A plant protection UAV indoor simulation spraying test platform and method

Abstract

The present invention discloses an indoor simulated spraying test platform and method for a plant protection UAV, the simulated spraying test platform comprises a mounting device for mounting a UAV and for adjusting the position of the UAV, an airspeed simulation device for simulating the airspeed of the UAV, at least one ground speed simulation droplet distribution detection device for simulating the ground speed and detecting the droplet distribution, and a control console; the control console is respectively connected to the mounting device, the airspeed simulation device, and the ground speed simulation droplet distribution detection device; the airspeed simulation device comprises a forward air blowing mechanism arranged in front of the mounting device, a lateral air blowing mechanism arranged on the side of the mounting device, and a lateral guide mechanism arranged on the ground for guiding the lateral air blowing mechanism to move. The simulated spraying test platform can simulate the posture and operating conditions of the UAV, can simulate the data of the flight state of the UAV when it is actually operating in a windy environment, and has high test accuracy; and the simulated spraying test platform occupies a small space.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural aviation plant protection machinery, and in particular to an indoor simulation spraying test platform and method for a plant protection unmanned aerial vehicle. Background Art

[0002] The flight altitude and speed of plant protection drones are important parameters that affect the operation effect. The optimal operating parameters of drones are different for different aircraft structures and nozzle models. Affected by the unstable outdoor environment, the droplet distribution data measured in the field test has a certain error, which interferes with the optimization of drone parameters. The water-sensitive paper used in field droplet tests is usually expensive, and can only sample local droplets, and it is impossible to intuitively see the distribution of all droplets.

[0003] The indoor plant protection UAV test equipment in the prior art only fixes the UAV on a suspension or runs along a fixed track, and cannot fully simulate the airspeed of the UAV during flight, and the airspeed during flight has a great influence on the drift and distribution of droplets. For example, the invention patent application with application publication number CN110836841A discloses a gantry type plant protection UAV droplet test bench, the test bench frame includes slide frames vertically arranged on both sides and a top beam, a cross beam and a base arranged between the two slide frames, and a lifting mechanism is arranged between the cross beam and the slide frame; the detection mechanism includes a droplet detection bench, a track arranged on the base and a track wheel arranged at the bottom of the droplet detection bench. Although the test bench can obtain accurate test data, the test data obtained by the above test bench is the data when the UAV is hovering under windless conditions, and cannot truly simulate the data of the flight state of the UAV when it is actually operating in a windy environment. Therefore, the test data obtained by the existing test bench is relatively low in accuracy.

[0004] For another example, the invention patent application with application publication number CN104614150A discloses an indoor simulation test platform and method for two-phase flow field spraying of plant protection UAVs. The test platform includes a control console, simulation equipment, and droplet distribution detection and / or wind field detection equipment. The simulation test platform is used to simulate the low-altitude operation of plant protection UAVs, and can conduct indoor pesticide application tests of different types of UAVs at different operating altitudes, flight speeds, and different spraying concentrations, so as to facilitate the study of the two-phase flow field and spraying distribution of UAVs at low altitude. However, the above-mentioned test platform can only simulate the spraying operation of UAVs in a windless state, and cannot simulate the ambient wind. The accuracy of the data obtained is relatively low, and the space occupied by the simulation test platform is very large. Summary of the invention

[0005] The purpose of the present invention is to overcome the above-mentioned problems and provide an indoor simulated spraying test platform for a plant protection UAV. The simulated spraying test platform can simulate the posture and operating conditions of the UAV, and can simulate the flight status data of the UAV when it is actually operating in a windy environment. The test has high accuracy; and the simulated spraying test platform occupies a small space.

[0006] Another object of the present invention is to provide an indoor simulated spraying test method for a plant protection UAV.

[0007] The purpose of the present invention is achieved through the following technical solutions:

[0008] An indoor simulated spraying test platform for crop protection UAVs comprises a mounting device for mounting UAVs and adjusting the position of UAVs, an airspeed simulation device for simulating the airspeed of UAVs, at least one ground speed simulation droplet distribution detection device for simulating ground speed and detecting droplet distribution, and a control console; the control console is respectively connected to the mounting device, the airspeed simulation device, and the ground speed simulation droplet distribution detection device; wherein,

[0009] The mounting device comprises a gantry, a transverse sliding frame slidably arranged on the gantry, a transverse driving mechanism for driving the transverse sliding frame to move in a transverse direction, a vertical sliding frame slidably arranged on the transverse sliding frame, a vertical driving mechanism for driving the vertical sliding frame to move in a vertical direction, and a connecting device arranged between the lower end of the vertical sliding frame and the UAV for changing the inclination angle of the UAV;

[0010] The airspeed simulation device comprises a forward air blowing mechanism arranged in front of the mounting device, a lateral air blowing mechanism arranged on the side of the mounting device, and a lateral guide mechanism arranged on the ground for guiding the lateral air blowing mechanism to move;

[0011] The ground speed simulated droplet distribution detection device includes a base, a frame arranged on the base, a paper roll, a paper roll mounting shaft arranged on one end of the base for storing the paper roll, paper guide rollers arranged at both ends of the frame, two friction rollers arranged on the other end of the base and distributed up and down, two paper cutting rollers arranged on the base and distributed up and down, a paper cutting knife arranged on the paper cutting roller located at the upper end, a paper collecting box arranged at the lower end of the base, a detection drive mechanism for driving the friction roller to rotate, and a transmission mechanism for transmitting the power of the friction roller to the paper cutting roller; wherein the paper roll comes out from the paper roll mounting shaft, passes through the paper guide roller in sequence, then passes between the two friction rollers, and finally comes out from between the two paper cutting rollers.

