A multi-rotor plant protection UAV flight attitude active simulation tethering system and method

Abstract

The present invention belongs to the technical field of agricultural aviation performance detection, and relates to a multi-rotor plant protection UAV flight attitude active simulation tethering system and method, the system includes: a rotatable platform, a worm, a stepping reduction motor, a slidable platform, a turbine, an inclination sensor, a multi-rotor plant protection UAV holder, a blade speed measurement photoelectric switch, a single-chip microcomputer, a motor driver, a slider, a slide rail, a traction device and a host computer; the method is briefly described as follows: install the multi-rotor plant protection UAV on the multi-rotor plant protection UAV holder; start the inclination sensor and the blade speed measurement photoelectric switch to actively control the inclination of the multi-rotor plant protection UAV; move the multi-rotor plant protection UAV at different speeds to achieve performance detection and evaluation of the multi-rotor plant protection UAV at different speeds. The present invention realizes: indoor active attitude simulation tethering of the multi-rotor plant protection UAV, which is simple to operate, high in accuracy, simple in structure, and has little impact on the multi-rotor plant protection UAV.

Description

Technical Field

[0001] The present invention belongs to the technical field of agricultural aviation performance detection, and in particular relates to a system and method for actively simulating the flight attitude of a multi-rotor plant protection UAV. Background Art

[0002] Multi-rotor plant protection drones have begun to be widely used in the agricultural field to undertake plant protection tasks, which can ensure the efficiency and quality of plant protection work. In order to ensure the operating effect of multi-rotor plant protection drones, it is necessary to test and evaluate the performance of multi-rotor plant protection drones. At present, the performance testing schemes of multi-rotor plant protection drones are all based on outdoor testing environments, which not only requires a large area of ​​test sites and labor-intensive test arrangements, but also the influencing factors of the outdoor environment (such as wind speed, wind direction, etc.) are uncontrollable, which can easily cause large errors in the test results. If the performance testing of multi-rotor plant protection drones is carried out in an indoor environment, the interference of unstable environmental factors can be avoided, more standardized data can be obtained, and the preparation and layout of the site will also be faster.

[0003] Multi-rotor plant protection drones are limited in indoor space, and direct flight is prone to flight accidents. The indoor space size requirements are high, and a special mechanism is needed to fix the multi-rotor plant protection drone and control its attitude changes. At present, there is a passive multi-rotor drone attitude analysis platform (patent application number 201820201469.5), which relies on a pure mechanical structure to realize the attitude self-simulation of the multi-rotor drone, but this structure has friction and cannot accurately reflect the change of the attitude angle of the multi-rotor drone. The present invention proposes a flight attitude active simulation tethering system and method for a multi-rotor plant protection drone, which simulates the flight attitude of the multi-rotor plant protection drone by actively detecting the blade speed and simulating the attitude, and can more accurately simulate the flight attitude of the multi-rotor plant protection drone. The system is installed on the slide rail of the indoor detection platform, and by actively detecting and simulating the flight attitude and speed of the multi-rotor plant protection drone under different attitudes, various performances of the multi-rotor plant protection drone can be detected, such as spraying uniformity, spraying range and other performances. Summary of the invention

[0004] In order to simulate the flight attitude of a multi-rotor plant protection UAV, the present invention proposes a multi-rotor plant protection UAV flight attitude active simulation tethering system and method, and the specific technical scheme is as follows:

[0005] A multi-rotor plant protection UAV flight attitude active simulation traction system, comprising: a rotatable platform 1, a worm 2, a stepping reduction motor 3, a slidable platform 4, a turbine 5, an inclination sensor 6, a multi-rotor plant protection UAV holder 7, a blade speed measurement photoelectric switch 8, a single chip microcomputer, a motor driver, a slider, a slide rail, a traction device and a host computer;

[0006] The slider slides on the slide rail under the traction of the traction device;

[0007] The upper part of the slidable platform 4 is fixedly connected to the slider;

[0008] A stepping reduction motor 3 is fixedly installed below the slidable platform 4;

[0009] The output shaft of the stepping reduction motor 3 is fixedly connected to the worm 2, and the worm 2 is meshed with the turbine 5;

