Field vector wind field monitoring device and visualization method

Abstract

The invention discloses a field vector wind field monitoring device and a visualization method. The device comprises a wind receiving detection mechanism, a data acquisition sensor and a data processing system, the wind receiving detection mechanism comprises a mounting frame and a self-adaptive forward wind receiving assembly; the self-adaptive forward wind receiving assembly comprises rotating blades, a wind indicator and a self-adaptive adjusting ring, the self-adaptive adjusting ring comprises an outer ring, a middle ring and an inner ring, the outer ring is arranged on the mounting frame, the middle ring is connected to the interior of the outer ring through a vertical rotating shaft, and the inner ring is connected to the interior of the middle ring through an inner horizontal rotating shaft; the rotating blades are rotationally connected to the mounting part in the inner ring; the wind indicator is provided with a horizontal empennage and a vertical empennage. According to the monitoring device and the visualization method, the vector wind field in the field can be monitored in real time, the vector visualization interface is generated, the cost is low, and better data support is provided for adjustment of operation parameters of the plant protection unmanned aerial vehicle and manual spray supplementation.

Description

Technical Field

[0001] This invention relates to the field of wind field monitoring technology, specifically to a field vector wind field monitoring device and visualization method. Background Technology

[0002] Nowadays, agricultural drones are playing an increasingly important role in the fields. Agricultural drone operations can effectively increase pesticide utilization, reduce pesticide exposure risks and environmental pollution, and reduce human resource consumption.

[0003] During agricultural drone operations, downdrafts and natural winds have a significant impact on droplet movement. Downdrafts can disturb the canopy through downward airflow, allowing droplets to reach the middle and lower leaves smoothly, thus increasing droplet penetration. Furthermore, downdrafts can cause droplets to settle quickly, reducing droplet drift over horizontal distances and minimizing pesticide loss due to droplet evaporation.

[0004] However, in complex terrain or scenarios with uneven crop density, downdrafts can easily generate turbulence, leading to localized accumulation or missed spraying of pesticides. Simultaneously, fine droplets are easily drifted away from the target area due to the influence of downdrafts; and excessively strong winds can damage crop seedlings and field agricultural facilities. Furthermore, the presence of natural wind fields can exacerbate these consequences. Therefore, real-time monitoring of field wind fields is particularly important when using agricultural drones.

[0005] In actual field scenarios, the downwind field and natural wind field of agricultural drones cannot be completely measured separately. Therefore, the vector sum of the downwind field and natural wind field is used as a wind field for monitoring and research to explore the combined effect of the downwind field and natural wind field. By setting up wind field monitoring points in the field and monitoring the changes in the vector wind field in real time, it is possible to provide favorable data support and intelligent decision-making basis for optimizing agricultural drone parameters and supplementing missed spraying operations.

[0006] Currently, many vector wind field systems are established based on ground-based wind field monitoring technology, using Doppler lidar, acoustic radar, and wind profiler radar to obtain accurate vector wind field data. However, while these technologies are suitable for large-scale monitoring scenarios, they are not sensitive to wind fields in small, localized areas within fields. Furthermore, the monitoring equipment is relatively expensive and requires specialized software to process radar data. Additionally, some radar systems are susceptible to weather and noise, and cannot meet monitoring needs across all time periods.

[0007] Internet of Things (IoT) micro weather stations and ultrasonic 3D anemometers offer relatively low-cost wind field measurement solutions. However, current micro weather station wind field monitoring equipment is structurally limited and cannot measure vector wind fields, thus failing to adequately meet the data requirements for vector wind fields in agricultural drone parameter optimization and supplementary spraying. Furthermore, ultrasonic 3D anemometers do not achieve true 3D wind field measurement; instead, they break down the vector wind field into horizontal and vertical wind speeds. The installation of ultrasonic 3D anemometers requires strict horizontal calibration, making them unsuitable for installation in field settings.

