A droplet collection device and method suitable for aerial spraying

Abstract

The present invention discloses a droplet collection device and method suitable for aerial spraying, the device comprises a mobile trolley and a collection mechanism; the collection mechanism is arranged on the mobile trolley, the collection mechanism comprises a rotary actuator, an automatic paper feeding mechanism, a test paper collection mechanism, and an image recognition mechanism; the rotary actuator comprises a collection clamp, a rotary bracket, and a rotary drive mechanism; the rotary bracket is connected to the driving end of the rotary drive mechanism, and the rotary bracket is provided with three rotary arms evenly distributed along the circumferential direction; the collection clamp is provided with three rotary arms respectively arranged on different rotary arms, and the collection clamp is provided with an automatic clamping structure that can automatically clamp and release the test paper; the image recognition mechanism is connected to a background server via a wireless network. The present invention can automatically complete the droplet collection operation, which is beneficial to improving the collection work efficiency and reducing the work intensity of the staff.

Description

Technical Field

[0001] The invention relates to a droplet collection device and method, and in particular to a droplet collection device and method suitable for aerial spraying. Background Art

[0002] In agricultural production, a huge amount of pesticides are consumed every year. However, due to the small spraying range and limited spraying plant types in manual spraying, a large amount of pesticides will be wasted and the environment will be polluted, which greatly reduces the utilization rate of pesticides. In recent years, the precision agricultural aerial spraying technology with aircraft and plant protection aircraft as the main carriers is gradually maturing, greatly improving the efficiency of agricultural operations. However, there are still many technical difficulties in the current application of aerial spraying in the agricultural field that need to be overcome.

[0003] In the field of agricultural aerial droplet spraying, research on droplets, such as droplet deposition measurement, spray width determination, drift control, and droplet collision behavior, is in its infancy and still requires a lot of theoretical analysis and experimental verification.

[0004] Among the several materials for collecting droplet spray, water-sensitive paper, coated paper, and filter paper are paper materials, which are convenient to use, easy to carry and suitable for outdoor fields and mountains; there are also electronic equipment such as real-time particle detectors to collect droplet spray, but because of its complicated layout, large size and inconvenient to move, and harsh conditions of use, most of them still continue to use paper materials to collect the results of droplet spray. The collection device currently used is relatively simple, which only uses a label clip on an ordinary plastic pipe as a collection device, and sets water-sensitive paper and other collection materials on the clip to achieve the collection purpose, and then places it under the aircraft route. Multiple brackets need to be arranged for one test, especially in rice fields, fruit trees and mountains with harsh soil conditions. There are high requirements for the layout personnel. Every flight requires personnel to come forward to replace the test paper, which greatly reduces the efficiency of the test. At the same time, because the droplet collection materials used are mostly hydrophilic materials, too long arrangement time or unskilled arrangement techniques will affect the test results and cause large errors. Summary of the invention

[0005] The purpose of the present invention is to overcome the above-mentioned problems and provide a droplet collection device suitable for aerial spraying, which can automatically complete the droplet collection operation, which is beneficial to improving the collection work efficiency and reducing the work intensity of the staff.

[0006] Another object of the present invention is to provide a method for collecting droplets suitable for aerial spraying.

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

[0008] A droplet collection device suitable for aerial spraying, comprising a mobile vehicle and a collection mechanism;

[0009] The collection mechanism is arranged on the mobile trolley, and includes a collection box and a rotating actuator, an automatic paper feeding mechanism, a test paper collecting mechanism, and an image recognition mechanism arranged in the collection box;

[0010] The rotary actuator comprises a collection clamp, a rotary bracket and a rotary drive mechanism; the rotary bracket is connected to the driving end of the rotary drive mechanism, and the rotary bracket is provided with three rotary arms evenly distributed along the circumferential direction; the collection clamp is provided with three rotary arms respectively arranged on different rotary arms, and the collection clamp is provided with an automatic clamping structure that can automatically clamp and release the test paper;

[0011] The image recognition mechanism is connected to the backend server via a wireless network;

[0012] In the working state, when one of the collection clamps places the test paper to be collected on the outside of the collection box, the next adjacent collection clamp along the rotation direction places the test paper in front of the image recognition mechanism, and the image recognition mechanism obtains the droplet distribution image on the test paper. The other collection clamp is located in front of the automatic paper feeding mechanism, and the automatic paper feeding mechanism puts the test paper onto the collection clamp.

