Automatic cloth laying trolley for plant protection unmanned aerial vehicle spraying drift test

Abstract

The application discloses an automatic sample distribution trolley for plant protection unmanned aerial vehicle spray drift test, which comprises a caterpillar type trolley body, a plurality of samplers, a punching sampler device arranged on the caterpillar type trolley body and a sampler storage device for storing the samplers; wherein the sampler is provided with a mist drop drift detection sensor; the punching sampler device comprises a punching mechanism for punching, a mechanical hand for grabbing the samplers in the sampler storage device and a rotary driving mechanism for driving the punching mechanism and the mechanical hand to rotate synchronously. The automatic sample distribution trolley can realize automatic sample distribution, has high sample distribution efficiency, can be used in a relatively rugged field environment and is suitable for various terrains; the sample distribution range and distance can be set according to needs, the sample distribution flexibility is high, the plant protection unmanned aerial vehicle spray mist drop drift test result can be observed in real time, and the test result precision is high.

Description

Technical Field

[0001] This invention relates to the field of automatic sampling technology, specifically to an automatic sampling trolley for spray drift testing of plant protection drones. Background Technology

[0002] Agricultural drones, as an emerging type of plant protection equipment, have solved the problems faced by traditional plant protection equipment in the mid-to-late stages of crop growth, such as difficulty in accessing the field due to furrow closure and seedling smothering. Agricultural drones offer advantages such as high efficiency, strong applicability, and ideal operational results. While agricultural drones can be used for spraying pesticides, droplet drift and environmental hazards remain key issues in the field of agricultural drone spraying and are a major focus of research.

[0003] The spraying effect of agricultural drones directly impacts pesticide application efficiency and crop yield, and the amount of pesticides used has a significant environmental impact. Spray drift experiments are particularly important for improving spray atomization, reducing pesticide waste, and increasing crop yield. Currently, the sampling for agricultural drone spray drift experiments is still done manually, mostly in outdoor environments. Conducting a single experiment requires a large amount of manpower to carry large quantities of sampling materials and perform tedious sampling work, resulting in low efficiency. Furthermore, human error can lead to inaccurate and low-precision experimental data. Summary of the Invention

[0004] The purpose of this invention is to overcome the above-mentioned problems and provide an automatic sampling vehicle for plant protection drone spray drift test. This automatic sampling vehicle can achieve automatic sampling with high sampling efficiency; it can also perform sampling in relatively rugged field environments and is suitable for various terrains; the sampling range and distance can also be set as needed, with high sampling flexibility; and the results of the plant protection drone spray droplet drift test can be observed in real time with high accuracy.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] An automated sampling vehicle for spray drift testing of a plant protection drone includes a tracked vehicle body, multiple samplers, a punching and sampling device mounted on the tracked vehicle body, and a sampler storage device for storing the samplers. Each sampler is equipped with a droplet drift detection sensor. The punching and sampling device includes a punching mechanism for punching holes, a robotic arm for gripping the samplers in the sampler storage device, and a rotary drive mechanism for synchronously rotating the punching mechanism and the robotic arm.

[0007] The working principle of the automatic sampling vehicle in the above-mentioned agricultural drone spray drift test is as follows:

[0008] The automatic sampling trolley uses a tracked body, allowing it to move smoothly in the field. During operation, after the column and row spacing of the sampling is pre-planned, the automatic sampling trolley travels to the first sampling point, where the punching mechanism operates to punch holes in the field. At the same time, the robotic arm also picks up the sampler. After punching, the rotary drive mechanism drives the punching mechanism and the robotic arm to rotate simultaneously until they exchange positions, aligning the sampler's position with the hole's position. The robotic arm releases the sampler, which falls into the hole under gravity. The rotary drive mechanism then resets the punching mechanism and the robotic arm, completing the sampling at the first sampling point. The automatic sampling trolley then travels to the next sampling point, repeating the above steps until the sampling task is completed. During testing, the droplet drift detection sensor can detect and transmit data from the drone spraying process in real time, enabling real-time observation of the droplet drift test results.

[0009] In a preferred embodiment of the present invention, the rotary drive mechanism includes a disc rotatably mounted on a tracked vehicle body and a rotary drive assembly for driving the disc to rotate; a support plate is provided on the disc, the punching mechanism is disposed on one side of the support plate, and the robotic arm is disposed on the other side of the support plate. In the above structure, the punching mechanism and the robotic arm are arranged back to back. When the disc is driven to rotate 180° by the rotary drive assembly, the positions of the punching mechanism and the robotic arm can be changed, thereby ensuring that the sampler on the robotic arm corresponds to the hole punched by the punching mechanism, facilitating sample placement, and making the structure more compact.

[0010] Preferably, the drilling mechanism includes a drill bit slider vertically slidably mounted on the support plate, a drill bit drive motor mounted on the drill bit slider, a drill bit mounted on the spindle of the drill bit drive motor, and a drill bit vertical drive mechanism for driving the drill bit slider to move vertically. The center point of the drill bit is the same as the center point of the sampler after the robotic arm grasps the sampler, after rotating the disc 180°. This allows for precise sample placement. When the drill bit vertical drive mechanism drives the drill bit slider to its highest point, the drill bit is in its initial position. During drilling, the drill bit drive motor drives the drill bit to rotate, and the drill bit vertical drive mechanism drives the drill bit slider downwards, causing the drill bit to move downwards as well, thus achieving drilling. After drilling is completed, the drill bit drive motor reverses direction, and simultaneously, the drill bit vertical drive mechanism drives the drill bit slider upwards. After the drill bit is in its initial position, the drill bit drive motor and the drill bit vertical drive mechanism stop moving.

