided with a pseudo GPS signal transmitter in the chamber. As if the unmanned aerial vehicle 90 is configured to receive signals, and the unmanned aerial vehicle 90 moves by controlling the pseudo GPS signal, it seems as if the unmanned aerial vehicle 90 in a fixed position has made a simulated flight. It is possible to specify the position after the simulated flight by imitating the state.

  With this structure, the GPS environment of the unmanned air vehicle 90 can be simulated in the flight controller. In other words, in the actual flight environment, the unmanned air vehicle 90 moves and recognizes the position of the own aircraft by receiving GPS signals with the four space satellites. By controlling the pseudo GPS signals from the four transmitting antennas of the aircraft, it is possible to simulate the same GPS environment as if the unmanned air vehicle 90 set at a fixed position in the aviation environment chamber 10 moved relatively. I can do it.

  In addition, as a sensor 57 for measuring various flight data, there are various types of information to be sensed at predetermined locations such as the aviation environment chamber 10, the unmanned air vehicle 90, and the rotating wing body 91 (propeller 91b and motor 91a) of the power unit. Accordingly, a large number of various sensors 57 are attached.

  That is, in the aviation environment chamber 10, an environment sensor 57a (see FIG. 2) that measures the state of the aviation environment such as temperature, humidity, wind direction, and wind speed is held in a space at a predetermined interval from the chamber side wall. It is configured to be able to measure the state of the aviation environment such as temperature, humidity, wind direction, wind speed, etc., in a flow form derived from forced air circulation outside the chamber from a predetermined air flow fan in the generator 30.

In addition, between the tip of the robot arm 20 and the unmanned air vehicle 90, as a body motion sensor 57b for detecting the body motion of the unmanned air vehicle 90, the forces in the X, Y, and Z directions of the airframe and X, Y, A 6-axis force sensor 93 (see FIGS. 3, 4, and 5) that detects torque in the 3-axis direction of Z is attached.
That is, the flight attitude load of the unmanned aerial vehicle 90 due to the flight attitude load of the unmanned air vehicle 90 by remote control or the change in the state of the aeronautical environment such as temperature, humidity, wind direction, wind speed in the aviation environment chamber 10 is detected by the 6-axis force sensor 93. The detected information is fed back to the robot arm 20 to create an operating state of the robot arm 20 that follows the simulated flying state as if it were flying so that the reaction posture change of the unmanned air vehicle 90 can be visually perceived. Yes.
Thus, between the tip of the robot arm 20 and the unmanned aerial vehicle 90, a 6-axis force sensor 93 that detects torque in three axial directions is interposed as a body motion sensor 57b that detects the motion of the unmanned aerial vehicle 90. However, specifically, the airframe frame 91 c of the unmanned air vehicle 90 is continuously mounted on the upper portion of the six-axis force sensor 93 via the ball joint 95. That is, when the unmanned aerial vehicle 90 is operated to fly, the unmanned aerial vehicle 90 is oscillated and displaced in the three axial directions of X, Y, and Z. The 6-axis force sensor 93 is used for measurement. 6 shows a connecting shaft that connects the body frame 91c of the unmanned air vehicle 90 and the ball joint 95, FIG. 7 shows a side view that connects the robot arm 20 and the ball joint 95, and FIG. A ball case is shown which is integrally connected to the upper part of the case 93 a of the six-axis force sensor 93 and comprehensively supports the outer surface of the ball joint 95.
As described above, the airframe 91c of the unmanned air vehicle 90 is continuously mounted on the upper portion of the 6-axis force sensor 93 via the ball joint 95, so that the simulated flight posture of the unmanned air vehicle 90 can be freely set. It can swing while being supported by.
However, in the structure for supporting the unmanned air vehicle 90 by the ball joint 95, since the weight of the airframe is larger than the lift at the start of the hovering of the unmanned air vehicle 90, the unmanned air vehicle 90 can swing with the ball joint 95. There is a risk that the airframe may be displaced and interfere with equipment around the unmanned air vehicle 90 to damage the airframe.
In order to avoid such a situation, the unmanned aerial vehicle 90 starts hovering and supports the unmanned aerial vehicle 90 substantially horizontally until the lift is greater than the weight of the aircraft and the unmanned aerial vehicle 90 can control the posture by itself. There is a need to. For this reason, three horizontal support rods 97 for horizontally supporting a horizontal frame or a horizontal plate 96 integral with the unmanned air vehicle 90 are provided along the virtual circumference at equal intervals. That is, three support frames 98 are erected on the upper surface of the case 93a of the six-axis force sensor 93 or the upper end of the robot arm 20, and the three horizontal support rods 97 are connected horizontally to the upper ends of the support frames 98. Has been established.
Moreover, the horizontal support rod 97 is used for operating the plunger that is interposed between the motor 97a, the cylindrical case 97b, the plunger 97c that is housed therein so as to be freely movable back and forth, and the motor output shaft 97d and the plunger 97c. The gear 97e (not shown) is comprised.
Therefore, the unmanned air vehicle 90 swings through the ball joint 95 until the unmanned air vehicle 90 starts hovering and the lift becomes larger than the weight of the airframe and the unmanned air vehicle 90 can control the posture by itself. Since the plunger 97c of the horizontal support rod 97 is advanced by a motor 97a through a gear 97e (not shown), the horizontal frame or horizontal plate 96 integral with the unmanned air vehicle 90 is moved downward due to the possibility and instability. To hold the unmanned air vehicle 90 horizontally. After that, when the lift becomes larger than the weight of the airframe and the unmanned air vehicle 90 can control the posture by itself, the plunger 97c is moved away by the motor 97a and stored in the cylindrical case 97b, and the unmanned air vehicle 90 thereafter. So as not to interfere with the displacement posture caused by the simulated flight.
The function of this structure is that the lift of the unmanned air vehicle 90 flies over the weight of the airframe because of the inevitable structure of the unmanned air vehicle 90 that swings freely at the top of the robot arm 20 (a universal joint structure using a ball joint 95). It is a transitional temporary unmanned air vehicle holding technology until the attitude can be controlled, and its utility is extremely important.

