Unmanned aerial vehicle disc spreading anti-blocking function simulation test system, method, medium, program product and terminal

Abstract

The unmanned aerial vehicle spreading disc anti-blocking function simulation test system, method, medium, program product and terminal provided by the application can verify the anti-blocking function at high frequency and for a long time, and the design is simple, practical and efficient, can fully verify the anti-blocking function, and ensure the function reliability. At the same time, in order to ensure the safety of the test process, the application also adds a position sensor to monitor and accurately limit the stroke of the motor rod, realizing safe and controllable automatic test.

Description

Technical Field

[0001] This application relates to the field of drone seeding disc technology, and in particular to a simulation test system, method, medium, program product and terminal for the anti-clogging function of drone seeding discs. Background Technology

[0002] In modern agriculture, drone seeding technology is widely used for the application of pesticides, fertilizers, seeds, and other materials due to its high efficiency and precision. The seeding system, as the core actuator of the agricultural drone, directly determines the efficiency and quality of the operation. The seeding disc, a key structural component of the system, is typically driven by a servo motor to open and close its hatch for precise material delivery. However, in actual operation, factors such as material clumping, foreign object contamination, or changes in humidity can cause the hatch to jam, leading to blockages. Blockages not only reduce operational efficiency but can also cause uneven seeding, affecting crop growth and even causing drone load imbalance, increasing safety risks.

[0003] To address the issue of seeding disc clogging, existing agricultural drone seeding systems are typically designed with anti-clogging functions. However, current testing methods for verifying the stability of these anti-clogging functions have numerous limitations, severely hindering further performance improvements and optimizations of agricultural drone seeding systems. One current testing method involves using a feeder to continuously add material to the drone's seeding disc, which then distributes the seed. This method can only trigger clogging with a very low probability, making it impossible to verify the stability of the anti-clogging function over extended periods and multiple times, resulting in significant testing inefficiency. Another method involves manually creating clogging conditions, such as continuously inserting obstacles into the hatch to simulate clogging. However, this method is not only labor-intensive and inefficient but also difficult to implement for long-term continuous operation, leading to insufficient testing. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the present invention provides a simulation test system, method, medium, program product and terminal for anti-clogging function of drone seeding disk, which solves the problems of low test efficiency and insufficient test in the existing anti-clogging verification methods.

[0005] To achieve the above and other related objectives, a first aspect of this application provides a simulation test system for the anti-clogging function of a drone seeding disk, comprising: a host computer, a CAN box, a clogging simulation device, and a drone seeding disk under test; the host computer is connected to the CAN box; the CAN box is connected to both the clogging simulation device and the drone seeding disk under test; the motor rod of the clogging simulation device extends into the hatch of the drone seeding disk under test; wherein, the CAN box is used to generate corresponding control signals according to control commands sent by the host computer; the control signals include motor rod control signals; the clogging simulation device is used to adjust the position of the motor rod within the hatch of the drone seeding disk under test in real time according to the motor rod control signals, so as to simulate different clogging states of the drone seeding disk after the drone seeding disk under test performs a hatch closing operation; the host computer is used to read CAN data under different clogging states of the drone seeding disk under test in real time through the CAN box, and parse the CAN data to determine whether a stall fault code is generated, so as to obtain the anti-clogging function test results under different clogging states.

[0006] In some embodiments of the first aspect of this application, the seeding disk of the UAV under test is provided with a first position sensor and a second position sensor; the adjustment range of the position of the motor rod inside the hatch of the seeding disk of the UAV under test is limited by the first position sensor and the second position sensor.

[0007] In some embodiments of the first aspect of this application, the blockage simulation device includes a first motor and a second motor, with the motor rod disposed on the first motor; the second motor drives the first motor to move, thereby moving the motor rod.

[0008] In some embodiments of the first aspect of this application, the host computer uses a linear compensation algorithm to calculate and obtain the movement path plan of the motor rod of the blockage simulation device within the hatch of the seeding disk of the UAV under test, and converts the movement path plan into motor rod control commands; the CAN box receives the motor rod control commands and generates motor rod control signals.

