Indoor test device and test method for dynamic spray deposition measurement of plant protection UAV

Abstract

The present invention discloses an indoor test device and test method for measuring dynamic spray deposition of a plant protection UAV, which solves the problem of low accuracy of droplet deposition test data in the prior art. The indoor test device for measuring dynamic spray deposition of a plant protection UAV of the present invention has a lifting frame on the test bench, a sliding mechanism on the lifting frame, an adjustable nozzle assembly on the sliding mechanism, a flow sensor on the adjustable nozzle assembly, and the adjustable nozzle assembly is connected to a liquid storage tank arranged on the test bench through a hose; a sliding table for holding crops is arranged in the test bench, and a laser radar is arranged on the sliding table. The indoor test method for measuring dynamic spray deposition of the present invention can not only obtain the spray width and fog field distribution data of the plant protection UAV at different speeds, but also obtain the data on the influence of the environment (wind force, temperature) on the spray deposition amount. The test is simpler and more intuitive, and provides accurate data support for the spraying of the plant protection UAV.

Description

Technical Field

[0001] The invention relates to the technical field of indoor spray test of unmanned aerial vehicles, and in particular to an indoor test device and test method for dynamic spray deposition measurement of a plant protection unmanned aerial vehicle. Background Art

[0002] Multi-rotor plant protection drones have been widely used in the field of agricultural pesticide application. To ensure the effect of pesticide application, multi-rotor plant protection drones need to properly adjust the nozzle spacing and select appropriate operating parameters (operating height and operating speed) before the application operation. However, the evaluation of the spray system structure, the evaluation of the spray width and droplet distribution uniformity, and the selection of operating parameters of multi-rotor plant protection drones have always been a hot topic and difficulty in research. Therefore, accurately evaluating the performance indicators related to pesticide application of multi-rotor plant protection drones is a necessary basic support for promoting the practical application of plant protection drones.

[0003] At present, the main detection methods for droplet deposition of common agricultural sprays are water-sensitive paper method, elution method and capacitance detection method, etc. However, the detection results are more dependent on the unified processing of the laboratory, with low efficiency or high cost. Different from the above-mentioned indirect detection methods, the methods for directly detecting the distribution of droplet deposition on the leaf surface mostly rely on fluorescent agents or dyes such as allura red in the indoor environment of the laboratory, and use professional instruments combined with computer detection. It cannot effectively simulate the natural application environment, so there is a problem of low measurement accuracy. In addition. The existing indoor test equipment has a simple structure and a single function, which affects the accuracy of the test. Summary of the invention

[0004] In view of the deficiencies in the above-mentioned background technology, the present invention proposes an indoor test device and test method for dynamic spray deposition measurement of plant protection UAV, which solves the problems of inconvenient droplet deposition test and low data accuracy in the prior art.

[0005] The technical solution of the present invention is achieved as follows: an indoor test device for measuring dynamic spray deposition of a crop protection drone, comprising a test bench, a lifting frame is provided on the test bench, a sliding mechanism is provided on the lifting frame, an adjustable nozzle assembly is provided on the sliding mechanism, a flow sensor is provided on the adjustable nozzle assembly, and the adjustable nozzle assembly is connected to a liquid storage tank arranged on the test bench through a hose; a sliding table for holding crops is provided in the test bench, a laser radar is provided on the sliding table, a natural environment simulation mechanism is provided on the side wall of the test bench, and the flow sensor, the laser radar and the natural environment simulation mechanism are all connected to a background controller.

[0006] Furthermore, the test bench is a transparent box-type rack with an opening on the top, an ultraviolet lamp is provided on the inner wall of the transparent box-type rack, and a rolling shutter mechanism is provided on the outer side of the transparent box-type rack; a sliding window is provided on one side of the transparent box-type rack, an opening and closing door panel is hinged on the sliding window, the opening and closing door panel is snap-connected to the test bench, and the sliding platform is arranged corresponding to the sliding window.

[0007] Furthermore, an arc-shaped clamping plate is provided on the side wall of the opening and closing door panel, and an arc-shaped clamping groove is provided on the arc-shaped clamping plate; a clamping seat is provided on the side wall of the test bench, and a limit pin tube is provided on the clamping seat, and the limit pin tube is inserted into the arc-shaped clamping groove, and a positioning column is sleeved in the limit pin tube, and an axially arranged return spring is provided between the positioning column and the limit pin tube, one end of the return spring is fixedly connected to the inner end portion of the positioning column, and the other end is fixedly connected to the limit pin tube, and a small baffle is fixed to the outer end portion of the positioning column, and a short pin shaft parallel to the limit pin tube is provided on the small baffle, and the short pin shaft cooperates with the positioning hole arranged on the arc-shaped clamping plate.