  In addition, a plurality of rotary wing bodies 91 (propeller 91b and motor 91a) that are the power unit of the unmanned air vehicle 90 are provided with a driving voltage, current, rotation speed, temperature, vibration, lift, and the like of the motor 91a that rotates the propeller 91b. A power sensor 57c (see FIG. 2) to be measured is attached to each rotary wing body 91.

That is, as shown in FIG. 3, an unmanned air vehicle 90 having a plurality of rotary wing bodies 91 has an airframe frame 91c composed of a plate for mounting and suspending various equipments depending on the application. It becomes more and rotary blade body 91 as a power unit respectively mounted from the machine frame 91c to the tip of the four support rods 91d and the support rods 91 d that extends in all directions, rotary blade body 91 is more the propeller 91b and the motor 91a power unit Kakaru configured rotating blade body 91 (propeller 91b and the motor 91a) a predetermined location, for example, a propeller 9 1 b and the output shaft and the current introducing section and the propeller 91b of the support portion and the motor 91a of the output shaft of the motor 91a of the A power sensor 57c is attached to the connecting case portion of the motor 91a.

  Each part is equipped with a detail sensor, and it is possible to measure the driving voltage, current, rotation speed, temperature, vibration, lift, etc. of the motor 91a according to the location where the detail sensor is attached. Information is collected in the power sensor 57c via the sensor board 46 attached from the outside to each rotary wing body 91 of the unmanned air vehicle 90, recorded and managed by the reception program of the server 100, and the flight characteristics are analyzed by the analysis program. Do.

  As described above, the robot arm 20 is configured to be able to move and rotate in the X, Y, Z, θ, and R directions with the unmanned air vehicle 90 fixed. Controlled by the controller 50.

  The controller 50 operates the rotating wing 91 in a state where the unmanned air vehicle 90 is fixed to the robot arm 20, and each environment attached to the wing body 91 of the aviation environment chamber 10, the robot arm 20, and the unmanned air vehicle 90. Measurement data from the sensor 57a, the body motion sensor 57b, and the power sensor 57c are collected at a constant cycle via a wired LAN or a wireless LAN. These measurement data are transmitted to the server 100 via a network by a communication function, and the server 100 records and manages the received measurement data as a database.

  The controller 50 controls the robot arm 20 to follow the body motion by feeding back the information based on the measurement data from the body motion sensor 57b in accordance with the motion of the unmanned air vehicle 90.

  The unmanned air vehicle 90 is equipped with a flight controller (flight control device (not shown)) and can be manually operated using a remote control device. It also has an autonomous flight function by autopilot.

  3 and 4 are a perspective view and a side view showing a state in which the unmanned air vehicle 90 is placed on the robot arm 20.

Next, the functional configuration of the unmanned aerial vehicle characteristic measurement device 1 will be described.
FIG. 2 is a block diagram illustrating a functional configuration of the controller 50.

  The measurement unit 51 belonging to the controller 50 measures the data from the environment sensor 57a, the body motion sensor 57b, and the power sensor 57c via the LAN interface 53 by a wired LAN or a wireless LAN at regular intervals, and the measurement data is stored in the hard disk 56. And so on.

  In the aviation environment chamber 10, the installed environment sensor 57a measures temperature, humidity, wind direction, and wind speed data in the aviation environment chamber 10 generated by the airflow generation device 30, and the measurement data is stored in the server. 100 is recorded and managed to form a database.

  A 6-axis force sensor 93 interposed between the unmanned air vehicle 90 and the robot arm 20 measures X, Y, and Z-axis force and torque data, and the measurement data is recorded and managed in the server 100. Form a database.

  In addition, the power sensor 57c installed in each rotary wing body 91 stores the motor driving voltage, current, motor rotation speed, motor part temperature, lift of the rotary wing body 91, vibration data, etc. detected via the sensor board 46. The measurement data is recorded, and the measurement data is recorded and managed in the server 100 to form a data base.

  The control unit 52 belonging to the controller 50 feeds back data-information from the body motion sensor 57 b to the robot arm 20 to control the rotation and movement of the robot arm 20.