[0008] Therefore, existing field wind field measurement methods have the following problems: 1. High-precision wind field monitoring devices are not suitable for measuring local wind fields in the field. The equipment is expensive and easily affected by the weather, making it impossible to operate at any time.

[0009] 2. Low-cost wind field measurement solutions cannot measure vector wind fields; they can only measure wind fields in a single direction, resulting in insufficient data dimensions. Summary of the Invention

[0010] The purpose of this invention is to overcome the above-mentioned problems and provide a field vector wind field monitoring device and visualization method. This monitoring device and visualization method can not only monitor the field vector wind field in real time and generate a vector visualization interface, but also has a low cost, providing better data support for adjusting the operation parameters of plant protection drones and manual spraying.

[0011] The objective of this invention is achieved through the following technical solution: A field vector wind field monitoring device includes a wind contact detection mechanism for contacting the wind field, a data acquisition sensor for acquiring wind field data, and a data processing system. The wind-receiving detection mechanism includes a mounting frame and an adaptive forward wind-receiving assembly mounted on the mounting frame. The adaptive forward wind-receiving assembly includes rotating blades, a wind vane, and an adaptive adjustment ring. The adaptive adjustment ring includes an outer ring, a middle ring, and an inner ring. The outer ring is mounted on the mounting frame. The middle ring is connected to the inside of the outer ring via a vertical rotating shaft. The inner ring is connected to the inside of the middle ring via an inner horizontal rotating shaft. The rotating blades are rotatably connected to a mounting part inside the inner ring, and the rotation center of the rotating blades coincides with the center line of the inner ring. One end of the wind vane is fixedly connected to the center of the mounting part inside the inner ring. The other end of the wind vane is provided with a horizontal tail fin for driving the inner ring to rotate around the inner horizontal rotating shaft and a vertical tail fin for driving the middle ring to rotate around the vertical rotating shaft. The data acquisition sensor includes an encoder and a three-axis attitude sensor. The encoder is integrated on the rotating blade, and the three-axis attitude sensor is integrated on the inner ring. The data processing system includes a front-end processing unit and a back-end processing unit, which transmit data through communication technology. The encoder and the three-axis attitude sensor acquire vector wind field data during operation and upload it to the front-end processing unit. The front-end processing unit processes the vector wind field data to obtain the wind direction and wind speed, and then transmits it to the back-end processing unit for display through a vector visualization interface.

[0012] In a preferred embodiment of the present invention, the outer ring is connected to the mounting frame via an outer horizontal rotating shaft. When the outer ring, middle ring, and inner ring coincide on the same plane, the outer horizontal rotating shaft and the inner horizontal rotating shaft are located on the same straight line. With this structure, when facing the influence of a wind field, not only will the inner ring adaptively rotate, but the outer ring may also rotate horizontally around the outer horizontal rotating shaft. This provides richer degrees of freedom for adaptive rotation, enabling more precise adaptation to the wind field and improving the accuracy of monitoring data.

[0013] In a preferred embodiment of the present invention, the outer horizontal rotating shaft, the inner horizontal rotating shaft, and the vertical rotating shaft are all rotatably connected by bearings.

[0014] Furthermore, the bearing mounting location is equipped with an adjustable damping or micro-braking mechanism to suppress overshoot oscillations caused by gusts or airflow pulsations.

[0015] In a preferred embodiment of the present invention, the inner side of the inner ring is provided with a plurality of guide fins evenly distributed around the central circumference of the inner ring. This can guide the airflow to flow along a preset path, reduce airflow turbulence, and form a more stable airflow channel, so as to accurately monitor wind field data.

[0016] Furthermore, to improve anti-pollution and anti-icing performance, anti-fouling coatings or micro-vibration self-cleaning devices can be applied to the surfaces of the guide fins, tail fins, and rotating blades to avoid the impact of environmental deposits such as dust, rain, and snow on measurement accuracy.