[0012] The working principle of the above-mentioned plant protection UAV indoor simulation spraying test platform is:

[0013] During the test, first change the inclination angle of the drone through the connecting device and install the drone; then move the lateral blower mechanism to the specified position to simulate the ambient wind, and the forward blower mechanism is used to simulate the speed of the drone relative to the still air when flying in a windless environment. At this time, this speed is consistent with the ground speed, and the wind direction is always opposite to the flight direction; then control the vertical drive mechanism and the lateral drive mechanism through the console to adjust the drone to the specified position; then control the paper roll to reach the specified conveying speed through the console; control the forward blower mechanism and the lateral blower mechanism to the specified wind speed through the console respectively; start the drone so that the drone rotor reaches the predetermined speed, and start the drone's spray system through the remote control to spray, and the sprayed droplets will fall on the paper roll; during the conveying process of the paper roll, the paper cutter will cut the paper roll and drop it into the paper collection box, and finally take out the paper in the paper collection box, perform image processing analysis on the recorded data, and detect the droplet distribution to complete the simulation and test; for a stationary drone, the speed of the moving paper roll simulates the ground speed of the drone.

[0014] A preferred solution of the present invention, wherein the forward blowing mechanism and the lateral blowing mechanism both include a base frame, a mounting frame arranged on the base frame, a plurality of fans arranged on the mounting frame, a wind speed sensor for detecting the wind speed of the fans, and a rectifying network located at the air outlet of the fans; the wind speed sensor is connected to the console, wherein the forward blowing mechanism also includes a height adjustment mechanism arranged between the base frame and the mounting frame for adjusting the height of the mounting frame; the lateral blowing mechanism also includes a walking wheel arranged at the lower end of the base frame. By setting the above mechanism, the drone can be blown by a plurality of fans, the rectifying network can guide the direction of the wind, and detect the magnitude of the wind speed in real time through the wind speed sensor, the console can detect the wind speed of the fan through the wind speed sensor, and adjust the wind speed of the fan through the wind speed sensor; by setting the height adjustment mechanism, the fan height of the forward blowing mechanism can be adjusted to adapt to the height of the drone, and can be flexibly adjusted according to the height of the drone to improve the accuracy of the test.

[0015] In a preferred embodiment of the present invention, the lateral guide mechanism includes a semicircular track arranged on the ground and a sliding block arranged on the mounting frame of the lateral air blowing mechanism and slidably cooperates with the semicircular track, and the center of the semicircular track coincides with the ground projection center of the mounting device. By setting the semicircular track and the sliding block, the lateral air blowing mechanism can move on the semicircular track, so that the lateral air blowing mechanism can be adjusted to blow air to the drone from different directions, thereby simulating environmental winds in different directions, obtaining more test data, and thus improving the test accuracy.

[0016] In a preferred embodiment of the present invention, one end of the frame is hinged on the base, and the ground speed simulated droplet distribution detection device further comprises an electric push rod hinged between the frame and the base. In the above structure, the frame angle can be changed by controlling the length of the electric push rod to collect droplet distribution data of spatial cross sections at different angles.

[0017] In a preferred embodiment of the present invention, the ground speed simulated droplet distribution detection device further comprises a speed sensor mounted on the base for detecting the speed of the paper roll, and the speed sensor is connected to the control console. The speed of the paper roll is detected by the speed sensor, and then fed back to the control console to adjust the speed of the paper roll.

[0018] A preferred solution of the present invention, wherein the transverse drive mechanism includes a transverse drive motor arranged on the gantry, a transverse screw arranged on the gantry, and a transverse screw nut arranged on the transverse sliding frame, wherein the transverse screw is connected to the driving part of the transverse drive motor, and the transverse screw is cooperatively connected with the transverse screw nut. In the above structure, the transverse drive motor drives the transverse screw to rotate, thereby realizing the movement of the transverse screw nut, driving the transverse sliding frame to move on the gantry, and finally driving the UAV to move on the gantry, realizing the lateral position adjustment of the UAV, and making the position of the UAV more accurate during testing.

[0019] Preferably, a transverse guide assembly is provided between the transverse sliding frame and the gantry frame for guiding the transverse sliding frame to move on the gantry frame, and the transverse guide assembly includes two transverse guide rails provided on the gantry frame and a transverse slider provided on the transverse sliding frame and slidably matched with the transverse guide rails. By providing the transverse guide assembly, the transverse sliding frame can move more stably on the gantry frame, thereby ensuring the stability of the UAV movement.

[0020] A preferred solution of the present invention, wherein the vertical driving mechanism includes a vertical driving motor arranged on the vertical sliding frame, a vertical screw arranged on the vertical sliding frame, and a vertical screw nut fixedly arranged on the horizontal sliding frame, wherein the vertical screw is connected to the driving part of the vertical driving motor, and the vertical screw is cooperatively connected with the vertical screw nut. In the above structure, when the vertical driving motor drives the vertical screw to rotate, since the vertical screw nut is fixed, the vertical screw will move in the up and down direction, and drive the vertical driving motor and the vertical sliding frame to move up and down together, thereby realizing the height adjustment of the UAV, and simulating the distribution of droplets when the UAV flies at different altitudes.

