CN106772043B - Unmanned aerial vehicle propeller motor detection device and method - Google Patents
Unmanned aerial vehicle propeller motor detection device and method Download PDFInfo
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- CN106772043B CN106772043B CN201611219135.2A CN201611219135A CN106772043B CN 106772043 B CN106772043 B CN 106772043B CN 201611219135 A CN201611219135 A CN 201611219135A CN 106772043 B CN106772043 B CN 106772043B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
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- Force Measurement Appropriate To Specific Purposes (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a device and a method for detecting a propeller motor of an unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicles, wherein the device comprises a substrate, a lift force detector is fixedly arranged on the substrate, a fixed tool is arranged on the lift force detector, and the fixed tool comprises propeller fixing mechanisms which are equal to the number of propeller arms of the unmanned aerial vehicle and are matched with each other in position; the screw propeller fixing mechanism comprises a fixing base, a groove is formed in the upper end of the fixing base, and fixing holes are formed in the side walls of the two sides of the groove respectively; the propeller fixing mechanism further comprises a fixing pin, one end of the fixing pin is connected with a power device, and the other end of the fixing pin simultaneously penetrates through the two fixing holes; the lift force detector is electrically connected with the power device. The invention has high detection efficiency, high detection accuracy and high safety.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a device and a method for detecting a propeller motor of an unmanned aerial vehicle.
Background
Unmanned plane is unmanned plane that utilizes radio remote control equipment and self-contained program control device to control, and the former mainly used military field, along with scientific and technological development, unmanned plane is at present in various industries such as civil aerial photography, agriculture, animal and plant protection, news report rapidly develop.
In unmanned aerial vehicle's production process, can lead to the fact unmanned aerial vehicle flight function inefficacy of production because unmanned aerial vehicle's screw motor monomer problem or equipment are incorrect, so, must add the detection process whether screw motor can normally work in unmanned aerial vehicle's production process. The existing detection method is that the unmanned aerial vehicle is started, and whether the propeller motor works normally is confirmed through visual inspection of operators. The detection method by visual inspection of operators has low test efficiency and poor accuracy, and is extremely easy to be dangerous in the visual inspection process, and damage to operators, peripheral equipment and the like can be caused.
Disclosure of Invention
The first technical problem to be solved by the invention is to provide the unmanned aerial vehicle propeller motor detection device which can automatically detect whether the propeller motor works normally or not, and has the advantages of high detection efficiency, good accuracy and high safety, and can not cause damage to operators and peripheral equipment.
Based on the same inventive concept, the second technical problem to be solved by the invention is to provide the unmanned aerial vehicle propeller motor detection method, which can automatically detect whether the propeller motor works normally or not, has high detection efficiency and good accuracy, and simultaneously has high safety, and cannot cause damage to operators and peripheral equipment.
In order to solve the first technical problem, the technical scheme of the invention is as follows:
the utility model provides an unmanned aerial vehicle screw motor detection device, includes the base plate, fixed mounting has lift detector on the base plate, be equipped with fixed frock on the lift detector, fixed frock is including fixing the mounting panel on the lift detector, be equipped with on the mounting panel with unmanned aerial vehicle's screw arm quantity equals and the screw fixed establishment of position looks adaptation; the propeller fixing mechanism comprises a fixing base, a groove is formed in the upper end of the fixing base, the groove penetrates through the fixing base along the extending direction of the propeller arm, and a fixing hole is formed in the opposite positions of the side walls of the two sides of the groove respectively; the propeller fixing mechanism further comprises a fixing pin, one end of the fixing pin is connected with a power device, and the other end of the fixing pin simultaneously passes through the two fixing holes under the driving of the power device; the detection device further comprises a controller, and the lift force detector and the power device are electrically connected with the controller.
Wherein, unmanned aerial vehicle with the controller electricity is connected.
The device comprises a mounting plate, a lifting force detector, a power device and an unmanned aerial vehicle, wherein an interface fixing seat is arranged on the mounting plate, a connecting interface is arranged on the interface fixing seat, and the lifting force detector, the power device and the unmanned aerial vehicle are electrically connected with the controller through the connecting interface.
The power device is a fixed cylinder, and the end part of the fixed pin is connected with a piston rod of the fixed cylinder.