[0008] Furthermore, the rolling curtain mechanism includes a rotating shaft rotatably arranged on the top of the outer side of the test bench, the rotating shaft is connected to a small motor fixed on the test bench, an elastic clip for fixing the curtain is provided on the rotating shaft, a magnet strip is provided at the free end of the curtain, and a magnet seat is provided at the bottom of the outer side of the test bench, and the magnet strip and the magnet seat are magnetically engaged.

[0009] Furthermore, the sliding table extends out of the test bench through the sliding window under the action of the pushing mechanism; the pushing mechanism includes a support frame arranged in the test bench, the support frame is provided with a guide rail groove, a guide block is provided at the bottom of the sliding table, the guide block is slidably arranged in the guide rail groove, and an electric push rod is provided on the side of the support frame away from the sliding window, and the telescopic end of the electric push rod is connected to the sliding table.

[0010] Furthermore, a wiper plate corresponding to the sliding platform is hinged on the side wall of the sliding window, and the wiper plate can rotate 90° around the hinge point; a water baffle is provided at the end of the sliding platform away from the sliding window, and water guide plates are provided on the left and right sides of the sliding platform, and the water guide plates correspond to the drainage grooves arranged at the bottom of the test bench, and an external drainage pipe is provided in the drainage grooves.

[0011] Furthermore, the sliding mechanism includes a moving track and a sliding frame arranged on the lifting frame, moving wheels are arranged on both sides of the sliding frame, the moving wheels are located on the moving track and are connected to the driving motor arranged on the sliding frame, the sliding frame is provided with rotating blades and an image acquisition device, the rotating shaft of the rotating blade is connected to the driving motor through a gear pair, and the adjustable nozzle assembly is located below the rotating blade; the image acquisition device is located on one side of the adjustable nozzle assembly and is connected to the background controller.

[0012] Furthermore, the adjustable nozzle assembly includes a rotating tube shaft, which is rotatably connected to an ear plate seat arranged at the bottom of the sliding frame. A nozzle is threadedly connected to the rotating tube shaft. An indicator needle is provided at one end of the rotating tube shaft extending out of the ear plate seat. The indicator needle corresponds to an angle ruler arranged on the outer wall of the ear plate seat. The rotating tube shaft is connected to an adjusting knob arranged on the ear plate seat through an adjusting gear pair.

[0013] Furthermore, the natural environment simulation mechanism includes an air duct and a mesh cover arranged on the inner wall of the test bench, the air duct is provided with a plurality of air outlets, and the air inlet end of the air duct is connected to a blower; the mesh cover is arranged on the air duct, and a heating plate is detachably provided on the mesh cover.

[0014] A test method for the indoor test device for measuring dynamic spray deposition of a plant protection UAV comprises the following steps:

[0015] S1: Ensure that the push platen is unloaded, then start the sliding mechanism to drive the adjustable nozzle assembly to move, and at the same time turn on the nozzle of the adjustable nozzle assembly and the rotating blades on the sliding mechanism to dynamically spray the push platen;

[0016] S2: When step S1 is performed, the laser radar on the push plate is turned on to detect the fog field reaching the push plate, and the data is transmitted to the background controller;

[0017] S3: closing the nozzle of the adjustable nozzle assembly and the rotating blades on the sliding mechanism, and resetting the sliding mechanism and the adjustable nozzle assembly;

[0018] S4: adding fluorescent reagent into the liquid storage tank and placing crop plants on the moving table;

[0019] S5: starting the sliding mechanism to drive the adjustable nozzle assembly to move, and at the same time starting the nozzle of the adjustable nozzle assembly and the rotating blades on the sliding mechanism to dynamically spray the crop plants on the push plate;

[0020] S6: Turn off the nozzle of the adjustable nozzle assembly and the rotating blades on the sliding mechanism, and shield the test bench with a curtain to keep the crop plants in a light-proof environment; then turn on the ultraviolet lamp set in the test bench;

[0021] S7: turning on the image acquisition device disposed on the sliding mechanism, acquiring images of the crop plants, and transmitting the data to the background controller, and analyzing and obtaining the dynamic spray deposition amount under the theoretical environment;

[0022] S8: a new batch of crop plants are placed on the push plate again, and the natural environment simulation mechanism is turned on to simulate a natural spray environment;

[0023] S9: repeating steps S5 to S7 to obtain the dynamic spray deposition amount under the natural spray environment;

[0024] S10: changing the wind force or temperature of the environment simulation mechanism, repeating steps S8-S9, and obtaining the dynamic spray deposition amount under different natural spray environments; and performing comparative analysis to obtain the influence of wind force or temperature on the dynamic spray deposition amount.