[0021] Furthermore, a vertical guide assembly is provided between the vertical sliding frame and the horizontal sliding frame for guiding the vertical sliding frame to move on the horizontal sliding frame, and the vertical guide assembly includes a vertical guide rail provided on the vertical sliding frame and a vertical slider provided on the horizontal sliding frame and slidably matched with the vertical guide rail. By providing the vertical guide assembly, the vertical sliding frame can move more stably on the horizontal sliding frame, thereby ensuring the stability of the UAV movement.

[0022] A preferred solution of the present invention, wherein the connection device comprises a top mounting plate, a bottom mounting plate, a universal joint arranged between the top mounting plate and the bottom mounting plate, and an adjusting bolt; wherein the upper end of the universal joint is fixedly connected to the top mounting plate, and the lower end is fixedly connected to the bottom mounting plate, the upper end of the top mounting plate is connected to the lower end of the vertical sliding frame, and the drone is mounted on the lower end of the bottom mounting plate; the number of the adjusting bolts is four, arranged in a cross along the center of the universal joint, and the upper end of the adjusting bolt is threadedly connected to the top mounting plate. Through the universal joint, the drone can be tilted in all directions, and the angle of the universal joint can be adjusted by adjusting the height of the bolt. The self-locking of the adjusting bolt can fix the angle of the bottom mounting plate, thereby ensuring the stability of the tilt angle of the drone; after loosening the adjusting bolt, the universal joint can rotate freely. The effect brought by the test is that the drone can be fixed in the air, and the position of the drone can be adjusted to simulate the attitude angle of the drone during the actual operation process, and the attitude angle also has a great influence on the distribution of droplets.

[0023] Preferably, the airspeed simulation device and the ground speed simulation droplet distribution detection device have a speed linkage mechanism, and the wind speed at the outlet of the forward blowing mechanism of the airspeed simulation device is consistent with the paper roll running speed of the ground speed simulation droplet distribution detection device. Its purpose is to simulate the airspeed and ground speed of the drone in the absence of ambient wind. In the absence of ambient wind, the airspeed of the drone is equal to the ground speed, and the airspeed and ground speed of the drone are equal to the flight speed of the drone during operation; the ambient wind is provided by the lateral blowing mechanism on the side, and simulating the ground speed is conducive to obtaining a more realistic droplet distribution.

[0024] Preferably, when the airspeed simulation device simulates the forward ambient wind, when the lateral air blowing mechanism moves along the semicircular track to the front of the forward air blowing mechanism, the lateral air blowing mechanism and the forward air blowing mechanism form a two-stage series wind unit, and the wind speed of the fan of the lateral air blowing mechanism is the UAV ground speed plus the wind speed of the ambient wind. The wind speed is controlled and fed back through the control console and the wind speed sensor of the lateral air blowing mechanism, so that the position of the lateral air blowing mechanism on the semicircular track can simulate the lateral ambient wind in different directions. The lateral air blowing mechanism and the forward air blowing mechanism form a two-stage series wind unit to simulate the situation of the UAV flying against the wind. At this time, the UAV ground speed plus the wind speed of the ambient wind equals the airspeed.

[0025] A method for indoor simulated spraying test of a plant protection UAV, the method comprising the following steps:

[0026] (1) Change the inclination angle by turning the adjustment bolt of the connection device and install the UAV to be tested on the bottom mounting plate of the connection device;

[0027] (2) adjusting the height of the fan of the forward blowing mechanism by means of a height adjustment mechanism;

[0028] (3) The paper roll on the paper roll mounting shaft passes through the paper guide roller in sequence, then passes between the two friction rollers, and then comes out from between the two paper cutting rollers;

[0029] (4) Move the lateral blower mechanism to a specified position to simulate ambient wind;

[0030] (5) Control the lateral drive mechanism and the vertical drive mechanism through the console to adjust the UAV to the specified position;

[0031] (6) Controlling the detection drive mechanism through the console so that the paper roll runs to a specified speed;

[0032] (7) Start the forward blowing mechanism and the side blowing mechanism through the control console to reach the specified wind speed respectively;

[0033] (8) starting the UAV so that the wings of the UAV reach a predetermined rotation speed;

[0034] (9) Using the remote control to start the spray system of the drone to spray, the sprayed droplets fall onto the roll paper;

[0035] (10) The roll of paper with the droplet distribution recorded is cut into sheets by a paper cutter, and the sheets are taken out from the paper collection box. The recorded data is subjected to image processing and analysis to detect the droplet distribution, thereby completing the simulation and test.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] 1. The indoor simulated spraying test platform for plant protection UAVs in the present invention can simulate the airspeed of the UAV during flight through an airspeed simulation device; the ground speed simulation droplet distribution detection device can simulate the ground speed of the UAV, and the droplet distribution status can be recorded through a roll of paper. The simulated spraying test platform can simulate the posture and operating conditions of the UAV, and can simulate the flight status data of the UAV during actual operation in a windy environment, and the test accuracy.

[0038] 2. The indoor simulated spraying test platform for plant protection UAVs of the present invention has a compact structure and occupies a small space.

