CN107993513A - A kind of unmanned helicopter integrated management, training and pilot scale study device - Google Patents
A kind of unmanned helicopter integrated management, training and pilot scale study device Download PDFInfo
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- CN107993513A CN107993513A CN201711078301.6A CN201711078301A CN107993513A CN 107993513 A CN107993513 A CN 107993513A CN 201711078301 A CN201711078301 A CN 201711078301A CN 107993513 A CN107993513 A CN 107993513A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
- G09B9/24—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer including display or recording of simulated flight path
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
- G09B9/30—Simulation of view from aircraft
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
- G09B9/46—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer the aircraft being a helicopter
Abstract
The present invention discloses a kind of unmanned helicopter integrated management, training and pilot scale study device.The present invention includes：Flight control system, is connected with earth station system and vision emulation system, for providing flight control signal to vision emulation system, obtains the six-degree-of-freedom information for the subsequent time that earth station system is sent；Vision emulation system, for simulating corresponding flight map picture according to the flight control signal；Earth station system, connects the vision emulation system, obtains the six-degree-of-freedom information at helicopter current time, the six-degree-of-freedom information of subsequent time is simulated according to the six-degree-of-freedom information at current time, and show the six-degree-of-freedom information of helicopter；Display device, connects the vision emulation system, for showing flight map picture.Present invention is mainly used for unmanned plane during flying simulated training, the main orthodox flight test including unmanned plane is trained, the task control test training of unmanned plane, the disturbed condition flight training of unmanned plane, the flight training under unmanned plane fault mode.
Description
Technical field
The present invention relates to unmanned helicopter technical field, specifically a kind of unmanned helicopter integrated management, training and
Pilot scale study device.
Background technology
Unmanned vehicle technology is an emerging integrated technology, since comfortable China's promotion and application, military and
Civilian technology field is applied widely.In a particular application, unmanned vehicle also becomes China's national defense construction, geology is surveyed
Operation means and lifting are produced used by the multiple fields such as survey, power grid tour, the public speed of high speed is patrolled, meteorology detects, maritime affairs patrol
The instrument of industry scale levels.It is even large batch of in several international local wars in recent years to have used unmanned flight
Device, though it is foreseeable that purposes of the unmanned vehicle on future battlefield will be increasing, it will necessarily become each military affairs in the world
The emphasis of big country's Weapon Development.
Unmanned helicopter in addition to the multiple-tasks such as scouting, monitoring, Strike, communication are performed in military field,
Civil field can also complete Disaster Assessment, geological exploration, aerial survey of taking photo by plane, the inspection of police highway, forest fire protection, maritime affairs patrol
Etc. multiple-task.In addition, in the natural calamities such as mud-rock flow, earthquake, storm, unmanned helicopter is by quickly transmitting letter
Breath, has also played extremely important effect, has become our mankind and resists the indispensable instrument of natural calamity.
But domestic unmanned helicopter manipulation hand and corresponding ground crew, aerophotogrammetry data treatment people are by some at present
Training centers run by social sectors' short-term cultivation forms, and not only can not quantitatively meet current social demand, on Talents Quality also without
Method meets the requirement of employing unit.Also there is such talent-shortage situation in other unmanned vehicle application fields, sternly
Restrict the development of enterprise's industrial upgrading, safety work, cost savings etc. again.
Current domestic unmanned helicopter development is like a raging fire, has a large amount of unmanned helicopter research institutes to suffer from helicopter
Operating difficulty is big, in product development and dispatches from the factory the debugging stage, since unmanned plane is as New Equipments, with high content of technology, structure group
Into complicated, expensive, cause, of high cost, task weight big to the difficulty of the actual equipment training of unmanned aerial vehicle, there is " construction
Difficult simulation, the difficult experience of training operation, the difficult control of equipment loss occur for principle indigestibility, failure " four difficult problems.
Just so, it is badly in need of one kind securely and reliably, takes into account the experiment of the compbined test debugging helicopter of training and scientific research etc.
Platform and the manoeuvring platform of winged hand training.
The content of the invention
For above-mentioned shortcoming existing in the prior art, the technical problem to be solved in the present invention is to provide it is a kind of nobody
Helicopter integrated management, training and pilot scale study device.