[0010] A turbine bearing seat (with bearings) is fixedly mounted on the rotatable platform 1, a turbine shaft of the turbine 5 is fixedly mounted on the turbine bearing seat, one end of the turbine shaft is movably connected to the lower end of the slidable platform 4; the rotatable platform 1 rotates with the rotation of the turbine 5;

[0011] A tilt sensor 6 is fixedly installed above the rotatable platform 1, and a multi-rotor plant protection UAV holder 7 and a blade speed measurement photoelectric switch 8 are fixedly installed below the rotatable platform 1;

[0012] The single chip microcomputer is connected to the stepping reduction motor 3 through a motor driver, and the single chip microcomputer is connected to the inclination sensor 6, the host computer, the blade speed measurement photoelectric switch 8, and the multi-rotor plant protection UAV.

[0013] On the basis of the above technical solution, the multi-rotor plant protection UAV clamp 7 is used to firmly clamp the multi-rotor plant protection UAV; the stepping reduction motor 3 is used to control the inclination angle of the multi-rotor plant protection UAV.

[0014] On the basis of the above technical solution, the inclination sensor 6 is used to detect the inclination of the rotatable platform 1; the blade speed photoelectric switch 8 is used to detect the rotation speed of the blades of the multi-rotor plant protection UAV.

[0015] On the basis of the above technical solution, the host computer is used to display a visual interface as an interface for human-computer interaction.

[0016] Based on the above technical solution, the single chip microcomputer is used to: ① control the stepping reduction motor 3 to realize the control of the inclination angle of the multi-rotor plant protection drone; ② obtain and record the inclination data of the inclination sensor 6; ③ obtain and record the speed measurement data of the blade speed measurement photoelectric switch 8.

[0017] On the basis of the above technical solution, the single chip microcomputer is connected to the blade speed measuring photoelectric switch 8 through a signal line, and the single chip microcomputer is connected to the multi-rotor plant protection UAV through a signal line.

[0018] On the basis of the above technical solution, the single chip microcomputer is a STM32F103RCT6 single chip microcomputer.

[0019] Based on the above technical solution, the host computer is a computer.

[0020] On the basis of the above technical solution, the single chip microcomputer has a built-in tilt simulation algorithm; the single chip microcomputer has a built-in multi-rotor plant protection UAV control software.

[0021] A method for actively simulating the flight attitude of a multi-rotor plant protection UAV, using the above-mentioned active simulation and tethering system for the flight attitude of a multi-rotor plant protection UAV, comprises the following steps:

[0022] S1. The multi-rotor plant protection drone is reliably fixed by the multi-rotor plant protection drone holder 7; the posture of the multi-rotor plant protection drone is determined to be in a horizontal position by the inclination sensor 6, and the multi-rotor plant protection drone is started and connected to the single-chip microcomputer control;

[0023] S2. Set the operating parameters of this performance test and evaluation on the host computer, input the flight speed, and the slidable platform 4 starts to slide on the slide rail at a certain speed under the action of the traction device; the single-chip microcomputer reads the data of the inclination sensor 6 and the data of the blade speed measurement photoelectric switch 8, and controls the inclination of the multi-rotor plant protection drone by controlling the stepping reduction motor 3;

[0024] S3. Conduct performance testing and evaluation of multi-rotor agricultural drones based on testing requirements;

[0025] S4. If it is necessary to test and evaluate the performance of the multi-rotor plant protection drone at different speeds, change the sliding speed of the slidable platform 4 on the slide rail and repeat the above steps S2-S3;

[0026] S5. After the detection and evaluation is completed, the rotatable platform 1 returns to the horizontal position, and the slidable platform 4 returns to the initial position, which is the end of the slide rail.

[0027] It should be noted that the main purpose of the present invention is to actively detect and simulate the flight attitude and speed of the multi-rotor plant protection drone in different attitudes, so as to detect and obtain various performances of the multi-rotor plant protection drone, such as spraying uniformity, spraying range, etc. When using the present invention, other detection instruments or meters need to be installed according to specific detection requirements.

[0028] For example, if you need to detect the spraying uniformity and spraying range of a multi-rotor agricultural drone, you need to install additional instruments such as lidar or laser particle size analyzer at appropriate locations.