[0009] In some embodiments of the first aspect of this application, the host computer sends a hatch opening command or a hatch closing command to the CAN box; the CAN box receives the hatch opening command or the hatch closing command and generates a corresponding hatch opening signal or hatch closing signal; the UAV seeding disk under test performs the corresponding hatch opening operation or hatch closing operation according to the hatch opening signal or the hatch closing signal.

[0010] In some embodiments of the first aspect of this application, the CAN box is connected to the drone-to-be-tested seeding disk via a CAN bus.

[0011] To achieve the above and other related objectives, a second aspect of this application provides a method for simulating the anti-clogging function of a drone seeding disk, applied to the aforementioned anti-clogging function simulation testing system for a drone seeding disk. The method includes: generating a corresponding control signal based on a control command sent by a host computer; the control signal including a motor control signal; adjusting the position of the motor within the hatch of the drone seeding disk under test in real time according to the motor control signal, to simulate different clogging states of the drone seeding disk after the hatch closes; reading CAN data under different clogging states of the drone seeding disk under test in real time via a CAN box, parsing the CAN data, and determining whether a stall fault code is generated, to obtain anti-clogging function test results under different clogging states.

[0012] To achieve the above and other related objectives, a third aspect of this application provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements a method for simulating and testing the anti-clogging function of the drone seeding disk.

[0013] To achieve the above and other related objectives, a fourth aspect of this application provides a computer program product comprising computer program code, which, when executed on a computer, enables the computer to implement a simulation test method for the anti-blocking function of the drone seeding disk.

[0014] To achieve the above and other related objectives, a fifth aspect of this application provides an electronic terminal, including a memory, a processor, and a computer program stored in the memory; the processor executes the computer program to implement a method for simulating the anti-clogging function of the drone seeding disk.

[0015] As described above, the anti-clogging function simulation test system, method, medium, program product, and terminal for drone seeding disks provided in this application have the following beneficial effects:

[0016] This application allows for high-frequency and long-term verification of the anti-clogging function. Its design is simple, practical, and efficient, ensuring thorough verification of the anti-clogging function and guaranteeing its reliability. Furthermore, to ensure the safety of the testing process, this application incorporates a position sensor for real-time monitoring and precise limiting of the motor rod's travel, achieving safe and controllable automated testing. Attached Figure Description

[0017] Figure 1 The diagram shown is a structural schematic of a simulation test system for the anti-clogging function of a drone seeding disk according to an embodiment of this application.

[0018] Figure 2 The figure shown is a specific embodiment of a simulation test of the anti-clogging function of a drone seeding disk in one embodiment of this application.

[0019] Figure 3 The diagram shown is a flowchart illustrating a simulation test method for the anti-clogging function of a drone seeding disk according to an embodiment of this application.

[0020] Figure 4 The diagram shown is a structural schematic of an electronic terminal according to an embodiment of this application. Detailed Implementation

[0021] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, unless otherwise specified, the following embodiments and features in the embodiments can be combined with each other.

[0022] To facilitate understanding of the embodiments of this application, firstly, in conjunction with Figure 1 and Figure 2 Detailed explanation. Figure 1 This illustration shows a structural diagram of a drone seeding disk anti-clogging function simulation test system according to an embodiment of the present invention. The drone seeding disk anti-clogging function simulation test system in this embodiment includes: a host computer 1, a CAN box 2, a clogging simulation device 3, and a drone seeding disk 4 under test; the host computer 1 is connected to the CAN box 2; the CAN box 2 is connected to both the clogging simulation device 3 and the drone seeding disk 4 under test; the motor rod 31 of the clogging simulation device 3 extends into the hatch 41 of the drone seeding disk 4 under test.

[0023] The CAN box 2 is used to generate corresponding control signals according to the control commands sent by the host computer 1; the control signals include motor rod control signals.

[0024] The blockage simulation device 3 is used to adjust the position of the motor rod 31 inside the hatch 41 of the drone seeding disk 4 under test in real time according to the motor rod control signal, so as to simulate different blockage states of the drone seeding disk after the drone seeding disk 4 under test performs the hatch 41 closing operation.

[0025] The host computer 1 is used to read CAN data in real time from the CAN box 2 under different blocking conditions of the seeding disk 4 of the drone under test, and to parse the CAN data to determine whether a stall fault code is generated, so as to obtain the anti-blocking function test results under different blocking conditions.