[0013] The working principle of the above droplet collection device suitable for aerial spraying is:

[0014] When working, the collecting mechanism is carried by a mobile trolley and moved to the designated collecting site; during the spraying operation of the plant protection aircraft, the collecting clamp is driven by the rotating arm to move to the front of the automatic paper feeding mechanism, and the collecting clamp is in an open state at this time; the test paper to be collected is transported to the collecting clamp by the automatic paper feeding mechanism, and the collecting clamp clamps the test paper to be collected by its own automatic clamping structure; the collecting clamp is driven by the rotating arm to place the test paper to be collected on the outside of the collection box, and the collecting surface of the test paper to be collected faces upward to collect droplets; after the collection is completed, the collecting clamp is driven by the rotating arm to move the test paper to the front of the image recognition mechanism, and the image recognition mechanism obtains the droplet distribution image on the test paper and uploads it to the background server; the collecting clamp is driven by the rotating arm to move to the front of the test paper collecting mechanism, and the collecting clamp releases the test paper into the test paper collecting mechanism.

[0015] Furthermore, since there are three collecting clamps and three rotating arms, the three collecting clamps perform the above operations one by one in the rotating direction in sequence, thereby completing multiple groups of collecting work in sequence.

[0016] In a preferred embodiment of the present invention, a moisture-proof door and a switch structure are provided on the collection box, the moisture-proof door is hinged at the opening of the collection box, and an avoidance hole is provided on the moisture-proof door;

[0017] The switch structure includes a driving servo, a door-opening push rod and a reset spring, one end of the door-opening push rod is connected to the output shaft of the driving servo, and the other end of the door-opening push rod is rotationally connected to the roller; the two ends of the reset spring are respectively connected to the moisture-proof door and the internal fixed structure. Through the above structure, under the drive of the driving servo, the door-opening push rod is pressed against the moisture-proof door through the roller, and then the moisture-proof door is pushed outward, leaving a gap for the rotation of the rotating arm. After the rotation of the rotating arm is completed, the driving servo drives the door-opening push rod to reset, and the moisture-proof door is pulled back to its original position by the reset spring. In this way, during aerial spraying, the vortex droplets caused by the airflow can be prevented from entering the collection box to contaminate the test paper, and the electronic components can be prevented from getting damp.

[0018] In a preferred embodiment of the present invention, a wind vane is provided on the top of the collection box.

[0019] In a preferred embodiment of the present invention, a temperature and humidity sensor is provided on the side wall of the collection box, which can record the environmental parameters of the current test in real time and provide the integrity of the test data.

[0020] In a preferred embodiment of the present invention, two windows are provided on the collection box, one of which corresponds to the image recognition mechanism, and the other corresponds to the test paper collection mechanism and the automatic paper feeding mechanism; both windows are provided with windows and doors. In this way, the test paper can be processed without opening the moisture-proof door; the camera focus can be adjusted through the windows and doors, which can reduce the contact between the internal space and the external space, reduce the influence of moisture on the test paper, and facilitate the collection and placement of new test paper, thereby improving the sampling efficiency.

[0021] In a preferred embodiment of the present invention, the bottom of the collection box is connected to a support, and the support is connected to the mobile trolley via a retractable bracket.

[0022] A preferred embodiment of the present invention is that the rotating bracket is connected to the collecting clamp through a retractable structure, so that the length of the bracket can be appropriately extended according to the test requirements, so that the test paper can be fully exposed to the droplet environment sprayed by the aircraft, reducing the impact caused by the device itself.

[0023] In a preferred embodiment of the present invention, the rotary drive mechanism comprises a rotary drive motor, which is fixed on the inner wall of the collection box, and the output shaft of the rotary drive motor is fixedly connected to the rotary bracket.

[0024] Furthermore, a threaded opening is provided at the connection between the rotating bracket and the rotating drive motor. When the output shaft of the rotating drive motor is connected to the rotating bracket, the screws are tightened to fix the output shaft of the rotating drive motor, thereby avoiding power loss caused by slipping and ensuring stability.

[0025] In a preferred embodiment of the present invention, the automatic paper feeding mechanism comprises a paper feeding box, a tray, a supporting spring, a paper feeding wheel and a paper feeding driving mechanism;

[0026] The tray is arranged in the paper feeding box, and the tray is used for placing the test paper to be collected;

[0027] The supporting spring is arranged below the tray;

[0028] The paper feeding wheel is located above the test paper placed on the tray and is connected to the driving end of the paper feeding driving mechanism.