[0029] The beneficial technical effects of the present invention are as follows:

[0030] The present invention aims at the problems existing in the existing indoor attitude simulation schemes of multi-rotor plant protection UAVs, and proposes a technical scheme to solve them; the technical scheme described in the present application can realize the flight attitude simulation of multi-rotor plant protection UAVs in a limited indoor space; it avoids the defects existing in the performance detection schemes of outdoor multi-rotor plant protection UAVs: large-area test sites and labor-intensive test arrangements, as well as interference from unstable environmental factors in the outdoor environment. The present invention actively controls the inclination of the multi-rotor plant protection UAV through the inclination sensor 6 and the blade speed photoelectric switch 8; moves the entire test platform at different speeds to realize the performance detection and evaluation of the multi-rotor plant protection UAV at different speeds. The technical scheme of the present invention is simple to operate, has high precision, is simple in structure, and has little impact on the multi-rotor plant protection UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The present invention has the following accompanying drawings:

[0032] Figure 1 This is a structural diagram of the active simulation tethering system for the flight attitude of a multi-rotor plant protection UAV;

[0033] Figure 2 Schematic diagram of the control system hardware connection relationship for the multi-rotor plant protection UAV flight attitude active simulation tethering system

[0034] Figure 3 This is a flow chart of the active simulation tethering method for the flight attitude of a multi-rotor plant protection UAV;

[0035] Figure 4 This is a curve diagram showing the inclination change of the active simulation tethering system of the multi-rotor plant protection UAV flight attitude during the performance evaluation process.

[0036] Reference numerals:

[0037] 1. Rotatable platform, 2. Worm, 3. Stepping reduction motor, 4. Slidable platform, 5. Turbine, 6. Tilt sensor, 7. Multi-rotor plant protection drone gripper, 8. Blade speed measurement photoelectric switch. DETAILED DESCRIPTION

[0038] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0039] Figure 1 The present invention is a schematic diagram of the structure of the active simulation tethering system for the flight attitude of the multi-rotor plant protection UAV.

[0040] Figure 2 The present invention is a schematic block diagram of the hardware connection relationship of the control system of the multi-rotor plant protection UAV flight attitude active simulation tethering system.

[0041] A multi-rotor plant protection UAV flight attitude active simulation traction system, comprising: a rotatable platform 1, a worm 2, a stepping reduction motor 3, a slidable platform 4, a turbine 5, an inclination sensor 6, a multi-rotor plant protection UAV holder 7, a blade speed measurement photoelectric switch 8, a single chip microcomputer, a motor driver, a slider, a slide rail, a traction device and a host computer;

[0042] The slider slides on the slide rail under the traction of the traction device;

[0043] The upper part of the slidable platform 4 is fixedly connected to the slider;

[0044] A stepping reduction motor 3 is fixedly installed below the slidable platform 4;

[0045] The output shaft of the stepping reduction motor 3 is fixedly connected to the worm 2, and the worm 2 is meshed with the turbine 5;

[0046] A turbine bearing seat (with bearings) is fixedly mounted on the rotatable platform 1, a turbine shaft of the turbine 5 is fixedly mounted on the turbine bearing seat, one end of the turbine shaft is movably connected to the lower end of the slidable platform 4; the rotatable platform 1 rotates with the rotation of the turbine 5;

[0047] A tilt sensor 6 is fixedly installed above the rotatable platform 1, and a multi-rotor plant protection UAV holder 7 and a blade speed measurement photoelectric switch 8 are fixedly installed below the rotatable platform 1;

[0048] The single chip microcomputer is connected to the stepping reduction motor 3 through a motor driver, and the single chip microcomputer is connected to the inclination sensor 6, the host computer, the blade speed measurement photoelectric switch 8, and the multi-rotor plant protection UAV.

[0049] On the basis of the above technical solution, the multi-rotor plant protection UAV clamp 7 is used to firmly clamp the multi-rotor plant protection UAV; the stepping reduction motor 3 is used to control the inclination angle of the multi-rotor plant protection UAV.

[0050] On the basis of the above technical solution, the inclination sensor 6 is used to detect the inclination of the rotatable platform 1; the blade speed photoelectric switch 8 is used to detect the rotation speed of the blades of the multi-rotor plant protection UAV.