[0025] The indoor test device for measuring dynamic spray deposition of plant protection UAV of the present invention is ingeniously designed in structure. The adjustable nozzle assembly can effectively adjust the spray angle of the nozzle. The push plate can move relative to the test bench, which is convenient for the transportation of plants and can realize the moving and scraping of the push plate to avoid turbulent flow of waste liquid, and can also further improve the test accuracy. Laser radar is used for fog field analysis, and the test bench adopts a roller shutter mechanism to create a light-proof environment. Fluorescent reagents are used to analyze the droplet deposition situation, and multi-dimensional tests are performed to improve the test accuracy. The indoor test method for measuring dynamic spray deposition of plant protection UAV of the present invention can not only obtain the spray width and fog field distribution data of the plant protection UAV at different speeds, but also obtain the data on the influence of the environment (wind force, temperature) on the spray deposition amount. The test is simpler and more intuitive, and provides accurate data support for the spraying of plant protection UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0027] Figure 1 This is a schematic diagram of the front view of the present invention without the opening and closing door panel.

[0028] Figure 2 This is a schematic diagram of the state of the door panel being opened and closed according to the present invention.

[0029] Figure 3 for Figure 1 A partial enlarged view of point B in the middle.

[0030] Figure 4 for Figure 2 A partial enlarged view of point A in the middle.

[0031] Figure 5 It is a schematic diagram of the snap-on connection structure between the opening and closing door panel and the test bench.

[0032] Figure 6 It is a schematic diagram of the rolling shutter mechanism structure.

[0033] Figure 7 It is a schematic diagram of the connection structure between the sliding mechanism and the adjustable nozzle assembly.

[0034] Figure 8Schematic diagram of the natural environment simulation mechanism structure. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] like Figure 1 As shown, in Example 1, an indoor test device for measuring dynamic spray deposition of a plant protection UAV includes a test bench 1, and a lifting frame 2 is provided on the test bench 1. The lifting frame can use a lifting cylinder to realize the lifting of the frame body, and can also use an electric push rod or a gear rack mechanism to realize the lifting of the frame body. Through the lifting of the lifting frame, it is used to change the height of the adjustable nozzle assembly to simulate the aerial operation of the UAV. In order to ensure the accuracy of the height adjustment of the lifting frame, a laser rangefinder can also be set on the lifting frame. A sliding mechanism 3 is provided on the lifting frame 2, and an adjustable nozzle assembly 4 is provided on the sliding mechanism 3. Specifically, an adjustable nozzle assembly is provided on the moving part of the sliding mechanism to realize the movement of the adjustable nozzle assembly, which is used to simulate the dynamic spraying of the plant protection UAV. A flow sensor is provided on the adjustable nozzle assembly 4 for detecting the amount of liquid sprayed by the adjustable nozzle assembly 4 within a period of time. The adjustable nozzle assembly 4 described in this embodiment is connected to a liquid storage tank 6 arranged on the test bench 1 through a hose 5. As in the prior art, a water pump is connected to the hose to provide power for the liquid to enter the hose and the nozzle. The test bench 1 is provided with a push plate 7 for holding crops, and the push plate can perform translational motion relative to the test bench to facilitate the placement of crops. The push plate 7 is provided with a laser radar 9, which is used for fog field detection in a specific area within a plane.

[0037] In this embodiment, a natural environment simulation mechanism 8 is provided on the side wall of the test bench 1, and the natural environment simulation mechanism 8 is used to adjust the wind force and temperature of the test environment to make the test environment closer to the real environment, and can also be used to test the influence of different environments on the dynamic spray deposition measurement of the plant protection UAV. In this embodiment, the flow sensor, the laser radar 9 and the natural environment simulation mechanism 8 can be connected to the background controller 10 via Ethernet, wherein the background controller can be a computer, and the computer is equipped with a corresponding control program and calculation analysis program. The type of laser radar is a two-dimensional cross-section detection type. The spray field within the laser radar push plate 7 is used to detect the droplet distribution of the cross section, and the output is displayed on the display module of the background controller to obtain the droplet distribution uniformity index. In order to improve the test accuracy, a laser particle size analyzer can also be added to the push plate to realize multi-index detection. Then, a liquid containing a fluorescent reagent is used to spray the finished product to obtain the deposition amount on the crop.