[0011] Preferably, the robotic arm includes a robotic arm slider vertically slidable on the support plate, a connecting arm disposed on the robotic arm slider, a gripping mechanism disposed at the end of the connecting arm for grasping the sampler, and a robotic arm vertical drive mechanism for driving the robotic arm slider to move vertically; wherein, the gripping mechanism includes a gripping mounting frame disposed at the end of the connecting arm, two gripping claws disposed opposite to each other on the gripping mounting frame, and a gripping drive mechanism for driving the two gripping claws to move synchronously closer and further away. The center point of the gripping mechanism after gripping the sampler is located at the same point as the center point of the drill bit after rotating 180°. The purpose of this is to achieve precise sample placement and reduce the need for complex motion and precision control system design.

[0012] Furthermore, the clamping drive mechanism includes two clamping driven gears rotatably mounted on the clamping mounting frame and meshing with each other, a clamping drive motor mounted on the clamping mounting frame, and a clamping drive gear; the clamping claw includes a clamping claw body, a first connecting rod and a second connecting rod disposed between the clamping claw body and the clamping mounting frame; wherein, the two clamping driven gears are correspondingly arranged with the two first connecting rods; one end of the first connecting rod is hinged to the first end of the clamping claw body, and the other end is fixedly connected to the clamping driven gear; one end of the second connecting rod is hinged to the middle of the clamping claw, and the other end is hinged to the end of the clamping mounting frame; the clamping drive gear is connected to the main shaft of the clamping drive motor and meshes with one of the clamping driven gears. During clamping, the clamping drive motor drives the clamping active gear to rotate, which in turn drives the clamping driven gear to rotate. The two clamping driven gears move in opposite directions, which in turn drives the two first connecting rods to move closer to each other. With the cooperation of the second connecting rod, the two clamping claw bodies move closer to each other, thus clamping the sampler. To release, the clamping drive motor simply rotates in the opposite direction.

[0013] Preferably, the rotary drive assembly includes a gear disk coaxially arranged with the disc, a rotary drive motor disposed within the tracked vehicle body, and a rotary drive gear disposed on the main shaft of the rotary drive motor and meshing with the gear disk. By configuring the above structure, the rotary drive motor drives the rotary drive gear to move, causing the gear disk to rotate, which in turn drives the disc to rotate, thereby realizing the rotation of the robotic arm and the drilling mechanism.

[0014] Furthermore, the tracked vehicle body is equipped with a pad, and a rotary guide mechanism is provided between the pad and the gear disk. The rotary guide mechanism includes a circular guide rail disposed at the lower end of the gear disk and a plurality of guide rollers disposed on the pad and distributed along the circumference. The guide rollers are connected to the circular guide rail. The purpose of this is to ensure the stability of the gear disk rotation and to reduce friction.

[0015] Furthermore, a connecting frame is provided between the guide roller and the pad. The connecting frame includes a ring with a through hole and multiple long strips arranged on the ring and distributed circumferentially. The guide roller is located at the end of the long strips, and the ring is rotatably connected to the gear disk. The purpose of this is to ensure the stability of the structure, make the gear disk rotate more smoothly, and also facilitate the installation of the guide roller.

[0016] Preferably, the sampler storage device includes a support frame mounted on the tracked vehicle body, four sprocket assemblies arranged around the support frame, a chain assembly mounted on the sprocket assemblies, multiple storage plates mounted on the chain assemblies, and a storage drive motor for driving the sprocket assemblies to rotate; wherein each sprocket assembly includes an upper sprocket and a lower sprocket arranged coaxially; the chain assembly includes an upper chain and a lower chain; wherein the upper chain is sequentially connected to the four upper sprockets; the lower chain is sequentially connected to the four lower sprockets; the storage drive motor is connected to one of the sprocket assemblies; the multiple storage plates are distributed along the rotation direction of the chain assemblies, the upper end of each storage plate is fixedly connected to the upper chain, and the lower end is fixedly connected to the lower chain; the sampler is fixed to the storage plate by magnetic attraction. In the above structure, when the robotic arm samples, after the clamping mechanism picks up the sampler from the placement plate, the vertical drive mechanism of the robotic arm drives the robotic arm slider to move upward, causing the clamping mechanism and the sampler to move upward together. The sampler overcomes the magnetic force of the placement plate and separates from the placement plate. The sampler after being picked up can be smoothly rotated by the drive motor. After the picking is completed, the storage drive motor drives the sprocket assembly to move, which in turn drives the chain assembly to move, so that the next sampler moves to the position of the previous sampler, waiting for the clamping mechanism to pick up the next sampler.

[0017] Furthermore, the storage drive motor and the sprocket assembly are connected via a chain drive mechanism.

[0018] Preferably, the sampler includes a sampler body, a guide tube, a slide rod, a top cover, a push rod, a return spring, and a telescopic spring; wherein, the sampler body includes a sleeve and a conical counterweight block disposed at the lower end of the sleeve; the guide tube is located inside the sleeve, and the lower end of the guide tube is connected to the inner wall of the sleeve by an annular connecting block with a through hole; the slide rod is sleeved inside the guide tube and slidably connected to the guide tube; the top cover is disposed at the upper end of the slide rod; the lower end of the slide rod is provided with a barbed structure, the barbed structure including two oppositely arranged and rotatably disposed at the lower end of the slide rod and a support spring disposed between the two barbed pieces; the return spring... Sleeve over the guide tube, the upper end of the return spring acts on the top cover, and the lower end acts on the annular connecting block; under the elastic force of the return spring, the barbed tab hooks onto the bottom of the annular connecting block; mounting holes are provided on both sides of the sleeve, the mounting holes pass through the annular connecting block and communicate with the through hole of the annular connecting block; the positions of the mounting holes correspond to the positions of the barbed tabs; two push rods are provided, each set in one of the two mounting holes; two telescopic springs are provided, each sleeved on one of the two push rods; one end of the telescopic spring acts on the push rod, and the other end acts on the annular connecting block; the droplet drift detection sensor is set on the top cover. In the above structure, when the sampler is placed on the material plate, the barbed tabs pop out under the elastic force of the support spring and hook onto the bottom of the annular connecting block, so that the return spring is in a compressed state; when the clamping mechanism clamps the sampler, the clamping claws will overcome the elastic force of the telescopic spring and push the push rods on both sides of the sampler inward. Under the push of the push rod, the two barbed tabs will overcome the elastic force of the support spring and close together. The barbed tabs will disengage from the bottom of the annular connecting block and hook onto the push rod. The slide rod is ready to move vertically upward under the elastic force of the return spring. At this time, the barbed tabs are still stuck by the push rod. When the clamping mechanism fully releases the sampler, the elastic force of the telescopic spring will cause the push rod to move outward, separating the push rod from the reverse ratchet. Under the elastic force of the return spring, the slide rod, top cover, and droplet drift detection sensor will be ejected together and move upward. The purpose of the above structure is to ensure that the droplet drift detection sensor meets the height required by the test sample during the test. In addition, after compression, it does not take up much space when placed in the sampler storage device. After the test is completed, press down the top cover and re-lock the reverse ratchet into the bottom of the annular connecting block.