The end part of the fixed pin is fixed with a fixed pin mounting plate, and the piston rod is connected to the fixed pin mounting plate; the linear bearing is arranged on the fixed pin mounting plate, and a guide rod is arranged in the linear bearing in a sliding mode.
The detection device further comprises a protection tool, the protection tool comprises a box body and a box cover combined on the box body, the base plate is fixed at the bottom of the box body, and the lifting force detector and the fixing tool are both located in the box body.
The box comprises a box body, and is characterized in that a sliding rail is arranged on two sides of the box body respectively, the box cover comprises a first box cover, a second box cover and a third box cover which are hinged together in sequence, the first box cover is hinged with the box body, and two sides of the third box cover are fixed on sliding blocks of the two sliding rails respectively.
The sliding rails are pneumatic sliding rails, and the two pneumatic sliding rails are electrically connected with the controller.
In order to solve the second technical problem, the technical scheme of the invention is as follows:
the unmanned aerial vehicle propeller motor detection method comprises the following steps: controlling each power device to fix the unmanned aerial vehicle on the fixing tool by the controller; starting a propeller motor of the unmanned aerial vehicle; judging whether the rotating speed of the propeller motor reaches a set rotating speed or not; if the rotating speed of the propeller motor reaches the set rotating speed, starting the lift force detector to detect the current lift force, and transmitting the detection result to the controller; and the controller compares the detection result received from the lift force detector with a theoretical lift force value at the current rotating speed, and judges whether the unmanned aerial vehicle is qualified or not according to the comparison result.
Still another unmanned aerial vehicle propeller motor detection method comprises the following steps: controlling each power device to fix the unmanned aerial vehicle on the fixing tool by the controller; closing the box cover of the protection tool; starting a propeller motor of the unmanned aerial vehicle; judging whether the rotating speed of the propeller motor reaches a set rotating speed or not; if the rotating speed of the propeller motor reaches the set rotating speed, starting the lift force detector to detect the current lift force, and transmitting the detection result to the controller; and the controller compares the detection result received from the lift force detector with a theoretical lift force value at the current rotating speed, and judges whether the unmanned aerial vehicle is qualified or not according to the comparison result.
After the technical scheme is adopted, the invention has the beneficial effects that:
because the unmanned aerial vehicle propeller motor detection device comprises a lift force detector, a mounting plate is fixed on the lift force detector, a propeller fixing mechanism which is matched with the number and the positions of propellers of the unmanned aerial vehicle is arranged on the mounting plate, the propeller fixing mechanism comprises a fixing base, a groove which penetrates through the fixing base along the extending direction of a propeller arm is arranged on the fixing base, fixing holes are respectively arranged on the side walls of two sides of the groove, and a fixing pin can penetrate through the two fixing holes under the driving of a power device; the power device and the lift force detector are electrically connected with a controller. When detecting, place unmanned aerial vehicle's each screw arm in the recess, then control power device drive fixed pin passes from two fixed orificess, the fixed pin is horizontal between two locating holes promptly, fix the screw arm, start unmanned aerial vehicle's screw motor after fixing unmanned aerial vehicle, when the rotational speed of motor reaches the detection rotational speed (if 9000 ppm), lift that control lift detector detected current rotational speed and transmit the lift value that detects to the controller, the controller compares with the theoretical lift value when current rotational speed after receiving the lift value that lift detector transmitted, if the lift value that detects is greater than or equal to theoretical lift value then it is qualified to identify this unmanned aerial vehicle, if the lift value that detects is less than theoretical lift value then it is unqualified to identify this unmanned aerial vehicle. According to the detection process, the unmanned aerial vehicle propeller motor detection device can automatically detect a propeller motor, and has the following advantages compared with the prior art:
1. the detection efficiency is high, and the detection accuracy is high;
2. the unmanned aerial vehicle can not fly at will during detection, and the security is high, can not cause harm to operating personnel and peripheral equipment.
Because install linear bearing on the fixed pin mounting panel, the linear bearing is equipped with the guide bar in the slip of linear bearing, and the guide bar can play balanced guide effect, improves the straightness accuracy of fixed pin operation, can guarantee that the fixed pin is accurate to pass two fixed orificess, improves fixed reliability.
Because detection device still includes protection frock, protection frock includes the box, is equipped with the case lid on the box, after fixed with unmanned aerial vehicle, detects again after covering the case lid, the security that can be further improve the detection.