[0029] Furthermore, an upwardly inclined extension plate is provided outside the outlet of the paper feeding box to guide the test paper into the collection clamp.

[0030] Furthermore, the paper feeding drive mechanism includes a rotating shaft and a paper feeding drive motor, the paper feeding wheel is coaxially fixedly arranged on the rotating shaft, and the paper feeding drive motor is connected to the rotating shaft.

[0031] In a preferred embodiment of the present invention, the test paper collecting mechanism comprises a collecting box, and the collecting box is located between the image recognition mechanism and the automatic paper feeding mechanism.

[0032] In a preferred embodiment of the present invention, the image recognition mechanism comprises a camera which is fixed on the inner wall of the collection box.

[0033] A preferred embodiment of the present invention is that the self-propelled load-bearing vehicle that can be replaced by the mobile vehicle according to the test environment includes a tire-type load-bearing vehicle suitable for flat hard ground, a track-type load-bearing vehicle suitable for sloping soft ground, a bionic robot multi-legged crawling vehicle suitable for rugged roads, and a self-propelled boat-type load-bearing vehicle suitable for paddy fields and rivers.

[0034] A preferred embodiment of the present invention further includes an Internet of Things control system, which includes a wireless transmission module and a mobile control module arranged in a collection box, and the mobile control module is electrically connected to the drive servo and the rotary drive motor respectively. The Internet of Things control system can be used to control the movement of multiple devices individually or simultaneously, so that the three rotating arms can reach the horizontal collection interface as needed, thereby realizing the sequential replacement of test papers after droplet collection.

[0035] A method for collecting droplets suitable for aerial spraying comprises the following steps:

[0036] Use a mobile trolley to carry the collection mechanism to the designated collection site;

[0037] During the spraying operation of the plant protection aircraft, the collecting clamp is driven by the rotating arm to move to the front of the automatic paper feeding mechanism, and the collecting clamp is in an open state at this time; the test paper to be collected is transported to the collecting clamp by the automatic paper feeding mechanism, and the collecting clamp clamps the test paper to be collected by its own automatic clamping structure;

[0038] The collecting clamp is driven by the rotating arm to place the test paper to be collected outside the collecting box, and the collecting surface of the test paper to be collected faces upward to collect the droplets;

[0039] After the collection is completed, the test paper is moved to the front of the image recognition mechanism by driving the collection clamp through the rotating arm, and the image recognition mechanism obtains the droplet distribution image on the test paper and uploads it to the backend server;

[0040] The collecting clamp is driven by the rotating arm to move to the front of the test paper collecting mechanism, and the collecting clamp releases the test paper into the test paper collecting mechanism;

[0041] According to the above operation, the three collecting clamps complete the corresponding collecting work in sequence along the rotation direction.

[0042] Compared with the prior art, the present invention has the following beneficial effects:

[0043] 1. The present invention can continuously perform multiple collection tasks, and after each collection is completed, the three collection clamps can be automatically opened and closed, and cooperate with the automatic paper feeding mechanism to release and clamp the test paper, so that the collection task can be continuously performed. Therefore, the collection efficiency is greatly improved, and the test personnel do not need to frequently change the test paper, which is conducive to improving the work efficiency of the collection and reducing the work intensity of the staff.

[0044] 2. After the collection is completed, the test paper is moved to the front of the image recognition mechanism by driving the collection clamp through the rotating arm. The image recognition mechanism obtains the droplet distribution image on the test paper and uploads it to the background server. This also avoids the test paper being exposed to moisture for a long time due to manual replacement of the test paper, resulting in large-area discoloration. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic diagram of the three-dimensional structure of the droplet collection device suitable for aerial spraying of the present invention.

[0046] Figure 2 The three-dimensional structural diagram of the moisture-proof door is hidden in the collecting mechanism of the present invention.

[0047] Figure 3 for Figure 2 Magnified view of the X in .

[0048] Figure 4 It is a cross-sectional view of the automatic paper feeding mechanism of the present invention. DETAILED DESCRIPTION

[0049] 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.