  When the unmanned air vehicle 90 is installed and the rotary wing body 91 is operated, the motion of the airframe, such as swaying, tilting and reversing, is measured by the 6-axis force sensor 93 and the information measurement data is fed back to the robot arm 20. Thus, the rotation and movement of the arm 20 are controlled. In addition, the pseudo GPS signal from the pseudo GPS generator is controlled to make the flight controller recognize as if the unmanned air vehicle 90 has actually moved.

  Hereinafter, the body motion follow-up control of the robot arm 20 performed by the control unit 52 in the controller 50 will be described.

  The three-axis force and torque from the six-axis force sensor 93 when the aircraft is stationary are set as reference values. In addition, the pseudo GPS signal generator 40 is set so that the unmanned air vehicle 90 is at a position to be measured. The rotating wing 91 of the unmanned air vehicle 90 is operated to form a simulated flight state. Among the information obtained from the airframe motion sensor 57b during simulated flight, the three-axis torque information is shifted from the reference value. The robot arm 20 is rotated so as to cancel and become zero. In addition, with respect to the force of the three axes (except for the Z axis), since the operation area of the robot arm 20 is limited, the robot arm 20 is canceled so that the deviation from the reference value is reduced (for example, 1/100). Move. At this time, the pseudo GPS signal is controlled so that the flight controller can correctly recognize the position. For the Z axis, the robot arm 20 is not moved until the levitation force exceeds the reference value (airframe weight), and the scale movement is performed when the reference value is exceeded. By performing such control, it is possible to simulate the autonomous flight state of the unmanned air vehicle 90 that is extremely limited to the actual flight state within a limited range. When the ball joint 95 is connected between the unmanned air vehicle 90 and the robot arm 20, in addition to the rotational motion of the robot arm 20, the rotational motion of the unmanned air vehicle 90 can be freely performed to some extent. Autonomous flight can be simulated even when the rotational tracking performance is insufficient.

  An operation unit 55 in the controller 50 performs various operation inputs and monitor display of measurement data. Reference numeral 55a denotes a keyboard as an operation input, 55b denotes a mouse, and 55c denotes a monitor as a display unit.

  The LAN interface 53 is for receiving data from the environment sensor 57a, the body motion sensor 57b, and the power sensor 57c via a wired LAN or a wireless LAN, and the WAN interface 54 is a hard disk 56 (recording medium). ) Is transmitted to the server 100 via the Internet network 300 or a mobile carrier network such as a 3G network or LTE network at a certain timing.

  FIG. 12 is a schematic diagram illustrating an example of a flow associated with an operation in the unmanned air vehicle characteristic measurement device 1 (hereinafter referred to as a measurement device). The operation of the controller 50 and the like in the case of performing measurement related to flight analysis, and the operations of the unmanned air vehicle characteristic measurement device 1, the unmanned air vehicle 90, and the robot arm 20 are shown.

Before performing flight analysis, it is necessary to set a waypoint (flight path) in order for the unmanned air vehicle 90 to fly autonomously.
In step S01, waypoints are set using an SDK (Software Development Kit) provided by the manufacturer of the unmanned air vehicle 90. Set a route to return to the original point from the starting point via multiple waypoints. Each waypoint sets 3D position information including altitude.

  In step S02, the flight controller of the unmanned air vehicle 90 stores the set waypoint.

  In step S03, the operator designates flight analysis from the operation screen of the controller 50 of the measuring device.

In step S04, the measurement unit 51 of the controller 50 starts measuring data from the environment sensor 57a, the power sensor 57c, and the body motion sensor 57b.

  In step S05, the operator takes off (ascends) and hovers the unmanned air vehicle 90 using a radio control device.

In step S06, the flight controller operates the power unit of the unmanned aerial vehicle 90 in accordance with an instruction from the propo and performs a take-off operation.

  In step S07, the operator switches the unmanned air vehicle 90 to the autonomous flight mode using the propo.

  In step S08, the flight controller operates the power unit and starts autonomous flight based on the set waypoint.

  In step S09, the control unit 52 of the controller 50 feeds back to the robot arm 20 based on the data from the body motion sensor 57b and causes the robot arm 20 to follow the body motion. When the aircraft takes off, the robot arm 20 is also raised. In addition, scale movement and rotational movement are performed following horizontal movement and rotational movement. At the time of landing of the aircraft, the robot arm 20 is lowered.

  In steps S10 and S11, when the unmanned air vehicle 90 returns to the start point, the operator switches the flight controller to the radio control mode using the radio.

  In steps S12 and S13, the operator gives an instruction to land using the radio.

  In step S <b> 14, when the operator ends the flight analysis with the measurement device from the operation screen of the controller 50, the measurement from each sensor in the measurement unit 51 of the controller 50 is also ended.

  Hereinafter, the unmanned air vehicle evaluation system 2 will be described with reference to the drawings.

  FIG. 9 is a schematic diagram showing the overall configuration of the unmanned air vehicle evaluation system 2.

  A plurality of unmanned aerial vehicle characteristic measuring apparatuses 1 and a plurality of client terminals 200 used in the unmanned aerial vehicle evaluation system 2 are connected via an Internet network 300.