[0026] It's important to explain that the drone is equipped with a spreading disc designed for the uniform spreading of small-particle materials such as fertilizers, seeds, and feed, suitable for applications like sowing and fertilization. However, in actual operation, significant differences in the physical properties of different materials—for example, fertilizers are prone to clumping due to moisture absorption, and seeds may become damp and sticky due to improper storage—along with varying surface textures (serrated or smooth), all affect their flow properties within the spreading disc. Different material forms can become stuck at the disc's openings, causing partial or complete blockages. This leads to material supply interruptions, uneven distribution, and ultimately, decreased efficiency and increased rework rates. Therefore, an anti-clogging function is incorporated into the drone's spreading disc to monitor blockages in real time. Specifically, when the hatch is blocked, a stall fault code will be generated and transmitted to the backend via the CAN bus. If the stall fault code is detected, the drone will hover or return to home and notify the user to check the spreading tray to avoid missed spreading and uneven spreading, thereby improving operational efficiency.

[0027] This embodiment constructs a simulation test system for the anti-clogging function of the drone seeding disk to verify the anti-clogging function of the drone seeding disk at high frequency. Specifically, as... Figure 2 As shown, the blockage simulation device 3 in the system can simulate the blockage scenarios that may occur in the spreader compartment 41 of various materials in actual operation by controlling the motor rod 31. For example, by extending the motor rod 31 into the compartment 41 of the spreader compartment 4 of the drone under test and dynamically adjusting its position, different blockage states such as material stuck at the entrance of the compartment 41, complete blockage, and partial blockage can be simulated.

[0028] During testing, when the motor rod 31 actively blocks the hatch 41, its anti-blocking function is verified in real time to determine whether a stall fault code is generated. Simultaneously, by controlling the reciprocating movement of the motor rod 31 within the hatch 41, the stability of stall fault code generation each time the hatch 41 is blocked can be detected, as well as whether the stall fault code disappears after the obstacle is removed. Through these simulation tests, the anti-blocking function of the UAV's seeding disc under different blockage conditions can be fully and efficiently verified.

[0029] In one embodiment of this application, the host computer 1 sends a hatch opening command or a hatch closing command to the CAN box 2; the CAN box 2 receives the hatch opening command or the hatch closing command and generates a corresponding hatch opening signal or hatch closing signal; the UAV seeding disk 4 under test performs the corresponding hatch opening operation or hatch closing operation according to the hatch opening signal or the hatch closing signal.

[0030] In some examples, the control commands sent by the host computer 1 include, but are not limited to: hatch opening commands, hatch closing commands, and motor control commands. The control signals include, but are not limited to: hatch opening signals, hatch closing signals, and motor control signals. The host computer 1 and the CAN box 2 are connected via a CAN bus. The host computer 1 sends control commands to the CAN box 2, and the CAN box 2 generates corresponding control signals based on the received control commands. For example, the CAN box 2 generates a hatch opening signal based on a hatch opening command, a hatch closing signal based on a hatch closing command, and a motor control signal based on a motor control command, etc.

[0031] In some examples, the drone-to-be-tested seeding disk 4 receives a hatch opening signal sent by the host computer 1 via the CAN box 2. The drone-to-be-tested seeding disk 4 then performs a hatch opening operation based on the hatch opening signal, and the hatch 41 opens. The CAN box features high bandwidth and low latency, enabling real-time transmission of signals and data.

[0032] In some examples, after the hatch 41 of the drone-to-be-tested seeding disk 4 is opened, the blockage simulation device 3 receives a motor control signal sent by the host computer 1 through the CAN box 2. The motor rod 31 of the blockage simulation device 3 extends into the hatch 41 of the drone-to-be-tested seeding disk 4 according to the motor rod control signal. After the hatch 41 is closed, the motor rod 31 blocks the hatch 41, simulating the blockage state of the hatch 41.

[0033] In some examples, the CAN box 2 is connected to the UAV-to-Test (UTT) seeding disk 4 via a CAN bus. When the hatch 41 of the UAV-to-Test seeding disk 4 is jammed by the motor rod 31, the UAV-to-Test seeding disk 4 sends CAN data to the CAN box 2 via the CAN bus. The CAN box 2 then sends the CAN data to the host computer 1. The host computer 1 parses the CAN data and determines whether a stall fault code is generated. If a stall fault code is generated, it indicates that the anti-clogging function of the UAV-to-Test seeding disk 4 has been triggered.