[0019] Preferably, a rechargeable battery is provided inside the sleeve to power the droplet drift detection sensor; a wireless charging device is provided between the sleeve and the material placement plate, the wireless charging device including a ring coil disposed in the middle of the sleeve and a wireless charger disposed on the material placement plate, the ring coil being connected to the rechargeable battery. By providing a wireless charging device, the rechargeable battery can be charged very conveniently, ensuring the stable operation of the droplet drift detection sensor.

[0020] Furthermore, the two reverse-ragged plates are trumpet-shaped, including a spring plate at the upper end and a hook portion extending outward from the lower end of the spring plate. This ensures that the slide bar can be smoothly extended when needed and can be reset after testing.

[0021] Preferably, the tracked vehicle body includes a chassis, tracks mounted on the chassis, and a drive motor for driving the tracks. A roof panel is provided on the chassis, and the disc and sampler storage device are both mounted on the roof panel. A power module is located inside the chassis, and a solar panel for charging the power module is located above the sampler storage device. The solar panel is connected to the roof panel via a support rod. In this structure, the power module provides power to the various motors of the automatic sampling trolley, and the solar panel also shields the sampler on the sampler storage device, preventing dust accumulation.

[0022] Preferably, the automatic pattern-laying trolley further includes a control module, which includes a microcontroller and pressure sensors disposed at the bottom of the drill bit slider, the top of the robotic arm slider, and on the gripper. The pressure sensors are connected to the microcontroller, which is connected to the droplet drift detection sensor, the drill bit drive motor, the drill bit vertical drive mechanism, the robotic arm vertical drive mechanism, the rotary drive motor, the gripping drive mechanism, the storage drive motor, and the walking drive motor. By setting up the above structure, automatic control of each mechanism can be achieved, and the pressure sensors can acquire pressure signals, thereby achieving precise pattern laying.

[0023] Compared with the prior art, the present invention has the following advantages:

[0024] 1. The automatic sampling trolley in this invention achieves automatic sampling through the cooperation of the tracked vehicle body, the punching and sampling device and the sampler storage device, which reduces manpower input, greatly reduces workload and improves sampling efficiency.

[0025] 2. The automatic sample placement trolley in this invention can achieve punching through a punching mechanism. The robotic arm can automatically grasp the sampler. After punching is completed, the rotation drive mechanism drives the punching mechanism and the robotic arm to rotate simultaneously until the punching mechanism and the robotic arm exchange positions. The position of the sampler corresponds to the position of the hole. The robotic arm releases the sampler, and the sampler falls into the hole under the action of gravity, thereby completing the sample placement. The sample placement accuracy is high, reducing test errors. The automatic sample placement trolley has a simple structure.

[0026] 3. The automatic sampling trolley in this invention adopts a tracked vehicle body, which can carry out sampling in relatively rugged field environments and is suitable for various terrains; it can achieve stable omnidirectional movement in relatively complex field environments, and the flexible omnidirectional movement ensures that the movement of the automatic sampling trolley is minimized during the operation of the trolley, thereby improving the working accuracy; the sampling range and distance can also be set as needed, and the sampling flexibility is high.

[0027] 4. The automatic sampling trolley in this invention can observe the droplet drift test results of agricultural drone spraying in real time through the droplet drift detection sensor, and the test results are highly accurate. Attached Figure Description

[0028] Figure 1 This is a three-dimensional structural schematic diagram of one specific embodiment of an automatic sampling vehicle for spray drift testing of a plant protection drone according to the present invention.

[0029] Figure 2 This is a side view of the automatic pattern-making trolley in this invention.

[0030] Figure 3 This is a side view of the punching and sampling device of the present invention.

[0031] Figure 4 This is a three-dimensional structural diagram of the punching and sampling device in this invention.

[0032] Figure 5 This is a three-dimensional structural diagram of the punching and sampling device in this invention from another perspective.

[0033] Figure 6 This is a three-dimensional structural diagram of the pad and connecting frame in this invention.

[0034] Figure 7 This is a three-dimensional structural diagram of the clamping mechanism in this invention.

[0035] Figure 8 This is a three-dimensional structural diagram of the sampler storage device in this invention.

[0036] Figure 9 This is a three-dimensional structural diagram of the sampler storage device in this invention, with some parts omitted.

[0037] Figure 10 This is a three-dimensional structural diagram of the sampler in this invention.

[0038] Figure 11 This is a cross-sectional view of the sampler in this invention.

[0039] Figure 12 for Figure 11 A magnified view of a portion of point A in the middle.

[0040] Figure 13 A partial structural diagram of the sampler in this invention.