Because the two sides of the box body are respectively provided with a sliding rail, the box cover comprises a first box cover, a second box cover and a third box cover which are hinged together in sequence, the first box cover is hinged with the box body, and the two sides of the third box cover are respectively fixed on the sliding blocks of the two sliding rails. The box cover can be opened and closed by sliding the sliding block on the sliding rail, so that the box cover is more convenient to open and close, and meanwhile, the occupied space is small when the box cover is opened.
Because the slide rail is the pneumatic slide rail, be connected with the controller electricity, then the accessible controller controls opening and closing of case lid, realizes the full automatic control of whole testing process, and detection efficiency is higher, and the security is also higher.
The detection method of the unmanned aerial vehicle propeller motor is based on the detection device, so that the detection efficiency is higher, the accuracy is higher, the safety is higher, and the damage to operators and peripheral equipment is avoided.
In summary, the unmanned aerial vehicle propeller motor detection device and method solve the technical problems of low efficiency, poor safety and the like of unmanned aerial vehicle propeller motor detection in the prior art, and the unmanned aerial vehicle propeller motor detection device and method are high in detection efficiency, high in detection accuracy and high in safety.
Drawings
FIG. 1 is a schematic structural view of a fixture for a propeller motor detection apparatus of an unmanned aerial vehicle of the present invention;
fig. 2 is a schematic structural view of a protective tooling of the unmanned aerial vehicle propeller motor detection apparatus of the present invention-closed state;
fig. 3 is a schematic structural diagram of a protective tool of the unmanned aerial vehicle propeller motor detection apparatus in an opening process;
FIG. 4 is a control system block diagram of the unmanned aerial vehicle propeller motor detection apparatus of the present invention;
FIG. 5 is a control flow diagram of the unmanned aerial vehicle propeller motor detection apparatus of the present invention;
in the figure: 10. the device comprises a base plate, 12, a mounting plate, 14, a support column, 20, a lift force detector, 30, a propeller fixing mechanism, 32, a fixing base, 320, a fixing hole, 340, a fixing pin mounting plate, 342, a fixing pin, 36, a fixing cylinder, 360, a piston rod, 380, a guide rod, 382, a linear bearing, 39, a groove, 40, a box body, 42, a box cover, 420, a first box cover, 422, a second box cover, 424, a third box cover, 426, a hinge, 44, a pneumatic slide rail, 440, a slide rail, 442, a slide block, 50 and an interface fixing seat.
Detailed Description
The invention is further illustrated in the following, in conjunction with the accompanying drawings and examples.
The orientations referred to in the present specification are all based on the orientations of the unmanned aerial vehicle propeller motor detection apparatus of the present invention when operating normally, and are not limited to the orientations of the unmanned aerial vehicle propeller motor detection apparatus during storage and transportation, and represent only relative positional relationships, but not absolute positional relationships.
As shown in fig. 1 and fig. 2 together, an unmanned aerial vehicle screw motor detection device, including protection frock, protection frock includes one end open-ended box 40, and the open end of box 40 is equipped with case lid 42, still including installing lift detector 20 and fixed frock in box 40, after case lid 42 is closed, lift detector 20 and fixed frock and wait to detect unmanned aerial vehicle and all be located protection frock.
As shown in fig. 1, a base plate 10 is fixed at the bottom of a box 40 (see fig. 2), a lift force detector 20 is mounted on the base plate 10, and a fixing tool is arranged on the lift force detector 20. The fixing tool comprises a mounting plate 12 fixed on a lift force detector 20, the mounting plate 12 is arranged in parallel with a base plate 10, a support column 14 is respectively arranged on the base plates positioned on two sides of the lift force detector 20, and the mounting plate 12 is arranged on the two support columns 14. The mounting plate 12 is provided with propeller fixing mechanisms 30, the number of the propeller fixing mechanisms 30 is the same as that of propeller arms of the unmanned aerial vehicle to be detected, and the arrangement positions of the propeller fixing mechanisms 30 are matched with the positions of the propeller arms.