[0039] 3. The indoor simulated spraying test platform for plant protection UAVs in the present invention is suitable for various types of UAVs. It can perform indoor spraying operations of various types of UAVs at different operating altitudes, flight speeds, and ambient winds. It is used to study the distribution of UAV spray liquid and optimize UAV configuration and operating parameters. It can also be used as a UAV power test stand and PID test bench to optimize UAV flight parameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1-Figure 2 This is a structural schematic diagram of a specific implementation of an indoor simulated spraying test platform for plant protection UAVs in the present invention, wherein: Figure 1 For a stereogram, Figure 2 A stereogram from another viewing direction.

[0041] Figure 3-Figure 4 is a schematic diagram of the structure of the installation device in the present invention, wherein: Figure 3 For a stereogram, Figure 4 A stereogram from another viewing direction.

[0042] Figure 5-Figure 6 This is a schematic diagram of the structure of the installation device of the present invention without the gantry structure, wherein: Figure 5 For a stereogram, Figure 6 A stereogram from another viewing direction.

[0043] Figure 7 It is a schematic diagram of the three-dimensional structure of the forward air blowing mechanism in the present invention.

[0044] Figure 8 It is a schematic diagram of the three-dimensional structure of the lateral air blowing mechanism in the present invention.

[0045] Fig. 9 It is a structural schematic diagram of the fans of the forward blowing mechanism and the side blowing mechanism in the present invention being installed on the module frame.

[0046] Figure 10-11 It is a schematic diagram of the structure of the ground speed simulation droplet distribution detection device in the present invention, wherein: Fig.10 For the main view, Fig.11 It is a three-dimensional picture.

[0047] Figure 12-13 Schematic diagram of the structure of the frame of the ground speed simulation droplet distribution detection device in the present invention when it is in a raised state, wherein: Fig.12 For a stereogram, Fig.13 This is a schematic diagram of the internal structure. DETAILED DESCRIPTION

[0048] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described below in conjunction with embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0049] See also Figure 1-Figure 2 In this embodiment, an indoor simulated spraying test platform for plant protection UAVs includes an installation device 2 for installing a UAV 1 and adjusting the position of the UAV 1, an airspeed simulation device for simulating the airspeed of the UAV 1, at least one ground speed simulation droplet distribution detection device 3 for simulating the ground speed and detecting the droplet distribution, and a console 4; the console 4 is respectively connected to the installation device 2, the airspeed simulation device and the ground speed simulation droplet distribution detection device 3.

[0050] See also Figure 1-Figure 2 The console 4 is connected to the installation device 2, the airspeed simulation device and the ground speed simulation droplet distribution detection device 3 in a star network in a wired or wireless manner.

[0051] See also Figure 3-Figure 4 The installation device 2 includes a gantry 5, a transverse sliding frame 6 which is arranged on the gantry 5 for transverse sliding, a transverse driving mechanism 7 for driving the transverse sliding frame 6 to move in the transverse direction, a vertical sliding frame 8 which is arranged on the transverse sliding frame 6 for vertical sliding, a vertical driving mechanism 9 for driving the vertical sliding frame 8 to move in the vertical direction, and a connecting device 10 which is arranged between the lower end of the vertical sliding frame 8 and the UAV for changing the inclination angle of the UAV 1; the upper end of the connecting device 10 is connected to the vertical sliding frame 8, and the lower end is connected to the UAV 1. The gantry 5 is fixed to the ground by anchor bolts, and the gantry 5 includes a crossbeam 5-1 and two supporting feet 5-2, and the supporting feet 5-2 are provided with fixing rods 5-3 with different heights of a gradient of 0.5 meters and used to fix the crossbeam 5-1; the crossbeam 5-1 is horizontally installed on the required fixing rod 5-3 according to the required height of the test, and the crossbeam 5-1 is a rectangular frame, and the transverse sliding frame 6 is arranged on the crossbeam 5-1.

[0052] See also Figure 1-Figure 2The airspeed simulation device includes a forward blowing mechanism 11 arranged in front of the installation device 2, a lateral blowing mechanism 12 arranged on the side of the installation device 2, and a lateral guiding mechanism arranged on the ground for guiding the lateral blowing mechanism 12 to move.

[0053] See also Figure 2 and Figure 10-13 The ground speed simulated droplet distribution detection device 3 includes a base 35, a frame 36 arranged on the base 35, a roll 34, a roll installation shaft 45 arranged on one end of the base 35 for storing the roll 34, a paper guide roller 38 arranged at both ends of the frame 36, two friction rollers 39 arranged on the other end of the base 35 and distributed up and down, two paper cutting rollers 43, 41 arranged on the base 35 and distributed up and down, a paper cutter 42 arranged on the paper cutting roller 43 at the upper end, a paper collection box 44 arranged at the lower end of the base 35, a detection drive mechanism for driving the friction roller 39 to rotate, and a transmission mechanism for transmitting the power of the friction roller 39 to the paper cutting roller 41; wherein, the roll 34 comes out from the roll installation shaft 45, passes through the paper guide roller 38 in sequence, then passes between the two friction rollers 39, and finally comes out from between the two paper cutting rollers 43, 41. Since the roll 34 is constantly running, relative to a stationary drone, the ground speed of the drone can be simulated.

[0054] See also Fig.10 Both ends of the paper guide roller 38 are connected to the frame 36 through horizontal bearings 49.