[0041] Figure 14 This is a partially enlarged view of the internal structure of the sampler in this invention.

[0042] Figure 15 This is a schematic diagram of the tracked vehicle body in this invention.

[0043] Figure 16 This is a structural block diagram of the control module in this invention. Detailed Implementation

[0044] To enable those skilled in the art to fully understand the technical solutions of the present invention, the present invention will be further described below in conjunction with embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0045] See Figures 1-2 This embodiment discloses an automatic sampling vehicle for spray drift testing of a plant protection drone, including a tracked vehicle body 1, multiple samplers 2, a punching and sampling device 3 mounted on the tracked vehicle body 1, and a sampler storage device 13 for storing the samplers 2; wherein, the samplers 2 are equipped with a droplet drift detection sensor (not shown in the figure); the punching and sampling device 3 includes a punching mechanism 4 for punching holes, a robotic arm 5 for grasping the samplers 2 in the sampler storage device 13, and a rotary drive mechanism 6 for driving the punching mechanism 4 and the robotic arm 5 to rotate synchronously.

[0046] See Figures 1-2 The punching and sampling device 3 is located at the rear of the tracked vehicle body 1, and the sampler storage device 13 is located at the front of the tracked vehicle body 1.

[0047] See Figures 1-5The rotary drive mechanism 6 includes a disc 6-1 rotatably mounted on the tracked vehicle body 1 and a rotary drive assembly 6-2 for driving the disc 6-1 to rotate. A support plate 7 is provided on the disc 6-1. The punching mechanism 4 is located on one side of the support plate 7, and the robotic arm 5 is located on the other side of the support plate 7. In this structure, the punching mechanism 4 and the robotic arm 5 are arranged back-to-back. When the disc 6-1 is driven to rotate 180° by the rotary drive assembly 6-2, the positions of the punching mechanism 4 and the robotic arm 5 can be changed. This ensures that the sampler 2 on the robotic arm 5 corresponds to the hole punched by the punching mechanism 4, facilitating sample placement and making the structure more compact.

[0048] See Figures 1-5 The drilling mechanism 4 includes a drill bit slider 4-1 vertically slidably mounted on the support plate 7, a drill bit drive motor 4-2 mounted on the drill bit slider 4-1, a drill bit 4-3 mounted on the spindle of the drill bit drive motor 4-2, and a drill bit vertical drive mechanism 4-4 for driving the drill bit slider 4-1 to move in the vertical direction; wherein, the center point of the drill bit 4-3 and the center point of the sampler 2 after the robot arm 5 grasps the sampler 2 are located at the same point after rotating the disc 6-1 by 180°. The purpose is to achieve precise pattern layout. When the vertical drive mechanism 4-4 drives the drill slider 4-1 to move to the highest point, the drill 4-3 is in the starting position. During drilling, the drill 4-3 is driven to rotate by the drill drive motor 4-2, and the vertical drive mechanism 4-4 drives the drill slider 4-1 to move downward, which in turn drives the drill 4-3 to move downward, thus achieving drilling. After drilling is completed, the drill drive motor 4-2 reverses, and at the same time, the vertical drive mechanism 4-4 drives the drill slider 4-1 to move upward. After the drill 4-3 is in the starting position, the drill drive motor 4-2 and the vertical drive mechanism 4-4 stop moving.

[0049] See Figures 1-5 The support plate 7 is disposed on one side of the disc 6-1, eccentrically positioned relative to the rotation center of the disc 6-1. Its purpose is to ensure that after the disc 6-1 rotates 180°, the axis of the perforation coincides with the axis of the sampler 2 held by the robotic arm 5, achieving precise sample placement.

[0050] See Figures 1-5The robotic arm 5 includes a robotic arm slider 5-1 vertically slidably mounted on the support plate 7, a connecting arm 5-2 mounted on the robotic arm slider 5-1, a clamping mechanism 5-3 at the end of the connecting arm 5-2 for gripping the sampler 2, and a robotic arm vertical drive mechanism 5-4 for driving the robotic arm slider 5-1 to move vertically. The clamping mechanism 5-3 includes a clamping mounting bracket 5-31 at the end of the connecting arm 5-2, two clamping claws 5-32 oppositely mounted on the clamping mounting bracket 5-31, and a clamping drive mechanism for driving the two clamping claws 5-32 to move synchronously closer and further away. The center point of the clamping mechanism 5-3 after gripping the sampler 2 is located at the same point as the center point of the drill bit 4-3 after rotating 180°. This is to achieve precise sample placement and reduce the need for complex motion and precision control system design.

[0051] In this embodiment, the robotic arm 5 has no extension or retraction action. Instead, it is designed to perform both gripping and releasing actions, resulting in a simpler structure.

[0052] See Figures 1-5 and Figure 7 The clamping drive mechanism includes two clamping driven gears 5-33 rotatably mounted on the clamping mounting frame 5-31 and meshing with each other, a clamping drive motor 5-34 mounted on the clamping mounting frame 5-31, and a clamping drive gear 5-35; the clamping claw 5-32 includes a clamping claw body 5-321, a first connecting rod 5-322 and a second connecting rod 5-323 disposed between the clamping claw body 5-321 and the clamping mounting frame 5-31; wherein, the two clamping driven gears 5-33 and the two first... Links 5-322 are arranged in a one-to-one correspondence; one end of the first link 5-322 is hinged to the first end of the gripper body 5-321, and the other end is fixedly connected to the gripping driven gear 5-33; one end of the second link 5-323 is hinged to the middle of the gripper 5-32, and the other end is hinged to the end of the gripping mounting bracket 5-31; the gripping drive gear 5-35 is connected to the main shaft of the gripping drive motor 5-34, and meshes with one of the gripping driven gears 5-33. During clamping, the clamping drive motor 5-34 drives the clamping active gear 5-35 to rotate, which in turn drives the clamping driven gear 5-33 to rotate. The two clamping driven gears 5-33 move in opposite directions, which in turn drives the two first connecting rods 5-322 to move closer to each other. With the cooperation of the second connecting rod 5-323, the two clamping claw bodies 5-321 move closer to each other, thus achieving the clamping of the sampler 2. When releasing, the clamping drive motor 5-34 simply rotates in the opposite direction.