  The unmanned aerial vehicle characteristic measurement apparatus 1 includes an air environment chamber 10 that houses a robot arm 20 on which an unmanned air vehicle 90 is placed, and a sensor 57 that measures various flight data provided in the unmanned air vehicle 90 and the air environment chamber 10. And the server 100 in the controller 50 that records and manages the measurement data from the sensor 57, and the robot arm 20 connected from the control unit 52 in the controller 50 via the Internet network 300, and is controlled by the sensor 57. The measurement data is fed back to move the robot arm 20 to follow the simulated movement of the unmanned air vehicle 90.

  The server 100 records and manages the measurement data transmitted from the unmanned aerial vehicle characteristic measurement device 1 as the database 120 for each model, aircraft, and power, and analyzes various flight characteristics based on these measurement data. The analysis result can be utilized for development design and quality control evaluation of the unmanned air vehicle 90. These are provided to the user as a cloud service, and the user can receive the cloud service by accessing from the client terminal 200.

FIG. 10 is a block diagram illustrating a functional configuration of the server 100.
The server 100 includes a web / application server 110 and a database server 120.

  The WEB / application server 110 and the database server 120 can use commercially available cloud service software (for example, AWS (Amazon WEB Services)).

  The WEB / application server 110 includes a measurement data reception program 110a and various flight characteristic analysis programs 110a ′.

  The flight characteristic analysis program 110a ′ includes a flight analysis 110b, a power analysis 110c, a levitation force analysis 110d, an attitude control analysis 110e, a vibration analysis 110f, a center of gravity analysis 110g, an electromagnetic environment analysis 110h, a simulated flight analysis 110i, and an environment analysis 110j. It is.

  The database server 120 records and manages the measurement data from the unmanned aerial vehicle characteristic measurement apparatus 1 as databases 120a, 120b, and 120c for each aircraft type, aircraft type, and power (rotary wing body 91) of the unmanned aircraft 90.

  Also, the analysis results 120d of various flight characteristics are recorded and managed by aircraft type, aircraft type, and power.

  In addition, the airframe model 120e, the turbulence model 120f, a map, and the like are also managed and recorded as the database 120a.

  The various flight characteristic analysis programs 110 a ′ analyze various flight characteristics based on the measurement data from the sensor 57 in the unmanned air vehicle characteristic measurement device 1 recorded in the database server 120.

  FIG. 11 shows the relationship between various flight characteristic analyzes and the measurement data to be referenced. The range of measurement data values, the number of channels, and the number of installed sensors 57 are also shown as an example.

Next, the analysis contents of various flight characteristics will be described below.
The inventor discovered that the analysis of the various flight characteristics is based on the center-of-gravity analysis that is the basis of all the analysis. That is, if the position of the center of gravity is determined by the calculation formula for determining the position of the center of gravity described in the next section, attitude control analysis, levitation force analysis, and pseudo flight analysis are performed based on this, and other power analysis and Flight analysis and environmental analysis are easily performed. Therefore, the center of gravity analysis is always the first analysis that is always performed as the basis of various analyses.

1) Center of Gravity Analysis By forming two postures, a horizontal posture in which the unmanned air vehicle 90 is installed on the robot arm 20 and an arbitrary tilted posture, a body motion sensor 57b (6-axis force sensor 93) associated with the two postures is formed. ) Can be used to detect the center of gravity of the unmanned air vehicle 90.

  That is, the center of gravity of the airframe can be obtained by calculating the center of gravity based on the measurement data of the six-axis force sensor 93 interposed between the robot arm 20 and the unmanned air vehicle 90.

  Regarding the technology for maintaining the horizontal position of the robot arm 20 on which the unmanned air vehicle 90 is placed, the information signals are controlled using various sensors, and the control signals are fed back to the robot arm 20 drive unit to perform the horizontal position control. It is a known technique that can be performed.

  Therefore, the horizontal axis of the unmanned aerial vehicle 90 can be known by the sensor 57 used in the attitude control, and the robot arm 20 is operated so that the horizontal axis of the unmanned air vehicle 90 and the horizontal axis of the robot arm 20 are the same. The center of gravity position of the unmanned air vehicle 90 can be known by storing the measurement value of the six-axis force sensor 93 and calculating the center of gravity.

  For example, when the center of gravity is at the center of the unmanned air vehicle 90, a force only in the vertical direction is generated. In the case of deviation from the center, the weight is dispersed in a direction other than the vertical direction in proportion to the amount of deviation, and is detected by the 6-axis force sensor 93 according to the amount of dispersion. From these values, the position of the center of gravity is specified.

  Further, if the unmanned air vehicle 90 is arbitrarily tilted by operating the robot arm 20 (for example, 30 degrees), the center of gravity position in three dimensions can be specified from the value of the six-axis force sensor 93 at that time.

  In this way, if the structure of the unmanned air vehicle 90 is modified, for example, if the incidental equipment is changed or the installation position of the battery, the camera, etc. is changed, the center of gravity is changed. It is possible to determine the stability of the flight by performing control that matches the above.