[0038] As a preferred solution in this embodiment, the test bench 1 is a transparent box-type frame with an opening at the top, and an ultraviolet lamp 13 is provided on the inner side wall of the transparent box-type frame. After the fluorescent reagent is added to the liquid storage tank, it can emit light under the irradiation of the ultraviolet lamp, which is convenient for the image acquisition device to collect images. A rolling curtain mechanism 12 is provided on the outside of the transparent box-type frame, and the rolling curtain mechanism realizes whether the test bench is a light-proof environment by retracting and releasing the curtain cloth. A sliding window 101 is provided on one side of the transparent box-type frame, and an opening and closing door panel 102 is hinged on the sliding window 101. The opening and closing door panel 102 is snap-connected with the test bench 1, and the sliding platform 7 is arranged corresponding to the sliding window 101. When the opening and closing door panel is opened, the sliding platform can be extended through the sliding window, which is convenient for taking and storing crop plants.

[0039] like Figure 2 , 4 As shown in Figure 5, Example 2 is an indoor test device for measuring dynamic spray deposition of a plant protection drone. On the basis of Example 1, the specific structure of the snap connection between the opening and closing door panel 102 and the test bench 1 is as follows: an arc-shaped card plate 103 is fixedly provided on the side wall of the opening and closing door panel 102, and an arc-shaped card slot 104 is provided on the arc-shaped card plate 103. A card seat 105 is fixedly provided on the side wall of the test bench 1, and a limit pin tube 106 is fixedly provided on the card seat 105. The limit pin tube 106 is an internal hollow structure. The limit pin tube 106 is inserted into the arc-shaped card slot 104; when the opening and closing door panel is in a horizontal state (the sliding window is in an open state), the limit pin tube is just located at the end position of the arc-shaped card slot, supporting and positioning the opening and closing door panel to keep it in a stable state. A positioning column 107 is sleeved in the limit pin tube 106, and the positioning column can move axially in the limit pin tube. An axially arranged return spring 108 is provided between the positioning column 107 and the limit pin tube 106, one end of the return spring 108 is fixedly connected to the inner end of the positioning column 107, and the other end is fixedly connected to the limit pin tube 106; a small baffle 108 is fixed to the outer end of the positioning column 107, and a short pin shaft 109 parallel to the limit pin tube 106 is provided on the small baffle 108, and the short pin shaft 109 is matched with a positioning hole 110 provided on the arc clamping plate 103. When the opening and closing door panel is in a vertical state (the sliding window is in a closed state), the short pin shaft 109 is inserted into the positioning hole 110 to realize the clamping of the arc clamping plate 103 and the small baffle 108. Under the action of the return spring, the short pin shaft 109 can be automatically inserted into the positioning hole 110. When the opening and closing door panel needs to be opened, the small baffle 108 is pulled out of the positioning hole by manpower, and then the opening and closing door panel is pulled to a horizontal state. The opening and closing door panel 102 is a light-proof door panel, and rolling shutter mechanisms are provided on the other three sides of the test bench.

[0040] like Figure 6As shown, in this embodiment, as a preferred solution: the rolling mechanism 12 includes a rotating shaft 12-1 rotatably arranged on the top of the outer side of the test bench 1, and the rotating shaft is connected to the outer wall of the test bench through a bearing seat. The rotating shaft 12-1 is connected to a small motor 12-2 fixed on the test bench 1, and the motor provides power for the rotating shaft to rotate. An elastic clip 12-3 for fixing the curtain 12-4 is provided on the rotating shaft 12-1, one end of the curtain is fixed to the rotating shaft through the elastic clip, and a magnet strip 12-5 is provided at the free end of the curtain 12-4. A magnet seat 12-6 is provided at the bottom of the outer side of the test bench 1, and the magnet strip 12-5 and the magnet seat 12-6 are magnetically matched. The small motor rotates forward to roll up the curtain; the small motor rotates reversely to release the curtain, and the released curtain is magnetically matched with the magnet strip and the magnet seat through the magnet strip to fix the curtain and achieve a better shading effect.

[0041] Further, if Figure 3 As shown, the push table 7 extends out of the test bench 1 through the push window 101 under the action of the pushing mechanism 11. The pushing mechanism 11 includes a support frame 11-1 arranged in the test bench 1, and a guide rail groove 11-2 is arranged on the support frame 11-1. A guide block 11-3 is arranged at the bottom of the push table 7, and the guide block 11-3 is slidably arranged in the guide rail groove 11-2. An electric push rod 11-4 is arranged on the side of the support frame 11-1 away from the push window 101, and the telescopic end of the electric push rod 11-4 is connected to the bottom of the push table 7. That is, under the action of the electric push rod, the push table moves relative to the support frame to realize whether it extends out of the push window 101 or not. When it is necessary to place crop plants on the push table, the push table is pushed out of the test bench 1 to facilitate the rapid transportation of the crop plants.