The used to achieve the above object technical solution of the present invention is：A kind of unmanned helicopter integrated management, training and
Pilot scale study device, including：
Flight control system, is connected with earth station system and vision emulation system, for providing flight control to vision emulation system
Signal processed, obtains the six-degree-of-freedom information for the subsequent time that earth station system is sent；
Vision emulation system, for simulating corresponding flight map picture according to the flight control signal；
Earth station system, connects the vision emulation system, obtains the six-degree-of-freedom information at helicopter current time, according to
The six-degree-of-freedom information at current time simulates the six-degree-of-freedom information of subsequent time, and shows the six degree of freedom letter of helicopter
Breath；
Display device, connects the vision emulation system, for showing flight map picture.
Wireless data transmission equipment is further included, connects the flight control system and the earth station system, for by the earth station
The six-degree-of-freedom information for the subsequent time that system is sent passes to the flight control system.
Further include image capture device and wireless image transmission equipment；Described image collecting device be used for gather in real time it is described nobody
Flight map picture around helicopter, passes through the GPS in the unmanned helicopter and the wireless image transmission equipment wireless connection；It is described
Wireless image transmission equipment connects the vision emulation system, and the vision emulation system is used to show that described image collecting device gathers
Flight map picture.
Further include helicopter to take a flight test debugging apparatus, for debugging the unmanned helicopter, the helicopter is taken a flight test
Debugging apparatus includes fixed frame, adjustable shelf and connecting seat, and the adjustable shelf is flexibly connected with fixed frame and adjustable shelf can be opposite
In fixed frame upper and lower translation, above-mentioned connecting seat lower end is connected on adjustable shelf, and adjustable shelf is stretched out in the connecting seat upper end, described
Connecting seat upper end can swing and have in adjustable shelf upper end the position-limit mechanism for being used for making connecting seat be swung in setting range；
The fixed frame includes base, supporting rod and retainer ring, and above-mentioned base is in tabular, the quantity of above-mentioned supporting rod
At least two, supporting rod lower end is connected with base, and post upper is connected with retainer ring.
Remote control is further included, communicates and connects with the flight control system, for controlling flight control system to produce corresponding flight
Attitude information.
The earth station system is equipped with FlightGear flight simulators.
The present invention has the following advantages and beneficial effect：
1st, present invention is mainly used for unmanned plane during flying simulated training, the main orthodox flight test including unmanned plane to train,
The task control test of unmanned plane is trained, the disturbed condition flight training of unmanned plane, the flight training under unmanned plane fault mode,
The sill information and training data statistics for carrying out operator are surveyed with training effect assessment and according to the state of flight of unmanned plane
Try out the performance of engine.
2nd, the present invention is adapted to the training of dual-use outstanding high-end Skill and method specialized personnel, can use unmanned vehicle
Quickly analysis with solving task, possesses and is engaged in unmanned vehicle assembling, debugging, maintenance, repair, behaviour correlation theory with technology
The Positional Competencies such as control, ground service, aerial survey of taking photo by plane.
3rd, vision emulation system of the invention is the necessary component of flight test training, it constructs approaching to reality war
The two-dimensional scene of field environment, can display real-time the state of flight of unmanned plane, while background environment is simulated, and greatly enhance
Operator obtains the feeling of immersion of visual feedback when controlling aircraft flight.
Brief description of the drawings
Fig. 1 is system construction drawing of the present invention under emulation mode；
Fig. 2 is that the helicopter in the present invention is taken a flight test debugging apparatus structure chart；
Fig. 3 is the sectional structure chart of Fig. 2 of the present invention；
Fig. 4 is the schematic cross-sectional view at the bulb in Fig. 3 of the present invention；
Fig. 5 is the earth station system display interface figure in the present invention.
In figure, 1, base；2nd, supporting rod；3rd, retainer ring；4th, movable plate；4a, connecting hole one；5th, pillar；6th, loose collar；7、
Connecting rod；7a, connecting cavity；8th, support base；8a, connecting plate；8b, main shaft；8c, bracing piece；8d, bulb；9th, guide plate；9a, connection
Hole two；10th, transition wheel；11st, drawstring；12nd, clump weight；13rd, upper limitation canister；14th, lower limitation canister.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and embodiments.