[0017] In a preferred embodiment of the present invention, the device further includes a high-precision clock source for data time synchronization, a communication module for transmitting vector wind field data clusters, and a differential positioning sensor for latitude and longitude positioning.

[0018] In a preferred embodiment of the present invention, the battery power supply and the solar panel are further included, wherein the battery power supply and the solar panel constitute a power supply module, and the power supply is self-sufficient through solar energy.

[0019] A visualization method for monitoring field vector wind fields includes the following steps: Deploy field vector wind field monitoring devices in the field; When the wind blows towards the wind detection mechanism, the wind vane is pushed by the wind, causing the middle ring and / or inner ring to rotate adaptively, adjusting the attitude of the rotating blades in real time so that the front of the rotating blades faces the wind, and at this time the rotation center of the rotating blades is parallel to the direction of the wind; at the same time, the wind drives the rotating blades to start rotating. The rotating pulse signal of the blade is monitored in real time by the encoder. The front-end processing unit preprocesses and analyzes the rotating pulse signal, obtains the angular velocity by differentiating the encoder pulse time difference and calculates the angular acceleration by calculating the encoder pulse frequency, and then deduces the wind speed. The angular velocities and accelerations of the X, Y, and Z axes are acquired by a three-axis attitude sensor and transmitted to the front-end processing unit. The front-end processing unit performs attitude calculations to obtain the real-time attitude of the rotating blade. The front-end processing unit combines the two sets of data to form a vector wind field data cluster containing the direction and wind speed. This data is then transmitted to the back-end processing unit terminal via a communication module for visualization.

[0020] In a preferred embodiment of the present invention, the positioning error is measured by the differential positioning sensor of the base station and sent to the mobile station in real time. The mobile station uses the error to correct its own satellite signal data to achieve centimeter-level high-precision positioning. The communication module sends the coordinates of the field vector wind field monitoring device to the terminal.

[0021] In a preferred embodiment of the present invention, a temperature-compensated crystal oscillator is used as the local clock source of the device after being synchronized with GPS time, and the deviation between the local clock and GPS time is compared periodically to correct the timestamp, thereby achieving high-precision data time synchronization.

[0022] Compared with the prior art, the present invention has the following advantages: 1. The field vector wind field monitoring device of the present invention can not only monitor the field vector wind field in real time and generate a vector visualization interface, but also has a low cost, providing better data support for adjusting the operation parameters of plant protection drones and manual spraying.

[0023] 2. This device can be placed in an array in the field operation area of ​​plant protection drones to obtain vector wind field data at a height comparable to that of crops in the field during the operation of plant protection drones, and generate a visualized three-dimensional wind field diagram, providing more intuitive data support for the optimization of plant protection drone parameters and manual respraying.

[0024] 3. By setting an adaptive adjustment ring, when the wind blows towards the wind receiving detection mechanism, the wind vane is pushed by the wind field, which can drive the middle ring and / or inner ring to rotate adaptively, adjusting the attitude of the rotating blades in real time so that the rotating blades can face the wind field directly and adapt to wind fields with different wind directions.

[0025] 4. By setting up a horizontal tail fin that drives the inner ring to rotate around the inner horizontal axis and a vertical tail fin that drives the middle ring to rotate around the vertical axis, the two work together to achieve rapid locking and stable alignment of the incoming wind direction in a three-dimensional wind field. Attached Figure Description

[0026] Figure 1 This is a three-dimensional structural diagram of the field vector wind field monitoring device of the present invention from one perspective.

[0027] Figure 2 This is a three-dimensional structural schematic diagram of the field vector wind field monitoring device of the present invention from another perspective.