[0050] See also Figure 1 The droplet collection device suitable for aerial spraying of this embodiment includes a mobile vehicle 1 and a collection mechanism; the mobile vehicle 1 (self-propelled load-bearing vehicle) can change the self-propelled mode according to the test environment, and the self-propelled mode includes a tire type suitable for flat hard ground, a track type suitable for sloping soft ground, a bionic robot multi-legged crawling type for rugged roads, and a water surface self-propelled boat type for paddy fields and rivers.

[0051] See also Figure 1-2 The collection mechanism is arranged on the mobile vehicle 1, and the collection mechanism includes a collection box 2 and a rotating actuator, an automatic paper feeding mechanism, a test paper collecting mechanism, and an image recognition mechanism arranged in the collection box 2; the rotating actuator includes a collection clamp 3, a rotating bracket and a rotating drive mechanism; the rotating bracket is connected to the driving end of the rotating drive mechanism, and the rotating bracket is provided with three rotating arms 4 evenly distributed along the circumferential direction; the collection clamp 3 is provided with three and respectively arranged on different rotating arms 4, and the collection clamp 3 is provided with an automatic clamping structure that can automatically clamp and release the test paper; the image recognition mechanism is connected to the background server (a mobile control terminal can be used) through a wireless network.

[0052] In the working state, when one of the collection clamps 3 places the test paper to be collected on the outside of the collection box 2, the next adjacent collection clamp 3 along the rotation direction places the test paper in front of the image recognition mechanism, and the image recognition mechanism obtains the droplet distribution image on the test paper. The other collection clamp 3 is located in front of the automatic paper feeding mechanism, and the automatic paper feeding mechanism puts the test paper onto the collection clamp 3.

[0053] See also Figure 3The collection box 2 is provided with a moisture-proof door 2-1 and a switch structure. The moisture-proof door 2-1 is hinged at the opening of the collection box 2, and a avoidance hole is provided on the moisture-proof door 2-1; the switch structure includes a driving servo 5, a door-opening push rod 6 and a reset spring 7, one end of the door-opening push rod 6 is connected to the output shaft of the driving servo 5, and the other end of the door-opening push rod 6 is rotatably connected to the roller 8; the two ends of the reset spring 7 are respectively connected to the moisture-proof door 2-1 and the internal fixed structure. Through the above structure, under the drive of the driving servo 5, the door-opening push rod 6 is pressed against the moisture-proof door 2-1 through the roller 8, and then the moisture-proof door 2-1 is pushed outward, leaving a gap for the rotation of the rotating arm 4. After the rotation of the rotating arm 4 is completed, the driving servo 5 drives the door-opening push rod 6 to reset, and the moisture-proof door 2-1 is pulled back to its original position by the reset spring 7. In this way, during aerial spraying, vortex droplets caused by airflow can be prevented from entering the collection box 2 to contaminate the test paper, and electronic components can be prevented from getting wet.

[0054] See also Figure 1-2 A preferred embodiment of the present invention is that a wind vane 9 is provided on the top of the collection box 2.

[0055] See also Figure 1-2 The side wall of the collection box 2 is provided with a temperature and humidity sensor (not shown in the figure), which can record the environmental parameters of the current test in real time and provide the integrity of the test data.

[0056] See also Figure 1-2 The collection box 2 is provided with two windows 2-2, one of which corresponds to the image recognition mechanism, and the other corresponds to the test paper collection mechanism and the automatic paper feeding mechanism; both windows 2-2 are provided with a window door 10. In this way, the test paper can be processed without opening the moisture-proof door 2-1; the camera's shooting focus can be adjusted through the window door 10, which can reduce the contact between the internal space and the external space, reduce the impact of moisture on the test paper, and facilitate the collection and placement of new test paper, thereby improving the sampling efficiency.

[0057] See also Figure 1 The bottom of the collection box 2 is connected to a support, and the support is connected to the mobile trolley 1 through a retractable bracket.

[0058] Specifically, the rotating bracket is connected to the collecting clamp 3 through a retractable structure, so that the length of the bracket can be appropriately extended according to the test requirements, so that the test paper can be fully exposed to the droplet environment sprayed by the aircraft, reducing the impact caused by the device itself.

[0059] See also Figure 2 The rotary drive mechanism includes a rotary drive motor 11, which is fixed on the inner wall of the collection box 2, and the output shaft of the rotary drive motor 11 is fixedly connected to the rotary bracket.

[0060] Furthermore, a threaded opening is provided at the connection between the rotating bracket and the rotating drive motor 11. When the output shaft of the rotating drive motor 11 is connected to the rotating bracket, the power loss caused by the output shaft of the rotating drive motor 11 slipping can be avoided by tightening the screws, thereby ensuring stability.