As shown in Figure 1, a kind of unmanned helicopter integrated management, training and pilot scale study device, including：
Flight control system, is connected with earth station system and vision emulation system, for providing flight control to vision emulation system
Signal processed, obtains the six-degree-of-freedom information for the subsequent time that earth station system is sent；Flight control system is highly integrated, powerful,
Suitable for the unmanned helicopter of the different dynamics such as electronic, piston and jet.
Vision emulation system, for simulating corresponding flight map picture according to the flight control signal；Vision simulation system
Unite as industrial personal computer.
Earth station system, connects the vision emulation system, obtains the six-degree-of-freedom information at helicopter current time, according to
The six-degree-of-freedom information at current time simulates the six-degree-of-freedom information of subsequent time, and shows the six degree of freedom letter of helicopter
Breath；Earth station system is industrial personal computer, is equipped with FlightGear flight simulators.The effect of earth station system is to receive unmanned plane
The body of outflow and the signal of surrounding environment, and next step operational order is sent to unmanned helicopter.Earth station system to nobody
Machine commands controllers and operator, is typically established in earth command station.Ground and operation bench by friendly man-machine interface,
Complete telemetry, flight track and the instruction presentation of information such as transmission state, ground and manipulating be equipped with deck plate various instructions by
Button and control lever etc..
Display device, connects the vision emulation system, for showing flight map picture.
Wireless data transmission equipment, connects the flight control system and the earth station system, for the earth station system to be sent out
The six-degree-of-freedom information of the subsequent time gone out passes to the flight control system.The effect of wireless data transmission equipment is unmanned helicopter
Athletic posture pass to earth station system.
Image capture device, for gathering the flight map picture around the unmanned helicopter in real time, nobody is straight by described
GPS and the wireless image transmission equipment wireless connection in the machine of liter；
Wireless image transmission equipment, connects the vision emulation system, and the vision emulation system is used to show that described image is adopted
Collect the flight map picture of equipment collection.
Remote control, communicates with the flight control system and connects, for controlling flight control system to produce corresponding flight attitude letter
Breath.The effect of remote control is can to control the movement of helicopter and progress unmanned plane manual, semi-automatic and complete self-service manually
The switching of scheme control.
In live flying debugging, the flight control system is mounted in unmanned helicopter, is carried on the unmanned helicopter
There is image capture device；Described image collecting device is used to gather the flight map picture around the unmanned helicopter in real time, and leads to
Cross the GPS and wireless image transmission equipment wireless connection in the unmanned helicopter；The wireless image transmission equipment connects the earth station
System, the earth station system are used for the flight map picture for showing the collection of described image collecting device.
Wherein, for image capture device using three axis of ultra high-definition surely as visible ray gondola, effect is to gather nobody in real time to go straight up to
Environmental information around machine.The effect of wireless image transmission equipment is the external environment condition shape that unmanned helicopter is obtained in the task of execution
Condition real-time delivery is to earth station system.
The training of unmanned plane flight test is mainly used for unmanned plane during flying simulated training.The major function one of flight test training
As include:
(1) the orthodox flight test training of unmanned plane:Can simulation take off before hair control preparation, take-off climb, cruising flight, into
The state of flights such as field flight, forced landing or self-destruction.
(2) the task control test training of unmanned plane, including optoelectronic device functional simulation, TV or infrared reconnaissance, laser
The task such as strike that irradiation carries out target positioning, aircraft drops a bomb.
(3) the disturbed condition flight training of unmanned plane：Various flight environment of vehicle and flying condition can be set, such as temperature pole
Value, air pressure change, air-dry disturb, inclined condition etc. is drawn in photoelectric interference and the interference of power and torque and coefficient.
(4) flight training under unmanned plane fault mode:Typical fault when can be with simulated flight, as engine failure,
Inertial navigation failure, interface communication failure, rudder system failure etc..
(5) sill information and training data statistics and the training effect assessment of operator is carried out.
(6) according to the characteristics of unmanned vehicle engine, thrust, the fuel oil of engine are tested out according to the state of flight of unmanned plane
The performance parameters such as consumption rate, rotating speed and delivery temperature.