[0028] Figure 3 This is a schematic diagram of the visualized vector wind field of the present invention. Detailed Implementation

[0029] To enable those skilled in the art to fully understand the technical solutions of the present invention, the present invention will be further described below in conjunction with embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto. Example

[0030] Combination Figures 1-2 The field vector wind field monitoring device of this embodiment includes a wind contact detection mechanism for contacting the wind field, a data acquisition sensor for acquiring wind field data, and a data processing system. The wind contact detection mechanism includes a mounting frame 1 and an adaptive forward wind contact component mounted on the mounting frame 1. The adaptive forward wind contact component includes a rotating blade 2, a wind vane 3, and an adaptive adjustment ring. The adaptive adjustment ring includes an outer ring 4, a middle ring 5, and an inner ring 6. The outer ring 4 is connected to the mounting frame 1 via an outer horizontal rotating shaft 7. The middle ring 5 is connected to the inside of the outer ring 4 via a vertical rotating shaft 8. The inner ring 6 is connected to the inside of the middle ring 5 via an inner horizontal rotating shaft 9. The rotating blade 2 is rotatably connected to the mounting part inside the inner ring 6, and the rotation center of the rotating blade 2 coincides with the center line of the inner ring 6. When the outer ring 4, middle ring 5, and inner ring 6 coincide on the same plane, the outer horizontal rotating shaft 7 and the inner horizontal rotating shaft 9 are located on the same straight line. With the above structure, when facing the wind field, not only will the inner ring 6 rotate adaptively, but the outer ring 4 may also rotate horizontally around the outer horizontal axis 7. The degree of freedom of adaptive rotation is richer, which can more accurately cooperate with the wind field and improve the accuracy of monitoring data.

[0031] Combination Figures 1-2One end of the wind vane 3 is fixedly connected to the center of the mounting part inside the inner ring 6. The other end of the wind vane 3 is provided with a horizontal tail 3-1 for driving the inner ring 6 to rotate around the inner horizontal rotating shaft 9 and a vertical tail 3-2 for driving the middle ring 5 to rotate around the vertical rotating shaft 8. The data acquisition sensor includes an encoder and a three-axis attitude sensor. The encoder is integrated on the rotating blade 2 and the three-axis attitude sensor is integrated on the inner ring 6.

[0032] Specifically, the data processing system includes a front-end processing unit and a back-end processing unit, which transmit data through communication technology. The encoder and the three-axis attitude sensor acquire vector wind field data during operation and upload it to the front-end processing unit. The front-end processing unit processes the vector wind field data to obtain the wind direction and wind speed, and then transmits it to the back-end processing unit for display through a vector visualization interface.

[0033] Furthermore, the field vector wind field monitoring device in this embodiment also includes a high-precision clock source for data time synchronization, a communication module for transmitting vector wind field data clusters, and a differential positioning sensor for latitude and longitude positioning.

[0034] Furthermore, the field vector wind field monitoring device in this embodiment also includes a battery power supply and a solar panel. The battery power supply and the solar panel together form a power supply module, which achieves self-sufficiency in power supply through solar energy.

[0035] Furthermore, the outer horizontal rotating shaft 7, the inner horizontal rotating shaft 9, and the vertical rotating shaft 8 are all rotatably connected by bearings.

[0036] Furthermore, the bearing mounting location is equipped with an adjustable damping or micro-braking mechanism to suppress overshoot oscillations caused by gusts or airflow pulsations. The specific structure can be found in existing technologies.

[0037] Furthermore, the inner ring 6 is provided with a plurality of guide fins (not shown in the figure) evenly distributed around the central circumference of the inner ring 6. This can guide the airflow to flow along a preset path, reduce airflow turbulence, and form a more stable airflow channel so as to accurately monitor wind field data.

[0038] Furthermore, to improve anti-pollution and anti-icing performance, anti-fouling coatings or micro-vibration self-cleaning devices can be applied to the surfaces of the guide fins, tail fins, and rotating blades 2 to avoid the influence of environmental deposits such as dust, rain, and snow on measurement accuracy. Example

[0039] Combination Figures 1-3 The field vector wind field monitoring visualization method of this embodiment includes the following steps: The field vector wind field monitoring device was deployed in the field.