[0055] See also Figure 10-13 The detection drive mechanism includes a detection drive motor 40, a first driving sprocket 48 connected to the detection drive motor 40, a first driven sprocket 46 coaxially arranged with the friction roller 39 at the lower end, and a first transmission chain 47 arranged between the first driving sprocket 48 and the first driven sprocket 46; one end of the first transmission chain 47 is connected to the first driving sprocket 48, and the other end is connected to the first driven sprocket 46. The transmission mechanism includes a second driving sprocket 50 coaxially arranged with the friction roller 39 at the upper end, a second driven sprocket 51 coaxially arranged with the paper cutting roller 43 at the upper end, and a second transmission chain 52 arranged between the second driving sprocket 50 and the second driven sprocket 51; one end of the second transmission chain 52 is connected to the second driving sprocket 50, and the other end is connected to the second driven sprocket 51. By setting the above mechanism, the rotation of the friction roller 39 and the paper cutting rollers 43, 41 can be realized. The transmission mechanism is a speed reduction transmission mechanism, and the speed of the paper cutting roller 41 is slower than that of the friction roller 39 . The speed reduction ratio is controlled to set a fixed paper cutting length.

[0056] See also Figure 1 and Fig.13The running direction of the roll paper 34 is the same as the blowing direction of the forward blowing mechanism 11.

[0057] See also Figure 7-Figure 8 The forward blower mechanism 11 and the lateral blower mechanism 12 both include a base frame 13, a mounting frame 15 arranged on the base frame 13, a plurality of fans 16 arranged on the mounting frame 15, a wind speed sensor for detecting the wind speed of the fans 16, and a rectifier network 17 located at the air outlet of the fans 16; the wind speed sensor is communicatively connected to the console 4, wherein the forward blower mechanism 11 also includes a height adjustment mechanism (not shown in the figure) arranged between the base frame 13 and the mounting frame 15 for adjusting the height of the mounting frame 15; the lateral blower mechanism 12 also includes a walking wheel 14 arranged at the lower end of the base frame 13. By setting the above-mentioned mechanism, the drone can be blown with air through multiple fans 16, the rectifier network 17 can guide the direction of the wind, and the wind speed can be detected in real time through the wind speed sensor. The console 4 can detect the wind speed of the fan 16 through the wind speed sensor and adjust the wind speed of the fan 16 through the wind speed sensor; by setting the height adjustment mechanism, the height of the fan 16 of the forward blowing mechanism 11 can be adjusted to adapt to the height of the drone, and flexible adjustments can be made according to the height of the drone to improve the accuracy of the test.

[0058] The height adjustment structure can be adjusted by screws in conjunction with the slide grooves, the mounting frame 15 is slidably arranged on the base frame 13 through the slide grooves, and the screws can fix the mounting frame 15. When adjusted to a specified height, the mounting frame 15 can be fixed. The height adjustment structure can also drive the mounting frame 15 up and down through a guide mechanism in conjunction with a cylinder or an oil cylinder to achieve height adjustment of the fan 16.

[0059] See also Fig. 9 The mounting frame 15 is composed of a plurality of module frames 15-1 connected together, and each module frame 15-1 corresponds to a fan 16 and a rectifier network 17. The plurality of module frames 15-1 are divided into two rows, and each row has four modules.

[0060] See also Figure 8 The lateral guide mechanism includes a semicircular track 18 arranged on the ground and a sliding block 19 arranged on the mounting frame 15 of the lateral blower mechanism 12 and slidingly matched with the semicircular track 18, and the center of the semicircular track 18 coincides with the ground projection center of the mounting device 2. By setting the semicircular track 18 and the sliding block 19, the lateral blower mechanism 12 can move on the semicircular track 18, so that the lateral blower mechanism 12 can be adjusted to blow air to the drone from different directions, thereby simulating environmental winds in different directions, obtaining more test data, and thus improving the test accuracy.

[0061] See also Figure 12-13 , one end of the frame 36 is hinged on the base 35, and the ground speed simulated droplet distribution detection device 3 further includes an electric push rod 37 hinged between the frame 36 and the base 35. In the above structure, the angle of the frame 36 can be changed by controlling the length of the electric push rod 37 to collect droplet distribution data of different angle space sections.

[0062] The ground speed simulated droplet distribution detection device 3 also includes a speed sensor installed on the base 35 for detecting the speed of the roll paper 34, and the speed sensor is connected to the console 4. The speed of the roll paper 34 is detected by the speed sensor, and then fed back to the console 4 to adjust the speed of the roll paper 34.

[0063] See also Figure 5-Figure 6 The transverse drive mechanism 7 includes a transverse drive motor 7-1 arranged on the gantry 5, a transverse screw rod 7-2 arranged on the gantry 5, and a transverse screw rod nut 7-3 arranged on the transverse sliding frame 6. The end of the transverse screw rod 7-2 is connected to the driving part of the transverse drive motor 7-1 through a coupling, and the transverse screw rod 7-2 is matched and connected with the transverse screw rod nut 7-3. In the above structure, the transverse drive motor 7-1 drives the transverse screw rod 7-2 to rotate, thereby realizing the movement of the transverse screw rod nut 7-3, driving the transverse sliding frame 6 to move on the gantry 5, and finally driving the UAV to move on the gantry 5, realizing the lateral position adjustment of the UAV, and making the position of the UAV more accurate during testing.