The present invention disclosure satisfy that tests below content：
1. it is familiar with unmanned plane overall system；
2. being familiar with unmanned plane avionics system topology configuration, composition, the basic functional principle of subsystems is understood；
3. understanding the operation logic of avionics system, the base of the third generation avionics system formed centered on bus marco is grasped
Present principles；
4. avionics system ground typical operation content is grasped, including task preparation, data loading, parameter setting etc.；
5. grasp avionics system troubleshooting operating method and flow；
6. grasp the operate with method and flow of two wires detection device；
7. understand RS-422 bus communications principle, transport protocol and test method；
8. understand from design experiment processes such as unmanned plane demand analysis, Top-layer Design Method, detailed designs to System Integration Test；
9. reserved laboratory's upgrading expansion interface；
10. different patterns can be entered according to control of authority avionics system；
11. avionics system failure and alarm can be generated and managed according to requirement of experiment；
12. the completion inertial navigation alignment of aircraft can be simulated, task is loaded, taken off, radio communication navigation, program navigation, is searched
Rope, attack, march into the arena, landing function；
13. it can easily define every experimental duties, input condition, output result；
14. it can be performed according to experiment flow and task-driven avionics system；
15. avionics system ground eligible task items flow can be completed；
16. avionics system failure disposal task items flow can be completed；
17. it can realize all kinds of comprehensive warning information of avionics system；
18. it can realize avionics system typically all kinds of navigation tasks；
19. it can realize avionics system typically all kinds of target acquisition tasks；
20. detection simulation system that can be supporting with ground completes the maintenance and maintenance of avionics system；
21. the flight Simulation System based on primary control program integrates introduction.
Earth station system, mainly includes training management module, parameter setting module, flight simulation module and fault simulation mould
Block.Wherein flight simulation module includes flight simulation unit, link simulation unit, flies control simulation unit, navigation simulation unit etc..
Flight simulation module includes two kinds of operational modes of mathematical simulation and HWIL simulation.
Vision emulation system, is the necessary component of flight test training, it constructs approaching to reality battlefield surroundings
Two-dimensional scene, can display real-time the state of flight of unmanned plane, while background environment is simulated, and greatly enhance operator
The feeling of immersion of visual feedback is obtained when controlling aircraft flight.
The integrated experiment device collection unmanned plane overall system, Avionic Instrument, task device, automatic Pilot, flight path rule
Draw the interior outfield waited, system-level, component level experiment, GPS/INS integrated navigations, vision guided navigation (extension), autopilot control law are set
The functions such as meter, reliability test, self-defined secondary development and the experiment of virtual reality synchronization simulation are a set of to be directed to nobody in one
The professional research and teaching test platform of machine system regions related discipline.The platform is same with real UAV system and virtual reality
Step emulation is combined into background and is designed, its system composition, operation principle, control logic, display mode and live flying are extremely
It is similar.
The system can be also opened up including sensor, executing agency, on-board controller, system synthesis, HWIL simulation etc.
Multiple experiment modules inside, can meet a variety of demands of different user level, different designs target and different Tasks,
One is provided from component level, system-level experimental situation or experimental facilities to Simulation Evaluation level, efficiently organizes various experiments.
Component level is tested：The device contains the primary clustering of flight control system：Used group, on-board controller, rudder system
System.On-board controller uses DSP and FPGA technology, and combination used group, rudder system etc. are integrated, pass through system configuration management
Function is, it can be achieved that the phase including adding the component levels such as meter, gyro, inertial navigation, GPS inertia combined navigations, steering engine, on-board controller
Experiment is closed, component devices can both carry out simulated flight research experiment in experimental system, can also be used as standalone equipment to carry out
The experiment of research and development property.
System-level experiment：The device various typical components involved during can component level be tested are assembled into a typical machine
Loading system is tested, which can be made of on-board controller, used group, rudder system and body structure etc., housing construction
Subdivision segment layout is carried out according to component, and 8 flight time sequence simulation indicator lights are arranged on body.By ground control station and
The combination of experiment software, it is system-level with assessment, simulated flight etc. can to carry out on-board controller interface, guidance/attitude control rule design
Related experiment.