[0053] See Figures 1-5The drill bit vertical drive mechanism 4-4 includes a drill bit vertical drive motor 4-41 disposed on the top of the support plate 7 and a first lead screw transmission mechanism 4-42 disposed between the drill bit vertical drive motor 4-41 and the drill bit slider 4-1.

[0054] The vertical drive mechanism 5-4 of the robotic arm includes a vertical drive motor 5-41 mounted on the top of the support plate 7 and a second lead screw transmission mechanism 5-42 disposed between the vertical drive motor 5-41 and the robotic arm slider 5-1. The drill slider 4-1, the robotic arm slider 5-1, and the support plate 7 are all slidably connected by a vertical guide rod 8, which serves as a guide and improves the stability of the movement of the drill slider 4-1 and the robotic arm slider 5-1.

[0055] See Figures 1-5 The rotary drive assembly 6-2 includes a gear disk 6-21 coaxially arranged with the disc 6-1, a rotary drive motor 6-22 disposed within the tracked vehicle body 1, and a rotary drive gear 6-23 disposed on the main shaft of the rotary drive motor 6-22 and meshing with the gear disk 6-21. With this structure, the rotary drive motor 6-22 drives the rotary drive gear 6-23 to move, causing the gear disk 6-21 to rotate, which in turn drives the disc 6-1 to rotate, thereby realizing the rotation of the robotic arm 5 and the punching mechanism 4.

[0056] See Figure 3 and Figures 5-6 The tracked vehicle body 1 is equipped with a pad 9, and a rotary guide mechanism is provided between the pad 9 and the gear disk 6-21. The rotary guide mechanism includes a circular guide rail 10 disposed at the lower end of the gear disk 6-21 and a plurality of guide rollers 11 disposed on the pad 9 and distributed along the circumference. The guide rollers 11 are connected to the circular guide rail 10. The purpose is to ensure the stability of the rotation of the gear disk 6-21 and to reduce friction.

[0057] See Figure 3 and Figures 5-6 A connecting frame 12 is provided between the guide roller 11 and the pad 9. The connecting frame 12 includes a ring 12-1 with a through hole and multiple strips 12-2 arranged on the ring 12-1 and distributed in a circumferential direction. The guide roller 11 is located at the end of the strips 12-2. The ring 12-1 is rotatably connected to the gear disk 6-21. The purpose is to ensure the stability of the structure, make the gear disk 6-21 rotate more smoothly, and also facilitate the installation of the guide roller 11.

[0058] See Figures 1-5 and Figures 8-9The sampler storage device 13 includes a support frame 13-1 mounted on the tracked vehicle body 1, four sprocket assemblies arranged around the support frame 13-1, a chain assembly mounted on the sprocket assemblies, multiple storage plates 13-2 mounted on the chain assemblies, and a storage drive motor 13-3 for driving the sprocket assemblies to rotate; wherein each sprocket assembly includes an upper sprocket 13-4 and a lower sprocket 13-5 coaxially arranged; the chain assembly includes an upper chain 13-6 and a lower chain 13-5. 3-7; wherein, the upper chain 13-6 is sequentially connected to four upper sprockets 13-4; the lower chain 13-7 is sequentially connected to four lower sprockets 13-5; the storage drive motor 13-3 is connected to one of the sprocket assemblies; multiple material placement plates 13-2 are evenly distributed along the rotation direction of the chain assembly, the upper end of the material placement plate 13-2 is fixedly connected to the upper chain 13-6, and the lower end is fixedly connected to the lower chain 13-7; the sampler 2 is fixed to the material placement plate 13-2 by magnetic attraction. In the above structure, when the robotic arm 5 takes samples, after the clamping mechanism 5-3 clamps the sampler 2 on the material plate 13-2, the vertical drive mechanism 5-4 of the robotic arm drives the robotic arm slider 5-1 to move upward, causing the clamping mechanism 5-3 and the sampler 2 to move upward together. The sampler 2 overcomes the magnetic force of the material plate 13-2 and separates from the material plate 13-2. After being clamped, the sampler 2 can be smoothly rotated by the drive of the rotation drive motor 6-22. After the clamping is completed, the storage drive motor 13-3 drives the sprocket assembly to move, which drives the chain assembly to move, so that the next sampler 2 moves to the position of the previous sampler 2, waiting for the clamping mechanism 5-3 to clamp the next sampler 2.

[0059] See Figures 8-9 When the sampler 2 is placed on the material plate 13-2, the sampler 2 is tangent to the material plate 13-2 and vertically downward; the material plate 13-2 is connected to the chain assembly through a special buckle.

[0060] See Figure 8 The drive motor 13-3 and the sprocket assembly are connected by a chain drive mechanism 13-8.