[0051] On the basis of the above technical solution, the host computer is used to display a visual interface as an interface for human-computer interaction.

[0052] Based on the above technical solution, the single chip microcomputer is used to: ① control the stepping reduction motor 3 to realize the control of the inclination angle of the multi-rotor plant protection drone; ② obtain and record the inclination data of the inclination sensor 6; ③ obtain and record the speed measurement data of the blade speed measurement photoelectric switch 8.

[0053] On the basis of the above technical solution, the single chip microcomputer is connected to the blade speed measuring photoelectric switch 8 through a signal line, and the single chip microcomputer is connected to the multi-rotor plant protection UAV through a signal line.

[0054] On the basis of the above technical solution, the single chip microcomputer is a STM32F103RCT6 single chip microcomputer.

[0055] Based on the above technical solution, the host computer is a computer.

[0056] On the basis of the above technical solution, the single chip microcomputer has a built-in tilt simulation algorithm; the single chip microcomputer has a built-in multi-rotor plant protection UAV control software.

[0057] Figure 3 The schematic diagram of the workflow of the active simulation tethering method of the flight posture of the multi-rotor plant protection UAV of the present invention. The multi-rotor plant protection UAV is reliably fixed by the multi-rotor plant protection UAV clamp 7; the inclination sensor 6 determines that the posture of the multi-rotor plant protection UAV is in a horizontal position, the multi-rotor plant protection UAV is started, and the single-chip microcomputer control is connected; the slidable platform 4 begins to slide on the slide rail at a certain speed under the action of the external traction device, and the single-chip microcomputer reads the data of the blade speed measurement photoelectric switch 8, and controls the inclination of the multi-rotor plant protection UAV by controlling the stepping reduction motor 3; the performance of the multi-rotor plant protection UAV is tested and evaluated; if the performance of the multi-rotor plant protection UAV needs to be tested and evaluated at different speeds, the test is performed at different speeds. After the test, the rotatable platform 1 returns to the horizontal position, and the slidable platform 4 returns to the initial position.

[0058] The example of active simulation tethering of the flight attitude of a multi-rotor agricultural drone shown below is an experimental verification of the process described above.

[0059] The purpose of the test is to verify the effectiveness of the present invention and to detect whether the various parts of the active simulation tethering system of the multi-rotor plant protection UAV flight attitude operate well.

[0060] Experimental design: Reference Figure 3 The specific test process is as follows:

[0061] (1) Fix the multi-rotor plant protection drone on the multi-rotor plant protection drone holder 7,

[0062] (2) According to the reading of the inclination sensor 6, adjust the angle of the rotatable platform 1 to a horizontal position.

[0063] (3) Start the multi-rotor agricultural drone and connect it to the microcontroller for control.

[0064] (4) The operating parameters for this performance test and evaluation are set on the host computer, and parameters such as the flight speed (i.e., the sliding speed of the sliding platform 4 on the slide rail) are input.

[0065] (5) The rotor of the multi-rotor agricultural drone starts to rotate, and the slidable platform 4 starts to slide at a set speed. The single-chip microcomputer detects the speed of the blades through the blade speed measuring photoelectric switch 8, provides control feedback through the inclination sensor 6, starts to control the stepping reduction motor 3 to control the inclination of the rotatable platform 1, and records the data of the inclination sensor 6. Figure 4 This is a diagram of the inclination change during a detection and evaluation process, where the horizontal axis is time and the vertical axis is the inclination angle.

[0066] (6) Change the flight speed and repeat the above steps (2) to (5). When the test is over, the host computer sends a command to the microcontroller, and all devices return to the initial state.

[0067] The test results show that the method described in this application can stably maintain the inclination angle of the multi-rotor plant protection drone.

[0068] The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. For those skilled in the art, changes made based on the present invention also fall within the protection scope of the present invention.