[0064] See also Figure 5-Figure 6 A transverse guide assembly is provided between the transverse sliding frame 6 and the gantry 5 for guiding the transverse sliding frame 6 to move on the gantry 5. The transverse guide assembly includes two transverse guide rails 20 provided on the gantry 5 and a transverse slider 21 provided on the transverse sliding frame 6 and slidably matched with the transverse guide rails 20. By providing the transverse guide assembly, the transverse sliding frame 6 can move more stably on the gantry 5, thereby ensuring the stability of the UAV movement.

[0065] See also Figure 5-Figure 6 The transverse sliders 21 are divided into two groups, each group consists of two, and are distributed on two transverse guide rails 20.

[0066] See also Figure 5-Figure 6The vertical driving mechanism 9 includes a vertical driving motor 9-1 arranged at the upper end of the vertical sliding frame 8, a vertical screw rod 9-2 arranged on the vertical sliding frame 8, and a vertical screw rod nut 9-3 fixedly arranged on the horizontal sliding frame 6. The end of the vertical screw rod 9-2 is connected to the driving part of the vertical driving motor 9-1 through a coupling, and the vertical screw rod 9-2 is matched and connected with the vertical screw rod nut 9-3. In the above structure, when the vertical driving motor 9-1 drives the vertical screw rod 9-2 to rotate, since the vertical screw rod nut 9-3 is fixed, the vertical screw rod 9-2 will move in the up and down direction, and drive the vertical driving motor 9-1 and the vertical sliding frame 8 to move up and down together, thereby realizing the height adjustment of the UAV, and simulating the distribution of droplets when the UAV flies at different altitudes.

[0067] See also Figure 5-Figure 6 A vertical guide assembly is provided between the vertical sliding frame 8 and the horizontal sliding frame 6 for guiding the vertical sliding frame 8 to move on the horizontal sliding frame 6. The vertical guide assembly includes a vertical guide rail 22 provided on the vertical sliding frame 8 and a vertical slider 23 provided on the horizontal sliding frame 6 and slidably matched with the vertical guide rail 22. By providing the vertical guide assembly, the vertical sliding frame 8 can move more stably on the horizontal sliding frame 6, thereby ensuring the stability of the UAV movement.

[0068] See also Figure 5-Figure 6 The vertical guide assembly vertical drive mechanism 9 is respectively arranged on both sides of the vertical sliding frame 8. The horizontal drive motor 7-1 and the vertical drive motor 9-1 are both servo motors, and the servo motors are connected to the console 4.

[0069] See also Figure 5-Figure 6The connecting device 10 includes a top mounting plate 10-1, a bottom mounting plate 10-2, a universal joint 10-3 arranged between the top mounting plate 10-1 and the bottom mounting plate 10-2, and an adjusting bolt 10-4; wherein, the upper end of the universal joint 10-3 is fixedly connected to the top mounting plate 10-1, and the lower end is fixedly connected to the bottom mounting plate 10-2, the upper end of the top mounting plate 10-1 is connected to the lower end of the vertical sliding frame 8, and the drone 1 is installed at the lower end of the bottom mounting plate 10-2; the number of the adjusting bolts 10-4 is four, which are arranged in a cross shape along the center of the universal joint 10-3, and the upper end of the adjusting bolt 10-4 is threadedly connected to the top mounting plate 10-1. The drone can be tilted in all directions by means of the universal joint 10-3. The angle of the universal joint 10-3 can be adjusted by adjusting the height of the bolt 10-4. The self-locking of the adjusting bolt 10-4 can fix the angle of the bottom mounting plate 10-2, thereby ensuring the stability of the tilt angle of the drone. After loosening the adjusting bolt 10-4, the universal joint 10-3 can rotate freely. The effect of the test is that the drone 1 can be fixed in the air, and the position of the drone 1 can be adjusted to simulate the attitude angle of the drone during the actual operation. The attitude angle also has a great influence on the distribution of the droplets.

[0070] See also Figure 1 and Fig.11 The airspeed simulation device and the ground speed simulation droplet distribution detection device 3 have a speed linkage mechanism. The wind speed at the outlet of the forward blower mechanism 11 of the airspeed simulation device is consistent with the running speed of the roll paper 34 of the ground speed simulation droplet distribution detection device 3, and both speeds are set and controlled by the console 4. Its purpose is to simulate the airspeed and ground speed of the drone in the state without ambient wind. In the state without ambient wind, the airspeed of the drone is equal to the ground speed, and the airspeed and ground speed of the drone are equal to the flight speed of the drone during operation; the ambient wind is provided by the lateral blower mechanism 12 on the side, and the simulation of the ground speed is conducive to obtaining a more realistic droplet distribution. Since the console is connected to the wind speed sensor and the speed sensor, the console 4 can control the air outlet of the fan 16 and the speed of the roll paper 34 in a linkage manner.