[0061] See Figures 8-13The sampler 2 includes a sampler body 2-1, a guide tube 2-2, a slide rod 2-3, a top cover 2-4, a push rod 2-5, a return spring 2-6, and a telescopic spring 2-7; wherein, the sampler body 2-1 includes a sleeve 2-11 and a conical counterweight 2-12 disposed at the lower end of the sleeve 2-11; the guide tube 2-2 is located inside the sleeve 2-11 and is fixedly connected to the sleeve 2-11, and the lower end of the guide tube 2-2 is connected to the inner wall of the sleeve 2-11 by an annular connecting block 2-1 with a through hole. 8. Connection; the lower end of the guide tube 2-2 communicates with the through hole of the annular connecting block 2-8; the slide rod 2-3 is sleeved inside the guide tube 2-2 and slidably connected with the guide tube 2-2; the top cover 2-4 is disposed at the upper end of the slide rod 2-3; the lower end of the slide rod 2-3 is provided with a barbed structure, the barbed structure including two oppositely arranged and rotatably disposed at the lower end of the slide rod 2-3 and a support spring 2-10 disposed between the two barbed pieces 2-9; the return spring 2- 6 sleeves are fitted outside the guide tube 2-2. The upper end of the return spring 2-6 acts on the top cover 2-4, and the lower end acts on the annular connecting block 2-8. The barbed structure passes through the through hole of the annular connecting block 2-8. Under the elastic force of the return spring 2-6, the barbed piece 2-9 hooks onto the bottom of the annular connecting block 2-8. The sleeve 2-11 has mounting holes 2-13 on both sides. The mounting holes 2-13 pass through the annular connecting block 2-8 and communicate with the through hole of the annular connecting block 2-8. The mounting hole 2-13 passes through the annular connecting block 2-8 and communicates with the through hole of the annular connecting block 2-8. The positions of mounting holes 2-13 correspond to the positions of the reverse ratchet 2-9; two push rods 2-5 are provided, each set in one of the two mounting holes 2-13; two telescopic springs 2-7 are provided, each sleeved on one of the two push rods 2-5; one end of the telescopic spring 2-7 acts on the push rod 2-5, and the other end acts on the annular connecting block 2-8; the droplet drift detection sensor is set on the top cover 2-4, specifically, the droplet drift detection sensor is embedded in the top cover 2-4.In the above structure, when the sampler 2 is placed on the material plate 13-2, the barbed tabs 2-9 pop outward under the elastic force of the support spring 2-10 and hook the bottom of the annular connecting block 2-8, so that the return spring 2-6 is in a compressed state. When the clamping mechanism 5-3 clamps the sampler 2, the clamping claw 5-32 is positioned exactly corresponding to the push rod 2-5. The clamping claw 5-32 will overcome the elastic force of the telescopic spring 2-7 and push the push rods 2-5 on both sides of the sampler 2 inward. Under the push of the push rod 2-5, the two barbed tabs 2-9 will overcome the elastic force of the support spring 2-10 and close together. The barbed tabs 2-9 will detach from the bottom of the annular connecting block 2-8, enter the through hole of the annular connecting block 2-8, move upward a short distance (the upward movement is powered by the elastic force of the return spring 2-6), and hook the push rod. 2-5, the slide bar 2-3 is ready to move vertically upward under the elastic force of the return spring 2-6. At this time, the reverse ratchet 2-9 is still held by the push bar 2-5. When the clamping mechanism 5-3 completely releases the sampler 2, the elastic force of the telescopic spring 2-7 will cause the push bar 2-5 to move outward, so that the push bar 2-5 and the reverse ratchet 2-9 are separated. Under the elastic force of the return spring 2-6, the slide bar 2-3, the top cover 2-4 and the droplet drift detection sensor are ejected together and move upward. The purpose of the above structure is to ensure that the droplet drift detection sensor meets the height required by the test sample during the test. In addition, after compression, it does not take up space when placed in the sampler storage device 13. After the test is completed, press down the top cover 2-4 and re-lock the reverse ratchet 2-9 into the bottom of the annular connecting block 2-8.

[0062] See Figure 14 After the push rod 2-5 separates from the ratchet 2-9, in order to allow the slide rod 2-3 to smoothly slide into the interior of the guide tube 2-2 from its lower end, an arc-shaped guide surface 2-14 is provided at the lower end of the guide tube 2-2. This guide surface guides the ratchet 2-9 into the interior of the guide tube 2-2, preventing the ratchet 2-9 from getting stuck at the lower end of the guide tube 2-2 when the slide rod 2-3 pops out. Furthermore, arc-shaped guide surfaces 2-14 are provided at the lower end of the guide tube 2-2 and the upper end of the annular connecting block 2-8. The arc-shaped guide surfaces 2-14 form a trumpet-shaped opening, which guides the ratchet 2-9.

[0063] See Figure 13 The slide rod 2-3 is provided with guide and limiting protrusions 2-31 on both sides to ensure that the slide rod 2-3 will not rotate when it slides on the guide tube 2-2.

[0064] See Figures 1-5 and Figure 12 When the robotic arm slider 5-1 is at its lowest position, the position of the gripper 5-32 is at the same point as the position of the push rod 2-5 of the sampler 2 to be gripped; this reduces the need for complex motion and precision control system design.

[0065] See Figures 8-13 The sleeve 2-11 houses a rechargeable battery 14, which powers the droplet drift detection sensor. A wireless charging device is provided between the sleeve 2-11 and the material placement plate 13-2. The wireless charging device includes a ring coil 15 located in the middle of the sleeve 2-11 and a wireless charger 16 located on the material placement plate 13-2. The ring coil 15 is connected to the rechargeable battery 14. By providing a wireless charging device, the rechargeable battery 14 can be charged very conveniently, ensuring the stable operation of the droplet drift detection sensor.

[0066] Furthermore, the two tabs 2-9 are trumpet-shaped, including a mounting plate at the upper end and a hook portion extending outward from the lower end of the mounting plate. This ensures that the slide bar 2-3 can be smoothly ejected when needed and can be reset after testing.