About the calculation formula for obtaining the static center of gravity of the unmanned air vehicle 90, the six-component force component (FX, FY, FZ, MX, MY, MZ) detected by the six-axis force sensor 93 and the static center of gravity G (Xg, Yg, Zg) holds the following relationship: It is assumed that the forces in the X, Y, and Z directions of the unmanned air vehicle 90 are FX, FY, and FZ, respectively, and the moments in the X, Y, and Z directions are MX, MY, and MZ, respectively.

Formula 1 MX = FZ · Yg−FY · Zg
Formula 2 MY = FX · Zg−FZ · Xg
Formula 3 MZ = FY.Xg-FX.Yg

  In order to actually obtain the static center of gravity G of the unmanned air vehicle 90, the unmanned air vehicle 90 attached to the tip of the robot arm 20 via the six-axis force sensor 93 takes two flight postures. After detecting the 6-component force component, the static center of gravity G (Xg, Yg, Zg) of the unmanned air vehicle 90 can be obtained by the above formulas 1 to 3.

2) Power analysis Power analysis can be performed by measuring battery voltage, current, etc. based on a database recorded by power, such as environmental measurement data and unmanned air vehicle power measurement data.

  When the voltage or current is abnormally used, the power consumption cannot be maintained for a predetermined time, resulting in a flight time reduction or a crash caused by a lack of flight power, which is important for the flight of the unmanned air vehicle 90. To happen. Therefore, power analysis is one of the most important analyses.

  Therefore, power consumption and abnormal current are analyzed as power analysis in the flight state. For this purpose, the sensor 57 is attached to a battery, a motor 91a, an amplifier, or the like, and in particular, the power portion at the tip of the support rod 91d extending from the body frame 91c of the unmanned air vehicle 90 in four directions, that is, the four rotary wing bodies 91 Each motor 91a is provided with a voltmeter or ammeter as a detail sensor, and the measuring unit 51 is constituted by these.

  The measurement data from these sensors 57 is transmitted to the server 100, and the flight characteristics analysis program analyzes the power in the flight state to identify where the abnormal power is consumed and evaluate the unmanned air vehicle 90 and thereafter. Reflect in the design.

3) Flight analysis A 6-axis force sensor 93 is attached to the tip of the robot arm 20, and all values are set to zero when the unmanned aerial vehicle 90 is not placed.

  An unmanned aerial vehicle 90 is attached to the tip of the robot arm 20 via a 6-axis force sensor 93. In this state, the weight of the unmanned aerial vehicle 90 is detected by the 6-axis force sensor 93 in the vertical direction.

  When the center of gravity is not at the center, values other than the vertical component are generated, so that the center of gravity analysis 110g is possible.

  In this state, when the power unit at the tip of the support rod 91d extending in four directions from the body frame 91c of the unmanned air vehicle 90 is driven, that is, when the motor 91a and the propeller 91b of the rotary wing body 91 are driven, lift (levitation force) is generated. The value in that direction is observed to be small for the lift.

  Here, when the flight of only the unmanned air vehicle 90 is assumed, the robot arm 20 is fixed without being operated until the flying lift of the unmanned air vehicle 90 becomes zero. When the flying lift of the unmanned aerial vehicle 90 becomes zero, the robot arm 20 is moved in the lift direction of the unmanned aerial vehicle 90 to simulate the state of rising to the unmanned aerial vehicle 90.

  If it is assumed that a payload of 10 kg is mounted, it is possible to simulate a state where a load is mounted on the unmanned air vehicle 90 by moving the robot arm 20 against a load of 10 kg from a state where +10 kg is detected.

  If the unmanned air vehicle 90 does not have a flight command by remote control, once the flying state is simulated and the hovering state is maintained, the robot arm 20 maintains the hovering by keeping the lift constant even if it does not rise.

  Next, when trying to move the unmanned air vehicle 90 to a predetermined target position, for example, if a command is issued to go to the right, the 6-axis force sensor 93 measures the vector amount as the aircraft tries to tilt. To do. The robot arm 20 is actuated by the feedback of information based on the measured amount and the aircraft is tilted, so that it is determined that the aircraft is moving in the right direction, and a simulated flight form in which the aircraft moves in the right direction can be displayed.

  Here, since the robot arm 20 can only move by a finite length, after moving the scale to a certain distance, by controlling the pseudo GPS signal of the pseudo GPS signal generator 40, the pseudo arm information is provided to the aircraft. Simulate moving conditions.

  The GPS environment of the unmanned air vehicle 90 can be simulated in the aviation environment chamber 10 by the generation of the pseudo GPS signal of the pseudo GPS signal generator 40.

  That is, at least four or more pseudo GPS signal transmitters (antennas) are provided at predetermined positions inside or outside the aviation environment chamber 10 at regular intervals, and are installed inside the flight controller of the unmanned air vehicle 90. Is provided with a built-in antenna of the GPS signal receiver.