[0034] In one embodiment of this application, as Figure 2As shown, the test drone seeding tray 4 is equipped with a first position sensor 411 and a second position sensor 412; the first position sensor 411 and the second position sensor 412 limit the adjustment range of the position of the motor rod 31 within the hatch 41 of the test drone seeding tray.

[0035] Specifically, the adjustment range of the motor rod 31 is its movement path within the hatch 41 of the seeding tray of the UAV under test. This adjustment range needs to be limited; otherwise, if the motor rod 31 moves outside the hatch, the simulation of a hatch blockage cannot be achieved. By placing the first position sensor 411 at the starting point of the movement path and the second position sensor 412 at the ending point, the position of the motor rod 31 can be detected in a timely manner, and the movement direction can be adjusted according to the position of the motor rod 31, ensuring that the motor rod 31 always moves within the range between the starting and ending points.

[0036] Combination Figure 2 Note that the hatch 41 of the seeding disk 4 of the UAV under test is a fan-shaped structure, and the angle of the fan structure is... 60°， The radius of the sector is 15 centimeters. The hatch 41 is fixed at its center. One side of the sector's radius rotates around the center to open or close the hatch. The other side of the sector's radius forms the movement path of the motor rod 31, with the center position being the starting point and the point along the path ending at the arc of the sector. The motor rod 31 moves along the other side of the sector's radius; that is, inserting the motor rod 31 into different positions on the hatch 41 can simulate different angles of blockage.

[0037] When the first position sensor 411 detects the motor rod 31, it indicates that the motor rod 31 is at the starting position. The motor rod 31 then moves along the movement path to the ending position. When the second position sensor 412 detects the motor rod 31, it indicates that the motor rod 31 is at the ending position. At this point, the motor rod 31 can no longer move forward along the movement path and can return to the starting position. In this way, the motor rod 31 can always move back and forth along the movement path within the range from the starting point to the ending point. Through long-term back-and-forth movement, a blockage state can be continuously simulated to trigger the anti-blockage function and verify the long-term reliability and durability of the anti-blockage function. At the same time, it avoids the inability to complete the blockage simulation and test due to exceeding the adjustment range, and ensures the safety of the test.

[0038] In one embodiment of this application, the blockage simulation device includes a first motor and a second motor (not shown), and the motor rod 31 is disposed on the first motor; the second motor drives the first motor to move, thereby moving the motor rod 31.

[0039] like Figure 2As shown, the second motor drives the first motor, and the motor rod 31 on the first motor moves inside the hatch 41. The diameter of the motor rod 31 is 1 cm. When the motor rod 31 is at the center of the fan-shaped area, the angle of blockage of the hatch 41 is the largest, and when it moves to the arc of the fan-shaped area, the angle of blockage of the hatch 41 is the smallest. To simulate the blockage state at different angles, the extension and retraction of the motor rod 31 are controlled at 1 cm intervals along the movement path of the hatch. The first motor and the second motor control the motor rod 31 to move and stop along the movement path. When the motor rod 31 stops after moving 1 cm, the hatch 41 is closed to conduct a blockage test.

[0040] In one embodiment of this application, the host computer 1 uses a linear compensation algorithm to calculate and obtain the movement path plan of the motor rod 31 of the blockage simulation device within the hatch 41 of the seeding disk of the UAV under test, and converts the movement path plan into motor rod control commands; the CAN box receives the motor rod control commands and generates motor rod control signals. The linear compensation algorithm uses the Bressenham linear algorithm.

[0041] It should be noted that the movement path of motor rod 31 within the hatch 41 of the UAV seeding disk under test is from the center to the arc position along the radius of the fan-shaped structure. The movement path is planned by calculating the pulse quantity of the first and second motors based on the starting point, ending point, and movement interval distance (e.g., 1 cm interval) of the movement path, and discretizing the movement path into a sequence of motor pulse quantities, thus obtaining the movement path plan of motor rod 31. By controlling the pulse quantity of the two motors (the first motor and the second motor), the movement path plan of motor rod 31 is made to approximate the actual movement path, ensuring that the deviation between the movement path plan and the actual movement path is minimized. High-precision linear motion control of motor rod 31 within the UAV seeding disk hatch 41 of the clogging simulation device can be achieved using the Bressenham linear algorithm.