As shown in fig. 1, the structures of the propeller fixing mechanisms 30 are substantially the same, but the installation positions and directions are different, so only a group of propeller fixing mechanisms 30 will be described in detail below as an example:
the propeller fixing mechanism 30 comprises a fixing base 32 vertically fixed on the mounting plate 12, a concave groove 39 is formed in the middle of the upper end of the fixing base 32, the groove 39 is matched with a propeller arm of the unmanned aerial vehicle and transversely penetrates through the fixing base 32 along the extending direction of the propeller arm, and a fixing hole 320 is formed in the opposite positions of the side walls of the two sides of the groove 39 respectively. A securing pin 342 extends transversely through both securing holes 320, and when the securing pin 342 extends transversely through both securing holes 320, the propeller arm of the unmanned aerial vehicle is secured within the recess 39. When the unmanned aerial vehicle is fixed, the unmanned aerial vehicle can be fixed by placing the propeller arm of the unmanned aerial vehicle into the groove 39 and inserting the fixing pins 342 into the two fixing holes 320.
As shown in fig. 1, one end of the fixing pin 342 is connected to a power unit, and the other end thereof passes through both fixing holes 320 simultaneously under the driving of the power unit. In this embodiment, the power unit is preferably a fixed cylinder 36, the fixed pin 342 is fixedly connected to the piston rod 360 of the fixed cylinder 36 through the fixed pin mounting plate 340, the fixed pin mounting plate 340 is vertically disposed on one side of the fixed base 32, and the size of the fixed pin mounting plate 340 is larger than the size of the fixed hole 320. The linear bearings 382 are mounted on the fixed pin mounting plate 340, the guide rods 380 are slidably mounted in the linear bearings 382, the end portions of the guide rods 380 are fixed on the fixed base 32, the guide rods 380 are parallel to the piston rods 360, and are mounted at two ends of the fixed pin mounting plate 340 respectively, so that the balance and guide functions can be achieved.
As shown in fig. 2 and 3 together, a linear rail is mounted on each side of the housing 40, and in this embodiment, the rail is preferably a pneumatic rail 44. The case cover 42 includes a first case cover 420, a second case cover 422 and a third case cover 424 hinged together in sequence by a hinge 426, the first case cover 420, the second case cover 422 and the third case cover 424 are sequentially arranged along the extending direction of the pneumatic slide rail 44, the length of the first case cover 420 and the second case cover 422 is equal, and is slightly less than 1/2 of the length of the whole case body 40, the length of the third case cover 424 is far less than the length of the first case cover 420 and the second case cover 422, and the length of the first case cover 420, the second case cover 422 and the third case cover 424 after being connected into a whole is equal to the length of the case body 40. One end of the first cover 420, which is not hinged to the second cover 422, is hinged to the case 40 by a hinge 426, and two sides of the third cover 424 are fixedly connected to the sliding blocks 442 of the two pneumatic sliding rails 44 respectively. When the third cover 424 slides along the sliding rail 440 toward the second cover 422 under the driving of the sliding block 442, the hinged ends of the first cover 420 and the second cover 422 tilt upward, and when the sliding block 442 slides to the end of the sliding rail 440, the first cover 420 and the second cover 422 are completely erected and attached together, and at this time, the cover 42 is completely opened, so that the unmanned aerial vehicle can be put in and taken out; when the cover 42 is required to be closed, the third cover 424 slides along the sliding rail 440 in the opposite direction under the driving of the sliding block 442, the first cover 420 and the second cover 422 are pulled apart, and when the sliding block 442 slides to the other end of the sliding rail 440, the first cover 420 and the second cover 422 are fully opened, and the cover 42 is closed, so that detection work can be performed.
As shown in fig. 1, fig. 2 and fig. 4 together, the detection device further includes a controller, and the controller may be a computer, a programmable controller, a single-chip microcomputer, or the like. The controller comprises a program control module, and the program control module is respectively connected with a detection starting module, an unmanned aerial vehicle propeller motor system module, a fixed tool control module, a lifting force detection system module and a protection tool control module. The unmanned aerial vehicle, the fixed cylinder 36, the lift force detector 20 and the two pneumatic slide rails 44 are all electrically connected with the controller, an interface fixing seat 50 is arranged on the mounting plate 12, a connecting interface is arranged on the interface fixing seat 50, the preferred connecting interface of the embodiment is a USB interface, and the unmanned aerial vehicle, the fixed cylinder 36 and the lift force detector 20 are all in communication connection with the controller through the connecting interface. The detection starting module is equivalent to a starting button, namely, the starting button is arranged on a man-machine interaction interface of the controller, the program control module is started after the starting button is pressed, and the program control module sequentially starts the fixed tool control module, the protection tool control module, the unmanned aerial vehicle propeller motor system module and the lift force detection system module to control corresponding actuating mechanism to act so as to finish detection of the unmanned aerial vehicle propeller motor.