  The apparatus for measuring characteristics of the unmanned air vehicle 90 and the GPS signal transmission system in the unmanned air vehicle evaluation system 2 using the unmanned air vehicle 90 are provided with a pseudo GPS signal transmitter in the chamber. The unmanned aerial vehicle 90, which is originally in a fixed position, flew by performing a pseudo-control as if it moved by the pseudo-GPS signal from the source antenna. It is possible to specify the position and distance after simulated flight by analyzing the simulated GPS signal by mimicking such a state.

  In addition, when it is set as a prohibited area, it can be confirmed that a normal unmanned air vehicle 90 does not react to the command information and does not operate.

  Further, as described above, the driving voltage, current, rotational speed, temperature, vibration, lift, etc. of the motor 91a in the power section at the tip of each support rod 91d of the body frame 91c can be measured. Measurement data such as the number of revolutions, electric power, and temperature is recorded, and a failure diagnosis of the power unit can be performed by comparing the value at the normal time with the value at the time of maintenance.

  For example, even when there is a malfunction in one amplifier and it is not normal, there is a case where the flight stability is managed somehow while repeating high and low rotations of the power units such as the propeller 91b and the motor 91a. In such a case, if it is determined that the measurement data for the high and low rotations of the power unit exceed the set threshold value relative to the normal value, the amplifier will recognize the fault of the amplifier from the measurement data at the time of the fault and replace it. It is possible to detect the timing, and by updating this threshold empirically, it is possible to perform objective failure diagnosis based on numerical values based on past measurement data accumulation from failure diagnosis based on mere experience so far It becomes.

  In general, the unmanned air vehicle 90 has various parameters, and in order to adjust them, it is necessary to repeat flight experiments. Since actual flight experiments depend on unforeseen conditions such as the weather of the day, it is not always possible to reveal flight conditions under certain conditions. Therefore, in this evaluation system, it is possible to set the optimum parameters by objectively judging the influence of each parameter based on the numerical value of measurement data, so that the unmanned aerial vehicle 90 does not actually fly. Various parameters peculiar to the unmanned air vehicle 90 can be adjusted by the appearance of a pseudo flight state.

4) Levitation force analysis Based on a database recorded for each power, such as environmental measurement data and unmanned air vehicle power measurement data, the relationship between the battery voltage, current and the number of revolutions of the motor 91a, the lift of the rotor 91, etc. is analyzed. Therefore, the levitation force analysis can be performed.

  That is, between the tip of the robot arm 20 and the unmanned air vehicle 90, the three-axis direction forces X, Y, and Z of the airframe as the airframe motion sensor 57b for detecting the airframe motion of the unmanned air vehicle 90 and the X, Y, A 6-axis force sensor 93 (see FIGS. 3, 4, and 5) that detects torque in the 3-axis direction of Z is attached. Therefore, the flight attitude load of the simulated flight executed by the unmanned flight vehicle 90 by performing autonomous flight or remote operation, or the unmanned flight vehicle 90 simulated flight in the aviation environment chamber 10 is the temperature, humidity, wind direction in the chamber. The 6-axis force sensor 93 can detect a flight attitude load received by a change in the aviation environment such as wind speed, and the simulated flight state is detected by the 6-axis force sensor 93. Record in 100.

  With this function, it is possible to predict the flight time in advance of the unmanned air vehicle 90 by analyzing the measurement data by combining the floating force at the maximum payload of the unmanned air vehicle 90, the measurement data of the rotation speed of the motor 91a at the battery power, etc. By analyzing the reaction speed and the like, it is possible to optimally design the unmanned air vehicle 90 in accordance with the customer's request.

  As described above, since the actual aircraft as the unmanned air vehicle 90 is placed on the tip of the robot arm 20, the levitation force analysis can be performed based on the measurement data calculated and analyzed from the rotational speed of the motor 91a in the payload and battery power. By performing simulated flight under various conditions, each performance with high accuracy can be estimated.

  Here, lift refers to the levitation stress of each rotary wing 91, and levitation means the total lift of the entire unmanned air vehicle 90 including all of the rotators 91. ing.

5) Attitude control analysis Attitude control detects the attitude of the aircraft, that is, the forward direction (yaw angle), forward / backward direction (pitch angle), and left / right direction (roll angle) of the aircraft, and the deviation from the normal attitude is detected. Accordingly, the posture is returned to the normal position. In other words, it is control to keep the attitude of the aircraft normal based on a certain command.For example, when the return is slow, responsiveness is improved, or when hunting occurs, it reciprocates between a certain attitude and another attitude. In any case, a control analysis of how to maintain the posture is performed by analyzing the strength of the sensitivity to the posture.

  Attitude control is the most important control of the unmanned aerial vehicle 90, and its performance can be said to be the performance of the unmanned aerial vehicle 90. Since various aircraft are controlled using data from various sensors, performance cannot be uniquely evaluated. In the present invention, the performance of the flight control is quantitatively analyzed by comparing the data from the airframe motion sensor 57b mounted on the robot arm 20 and the movement of the unmanned air vehicle 90.

6) Vibration analysis In the unmanned air vehicle 90, vibrations may occur in the airframe due to uneven rotation of the propeller 91b, uneven air resistance as a structural problem of the propeller 91b, cogging of the motor 91a, uneven rotation, and the like.