[0042] The side wall of the sliding window 101 described in this embodiment is hinged with a wiper 111 corresponding to the push table 7, and the wiper 111 can rotate 90° around the hinge point. Specifically, vertical grooves are provided on the side walls of the sliding window 101, and wipers are hinged at the bottom of the vertical grooves. When the wipers are in a vertical state, they can be just retracted in the vertical grooves; when the wipers are in a horizontal state, the wipers are in plane contact with the push table 7, and are used to scrape off waste liquid and other debris on the upper surface of the push table 7. Of course, the hinge of the wiper adopts a flat axis hinge and is fixed by a nut, which can ensure the rotation of the wiper and ensure that the wiper can wipe the push table smoothly. The wiper 111 can be a telescopic scraper according to the size of the push table 7. A water retaining plate 71 is provided at one end of the push table 7 away from the sliding window 101 to prevent waste liquid from flowing out from the inner end of the push table. Water guide plates 72 are provided on the left and right sides of the push table 7. The water guide plates 72 correspond to the drainage grooves 14 provided at the bottom of the test bench 1. The drainage grooves 14 are provided with external drainage pipes 15. During the movement of the push table, the scraper scrapes the waste liquid on it, and the waste liquid flows into the drainage grooves through the water guide plates and then is discharged through the external drainage pipes. The above structural design enables the push table to scrape water while moving, avoiding turbulent flow of waste liquid, and can also further improve the test accuracy.

[0043] like Figure 7 As shown, Example 3 is an indoor test device for measuring dynamic spray deposition of a plant protection drone. On the basis of Example 2, the sliding mechanism 3 includes a motion track 301 and a sliding frame 302 arranged on the lifting frame 2, and the motion track is fixedly arranged along the length direction of the test bench 1. Both sides of the sliding frame 302 are provided with moving wheels 303, and the moving wheels 303 are located on the motion track 301 and are connected to a drive motor 304 arranged on the sliding frame 302. The drive motor drives the moving wheel to rotate, so as to realize the movement of the sliding frame relative to the motion track, which is used to simulate the movement of the drone. By changing the speed of the drive motor, the movement speed of the sliding frame is realized, and the influence of different movement speeds on the spray deposition measurement is simulated. The sliding frame 302 is provided with a rotating blade 305 and an image acquisition device 306, and the rotating blade 305 is similar to the multi-rotor of the drone. The rotating shaft of the rotating blade 305 is connected to the drive motor 304 through a gear pair. The drive motor adopts a dual-output motor, which can drive the rotation of the moving wheel and the rotation of the rotating blade. The adjustable nozzle assembly 4 is located below the rotating blades 305, accurately imitating the positional relationship between the multi-rotor of the drone and the nozzle; the image acquisition device 306 is located on one side of the adjustable nozzle assembly 4, ensuring that the image acquisition device acquires high-definition images of the plants on the lower push plate. The image acquisition device 306 is connected to the background controller via Ethernet, and the image acquisition device transmits the acquired image information to the background controller, and the image processing module of the background controller processes it and performs droplet deposition parameter analysis, and displays the analyzed data, thereby obtaining the spray deposition measurement in a macroscopic manner.

[0044] The adjustable nozzle assembly 4 in this embodiment includes a rotating tube shaft 401, which is rotatably connected to the ear plate seat 307 arranged at the bottom of the sliding frame 302. The rotating tube shaft 401 is threadedly connected with a nozzle 402, and the central axis of the nozzle is perpendicular to the central axis of the rotating tube shaft. The number of nozzles can be one or more according to needs. An indicator needle 403 is provided at one end of the rotating tube shaft 401 extending out of the ear plate seat 307. The indicator needle 403 corresponds to the angle ruler 404 arranged on the outer wall of the ear plate seat 307. The indicator needle is used to indicate the rotation angle of the rotating tube shaft, and then obtain the spray inclination angle of the nozzle. The rotating tube shaft 401 is connected to the adjusting knob 406 arranged on the ear plate seat 307 through the adjusting gear pair 405, and the angle of the rotating tube shaft is adjusted by the knob.