[0042] The specific testing process of the anti-clogging function simulation test system for the drone seeding disk provided in this embodiment is as follows: Step 1, the host computer 1 sends a door opening signal to the drone seeding disk 4 under test through the CAN box 2, and the drone seeding disk 4 under test performs a door opening operation according to the door opening signal, and the door 41 is opened.

[0043] Step 2: After the hatch 41 is opened, an opening confirmation message is sent to the host computer 1 via the CAN bus;

[0044] Step 3: After the host computer 1 receives the opening confirmation information, it sends a motor control command, which is converted into a motor control signal through the CAN box 2 and sent to the blockage simulation device 3.

[0045] Step 4: The blockage simulation device 3 controls the motor rod 31 to extend into the starting point of the hatch 41 of the drone seeding disk 4 under test according to the motor rod control signal, and the host computer 1 sends the hatch closing signal to the drone seeding disk 4 under test.

[0046] Step 5: The drone seeding disk 4 under test performs a door closing operation according to the door closing signal. The door 41 closes. At this time, due to the insertion of the motor rod 31, the door 41 will be blocked and cannot be completely closed. The host computer 1 reads the CAN data, filters out the CAN data with frame header 0x31 to determine whether a stall fault code is generated, and records the current anti-blocking function test result.

[0047] Step 6: The host computer 1 sends a motor control command, which is converted into a motor control signal via the CAN box 2 and sent to the congestion simulation device 3. The congestion simulation device 3 controls the motor rod 31 to move 1 cm along the movement path according to the motor control signal. The host computer 1 sends a door closing signal to the seeding disk 4 of the UAV under test, and then executes step 5. Steps 6 and 5 are repeated, and the anti-congestion function test results are recorded for each congestion state.

[0048] The anti-clogging function simulation test system for the drone seeding disc provided in this application can verify the anti-clogging function at high frequency and for extended periods. It is simple in design, practical, and efficient, and can fully verify the anti-clogging function, ensuring its reliability. Furthermore, to ensure the safety of the testing process, this application also adds a position sensor to monitor and precisely limit the motor rod's travel in real time, achieving safe and controllable automated testing.

[0049] In the embodiments of this application, the terms "first" and "second" are used to distinguish identical or similar items with essentially the same function and effect, without limiting their order. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and that the terms "first" and "second" do not necessarily imply that they are different.

[0050] It should be noted that, in the embodiments of this application, the words "exemplary" or "for example" indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0051] In this application embodiment, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0052] Figure 3 This is a schematic block diagram of a method for simulating the anti-clogging function of a drone seeding disk according to an embodiment of this application. The method is applied to the anti-clogging function simulation test system for a drone seeding disk as described above, and the method includes:

[0053] Step S31: Generate corresponding control signals according to the control instructions sent by the host computer; the control signals include motor rod control signals;

[0054] Step S32: Adjust the position of the motor rod inside the hatch of the drone seeding disk in real time according to the motor rod control signal, so as to simulate different blockage states of the drone seeding disk after the drone seeding disk performs the hatch closing operation;

[0055] Step S33: Read CAN data in real time from the CAN box under different blocking conditions of the seeding disk of the UAV under test, and parse the CAN data to determine whether a stall fault code is generated, so as to obtain the anti-blocking function test results under different blocking conditions.

[0056] It should be understood that the specific process of performing the above-mentioned steps has been described in detail in the above system embodiments, and will not be repeated here for the sake of brevity.

[0057] It should also be understood that the module division in the embodiments of this application is illustrative and only represents a logical functional division; in actual implementation, there may be other division methods. Furthermore, the functional modules in the various embodiments of this application can be integrated into a single processor, exist as separate physical entities, or be integrated into a single module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0058] Figure 4 This is a schematic block diagram of the electronic terminal provided in the embodiments of this application. Figure 4As shown, the electronic terminal includes at least one processor 401, a memory 402, at least one network interface 403, and a user interface 405. The various components in the device are coupled together via a bus system 404. It is understood that the bus system 404 is used to implement communication between these components. In addition to a data bus, the bus system 404 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in… Figure 4 The general will label all buses as bus systems.