[0061] See also Figure 4 The automatic paper feeding mechanism includes a paper feeding box 12, a tray 13, a supporting spring 14, a paper feeding wheel 15 and a paper feeding driving mechanism; the tray 13 is arranged in the paper feeding box 12, and the tray 13 is used to place the test paper to be collected; the supporting spring 14 is arranged below the tray 13; the paper feeding wheel 15 is located above the test paper placed on the tray 13 and the paper feeding wheel 15 is connected to the driving end of the paper feeding driving mechanism.

[0062] Furthermore, an upwardly inclined extension plate 16 is provided outside the outlet of the paper feeding box 12 so as to guide the test paper into the collection clamp 3 .

[0063] Furthermore, the paper feeding drive mechanism includes a rotating shaft 17 and a paper feeding drive motor. The paper feeding wheel 15 is coaxially fixedly disposed on the rotating shaft 17 , and the paper feeding drive motor is connected to the rotating shaft 17 .

[0064] Specifically, the test paper collecting mechanism includes a storage box, which is located between the image recognition mechanism and the automatic paper feeding mechanism.

[0065] Specifically, the image recognition mechanism includes a camera, which is fixed on the inner wall of the collection box 2.

[0066] Specifically, the present embodiment also includes an Internet of Things control system, which includes a wireless transmission module and a mobile control module arranged in the collection box 2, and the mobile control module is electrically connected to the drive servo 5 and the rotation drive motor 11 respectively. The Internet of Things control system can be used to control the movement of multiple devices individually or simultaneously, so that the three rotating arms 4 can reach the horizontal collection interface as needed, thereby realizing the sequential replacement of the test paper after the droplets are collected.

[0067] Specifically, this embodiment also includes a satellite positioning system, which can mark the points where each collection device needs to be set in the satellite image of the background server. After setting, the self-propelled load-bearing vehicle goes to the calibration points according to the preset order and trajectory. After reaching the designated position, the telescopic bracket is raised, and the operating aircraft takes off to carry out droplet spraying and collection. After the collection is completed, the self-propelled load-bearing vehicle automatically returns according to the preset order and trajectory.

[0068] Referring to 1-3, the working principle of the droplet collection device suitable for aerial spraying in this embodiment is as follows:

[0069] During operation, the task of collecting droplets sprayed by the aircraft is completed in the debugging stage, the test paper placement stage, the vehicle addressing stage and the test stage. Specifically:

[0070] During the debugging stage, the walking route and arrangement points of the self-propelled load-bearing vehicle are reasonably planned according to the test requirements, the positioning system and the Internet of Things control system are tested, it is observed whether each collection device is successfully connected to the network, and the angle of the rotating bracket of each collection device is fine-tuned to ensure that the horizontal plane of the test paper is perpendicular to the aircraft spreading direction, and the angle of the camera in the collection box 2 is adjusted so that it can directly capture the card surface of the test paper in the box. The debugging of the height of the collection mechanism is completed by adjusting the telescopic bracket, and the debugging of the angle of the rotating arm 4 is completed by rotating the rotary drive motor 11.

[0071] During the test paper placement stage, the IoT is used to control the servo 5 to open the moisture-proof door 2-1 on one side, check the condition of the collection clamp 3, then put the test paper into the material box on the side of the collection box 2, control the automatic paper feeding mechanism to feed the collection clamp 3, and test whether the collection clamp 3 can open and close normally to clamp and release the test paper. After the rotating bracket rotates one circle, the test paper placement is completed.

[0072] During the vehicle addressing stage, the self-propelled load-bearing vehicle automatically moves in sequence according to the points and trajectories calibrated in the positioning system during the debugging stage. After reaching the preset position, the telescopic bracket is raised and the direction of the load-bearing vehicle is adjusted according to the aircraft route and the position of vegetation so that the test paper collection surface is perpendicular to the aircraft spraying direction.