[0040] When the wind blows towards the wind receiving and detection mechanism, the wind vane 3 is pushed by the wind field, causing the middle ring 5 and / or the inner ring 6 to rotate adaptively, adjusting the attitude of the rotating blade 2 in real time so that the front of the rotating blade 2 faces the wind field. At this time, the rotation center of the rotating blade 2 is parallel to the direction of the wind field; at the same time, the wind field drives the rotating blade 2 to start rotating.

[0041] The rotation pulse signal of the rotating blade 2 is monitored in real time by the encoder. The front-end processing unit preprocesses and analyzes the rotation pulse signal, and the angular velocity is obtained by differentiating the encoder pulse time difference. Angular acceleration is calculated from the encoder pulse frequency. Then, the wind speed is derived by working backwards; the iterative solution equation for wind speed is as follows:

[0042] in, The aerodynamic torque is calculated using the following formula: I is the propeller's moment of inertia. Angular acceleration, This is the bearing damping coefficient (calibrated experimentally). Angular velocity; The tip speed ratio is calculated using the following formula: R is the propeller radius; The torque coefficient is pre-calibrated through wind tunnel experiments or CFD simulations.

[0043] The types of encoders include, but are not limited to, optical incremental encoders, magnetoelectric absolute encoders, and capacitive encoders.

[0044] The angular velocities and accelerations of the X, Y, and Z axes are acquired by a three-axis attitude sensor and transmitted to the front-end processing unit. The front-end processing unit performs attitude calculations to obtain the real-time attitude of the rotating blade 2.

[0045] The preprocessing of the rotating pulse signal by the front-end processing unit includes, but is not limited to, denoising, shaping, filtering, and dynamic compensation.

[0046] The positioning error is measured by the differential positioning sensor of the base station and sent to the mobile station in real time. The mobile station uses this error to correct its own satellite signal data, achieving centimeter-level high-precision positioning. The communication module sends the coordinates of the field vector wind field monitoring device to the terminal.

[0047] In a preferred embodiment of the present invention, a temperature-compensated crystal oscillator is used as the local clock source of the device after being synchronized with GPS time, and the deviation between the local clock and GPS time is compared periodically to correct the timestamp, thereby achieving high-precision data time synchronization.

[0048] The front-end processing unit combines the two sets of data to form a vector wind field direction and wind speed data cluster, which is then transmitted to the back-end processing unit terminal via a communication module.

[0049] Vector wind fields use polar coordinates. express.

[0050] in, The azimuth angle refers to the angle between the projection of the vector wind field onto the XOY plane and the front of the propeller blade (0°-360°). The pitch angle refers to the angle between the vector wind field and the XOY plane (-90° to +90°, with upward being positive).

[0051] After multiple field vector wind field monitoring devices send their respective vector wind fields to the back-end processing unit, the back-end processing unit displays the vector wind field conditions at different coordinates on the map.

[0052] The above are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above content. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A field vector wind field monitoring device, characterized in that, This includes a wind contact detection mechanism for contacting the wind field, data acquisition sensors for acquiring wind field data, and a data processing system; The wind-receiving detection mechanism includes a mounting frame and an adaptive forward wind-receiving assembly mounted on the mounting frame. The adaptive forward wind-receiving assembly includes rotating blades, a wind vane, and an adaptive adjustment ring. The adaptive adjustment ring includes an outer ring, a middle ring, and an inner ring. The outer ring is mounted on the mounting frame. The middle ring is connected to the inside of the outer ring via a vertical rotating shaft. The inner ring is connected to the inside of the middle ring via an inner horizontal rotating shaft. The rotating blades are rotatably connected to a mounting part inside the inner ring, and the rotation center of the rotating blades coincides with the center line of the inner ring. One end of the wind vane is fixedly connected to the center of the mounting part inside the inner ring. The other end of the wind vane is provided with a horizontal tail fin for driving the inner ring to rotate around the inner horizontal rotating shaft and a vertical tail fin for driving the middle ring to rotate around the vertical rotating shaft. The data acquisition sensor includes an encoder and a three-axis attitude sensor. The encoder is integrated on the rotating blade, and the three-axis attitude sensor is integrated on the inner ring. The data processing system includes a front-end processing unit and a back-end processing unit, which transmit data through communication technology. The encoder and the three-axis attitude sensor acquire vector wind field data during operation and upload it to the front-end processing unit. The front-end processing unit processes the vector wind field data to obtain the wind direction and wind speed, and then transmits it to the back-end processing unit for display through a vector visualization interface.