[0045] This embodiment is a preferred solution: Figure 8 As shown, the natural environment simulation mechanism 8 includes an air duct 801 and a mesh cover 802 arranged on the inner wall of the test bench 1. The number of air ducts can be set as needed and evenly arranged along the side wall of the test bench. The air duct 801 is provided with a plurality of air outlets, which can be staggered to more accurately simulate the natural environment. Each air outlet can be equipped with a plug. When directional wind is required, the corresponding air outlet is retained, and the other air outlets are blocked with plugs. The air inlet end of the air duct is connected to a blower, and air is supplied through the blower. The mesh cover 802 is arranged on the air duct 801, and the mesh cover 802 is detachably provided with a heating plate 803; the mesh cover adopts a heat-insulating mesh cover to prevent the air duct from being damaged when the heating plate heats the air. The heating plate is used to heat the air in the test bench 1, and the corresponding test bench 1 is provided with a thermometer to test the influence of temperature on the spray deposition measurement. The above-mentioned natural environment simulation mechanism creates an environment close to the natural environment for the test by changing the wind force and temperature, so that the test results are more accurate.

[0046] Example 4, a test method for the indoor test device for measuring dynamic spray deposition of a plant protection UAV as described in Example 3, the steps are as follows:

[0047] S1: Ensure that the push plate 7 is unloaded, then start the sliding mechanism 3 to drive the adjustable nozzle assembly 4 to move at a speed of V1, and at the same time turn on the nozzle of the adjustable nozzle assembly 4 and the rotating blades 305 on the sliding mechanism 3 to simulate unmanned dynamic spraying. The nozzle dynamically sprays the push plate 7.

[0048] S2: When step S1 is performed, the laser radar 9 on the push plate 7 is turned on to detect the fog field reaching the push plate 7, and the data is transmitted to the background controller 10; the background controller can obtain the simulated spray width and fog field distribution of the plant protection UAV based on the data transmitted by the laser radar.

[0049] S3: closing the nozzle of the adjustable nozzle assembly 4 and the rotating blade 305 on the sliding mechanism 3, and resetting the sliding mechanism 3 and the adjustable nozzle assembly 4 to reduce the comparison error.

[0050] S4: Add a fluorescent reagent into the liquid storage tank 6 and place crop plants on the push plate 7; the fluorescent reagent may be Acid Brilliant Flavine 7G (which can absorb ultraviolet light and emit visible light).

[0051] S5: Start the sliding mechanism 3 to drive the adjustable nozzle assembly 4 to move at the same speed V1, and at the same time turn on the nozzle of the adjustable nozzle assembly 4 and the rotating blades 305 on the sliding mechanism 3 to dynamically spray the crop plants on the push plate 7.

[0052] S6: Turn off the nozzle of the adjustable nozzle assembly 4 and the rotating blade 305 on the sliding mechanism 3, and shield the test bench 1 with a curtain to ensure the light-proof property inside the device and put the crop plants in a light-proof environment; then turn on the ultraviolet lamp 13 set in the test bench 1; the fluorescent reaction of the reagent deposited on the leaves can be stimulated.

[0053] S7: Turn on the image acquisition device 306 provided on the sliding mechanism 3, acquire images of the crop plants, and transmit the data to the background controller 10, and analyze and obtain the dynamic spray deposition amount under the theoretical environment; that is, take a picture to obtain a fluorescent image of the drug droplets deposited on the leaf surface, and use the background controller to analyze the droplet deposition parameters of the acquired image, and display the analyzed data.

[0054] S8: Replace a batch of crop plants and place them back on the push table 7. The crop plants at this time are preferably the same type of plants as the crop plants in step S4 and are preferably the same size. Turn on the natural environment simulation mechanism 8 to simulate the natural spray environment; that is, the natural environment simulation mechanism provides a certain wind force and a specific temperature to make the environment inside the test bench 1 close to the natural environment.

[0055] S9: Repeat steps S5 to S7 to obtain the dynamic spray deposition amount under the natural spray environment; the dynamic spray deposition amount under the natural spray environment can be compared with the dynamic spray deposition amount under the theoretical environment in step S7 to obtain the influence of the environment (wind force, temperature) on the spray deposition amount.

[0056] S10: changing the wind force or temperature of the environment simulation mechanism 8, repeating steps S8-S9, and obtaining the dynamic spray deposition amount under different natural spray environments; and performing comparative analysis to obtain the influence of wind force or temperature on the dynamic spray deposition amount.

[0057] The above method can not only obtain the spray width and fog field distribution data of the plant protection UAV at different speeds, but also obtain the data on the impact of the environment (wind force, temperature) on the spray deposition amount. The test is simpler and more intuitive, providing accurate data support for the spraying of plant protection UAVs.