[0059] The user interface 405 may include a monitor, keyboard, mouse, trackball, clicker, button, touchpad, or touch screen.

[0060] It is understood that memory 402 can be volatile memory or non-volatile memory, or both. Non-volatile memory can be read-only memory (ROM) or programmable read-only memory (PROM), used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM) and synchronous static random access memory (SSRAM). The memories described in the embodiments of this invention are intended to include, but are not limited to, these and any other suitable categories of memory.

[0061] In this embodiment of the invention, the memory 402 is used to store various types of data to support the operation of the electronic terminal 400. Examples of this data include any executable program for operation on the electronic terminal 400, such as the operating system 4021 and application program 4022; the operating system 4021 contains various system programs, such as the framework layer, core library layer, driver layer, etc., for implementing various basic services and handling hardware-based tasks. The application program 4022 may contain various applications, such as a media player, browser, etc., for implementing various application services. The simulation test method for implementing the anti-blocking function of the drone seeding disk provided in this embodiment of the invention can be included in the application program 4022.

[0062] The methods disclosed in the above embodiments of the present invention can be applied to processor 401, or implemented by processor 401. Processor 401 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in processor 401 or by instructions in the form of software. The processor 401 may be a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Processor 401 can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. General-purpose processor 401 may be a microprocessor or any conventional processor, etc. The steps of the accessory optimization method provided in the embodiments of the present invention can be directly reflected as being executed by a hardware decoding processor, or being executed by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium, which is located in a memory. The processor reads the information in the memory and combines it with its hardware to complete the steps of the aforementioned method.

[0063] In an exemplary embodiment, the electronic terminal 400 may be used by one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), or complex programmable logic devices (CPLDs) to execute the aforementioned method.

[0064] According to the method provided in the embodiments of this application, this application also provides a computer program product, which includes: computer program code, which, when run on a computer, causes the computer to execute the anti-blocking function simulation test method of the drone seeding disk in any of the embodiments shown.

[0065] According to the method provided in the embodiments of this application, this application also provides a computer-readable storage medium storing program code, which, when run on a computer, causes the computer to execute the anti-blocking function simulation test method of the drone seeding disk in any of the illustrated embodiments.

[0066] As used in this specification, the terms "component," "module," "system," etc., are used to refer to computer-related entities, hardware, firmware, combinations of hardware and software, software, or software in execution. For example, a component can be, but is not limited to, a process running on a processor, a processor, an object, an executable file, an execution thread, a program, and / or a computer. As illustrated, applications running on computing devices and computing devices can both be components. One or more components may reside in a process and / or an execution thread, and components may be located on a single computer and / or distributed among two or more computers. Furthermore, these components can be executed from various computer-readable media on which various data structures are stored. Components can communicate, for example, via local and / or remote processes based on signals having one or more data packets (e.g., data from two components interacting with another component between a local system, a distributed system, and / or a network, such as the Internet interacting with other systems via signals).

[0067] Those skilled in the art will recognize that the various illustrative logical blocks and steps described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this application.

[0068] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0069] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0070] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0071] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0072] In the above embodiments, the functions of each functional unit can be implemented entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. A computer program product includes one or more computer instructions (programs). When the computer program instructions (programs) are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. Computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., high-density digital video discs, DVDs), or semiconductor media (e.g., solid-state disks, SSDs, etc.).

[0073] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0074] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0075] In summary, this application provides a simulation test system, method, medium, program product, and terminal for the anti-clogging function of a drone seeding disk, including: a host computer, a CAN box, a clogging simulation device, and a drone seeding disk under test; the host computer is connected to the CAN box; the CAN box is connected to both the clogging simulation device and the drone seeding disk under test; the motor rod of the clogging simulation device extends into the hatch of the drone seeding disk under test; wherein, the CAN box is used to generate corresponding control signals according to control commands sent by the host computer; the control signals include motor rod control signals; the clogging simulation device is used to adjust the position of the motor rod in the hatch of the drone seeding disk under test in real time according to the motor rod control signals, so as to simulate different clogging states of the drone seeding disk after the drone seeding disk under test performs a hatch closing operation; the host computer is used to read CAN data of the drone seeding disk under test under different clogging states in real time through the CAN box, and parse the CAN data to determine whether a stall fault code is generated, so as to obtain the anti-clogging function test results under different clogging states.