Simulation Evaluation level is tested：The device by the control of ground control station, can drive the attitude motion of aircraft, collection
The motion of rudder of control surface deflection monitoring aircraft on body, is alternatively arranged as simulator and replaces the material objects such as used group, steering engine, so as to
Realize that various simulator patterns, and HWIL simulation of the all-real object product in circuit are tested, guidance control system is carried out complete
The Simulation Evaluation in face.
In addition, platform further include a line, two wires fault detect analog functuion or detection operating process and part airborne equipment,
The application of component and displaying.Have the characteristics that cost-effective, multiple functional, operational risk is low, easy operation.
1. the system integration
The compiling of primary control program
Primary control program flight simulator is the basis that whole flight Simulation System integrates.Helicopter nonlinear model, XML
The realization of parsing and the serial communication of configuration file, is all to be integrated in application program master by compiling primary control program source program
Control in program .exe, therefore the source program of successful com primary control program is the premise for building flight Simulation System.
2. the analogue system based on primary control program is realized
Realize the semi-physical simulation of flying-controlled box, it is necessary to flight control computer and primary control program are combined together, now adopted
Take and communicated using a RS232 serial ports, communication baud rate 115200 adds the driven in series function of oneself, and ties
The input/output interface function that primary control program carries is closed, required communication functions is added, is timed using multimedia timer
Call.
3. flight simulation is tested
System prepares
The connection of system power supply, cable is checked, after determining correctly, to system electrification.Shown and flown by remote software
Row control computer internal state, determines that flight control computer is working properly；Shown by simulation console software in emulator
Portion's state, it is ensured that emulator is working properly.
Primary control program flight simulator is run in a PC machine, into aircraft selection interface, selects BO105 helicopters,
Then " ZSCN " airport (Nanchang Changbei Airport) is selected in airport list, after completing necessary setting, is transported into primary control program
Row interface.
In flight simulation, the state of flight of unmanned helicopter is monitored by remote software, and sends and refers to
The model of flight of order control unmanned helicopter.Remote software is as shown in Figure 3.
It is in helicopter when state is flown, telecommand is sent to unmanned helicopter by remote software, to straight
The state variable initialization of the machine of liter.Its instruction sequences and effect are as follows：
(1) " external control " instruction is sent, helicopter is transferred to working status by ground reset state, carries out manipulation inspection, and
Terminate ground monitoring software instruction.
(2) " driving " instruction is sent, makes engine drive.
(3) " warming up ", " slow train ", " specified " instruction are sent, engine speed is improved, engine is operated in rated power
Under, the rotating speed of rotor is lifted, reaches specified total square.
(4) " taking off in advance " instruction is sent, access course is kept, and accesses inner ring gesture stability and the control of outer ring position.
(5) start BO105 helicopters in primary control program flight simulator, send " manually taking off " instruction, pass through remote control
Telemetering software lifts total square, and helicopter is pulled away from ground.
(6) when helicopter flies to the specified altitude assignment of needs, " hovering " instruction is sent, and is made in total square rod volume time, is gone straight up to
Chance is hovered in specified altitude assignment.
(7) " letting fly away " instruction is sent, helicopter presses airline operation, and cuts No. 1 segment automatically from current location.
(8) " recovery " instruction is sent, helicopter will cut out airline operation state, entry instruction model of flight.