  That is, for example, since the propeller 91b attached to the motor 91a is not completely left-right symmetric or has a weight balance, vibration occurs. Further, vibration is generated by the cogging torque of the motor 91a. When these vibrations are combined, there is a problem that resonance occurs and influences the flight or a smooth moving image cannot be obtained.

  The center of the unmanned air vehicle 90 is equipped with a flight controller having a function to correct the aircraft normally by detecting the attitude control and tilt of the unmanned air vehicle 90, and the flight controller vibrates by detecting the resonance of the acceleration sensor. It works to eliminate.

  By monitoring such vibration and analyzing the vibration frequency to identify the cause frequency, it is possible to analyze the abnormality of the unmanned air vehicle 90 itself and identify the abnormal part.

  Specifically, an acceleration sensor having a three-axis sensor structure as a sensor 57 is provided at the tip of four support rods 91d extending in four directions from the body frame 91c of the unmanned air vehicle 90, and the motor 91a and the propeller 91b are provided by the acceleration sensor. Vibration data due to electromagnetic and mechanical factors is measured. That is, the vibration of each part of the motor unit is measured by the acceleration sensor attached to the motor unit in the power sensor 57c, and the vibration is separated into the vibrations of the motor system and the propeller balance system by frequency decomposition. By implementing each measure, it becomes possible to obtain a combination that does not resonate as an entire system, and it is possible to improve vibration isolation.

  In addition, by monitoring the vibration during the simulated flight with the robot arm 20 attached, by simulating the resonance state in advance, it is possible to avoid the resonance point that causes a problem in flight safety, thereby improving safety. Can be increased.

  In general, when abnormal vibration occurs, the airframe becomes unstable and may crash. Therefore, such vibration analysis is important and is necessary for ensuring the safety of the unmanned air vehicle 90.

7) Electromagnetic environment analysis Since the motor 91a, which is a power source of the unmanned air vehicle 90, is driven by an inverter, electromagnetic noise is generated due to switching. In addition, a magnetic field is generated by the current supplied from the battery, which may cause an abnormality in the instrument.

  Accordingly, in order to analyze the electromagnetic influence on the power source of the unmanned air vehicle 90, the unmanned air vehicle 90 placed on the robot arm 20 is driven at full power so that it can be placed in the maximum electromagnetic environment. By transmitting and analyzing the measurement data from various measuring instruments that are the power sensor 57c to the server 100, the electromagnetic environment can be analyzed.

  Further, by generating a pseudo electromagnetic wave from the outside, the noise resistance characteristic for the electronic device mounted on the unmanned air vehicle 90 is analyzed. These analysis results are used for measures against high-voltage line noise and mobile phone base station tower noise.

8) Pseudo flight analysis In order to simulate the flight of the unmanned air vehicle 90, the movement of the unmanned air vehicle 90 is detected by controlling the pseudo GPS signal in conjunction with the robot arm 20.

  For this purpose, the GPS signal is analyzed. That is, when the unmanned air vehicle 90 placed on the robot arm 20 is set to the autonomous flight mode, the movement is started based on the GPS signal. For example, when moving in the south direction, a signal to tilt in one direction of the 6-axis force sensor 93 attached to the robot arm 20 can be detected. When the robot arm 20 is tilted based on the signal, the force is controlled to an angle that balances the force, and a signal for moving the pseudo GPS signal is generated. The unmanned aerial vehicle 90 recognizes that it is moving, and the unmanned aerial vehicle 90 tries to stop when it reaches a target point, and control for keeping the aircraft level is started.

  For this reason, a force to be leveled is detected by the 6-axis force sensor 93, and the robot arm 20 is controlled in accordance with the force to analyze the flight. For example, if a pseudo-GPS signal of a prohibited flight area legally restricted is used, the behavior of the unmanned air vehicle 90 can be grasped, and the behavior of the unmanned air vehicle 90 with respect to the prohibited flight region can be measured.

  In particular, the characteristic measuring device for the unmanned air vehicle 90 of the present invention and the unmanned air vehicle evaluation system 2 using the same are constructed with a unique GPS signal transmission system.

  That is, at least four GPS signal transmitters are provided at predetermined intervals at a predetermined position inside or outside the aviation environment chamber 10, and the antenna of the signal receiving device is provided inside the flight controller of the unmanned air vehicle 90. Is built in. Usually, the unmanned aerial vehicle 90 receives signals from GPS signal transmitters from four artificial satellites and confirms the position. However, the characteristic measuring device of the unmanned aerial vehicle 90 of the present case and the unmanned vehicle using the same The flying object evaluation system 2 is configured such that a pseudo GPS signal is received between a transmitting antenna of a pseudo GPS signal transmitter provided in the chamber and a receiving antenna of the unmanned air vehicle 90.

  With this structure, the GPS environment of the unmanned air vehicle 90 can be simulated in the flight controller. That is, in the actual flight environment, the unmanned air vehicle 90 moves and recognizes the position of the own aircraft by receiving GPS signals with the four space satellites. By controlling pseudo signals from a plurality of transmitting antennas of the transmitter, it is possible to simulate the same GPS environment as if the unmanned air vehicle 90 set at a fixed position moved in the aviation environment chamber 10. Yes. In other words, by configuring the source antenna as if moving, the state as if the unmanned air vehicle 90 in a fixed position was simulated flying was used to specify the position after the simulated flight using GPS signals. It is possible.