[0069] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

Claims

1. A multi-rotor plant protection UAV flight attitude active simulation tethering system, characterized in that , including: a rotatable platform (1), a worm (2), a stepping reduction motor (3), a slidable platform (4), a turbine (5), an inclination sensor (6), a multi-rotor plant protection UAV clamp (7), a blade speed measurement photoelectric switch (8), a single chip microcomputer, a motor driver, a slider, a slide rail, a traction device and a host computer; The slider slides on the slide rail under the traction of the traction device; The upper portion of the slidable platform (4) is fixedly connected to the sliding block; A stepping reduction motor (3) is fixedly installed below the slidable platform (4); The output shaft of the stepping reduction motor (3) is fixedly connected to the worm (2), and the worm (2) is meshed with the turbine (5); A turbine bearing seat is fixedly mounted on the rotatable platform (1); a turbine shaft of the turbine (5) is fixedly mounted on the turbine bearing seat; one end of the turbine shaft is movably connected to the lower end of the slidable platform (4); the rotatable platform (1) rotates as the turbine (5) rotates; A tilt sensor (6) is fixedly installed above the rotatable platform (1), and a multi-rotor plant protection UAV clamp (7) and a blade speed measurement photoelectric switch (8) are fixedly installed below the rotatable platform (1); The single-chip microcomputer is connected to the stepping reduction motor (3) via a motor driver, and the single-chip microcomputer is connected to the inclination sensor (6), a host computer, a blade speed measurement photoelectric switch (8), and a multi-rotor plant protection UAV; The single-chip microcomputer is connected to a blade speed measuring photoelectric switch (8) via a signal line, and the single-chip microcomputer is connected to a multi-rotor plant protection drone via a signal line; The single chip microcomputer is a STM32F103RCT6 single chip microcomputer; The multi-rotor plant protection UAV flight attitude active simulation tethering system adopts a multi-rotor plant protection UAV flight attitude active simulation tethering method, comprising the following steps: S1. The multi-rotor plant protection drone is reliably fixed by a multi-rotor plant protection drone clamp (7); the attitude of the multi-rotor plant protection drone is determined to be in a horizontal position by a tilt sensor (6), the multi-rotor plant protection drone is started, and the single-chip microcomputer control is connected; S2. The operating parameters for this performance test and evaluation are set on the host computer, and the flight speed is input. The sliding platform (4) starts to slide on the slide rail at a certain speed under the action of the traction device; the single-chip microcomputer reads the data of the inclination sensor (6) and the data of the blade speed measurement photoelectric switch (8), and controls the inclination of the multi-rotor plant protection UAV by controlling the stepping reduction motor (3); S3. Conduct performance testing and evaluation of multi-rotor agricultural drones based on testing requirements; S4. If it is necessary to test and evaluate the performance of the multi-rotor agricultural drone at different speeds, change the sliding speed of the slidable platform (4) on the slide rail and repeat the above steps S2-S3; S5. After the detection and evaluation is completed, the rotatable platform (1) returns to the horizontal position, and the slidable platform (4) returns to the initial position, which is the end of the slide rail.

2. The multi-rotor plant protection UAV flight attitude active simulation tethering system according to claim 1, characterized in that: The multi-rotor plant protection drone clamp (7) is used for firmly clamping the multi-rotor plant protection drone; the stepping reduction motor (3) is used for controlling the inclination angle of the multi-rotor plant protection drone.

3. The multi-rotor plant protection UAV flight attitude active simulation tethering system according to claim 1, characterized in that: The inclination sensor (6) is used to detect the inclination of the rotatable platform (1); and the blade speed measurement photoelectric switch (8) is used to detect the rotation speed of the blades of the multi-rotor plant protection UAV.

4. The multi-rotor plant protection UAV flight attitude active simulation tethering system according to claim 1, characterized in that: The host computer is used to display a visual interface as an interface for human-computer interaction.

5. The multi-rotor plant protection UAV flight attitude active simulation tethering system according to claim 1, characterized in that: The single chip microcomputer is used for:

1. controlling a stepping reduction motor (3) to realize controlling the inclination angle of a multi-rotor plant protection UAV; 2. acquiring and recording inclination angle data of an inclination angle sensor (6); and 3. acquiring and recording speed measurement data of a blade speed measurement photoelectric switch (8).

6. The multi-rotor plant protection UAV flight attitude active simulation tethering system according to claim 1, characterized in that: The host computer is a computer.

7. The multi-rotor plant protection UAV flight attitude active simulation tethering system according to any one of claims 1 to 6, characterized in that: The single chip microcomputer has a built-in inclination simulation algorithm; The single-chip microcomputer has built-in multi-rotor plant protection UAV control software.

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