4. the simulating, verifying of flying-controlled box
In simulation process is carried out, mainly using remote software.Remote software be used for showing the six of aircraft from
By degree information and the specified rate of rudder face, and by the flight of flight telecommand control small-sized depopulated helicopter, in main interface
After having started, the transmission order of remote-control romote-sensing instruction is as follows：
(1) ' recovery ' button is first clicked on, sends release command, some built-in variables of flying-controlled box is in starting shape
State；
(2) ' external control ' instruction is sent, the remote control handset being connected in earth station is so pulled with hand, is observed in earth station
Whether each rudder face data feedback channel data change, and then observe whether each passage in pingxian changes, if change says that face is normal；
(3) ' orientation ' instruction is sent, access course is kept, and is sent ' navigation ' instruction access posture and is kept, records current
Longitude and latitude and course angle, and automatically into ' mixing ' pattern, at this moment Futaba handles amount is not applied directly to the rudder face of helicopter,
And it is converted into the posture specified rate (always away from throttle channel except) of helicopter；
(4) Bo105 helicopters are started, by gradual pull rod increase always away from throttle amount, at this moment Bo105 helicopters will be gradual
Ground is left, stops drawing when reaching desired height always away from throttle lever, sends ' fixed height ' instruction access height and keep；
(5) the various model of flight of helicopter can be thus tested, ' hovering ', ' hovering revolution ', ' preceding can be sent
Flying ', ' rear flies ', ' left side flies ', ' right side flies ', ' climbing ', ' downslides ', ' flat to fly at 4 points ' etc., it is necessary between each mode of attention
Switching will pass through ' hovering ' mode as transition.
As shown in Fig. 2 and Fig. 3 and Fig. 4, helicopter debugging apparatus of taking a flight test includes fixed frame, adjustable shelf and connecting seat,
The adjustable shelf is flexibly connected with fixed frame and adjustable shelf can be connected relative to fixed frame upper and lower translation, above-mentioned connecting seat lower end
On adjustable shelf, adjustable shelf is stretched out in the connecting seat upper end, and the connecting seat upper end can swing and have in adjustable shelf upper end
For the position-limit mechanism for making connecting seat be swung in setting range.
The fixed frame includes base 1, supporting rod 2 and retainer ring 3, and above-mentioned base 1 is in tabular, above-mentioned supporting rod 2
Quantity be at least two, 2 lower end of supporting rod is connected with base 1, and 2 upper end of supporting rod is connected with retainer ring 3.The adjustable shelf
Including movable plate 4, pillar 5 and loose collar 6, above-mentioned movable plate 4 is movably connected on supporting rod 2, above-mentioned 5 lower end of pillar and work
Movable plate 4 is connected, and 5 upper end of pillar is connected with loose collar 6.The connecting seat includes connecting rod 7 and support base 8, above-mentioned 7 lower end of connecting rod
It is connected on movable plate 4, loose collar 6 is stretched out in 7 upper end of connecting rod.7 upper end of connecting rod has recessed connecting cavity 7a spherical in shape,
Above-mentioned 8 lower end of support base has the bulb 8d to match with connecting cavity 7a and bulb 8d is located in connecting cavity 7a.The support base
8 include connecting plate 8a, main shaft 8b and bracing piece 8c, and above-mentioned main shaft 8b is connected in main shaft 8b lower ends in rod-shaped and bulb 8d, above-mentioned
Connecting plate 8 is connected in main shaft 8b upper ends, and the quantity of above-mentioned bracing piece 8c is at least three and bracing piece 8c upper ends and is connected in connection
Plate 8a edges, bracing piece cb lower ends are connected at main shaft 8b lower ends.There is perforative one 4a of connecting hole on the movable plate 4,
Above-mentioned one 4a of connecting hole is corresponded with supporting rod 2 and supporting rod 2 is threaded through at corresponding one 4a of connecting hole.The supporting rod 2
On be also fixed with plate-like guide plate 9, there is perforative two 9a of connecting hole on above-mentioned guide plate 9, above-mentioned two 9a of connecting hole with
Pillar 5 corresponds and pillar 5 is threaded through at corresponding two 9a of connecting hole.Unmanned plane can be increased by also having on the adjustable shelf
The balance weight mechanism of Shi Duoyu loads.The balance weight mechanism includes transition wheel 10, drawstring 11 and clump weight 12, above-mentioned transition wheel 10
9 lower part of guide plate is connected to, above-mentioned 11 the inner of drawstring is connected on movable plate 4, and the middle part of drawstring 11 is wound on transition wheel 10 and draws
11 outer ends of restricting are connected with clump weight 12.The quantity of the balance weight mechanism is two and is distributed on 9 both sides of guide plate.The guiding
The downside of plate 9 has flexible upper limitation canister 13.The upside of base 1 has flexible lower limitation canister 14.The upper limitation canister
13 and lower limitation canister 14 be elastomeric material.