[0058] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An indoor test device for measuring dynamic spray deposition of plant protection drones, characterized by: The test bench (1) comprises a lifting frame (2) on the test bench (1), a sliding mechanism (3) on the lifting frame (2), an adjustable nozzle assembly (4) on the sliding mechanism (3), a flow sensor on the adjustable nozzle assembly (4), and the adjustable nozzle assembly (4) is connected to a liquid storage tank (6) arranged on the test bench (1) via a hose (5); a push plate (7) for holding crops is arranged in the test bench (1), a laser radar (9) is arranged on the push plate (7), a natural environment simulation mechanism (8) is arranged on the side wall of the test bench (1), and the flow sensor, the laser radar (9) and the natural environment simulation mechanism (8) are all connected to a background controller; The sliding mechanism (3) comprises a moving track (301) and a sliding frame (302) arranged on the lifting frame (2); moving wheels (303) are arranged on both sides of the sliding frame (302); the moving wheels (303) are located on the moving track (301) and are connected to a driving motor (304) arranged on the sliding frame (302); a rotating blade (305) and an image acquisition device (306) are arranged on the sliding frame (302); a rotating shaft of the rotating blade (305) is connected to the driving motor (304) via a gear pair; an adjustable nozzle assembly (4) is located below the rotating blade (305); and the image acquisition device (306) is located on one side of the adjustable nozzle assembly (4) and is connected to a background controller; The rotating blades (305) simulate the multi-rotor of the drone; the driving motor drives the motion wheel to rotate, so as to realize the movement of the sliding frame relative to the motion track, so as to simulate the movement of the drone; When conducting the test, first ensure that the push plate (7) is unloaded, then start the sliding mechanism (3) to drive the adjustable nozzle assembly (4) to move, and at the same time turn on the nozzle of the adjustable nozzle assembly (4) and the rotating blade (305) on the sliding mechanism (3) to perform dynamic spraying on the push plate (7); turn on the laser radar (9) on the push plate (7) to detect the fog field reaching the push plate (7), and transmit the data to the background controller; then turn off the adjustable nozzle assembly (4) ) and the rotating blades (305) on the sliding mechanism (3), and resetting the sliding mechanism (3) and the adjustable nozzle assembly (4); adding a fluorescent reagent into the liquid storage tank (6), and placing crop plants on the push plate (7); starting the sliding mechanism (3) to drive the adjustable nozzle assembly (4) to move, and at the same time starting the nozzle of the adjustable nozzle assembly (4) and the rotating blades (305) on the sliding mechanism (3), so as to dynamically spray the crop plants on the push plate (7).

2. The indoor test device for dynamic spray deposition measurement of plant protection UAV according to claim 1 is characterized by: The test bench (1) is a transparent box-type frame with an upper opening, an ultraviolet lamp (13) is provided on the inner side wall of the transparent box-type frame, and a rolling shutter mechanism (12) is provided on the outer side of the transparent box-type frame; a sliding window (101) is provided on one side of the transparent box-type frame, an opening and closing door panel (102) is hingedly connected to the sliding window (101), the opening and closing door panel (102) is snap-connected to the test bench (1), and the sliding table (7) is arranged corresponding to the sliding window (101).

3. The indoor test device for dynamic spray deposition measurement of plant protection UAV according to claim 2 is characterized in that: The side wall of the opening and closing door panel (102) is provided with an arc-shaped clamping plate (103), and the arc-shaped clamping plate (103) is provided with an arc-shaped clamping groove (104); the side wall of the test bench (1) is provided with a clamping seat (105), and the clamping seat (105) is provided with a limit pin tube (106), the limit pin tube (106) is inserted into the arc-shaped clamping groove (104), and a positioning column (107) is sleeved in the limit pin tube (106), and the positioning column (107) and the limit pin tube (106) are connected. An axially arranged return spring (108) is provided therebetween, one end of the return spring (108) is fixedly connected to the inner end of the positioning column (107), and the other end is fixedly connected to the limit pin tube (106), a small baffle (108) is fixed to the outer end of the positioning column (107), a short pin shaft (109) parallel to the limit pin tube (106) is provided on the small baffle (108), and the short pin shaft (109) is matched with a positioning hole (110) provided on the arc-shaped clamping plate (103).

4. The indoor test device for dynamic spray deposition measurement of plant protection UAV according to claim 3 is characterized by: The rolling curtain mechanism (12) comprises a rotating shaft (12-1) rotatably arranged at the top of the outer side of the test bench (1), the rotating shaft (12-1) being connected to a small motor (12-2) fixed on the test bench (1), an elastic clip (12-3) for fixing a curtain (12-4) being provided on the rotating shaft (12-1), a magnet bar (12-5) being provided at the free end of the curtain (12-4), a magnet seat (12-6) being provided at the bottom of the outer side of the test bench (1), and the magnet bar (12-5) and the magnet seat (12-6) being magnetically matched.