[0071] See also Figure 1When the airspeed simulation device simulates the forward environmental wind, when the lateral blower mechanism 12 moves along the semicircular track 18 to the front of the forward blower mechanism 11, the lateral blower mechanism 12 and the forward blower mechanism 11 form a two-stage series fan 16 group, and the wind speed of the fan 16 of the lateral blower mechanism 12 is the UAV ground speed plus the wind speed of the environmental wind. The wind speed is controlled and fed back through the console 4 and the wind speed sensor of the lateral blower mechanism 12, so that the position of the lateral blower mechanism 12 on the semicircular track 18 can simulate the lateral environmental wind in different directions. The lateral blower mechanism 12 and the forward blower mechanism 11 form a two-stage series fan 16 group to simulate the situation of the UAV flying against the wind. At this time, the UAV ground speed plus the wind speed of the environmental wind equals the airspeed.

[0072] See also Figure 1-Figure 13 The working principle of the above-mentioned plant protection UAV indoor simulation spraying test platform is:

[0073] During the test, firstly, the inclination angle of the drone is changed through the connecting device 10, and the drone is installed; then the lateral blowing mechanism 12 is moved to the specified position to simulate the ambient wind, and the forward blowing mechanism 11 is used to simulate the speed of the drone relative to the still air when flying in a windless environment. At this time, this speed is consistent with the ground speed, and the wind direction is always opposite to the flight direction; then the control console 4 controls the vertical driving mechanism 9 to drive and the horizontal driving mechanism 7 to adjust the drone to the specified position; then the control console 4 controls the paper roll 34 to reach the specified conveying speed; and the control console 4 controls the paper roll 34 to reach the specified conveying speed. The forward blowing mechanism 11 and the lateral blowing mechanism 12 are controlled to the specified wind speed; the UAV is started so that the UAV rotor reaches a predetermined rotation speed, and the spray system of the UAV is started by the remote control for spraying, and the sprayed droplets will fall on the paper roll 34; during the transportation of the paper roll 34, the paper cutter 42 will cut the paper roll 34 and drop it into the paper collection box 44, and finally the paper in the paper collection box 44 is taken out, and the recorded data is subjected to image processing analysis and droplet distribution detection to complete the simulation and test; for the stationary UAV, the speed of the moving paper roll 34 simulates the ground speed of the UAV.

[0074] See also Figure 1-Figure 13 This embodiment also discloses a method for testing indoor simulated spraying of a plant protection UAV, which includes the following steps:

[0075] (1) The tilt angle is changed by turning the adjusting bolt 10 - 4 of the connecting device 10 , and the UAV 1 to be tested is mounted on the bottom mounting plate 10 - 2 of the connecting device 10 ;

[0076] (2) adjusting the height of the fan 16 of the forward blowing mechanism 11 by means of a height adjustment mechanism;

[0077] (3) The paper roll 34 on the paper roll mounting shaft 45 passes through the paper guide roller 38 in sequence, then passes between the two friction rollers 39, and then comes out from between the two paper cutting rollers 41;

[0078] (4) Move the lateral blower mechanism 12 to a designated position to simulate ambient wind, and start the control console 4 to supply power to the installation device 2, the airspeed simulation device, and the ground speed simulation droplet distribution detection device 3;

[0079] (5) Controlling the lateral drive mechanism 7 and the vertical drive mechanism 9 through the control console 4 to adjust the UAV to a specified position;

[0080] (6) Controlling the detection drive mechanism through the control console 4 so that the paper roll 34 runs to a specified speed;

[0081] (7) Starting the forward blowing mechanism 11 and the side blowing mechanism 12 through the control console 4 to reach the specified wind speeds respectively;

[0082] (8) starting the drone so that the wings of the drone 1 reach a predetermined rotation speed;

[0083] (9) The spray system of the drone 1 is activated by the remote control to spray, and the sprayed droplets fall onto the roll paper;

[0084] (10) The roll paper 34 recording the distribution of the droplets is cut into sheets by the paper cutter 42, and the sheets are taken out from the paper collection box 44. The recorded data is subjected to image processing and analysis to detect the droplet distribution, thereby completing the simulation and test.

[0085] The spray system of the drone sprays dyed liquid, and the droplet distribution of the plant protection drone can be recorded without water-sensitive paper.