[0067] See Figures 1-2 and Figure 15 The tracked vehicle body 1 includes a chassis 1-1, tracks 1-2 mounted on the chassis 1-1, and a drive motor 1-3 for driving the tracks 1-2. A roof plate 1-11 is mounted on the chassis 1-1, and the disc 6-1 and the sampler storage device 13 are both mounted on the roof plate 1-11. A power module 17 is located inside the chassis 1-1, and a solar panel 18 for charging the power module 17 is located above the sampler storage device 13. The solar panel 18 is connected to the roof plate 1-11 via a support rod 19. In this structure, the power module 17 provides power to the various motors of the automatic sampling trolley, and the solar panel 18 also shields the sampler 2 on the sampler storage device 13, preventing dust accumulation.

[0068] See Figures 1-9 and Figure 15 The rotary drive motor 6-22, the storage drive motor 13-3, the chain transmission mechanism 13-8, the walking drive motor 1-3, and the power module 17 are all located inside the chassis 1-1; the power module 17 is located between the rotary drive motor 6-22 and the chain transmission mechanism 13-8, which facilitates the wiring layout.

[0069] See Figure 1 and Figure 3 The rear ends of the chassis 1-1 and the roof panel 1-11 are concave to facilitate drilling by the drill bit 4-3.

[0070] See Figures 1-9 and Figures 15-16The automatic pattern-laying trolley also includes a control module, which comprises a microcontroller and pressure sensors mounted on the bottom of the drill bit slider 4-1, the upper part of the robotic arm slider 5-1, and the gripper 5-32. The pressure sensors are connected to the microcontroller, which in turn is connected to the droplet drift detection sensor, the drill bit drive motor 4-2, the drill bit vertical drive motor 4-41, the robotic arm vertical drive motor 5-41, the rotary drive motor 6-22, the gripper drive motor 5-34, the storage drive motor 13-3, and the walking drive motor 1-3. By setting up this structure, automatic control of each mechanism can be achieved, and the pressure sensors can acquire pressure signals, thereby enabling precise pattern laying.

[0071] See Figures 1-3 The starting position of drill bit 4-3 is at the top, and the starting position of robot arm 5 is at the bottom.

[0072] See Figures 1-16 The working principle of the automatic sampling vehicle in the above-mentioned agricultural drone spray drift test is as follows:

[0073] After the column and row spacing of the pattern are pre-planned, the automatic pattern-making trolley travels to the first pattern-making point, and the drilling mechanism 4 starts working. At this time, the drill bit 4-3 is in the initial position, that is, the drill bit 4-3 is at the top. First, the drill bit drive motor 4-2 rotates clockwise, driving the drill bit 4-3 to rotate. At the same time, the drill bit vertical drive motor 4-41 also rotates clockwise, driving the drill bit 4-3 to move downwards and drill holes in the field. The clamping drive motor 5-34 at the bottom drives the two clamping claws 5-32. When sampler 2 is clamped, push rod 2-5 in sampler 2 is squeezed, and telescopic spring 2-7 is compressed. Push rod 2-5 pushes the reverse ratchet 2-9, and the two reverse ratchet 2-9 come together. The reverse ratchet 2-9 is hooked by push rod 2-5, and slide rod 2-3 is ready to move vertically upward under the elastic force of return spring 2-6. During the clamping process, the pressure sensor on clamping claw 5-32 will receive a signal and transmit it to the microcontroller. The microcontroller controls the storage drive motor 13-3 to prepare for operation.

[0074] As the drill bit vertical drive motor 4-41 rotates forward, driving the drill bit 4-3 downwards, the drill bit slider 4-1 reaches its bottom. At this point, the pressure sensor at the bottom of the slider 4-1 is compressed and sends a signal. The microcontroller receives the signal and then controls the drill bit vertical drive motor 4-41 to rotate in reverse, as well as the robotic arm vertical drive motor 5-41 to rotate in reverse. The reverse rotation of the drill bit vertical drive motor 4-41 drives the drill bit 4-3 upwards, bringing it back to its initial position. The reverse rotation of the robotic arm vertical drive motor 5-41 drives the robotic arm 5 and the sampler 2 held on it upwards together. When the robotic arm slider 5-1 reaches its top, the robotic arm slider... The pressure sensor on top of block 5-1 is squeezed and sends a signal. The microcontroller receives the signal and then controls the rotary drive motor 6-22 to rotate the disc 6-1 180° clockwise. After rotating 180°, the rotary drive motor 6-22 stops working for two seconds. The sampler 2, held by the robotic arm 5, is now above the hole drilled by the drill bit 4-3. The microcontroller controls the clamping drive motor 5-34 to release the clamping claw 5-32. The push rod 2-5 of the sampler 2 will reset under the elastic force of the telescopic spring 2-7, and the slide rod 2-3 will pop out under the action of the return spring 2-6. The sampler 2 will fall vertically into the hole under the action of gravity from the conical counterweight 2-12 at the bottom. The droplet drift detection sensor starts working. The rechargeable battery 14 of the sampler 2 has been fully charged by the wireless charging device before working. After sampling, press the top cover 2-4 of the sampler 2 to reset the sampler 2 and place it on the material placement plate 13-2.

[0075] After the robotic arm 5 releases the sampler 2, the storage drive motor 13-3 starts working. The microcontroller controls the speed, time, and other operating parameters of the storage drive motor 13-3, causing the next sampler 2 to move to the position of the previous sampler 2. Since the material plate 13-2 and the sampler 2 are evenly arranged in a ring, the operating parameters of the storage drive motor 13-3 are a specific value. Two seconds later, the microcontroller controls the walking drive motor 1-3 to move the automatic sampling carriage to the next sampling point; the rotation drive motor 6-22 continues to rotate 180° clockwise, and the robotic arm vertical drive motor 5-41 rotates clockwise, causing the robotic arm 5 to move to the bottom and return to its original position. The above actions are repeated until the sampling task is completed. During the test, the droplet drift detection sensor can detect and transmit data during the drone spraying in real time, enabling real-time observation of the drone spraying droplet drift test results.