[0073] During the test phase, multiple rotating bracket test papers at the same angle on the collection mechanism that reach the preset point constitute a collection group. When a collection group is collecting, the driving servo 5 first drives the door opening push rod 6 to open the moisture-proof door 2-1, and then the rotating drive motor 11 drives the rotating bracket to rotate the first test paper into place and close the moisture-proof door 2-1 to expose it to the environment below the aircraft route. Then the aircraft flies over for spraying, and the device completes a collection. After the collection work is completed, the driving servo 5 drives the door opening push rod 6 to open the moisture-proof door 2-1, and then the rotating drive motor 11 drives the rotating bracket to rotate so that the next test paper rotates to the collection surface. In the collection box 2, the camera collects images of the test paper that has been sprayed and uploads them to the background server, and the collection clamp 3 releases the collected test paper into the storage box. When the third test paper rotates to a horizontal position and is exposed to the aircraft route, the first collection clamp 3 turns to the paper feeder and clamps a new test paper. Then the above actions are repeated once to collect multiple collection groups.

[0074] Referring to 1-3, a method for collecting droplets suitable for aerial spraying in this embodiment includes the following steps:

[0075] a. Before the test, the types of test papers and the selection of self-propelled load-bearing vehicles are reasonably planned according to the test requirements, and the vehicle points and the driving path and driving order of the mobile vehicle 1 are planned on the satellite image to ensure the distance between multiple droplet collection devices and the coverage of the Internet of Things network, so that multiple droplet collection devices can work normally within the network range of the Internet of Things and realize unified control of multiple devices.

[0076] b. After arriving at the test site, select the appropriate device to arrange the site, accurately assemble the collection device suitable for aerial spraying, and replenish the test paper for the automatic paper feeding mechanism, and then close the side window for replenishing materials 2-2.

[0077] c. After assembly, test the overall firmness of the device, and remotely control the rotary drive motor 11, the drive servo 5, and the telescopic bracket to ensure that they can work properly. Control the servo to open the moisture-proof door 2-1, rotate the rotating bracket for one circle, and arrange the test paper in place with the automatic paper feeding mechanism. Check whether the collection clip 3 can open and close normally. Then the background server controls the collection mechanism to test once, and the camera takes a photo of the test paper on the collection clip 3. Observe the clarity of the photo and observe whether the returned data is normal. Ensure that the droplet test paper can be normally transferred to the designated position of the simulated vegetation branches and leaves. If there is any problem, adjust it in time. After all preparations are completed, the test preparation is completed.

[0078] d. After all the preparations for the test are completed, control each collection device to go to the preset calibration point on the satellite map. After all are in place, raise the telescopic bracket and record the current height of the collection mechanism, and adjust the direction of the test paper according to the aircraft route.

[0079] e. When the aircraft is ready to take off, the rotary drive motor 11 and the driving servo 5 are remotely controlled to rotate the rotary bracket and the moisture-proof door 2-1 in conjunction with each other, so that the collection surface of the A test paper reaches a set horizontal angle, and the moisture-proof door 2-1 is closed at the same time.

[0080] f. The plane takes off and carries out spraying operations according to the test requirements. After flying over the area where the collection and test device is located and completing the first test, the moisture-proof door 2-1 is opened.

[0081] g. Use the backend server to remotely control the rotating bracket to rotate 120 degrees again, so that the collection surface of the B test paper is rotated to a horizontal angle, and at the same time, the moisture-proof door 2-1 is closed. After uploading and processing the result of the first A test paper, the collection clip 3 is controlled to release the test paper into the storage box.

[0082] h. The aircraft again sprays according to the test requirements. After flying over the area where the collection and test device is located and completing the second test, the moisture-proof door 2-1 is opened.

[0083] i. Use the backend server to control the rotating bracket to rotate 120 degrees again, so that the collection surface of the C test paper is rotated to a horizontal angle, and at the same time, the moisture-proof door 2-1 is closed, the result of the second B test paper is uploaded and processed, and the collection clip 3 is controlled to release the test paper into the storage box.

[0084] j. The aircraft again sprays according to the test requirements. After flying over the area where the collection and test device is located and completing the third test, the moisture-proof door 2-1 is opened.

[0085] k. Repeat the above steps e-j in sequence until the data required for the test are collected and the aircraft flies back and lands.

[0086] 1. After all tests are completed, the control collection device returns to the initial position in sequence according to the preset trajectory.

[0087] m. The personnel opens the partition door to retrieve all the droplet test papers from the storage box, and places new droplet test papers in the automatic paper feeding mechanism again, and repeats the above em steps to carry out the next test.