[0086] The above is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited to the above content. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. An indoor simulated spraying test platform for crop protection drones, characterized in that: The invention comprises a mounting device for mounting a UAV and adjusting the position of the UAV, an airspeed simulation device for simulating the airspeed of the UAV, at least one ground speed simulation droplet distribution detection device for simulating the ground speed and detecting the droplet distribution, and a control console; the control console is respectively connected to the mounting device, the airspeed simulation device and the ground speed simulation droplet distribution detection device; wherein, The mounting device comprises a gantry, a transverse sliding frame slidably arranged on the gantry, a transverse driving mechanism for driving the transverse sliding frame to move in a transverse direction, a vertical sliding frame slidably arranged on the transverse sliding frame, a vertical driving mechanism for driving the vertical sliding frame to move in a vertical direction, and a connecting device arranged between the lower end of the vertical sliding frame and the UAV for changing the inclination angle of the UAV; The airspeed simulation device comprises a forward air blowing mechanism arranged in front of the mounting device, a lateral air blowing mechanism arranged on the side of the mounting device, and a lateral guide mechanism arranged on the ground for guiding the lateral air blowing mechanism to move; The ground speed simulated droplet distribution detection device comprises a base, a frame arranged on the base, a paper roll, a paper roll mounting shaft arranged on one end of the base for storing the paper roll, paper guide rollers arranged at both ends of the frame, two friction rollers arranged on the other end of the base and distributed up and down, two paper cutting rollers arranged on the base and distributed up and down, a paper cutting knife arranged on the paper cutting roller at the upper end, a paper collecting box arranged at the lower end of the base, a detection driving mechanism for driving the friction roller to rotate, and a transmission mechanism for transmitting the power of the friction roller to the paper cutting roller; wherein the paper roll comes out from the paper roll mounting shaft, passes through the paper guide roller in sequence, then passes between the two friction rollers, and finally comes out from between the two paper cutting rollers; The forward blower mechanism and the lateral blower mechanism both include a base frame, a mounting frame arranged on the base frame, a plurality of blowers arranged on the mounting frame, a wind speed sensor for detecting the wind speed of the blower, and a rectifier network located at the air outlet of the blower; the wind speed sensor is connected to the control console, wherein the forward blower mechanism also includes a height adjustment mechanism arranged between the base frame and the mounting frame for adjusting the height of the mounting frame; the lateral blower mechanism also includes a walking wheel arranged at the lower end of the base frame; The connecting device includes a top mounting plate, a bottom mounting plate, a universal joint arranged between the top mounting plate and the bottom mounting plate, and an adjusting bolt; wherein the upper end of the universal joint is fixedly connected to the top mounting plate, and the lower end is fixedly connected to the bottom mounting plate, the upper end of the top mounting plate is connected to the lower end of the vertical sliding frame, and the drone is installed at the lower end of the bottom mounting plate; the number of the adjusting bolts is four, which are arranged in a cross shape along the center of the universal joint, and the upper end of the adjusting bolt is threadedly connected to the top mounting plate.

2. The indoor simulated spraying test platform for plant protection UAV according to claim 1 is characterized in that: The lateral guide mechanism includes a semicircular track arranged on the ground and a sliding block arranged on the mounting frame of the lateral blower mechanism and slidably matched with the semicircular track. The center of the semicircular track coincides with the ground projection center of the mounting device.

3. The indoor simulated spraying test platform for plant protection UAV according to claim 1 is characterized in that: One end of the frame is hinged on the base, and the ground speed simulated droplet distribution detection device also includes an electric push rod hinged between the frame and the base.

4. The indoor simulated spraying test platform for plant protection UAV according to claim 1 is characterized in that: The transverse driving mechanism includes a transverse driving motor arranged on the gantry, a transverse screw arranged on the gantry, and a transverse screw nut arranged on the transverse sliding frame. The transverse screw is connected to the driving part of the transverse driving motor, and the transverse screw is cooperatively connected with the transverse screw nut.

5. The indoor simulated spraying test platform for plant protection UAV according to claim 1 is characterized in that: The vertical drive mechanism includes a vertical drive motor arranged on the vertical sliding frame, a vertical screw arranged on the vertical sliding frame, and a vertical screw nut fixedly arranged on the horizontal sliding frame. The vertical screw is connected to the driving part of the vertical drive motor, and the vertical screw is cooperatively connected with the vertical screw nut.

6. The indoor simulated spraying test platform for plant protection UAV according to claim 1, characterized in that: The airspeed simulation device and the ground speed simulation droplet distribution detection device have a speed linkage mechanism, and the wind speed at the outlet of the forward blowing mechanism of the airspeed simulation device is consistent with the paper roll running speed of the ground speed simulation droplet distribution detection device.

7. The indoor simulated spraying test platform for plant protection UAV according to claim 1, characterized in that: When the airspeed simulation device simulates the forward ambient wind, when the lateral air blowing mechanism moves along the semicircular track to the front of the forward air blowing mechanism, the lateral air blowing mechanism and the forward air blowing mechanism form a two-stage series air blower group, and the air outlet wind speed of the fan of the lateral air blowing mechanism is the ground speed of the UAV plus the wind speed of the ambient wind. The wind speed is controlled and fed back through the control console and the wind speed sensor of the lateral air blowing mechanism, so that the position of the lateral air blowing mechanism on the semicircular track can simulate the lateral ambient wind in different directions.

8. A method for indoor simulated spraying test of a plant protection UAV, the method being applied to the indoor simulated spraying test platform of a plant protection UAV as claimed in any one of claims 1 to 7, the method comprising the following steps: (1) Change the inclination angle by turning the adjustment bolt of the connection device and install the UAV to be tested on the bottom mounting plate of the connection device; (2) Adjust the height of the fan of the forward blowing mechanism through the height adjustment mechanism; (3) The paper roll on the paper roll mounting shaft passes through the paper guide roller in sequence, then passes between the two friction rollers, and then comes out from between the two paper cutting rollers; (4) Move the lateral blower to the specified position to simulate the ambient wind; (5) Control the lateral drive mechanism and the vertical drive mechanism through the console to adjust the UAV to the specified position; (6) Control the detection drive mechanism through the console so that the paper roll runs to a specified speed; (7) Start the forward blowing mechanism and the side blowing mechanism through the control console to reach the specified wind speed respectively; (8) Starting the UAV so that the wings of the UAV reach a predetermined rotation speed; (9) Use the remote control to start the spray system of the drone to spray, and the sprayed droplets fall onto the roll paper; (10) The roll of paper with the droplet distribution recorded is cut into sheets by a paper cutter, and the sheets are taken out from the paper collection box. The recorded data is subjected to image processing and analysis to detect the droplet distribution, thus completing the simulation and test.

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