[0076] The above are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above content. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. An automatic sampling trolley for spray drift testing of agricultural drones, characterized in that, The device includes a tracked vehicle body, multiple samplers, a punching and sampling device mounted on the tracked vehicle body, and a sampler storage device for storing the samplers; wherein, each sampler is equipped with a droplet drift detection sensor; the punching and sampling device includes a punching mechanism for punching holes, a robotic arm for gripping the samplers in the sampler storage device, and a rotary drive mechanism for driving the punching mechanism and the robotic arm to rotate synchronously; The sampler includes a sampler body, a guide tube, a slide rod, a top cover, a push rod, a return spring, and a telescopic spring. The sampler body includes a sleeve and a conical counterweight at the lower end of the sleeve. The guide tube is located inside the sleeve, and its lower end is connected to the inner wall of the sleeve via an annular connecting block with a through hole. The slide rod is sleeved inside the guide tube and slidably connected to it. The top cover is located at the upper end of the slide rod. The lower end of the slide rod has a barbed structure, which includes two opposing and rotatably mounted barbed pieces and a support spring positioned between the two barbed pieces. The return spring is sleeved... Outside the guide tube, the upper end of the return spring acts on the top cover, and the lower end acts on the annular connecting block; under the elastic force of the return spring, the barbed tab hooks onto the bottom of the annular connecting block; mounting holes are provided on both sides of the sleeve, the mounting holes pass through the annular connecting block and communicate with the through hole of the annular connecting block; the position of the mounting hole corresponds to the position of the barbed tab; two push rods are provided, each set in one of the two mounting holes; two telescopic springs are provided, each sleeved on one of the two push rods; one end of the telescopic spring acts on the push rod, and the other end acts on the annular connecting block; the droplet drift detection sensor is set on the top cover.

2. The automatic sampling trolley for spray drift testing of a plant protection drone according to claim 1, characterized in that, The rotary drive mechanism includes a disc rotatably mounted on the tracked vehicle body and a rotary drive assembly for driving the disc to rotate; a support plate is provided on the disc, the punching mechanism is provided on one side of the support plate, and the robotic arm is provided on the other side of the support plate.

3. The automatic sampling trolley for spray drift testing of a plant protection drone according to claim 2, characterized in that, The drilling mechanism includes a drill bit slider that is vertically slidably mounted on the support plate, a drill bit drive motor mounted on the drill bit slider, a drill bit mounted on the spindle of the drill bit drive motor, and a drill bit vertical drive mechanism for driving the drill bit slider to move in the vertical direction; wherein, the center point of the drill bit and the center point of the sampler after the robot arm grasps the sampler are located at the same point after rotating the disk 180°.

4. The automatic sampling trolley for spray drift testing of a plant protection drone according to claim 3, characterized in that, The robotic arm includes a robotic arm slider vertically slidably mounted on the support plate, a connecting arm mounted on the robotic arm slider, a gripping mechanism at the end of the connecting arm for grasping a sampler, and a robotic arm vertical drive mechanism for driving the robotic arm slider to move vertically; wherein, the gripping mechanism includes a gripping mounting frame at the end of the connecting arm, two gripping claws disposed opposite to each other on the gripping mounting frame, and a gripping drive mechanism for driving the two gripping claws to move synchronously closer and further away.

5. The automatic sampling trolley for spray drift testing of a plant protection drone according to claim 4, characterized in that, The rotary drive assembly includes a gear disk coaxially arranged with the disc, a rotary drive motor disposed in the tracked vehicle body, and a rotary drive gear disposed on the main shaft of the rotary drive motor and meshing with the gear disk.

6. The automatic sampling trolley for spray drift testing of a plant protection drone according to claim 5, characterized in that, The sampler storage device includes a support frame mounted on the tracked vehicle body, four sprocket assemblies arranged around the support frame, a chain assembly mounted on the sprocket assemblies, multiple storage plates mounted on the chain assemblies, and a storage drive motor for driving the sprocket assemblies to rotate. Each sprocket assembly includes an upper sprocket and a lower sprocket arranged coaxially. The chain assembly includes an upper chain and a lower chain. The upper chain is sequentially connected to the four upper sprockets, and the lower chain is sequentially connected to the four lower sprockets. The storage drive motor is connected to one of the sprocket assemblies. The multiple storage plates are distributed along the rotation direction of the chain assemblies, with the upper end of each storage plate fixedly connected to the upper chain and the lower end fixedly connected to the lower chain. The sampler is fixed to the storage plate by magnetic attraction.

7. The automatic sampling trolley for spray drift testing of a plant protection drone according to claim 6, characterized in that, The sleeve contains a rechargeable battery for powering the droplet drift detection sensor; a wireless charging device is provided between the sleeve and the material placement plate, the wireless charging device including a ring coil disposed in the middle of the sleeve and a wireless charger disposed on the material placement plate, the ring coil being connected to the rechargeable battery.

8. The automatic sampling trolley for spray drift testing of a plant protection drone according to claim 7, characterized in that, The tracked vehicle body includes a chassis, tracks mounted on the chassis, and a drive motor for driving the tracks; a roof plate is provided on the chassis, and the disc and sampler storage device are both mounted on the roof plate; a power module is provided inside the chassis, and a solar panel for charging the power module is provided above the sampler storage device, and the solar panel is connected to the roof plate by a support rod.

9. The automatic sampling trolley for spray drift testing of a plant protection drone according to claim 8, characterized in that, The automatic sampling trolley also includes a control module, which includes a microcontroller and pressure sensors disposed at the bottom of the drill bit slider, the top of the robotic arm slider, and the gripper. The pressure sensors are connected to the microcontroller, which is connected to the droplet drift detection sensor, the drill bit drive motor, the drill bit vertical drive mechanism, the robotic arm vertical drive mechanism, the rotary drive motor, the gripping drive mechanism, the storage drive motor, and the walking drive motor.

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