Claims (6)
1. a kind of unmanned helicopter integrated management, training and pilot scale study device, it is characterised in that including：
Flight control system, is connected with earth station system and vision emulation system, for providing flight control letter to vision emulation system
Number, the six-degree-of-freedom information for the subsequent time that acquisition earth station system is sent；
Vision emulation system, for simulating corresponding flight map picture according to the flight control signal；
Earth station system, connects the vision emulation system, the six-degree-of-freedom information at helicopter current time is obtained, according to current
The six-degree-of-freedom information at moment simulates the six-degree-of-freedom information of subsequent time, and shows the six-degree-of-freedom information of helicopter；
Display device, connects the vision emulation system, for showing flight map picture.
2. a kind of unmanned helicopter integrated management, training and pilot scale study device according to claim 1, its feature exist
In further including wireless data transmission equipment, connect the flight control system and the earth station system, for the earth station system to be sent out
The six-degree-of-freedom information of the subsequent time gone out passes to the flight control system.
3. a kind of unmanned helicopter integrated management, training and pilot scale study device according to claim 1, its feature exist
In further including image capture device and wireless image transmission equipment；Described image collecting device be used for gather in real time it is described nobody go straight up to
Flight map picture around machine, passes through the GPS in the unmanned helicopter and the wireless image transmission equipment wireless connection；It is described wireless
Image transmission equipment connects the vision emulation system, and the vision emulation system is used to show flying for described image collecting device collection
Row image.
4. a kind of unmanned helicopter integrated management, training and pilot scale study device according to claim 1, its feature exist
In further including helicopter and take a flight test debugging apparatus, for being debugged to the unmanned helicopter, the helicopter is taken a flight test debugging dress
Put including fixed frame, adjustable shelf and connecting seat, the adjustable shelf is flexibly connected with fixed frame and adjustable shelf can be relative to fixation
Frame upper and lower translation, above-mentioned connecting seat lower end are connected on adjustable shelf, and adjustable shelf, the connecting seat are stretched out in the connecting seat upper end
Upper end can swing and have in adjustable shelf upper end the position-limit mechanism for being used for making connecting seat be swung in setting range；
The fixed frame includes base, supporting rod and retainer ring, and above-mentioned base is in tabular, and the quantity of above-mentioned supporting rod is at least
For two, supporting rod lower end is connected with base, and post upper is connected with retainer ring.
5. a kind of unmanned helicopter integrated management, training and pilot scale study device according to claim 1, its feature exist
In further including remote control, communicate and connect with the flight control system, for controlling flight control system to produce corresponding flight attitude letter
Breath.
6. a kind of unmanned helicopter integrated management, training and pilot scale study device according to claim 1, its feature exist
In the earth station system is equipped with FlightGear flight simulators.
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| CN109466795B (en) * | 2018-12-04 | 2022-03-29 | 湖南山河科技股份有限公司 | Automatic test platform of unmanned helicopter |
| CN109466795A (en) * | 2018-12-04 | 2019-03-15 | 湖南山河科技股份有限公司 | A kind of unmanned helicopter automatically testing platform |
| CN109597309A (en) * | 2019-01-18 | 2019-04-09 | 北京瀚科瑞杰科技发展有限公司 | A kind of motor-driven synchronous method of target drone and system of actual situation combination |
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| CN110928200A (en) * | 2019-12-17 | 2020-03-27 | 中国人民解放军军事科学院国防科技创新研究院 | Virtual-real linkage simulation test system and method for unmanned aerial vehicle |
| CN111131261A (en) * | 2019-12-26 | 2020-05-08 | 苏州光之翼智能科技有限公司 | Police unmanned aerial vehicle training quantification method |
| CN112141356A (en) * | 2020-09-23 | 2020-12-29 | 重庆领直航科技有限公司 | Oil-driven unmanned helicopter propeller pitch-accelerator curve calibration method and system |
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| CN112631145A (en) * | 2020-11-20 | 2021-04-09 | 福州大学 | Semi-physical simulation system for unmanned aerial vehicle vision combined navigation test |
| CN112631145B (en) * | 2020-11-20 | 2022-05-17 | 福州大学 | Semi-physical simulation system for unmanned aerial vehicle vision combined navigation test |
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