5. The indoor test device for dynamic spray deposition measurement of a plant protection UAV according to any one of claims 2 to 4, characterized in that: The push table (7) extends out of the test bench (1) through the push window (101) under the action of the pushing mechanism (11); the pushing mechanism (11) comprises a support frame (11-1) arranged in the test bench (1), the support frame (11-1) being provided with a guide rail groove (11-2), a guide block (11-3) being provided at the bottom of the push table (7), the guide block (11-3) being slidably arranged in the guide rail groove (11-2), an electric push rod (11-4) being provided on a side of the support frame (11-1) away from the push window (101), and a telescopic end of the electric push rod (11-4) being connected to the push table (7).

6. The indoor test device for dynamic spray deposition measurement of plant protection UAV according to claim 5, characterized in that: A wiper plate (111) corresponding to the push platform (7) is hinged on the side wall of the sliding window (101), and the wiper plate (111) can rotate 90 degrees around the hinge point; a water retaining plate (71) is provided at one end of the sliding platform (7) away from the sliding window (101), and water guide plates (72) are provided on the left and right sides of the sliding platform (7), and the water guide plates (72) correspond to the drainage groove (14) provided at the bottom of the test bench (1), and an external drainage pipe (15) is provided in the drainage groove (14).

7. The indoor test device for dynamic spray deposition measurement of plant protection UAV according to claim 1, characterized in that: The adjustable nozzle assembly (4) comprises a rotating tube shaft (401), the rotating tube shaft (401) being rotatably connected to an ear plate seat (307) arranged at the bottom of the sliding frame (302), the nozzle (402) being threadedly connected to the rotating tube shaft (401), an indicating needle (403) being arranged at one end of the rotating tube shaft (401) extending out of the ear plate seat (307), the indicating needle (403) corresponding to an angle ruler (404) arranged on the outer wall of the ear plate seat (307), and the rotating tube shaft (401) being connected to an adjusting knob (406) arranged on the ear plate seat (307) via an adjusting gear pair (405).

8. The indoor test device for dynamic spray deposition measurement of a plant protection UAV according to any one of claims 1 to 4, 6 and 7, characterized in that: The natural environment simulation mechanism (8) comprises an air duct (801) and a mesh cover (802) arranged on the inner wall of the test bench (1); the air duct (801) is provided with a plurality of air outlets, and the air inlet end of the air duct is connected to a blower; the mesh cover (802) is arranged on the air duct (801), and a heating plate (803) is detachably provided on the mesh cover (802).

9. A test method for the indoor test device for measuring dynamic spray deposition of a plant protection UAV according to claim 8, characterized in that: Here are the steps: S1: ensuring that the push plate (7) is unloaded, then starting the sliding mechanism (3) to drive the adjustable nozzle assembly (4) to move, and simultaneously starting the nozzle of the adjustable nozzle assembly (4) and the rotating blade (305) on the sliding mechanism (3) to dynamically spray the push plate (7); S2: When step S1 is performed, the laser radar (9) on the push plate (7) is turned on to detect the fog field reaching the push plate (7), and transmit the data to the background controller; S3: closing the nozzle of the adjustable nozzle assembly (4) and the rotating blade (305) on the sliding mechanism (3), and resetting the sliding mechanism (3) and the adjustable nozzle assembly (4); S4: adding a fluorescent reagent into the liquid storage tank (6) and placing crop plants on the push plate (7); S5: starting the sliding mechanism (3) to drive the adjustable nozzle assembly (4) to move, and simultaneously starting the nozzle of the adjustable nozzle assembly (4) and the rotating blades (305) on the sliding mechanism (3) to dynamically spray the crop plants on the push plate (7); S6: Turn off the nozzle of the adjustable nozzle assembly (4) and the rotating blade (305) on the sliding mechanism (3), and shield the test bench (1) with the curtain so that the crop plants are in a light-proof environment; then turn on the ultraviolet lamp (13) disposed in the test bench (1); S7: turning on the image acquisition device (306) disposed on the sliding mechanism (3), acquiring images of the crop plants, and transmitting the data to the background controller, and analyzing and obtaining the dynamic spray deposition amount under the theoretical environment; S8: a new batch of crop plants are placed on the push plate (7) again, and the natural environment simulation mechanism (8) is turned on to simulate a natural spray environment; S9: repeating steps S5 to S7 to obtain the dynamic spray deposition amount under the natural spray environment; S10: changing the wind force or temperature of the environment simulation mechanism (8), repeating steps S8 to S9, and obtaining the dynamic spray deposition amount under different natural spray environments; and performing comparative analysis to obtain the influence of wind force or temperature on the dynamic spray deposition amount.

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