As shown in fig. 1, 2, 4 and 5, the detection method based on the unmanned aerial vehicle propeller motor detection device comprises the following steps:
s001, detecting the start of the starting module, namely pressing a starting button on a man-machine interaction interface by an operator;
s002, starting the program control module and informing the fixed tool control module to operate;
step S003, the fixed tool control module starts the fixed tools to fix the unmanned aerial vehicle, namely, controls each fixed cylinder 36 to act, inserts the fixed pins 342 into the fixed holes 320, and fixes the propeller arms of the unmanned aerial vehicle, namely, the unmanned aerial vehicle;
s004, judging whether the fixing procedure is finished, if the unmanned aerial vehicle is not finished, continuing to wait, and if the unmanned aerial vehicle is finished, entering into S005;
s005, the program control module informs the protection tool control module to operate;
s006, the protection tool control module starts the protection tool to be closed, namely, controls the two pneumatic slide rails 44 to act, and closes the box cover 42;
s007, judging whether the closing program is completed or not, if the closing is not completed, continuing to wait, and if the closing is completed, entering into S008;
s008, the program control module informs the unmanned aerial vehicle propeller motor system module to run;
s009, starting a propeller motor to run by the unmanned aerial vehicle propeller motor system module;
s010, judging whether the motor rotation speed reaches a detection rotation speed (such as 9000 ppm), if not, continuing to wait, and if so, entering into S011;
s011, the program control module informs the lift force detection system module to operate;
s012, the lift force detection system module controls the lift force detector 20 to detect the lift force of the propeller motor at the current rotating speed, and transmits the detected lift force value to the program control module;
s013, judging whether the detected lift force value is larger than or equal to a theoretical lift force value (namely, whether Y is larger than or equal to Y) at the current rotating speed, wherein the theoretical lift force value can be calculated according to a lift force calculation formula Y=1/2 rho CSv 2 Calculated, wherein:
y: the value of the theoretical lift force,
c: coefficient of lift
S: wing area
v: propeller motor speed
ρ: atmospheric density
y: the value of the lift that is actually detected,
if Y is more than or equal to Y, judging that the propeller motor is single or assembled normally, and outputting a product qualification signal if the unmanned aerial vehicle finished product is qualified;
if Y is less than Y, judging that the propeller motor is single or is abnormal in assembly, and outputting a product failure signal if the unmanned aerial vehicle finished product is failed;
so far, the detection work of the unmanned aerial vehicle propeller motor is completed.
If the unmanned aerial vehicle propeller motor detection device without the protection tool is used for detecting the unmanned aerial vehicle propeller motor, the steps S005, S006 and S007 in the method are not needed, and the step S004 can be directly carried out.
The fixing tool shown in fig. 1 is an unmanned aerial vehicle for fixing four propeller arms, the structure of the fixing tool in practical application is not limited to the structure shown in fig. 1, the number and distribution positions of the propeller fixing mechanisms can be changed according to the number and structure of the propellers of the unmanned aerial vehicle to be detected actually, and a person skilled in the art can design the fixing tool suitable for other unmanned aerial vehicles without performing creative labor according to the description of fig. 1 and the above embodiment, so that the fixing tools related to other structures are not listed here.
According to the unmanned aerial vehicle propeller motor detection device and method, the unmanned aerial vehicle is fixed through the fixing tool, so that the unmanned aerial vehicle can not fly randomly during detection, meanwhile, the protection tool is additionally arranged, the detection efficiency of the propeller motor is greatly improved, the detection accuracy is improved, and the detection safety is improved.
The designations of the first cover, the second cover, and the third cover in this specification are only for distinguishing the covers, and do not represent the positional relationship, the assembly order, the operation order, and the like among the three covers.
The present invention is not limited to the above-described specific embodiments, and various modifications may be made by those skilled in the art without inventive effort from the above-described concepts, and are within the scope of the present invention.