[0076] This application allows for high-frequency and long-term verification of the anti-clogging function. Its simple, practical, and efficient design ensures thorough verification of the anti-clogging function and guarantees its reliability. Furthermore, to ensure the safety of the testing process, this application incorporates a position sensor for real-time monitoring and precise limiting of the motor rod's travel, achieving safe and controllable automated testing. Therefore, this application effectively overcomes the shortcomings of existing technologies and possesses significant industrial applicability.

[0077] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A simulation test system for the anti-clogging function of a drone seeding disc, characterized in that, include: The host computer, CAN box, congestion simulation device, and seeding disk of the drone under test; The host computer is connected to the CAN box; The CAN box is connected to both the clogging simulation device and the seeding disk of the UAV under test; the motor rod of the clogging simulation device extends into the hatch of the seeding disk of the UAV under test. The CAN box is used to generate corresponding control signals according to the control commands sent by the host computer; the control signals include motor rod control signals. The blockage simulation device is used to adjust the position of the motor rod inside the hatch of the drone seeding disk in real time according to the motor rod control signal, so as to simulate different blockage states of the drone seeding disk after the drone seeding disk performs the hatch closing operation. The host computer is used to read CAN data in real time from the CAN box under different blocking conditions of the seeding disk of the drone under test, and to parse the CAN data to determine whether a stall fault code is generated, so as to obtain the anti-blocking function test results under different blocking conditions.

2. The anti-clogging function simulation test system for the drone seeding disk according to claim 1, characterized in that, The seeding tray of the drone under test is equipped with a first position sensor and a second position sensor; the adjustment range of the position of the motor rod inside the hatch of the seeding tray of the drone under test is limited by the first position sensor and the second position sensor.

3. The anti-clogging function simulation test system for the drone seeding disk according to claim 1, characterized in that, The blockage simulation device includes a first motor and a second motor, with the motor rod mounted on the first motor; the second motor drives the first motor to move, thereby moving the motor rod.

4. The anti-clogging function simulation test system for the drone seeding disk according to claim 1, characterized in that, The host computer uses a linear compensation algorithm to calculate and obtain the movement path plan of the motor rod of the blockage simulation device within the hatch of the seeding disk of the UAV under test, and converts the movement path plan into motor rod control commands; the CAN box receives the motor rod control commands and generates motor rod control signals.

5. The anti-clogging function simulation test system for the drone seeding disk according to claim 1, characterized in that, The host computer sends a hatch opening command or a hatch closing command to the CAN box; the CAN box receives the hatch opening command or the hatch closing command and generates a corresponding hatch opening signal or a hatch closing signal; the UAV seeding disk under test performs the corresponding hatch opening operation or hatch closing operation according to the hatch opening signal or the hatch closing signal.

6. The anti-clogging function simulation test system for the drone seeding disk according to claim 1, characterized in that, The CAN box is connected to the seeding disk of the UAV under test via a CAN bus.

7. A method for simulating and testing the anti-clogging function of a drone seeding disc, characterized in that, The method of applying the anti-clogging function simulation test system for the drone seeding disk as described in any one of claims 1 to 6 includes: The host computer sends control commands to generate corresponding control signals; the control signals include motor lever control signals. The position of the motor rod inside the hatch of the drone seeding disk under test is adjusted in real time according to the motor rod control signal, so as to simulate different blockage states of the drone seeding disk after the drone seeding disk under test performs the hatch closing operation; The CAN box reads CAN data in real time under different blocking conditions of the seeding disk of the drone under test, and parses the CAN data to determine whether a stall fault code is generated, so as to obtain the anti-blocking function test results under different blocking conditions.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the anti-clogging function simulation test method of the UAV seeding disk as described in claim 7.

9. A computer program product, characterized in that, The computer program product includes computer program code, which, when run on a computer, enables the computer to implement the anti-clogging function simulation test method for the drone seeding disk as described in claim 7.

10. An electronic terminal, comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the anti-clogging function simulation test method of the drone seeding disk as described in claim 7.

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