[0088] 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. A droplet collection device suitable for aerial spraying, characterized in that: Including a mobile vehicle and a collection mechanism; The collection mechanism is arranged on the mobile trolley, and the collection mechanism includes a collection box and a rotating actuator, an automatic paper feeding mechanism, a test paper collecting mechanism, and an image recognition mechanism arranged in the collection box; The rotary actuator comprises a collection clamp, a rotary bracket and a rotary drive mechanism; the rotary bracket is connected to the driving end of the rotary drive mechanism, and the rotary bracket is provided with three rotary arms evenly distributed along the circumferential direction; the collection clamp is provided with three rotary arms respectively arranged on different rotary arms, and the collection clamp is provided with an automatic clamping structure that can automatically clamp and release the test paper; The image recognition mechanism is connected to the backend server via a wireless network; In the working state, when one of the collection clamps places the test paper to be collected outside the collection box, the next adjacent collection clamp along the rotation direction places the test paper in front of the image recognition mechanism, and the image recognition mechanism obtains the droplet distribution image on the test paper. The other collection clamp is located in front of the automatic paper feeding mechanism, and the automatic paper feeding mechanism puts the test paper onto the collection clamp; The collection box is provided with a moisture-proof door and a switch structure, the moisture-proof door is hinged at the opening of the collection box, and the moisture-proof door is provided with an avoidance hole; The switch structure includes a driving steering gear, a door opening push rod and a reset spring, one end of the door opening push rod is connected to the output shaft of the driving steering gear, and the other end of the door opening push rod is rotatably connected to the roller; the two ends of the reset spring are respectively connected to the moisture-proof door and the internal fixed structure; The bottom of the collection box is connected to a support, and the support is connected to a moving trolley via a retractable bracket; the rotating arm is connected to the collection clamp via a retractable structure.

2. The droplet collection device suitable for aerial spraying according to claim 1, characterized in that: The collection box is provided with two windows, one of which corresponds to the image recognition mechanism, and the other corresponds to the test paper collection mechanism and the automatic paper feeding mechanism; both windows are provided with windows.

3. The droplet collection device suitable for aerial spraying according to claim 1, characterized in that: The rotary drive mechanism comprises a rotary drive motor, which is fixed on the inner wall of the collection box, and the output shaft of the rotary drive motor is fixedly connected to the rotary bracket.

4. The droplet collection device suitable for aerial spraying according to claim 1, characterized in that: The automatic paper feeding mechanism comprises a paper feeding box, a tray, a supporting spring, a paper feeding wheel and a paper feeding driving mechanism; The tray is arranged in the paper feeding box, and the tray is used for placing the test paper to be collected; The supporting spring is arranged below the tray; The paper feeding wheel is located above the test paper placed on the tray and is connected to the driving end of the paper feeding driving mechanism.

5. The droplet collection device suitable for aerial spraying according to claim 4, characterized in that: An upwardly inclined extension plate is provided outside the outlet of the paper feeding box so as to guide the test paper into the collection clamp.

6. The droplet collection device suitable for aerial spraying according to claim 1, characterized in that: The test paper collecting mechanism comprises a collecting box, and the collecting box is located between the image recognition mechanism and the automatic paper feeding mechanism.

7. The droplet collection device suitable for aerial spraying according to claim 1, characterized in that: The image recognition mechanism comprises a camera which is fixed on the inner wall of the collection box.

8. A method for collecting droplets applied to a droplet collecting device for aerial spraying as claimed in any one of claims 1 to 7, characterized in that: The following steps are involved: Move the collection mechanism to the designated collection site via a mobile trolley; During the spraying operation of the plant protection aircraft, the collecting clamp is driven by the rotating arm to move to the front of the automatic paper feeding mechanism, and the collecting clamp is in an open state at this time; the test paper to be collected is transported to the collecting clamp by the automatic paper feeding mechanism, and the collecting clamp clamps the test paper to be collected by its own automatic clamping structure; The collecting clamp is driven by the rotating arm to place the test paper to be collected outside the collecting box, and the collecting surface of the test paper to be collected faces upward to collect the droplets; After the collection is completed, the test paper is moved to the front of the image recognition mechanism by driving the collection clamp through the rotating arm, and the image recognition mechanism obtains the droplet distribution image on the test paper and uploads it to the backend server; The collecting clamp is driven by the rotating arm to move to the front of the test paper collecting mechanism, and the collecting clamp releases the test paper into the test paper collecting mechanism; According to the above operation, the three collecting clamps complete the corresponding collecting work in sequence along the rotation direction.

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