9) Environmental Analysis Within the aviation environment chamber 10, the direction, speed and temperature, humidity, and pressure of the airflow can be managed to simulate various flight environments and airflow conditions. Further, the actual flight state of the unmanned air vehicle 90 can be simulated by operating the rotary wing body 91 of the unmanned air vehicle 90 and causing the robot arm 20 to follow the motion of the airframe. The measured airflow data and the data from the flight control device are recorded and managed as a database for each model.

  Regarding the wind speed, it is monitored whether there is any abnormality in the flight attitude of the aircraft even at a wind speed 1.5 to 2 times the wind resistance of the aircraft. Abnormal vibrations occur if the attitude control parameters are not optimized.

  By controlling the atmospheric pressure in the aviation environment chamber 10, the flight altitude can be simulated.

  As described above, in this embodiment, the unmanned air vehicle 90 having the rotating wings has been described. However, the unmanned air vehicle 90 having the fixed wings may be used.

  Further, in this embodiment, the unmanned air vehicle evaluation system 2 has been described as a system that provides a cloud service, but it can also be applied to an in-house evaluation / verification system.

  Furthermore, it is needless to say that what has been described in the present embodiment can be variously modified without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 1 Unmanned air vehicle characteristic measurement apparatus 2 Unmanned air vehicle evaluation system 10 Aviation environment chamber 20 Robot arm 30 Airflow generator 40 Pseudo GPS signal generator 50 Controller 51 Measurement part 52 Control part 53 LAN interface 54 WAN interface 55 Operation part 56 Hard disk 57 Sensor 57a Environmental sensor 57b Aircraft motion sensor 57c Power sensor 90 Unmanned air vehicle 91 Rotary wing body 91a Motor 91b Propeller 91c Airframe frame 91d Support rod 91e Gear 92 Sensor board 93 6-axis force sensor 94 Unmanned air vehicle remote control device 95 Ball joint 96 Horizontal plate 97 Horizontal support rod 97a Motor 97b Cylindrical case 97c Plunger 97d Motor output shaft 100 Server 110 WEB / application server 120 Database server Bar 200 Client terminal 300 Internet network

Claims (7)

  A robot arm on which an unmanned air vehicle is mounted, an environmental sensor that measures the state of the aerial environment of the unmanned air vehicle in the previous period, a body motion sensor that measures the motion of the unmanned air vehicle, and a power unit of the unmanned air vehicle A power sensor for measuring the state of the vehicle and a controller for measuring and controlling data from each sensor, and operating the power unit of the unmanned air vehicle mounted on the robot arm to display a simulated flight state. An unmanned aerial vehicle characteristic measuring apparatus configured to be capable of measuring various flight characteristics of the unmanned aerial vehicle.   The unmanned air vehicle characteristic measurement apparatus according to claim 1, further comprising an air environment chamber that simulates an air environment of the unmanned air vehicle.   The apparatus further includes a pseudo GPS signal generator, and the controller feeds back data from the airframe motion sensor of the unmanned air vehicle to the robot arm to operate the robot arm and controls the pseudo GPS signal to control the unmanned flight. The unmanned aerial vehicle characteristic measurement apparatus according to claim 1 or 2, wherein various flight characteristics of the unmanned aerial vehicle can be measured while simulating an autonomous flight state of the body.   4. The unmanned aerial vehicle characteristic measurement apparatus according to claim 1, wherein the robot arm and the unmanned aerial vehicle are swingably connected via a ball joint.   The controller operates the power unit of the unmanned air vehicle mounted on the robot arm based on data from a power sensor and airframe position information by actual flight to reproduce the actual flight state, thereby causing the external cause The unmanned aerial vehicle characteristic measurement apparatus according to any one of claims 1 to 4, wherein the unmanned aerial vehicle motion data can be measured.   An unmanned aerial vehicle composed of an unmanned aerial vehicle characteristic measurement device, a server, a client terminal, and a circuit network that connects the server to the unmanned aerial vehicle characteristic measurement device and the client terminal so as to communicate with each other. An unmanned air vehicle evaluation system comprising means for analyzing various flight characteristics of an unmanned air vehicle based on body characteristic measurement data.   As the analysis of various flight characteristics of the unmanned air vehicle, the analysis of the center of gravity of the unmanned air vehicle, the analysis of the flight, the analysis of the power such as voltage, current, rotation speed and lift, the analysis of the flying force of the unmanned air vehicle For analysis of unmanned air vehicle attitude control, analysis of electromagnetic environment of unmanned air vehicle's power unit, analysis of vibration of unmanned air vehicle, simulation of unmanned air vehicle's simulated flight, and flight control of unmanned air vehicle The unmanned aerial vehicle evaluation system according to claim 6, characterized in that the analysis is one type or two or more types selected from analysis of required environments.

Images