Claims (10)
1. The unmanned aerial vehicle propeller motor detection device comprises a substrate, wherein a lift force detector is fixedly arranged on the substrate, and the unmanned aerial vehicle propeller motor detection device is characterized in that a fixed tool is arranged on the lift force detector and comprises a mounting plate fixed on the lift force detector, and propeller fixing mechanisms which are equal to the number of propeller arms of the unmanned aerial vehicle and are matched with each other in position are arranged on the mounting plate;
the propeller fixing mechanism comprises a fixing base, a groove is formed in the upper end of the fixing base, the groove penetrates through the fixing base along the extending direction of the propeller arm, and a fixing hole is formed in the opposite positions of the side walls of the two sides of the groove respectively;
the propeller fixing mechanism further comprises a fixing pin, one end of the fixing pin is connected with a power device, and the other end of the fixing pin simultaneously passes through the two fixing holes under the driving of the power device;
the detection device further comprises a controller, and the lift force detector and the power device are electrically connected with the controller.
2. The unmanned aerial vehicle propeller motor detection apparatus of claim 1, wherein the unmanned aerial vehicle is electrically connected with the controller.
3. The unmanned aerial vehicle propeller motor detection apparatus of claim 2, wherein an interface fixing seat is provided on the mounting plate, a connection interface is provided on the interface fixing seat, and the lift force detector, the power device and the unmanned aerial vehicle are all electrically connected with the controller through the connection interface.
4. The unmanned aerial vehicle propeller motor detection apparatus of claim 2, wherein the power device is a stationary cylinder, and an end of the stationary pin is connected to a piston rod of the stationary cylinder.
5. The unmanned aerial vehicle propeller motor detection apparatus of claim 4, wherein the end of the fixed pin is fixed with a fixed pin mounting plate, the piston rod being connected to the fixed pin mounting plate; the linear bearing is arranged on the fixed pin mounting plate, and a guide rod is arranged in the linear bearing in a sliding mode.
6. The unmanned aerial vehicle propeller motor detection apparatus of any one of claims 2 to 5, wherein the detection apparatus further comprises a protective fixture, the protective fixture comprises a box and a box cover combined on the box, the base plate is fixed at the bottom of the box, and the lift force detector and the fixing fixture are both located in the box.
7. The unmanned aerial vehicle propeller motor detection apparatus of claim 6, wherein a slide rail is respectively installed on both sides of the case body, the case cover comprises a first case cover, a second case cover and a third case cover which are hinged together in sequence, the first case cover is hinged with the case body, and both sides of the third case cover are respectively fixed on the sliding blocks of the two slide rails.
8. The unmanned aerial vehicle propeller motor detection apparatus of claim 7, wherein the slide rails are pneumatic slide rails, both of which are electrically connected to the controller.
9. A method of detection by a unmanned aerial vehicle propeller motor detection apparatus as claimed in any one of claims 1 to 5, comprising the steps of:
controlling each power device to fix the unmanned aerial vehicle on the fixing tool by the controller;
starting a propeller motor of the unmanned aerial vehicle;
judging whether the rotating speed of the propeller motor reaches a set rotating speed or not;
if the rotating speed of the propeller motor reaches the set rotating speed, starting the lift force detector to detect the current lift force, and transmitting the detection result to the controller;
and the controller compares the detection result received from the lift force detector with a theoretical lift force value at the current rotating speed, and judges whether the unmanned aerial vehicle is qualified or not according to the comparison result.
10. A method of detection by a unmanned aerial vehicle propeller motor detection apparatus as claimed in any one of claims 6 to 8, comprising the steps of:
controlling each power device to fix the unmanned aerial vehicle on the fixing tool by the controller;
closing the box cover of the protection tool;
starting a propeller motor of the unmanned aerial vehicle;
judging whether the rotating speed of the propeller motor reaches a set rotating speed or not;
if the rotating speed of the propeller motor reaches the set rotating speed, starting the lift force detector to detect the current lift force, and transmitting the detection result to the controller;
and the controller compares the detection result received from the lift force detector with a theoretical lift force value at the current rotating speed, and judges whether the unmanned aerial vehicle is qualified or not according to the comparison result.
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| CN108414933B (en) * | 2018-03-07 | 2019-09-24 | 华北水利水电大学 | A kind of aerial survey unmanned plane motor testing apparatus and test method for field |
| CN111571205B (en) * | 2020-05-20 | 2021-05-11 | 安徽海思达机器人有限公司 | Screw detects and interactive rigging equipment |
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