2. The field vector wind field monitoring device according to claim 1, characterized in that, The outer ring is connected to the mounting bracket via an outer horizontal pivot. When the outer ring, middle ring, and inner ring coincide on the same plane, the outer horizontal pivot and the inner horizontal pivot are on the same straight line.

3. The field vector wind field monitoring device according to claim 2, characterized in that, The outer horizontal shaft, inner horizontal shaft, and vertical shaft are all rotatably connected by bearings.

4. The field vector wind field monitoring device according to claim 3, characterized in that, The bearing is equipped with an adjustable damping or micro-braking mechanism at its mounting point to suppress overshoot oscillations caused by gusts or airflow pulsations.

5. The field vector wind field monitoring device according to claim 1, characterized in that, The inner ring has multiple guide fins evenly distributed around the central circumference of the inner ring.

6. The field vector wind field monitoring device according to claim 1, characterized in that, It also includes a high-precision clock source for data time synchronization, a communication module for transmitting vector wind field data clusters, and a differential positioning sensor for latitude and longitude positioning.

7. The field vector wind field monitoring device according to claim 1, characterized in that, It also includes a battery power supply and a solar panel, which together form a power supply module to achieve self-sufficiency in power through solar energy.

8. A visualization method applied to the field vector wind field monitoring device according to any one of claims 1-7, characterized in that, Includes the following steps: Deploy field vector wind field monitoring devices in the field; When the wind blows towards the wind detection mechanism, the wind vane is pushed by the wind, causing the middle ring and / or inner ring to rotate adaptively, adjusting the attitude of the rotating blades in real time so that the front of the rotating blades faces the wind, and at this time the rotation center of the rotating blades is parallel to the direction of the wind; at the same time, the wind drives the rotating blades to start rotating. The rotating pulse signal of the blade is monitored in real time by the encoder. The front-end processing unit preprocesses and analyzes the rotating pulse signal, obtains the angular velocity by differentiating the encoder pulse time difference and calculates the angular acceleration by calculating the encoder pulse frequency, and then deduces the wind speed. The angular velocities and accelerations of the X, Y, and Z axes are acquired by a three-axis attitude sensor and transmitted to the front-end processing unit. The front-end processing unit performs attitude calculations to obtain the real-time attitude of the rotating blade. The front-end processing unit combines the two sets of data to form a vector wind field data cluster containing the direction and wind speed. This data is then transmitted to the back-end processing unit terminal via a communication module for visualization.

9. The visualization method for the field vector wind field monitoring device according to claim 8, characterized in that, The positioning error is measured by the differential positioning sensor of the base station and sent to the mobile station in real time. The mobile station uses this error to correct its own satellite signal data, achieving centimeter-level high-precision positioning. The communication module sends the coordinates of the field vector wind field monitoring device to the terminal.

10. The visualization method for the field vector wind field monitoring device according to claim 8, characterized in that, By using a temperature-compensated crystal oscillator, which is synchronized with GPS time, it serves as the local clock source for the device. The deviation between the local clock and GPS time is compared periodically to correct the timestamp, thereby achieving high-precision data time synchronization.

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