Multi-rotor plant protection unmanned aerial vehicle integrated flight coupling wind field test platform and method

Abstract

The invention discloses a multi-rotor plant protection unmanned aerial vehicle integrated flight coupling wind field test platform and method. The test platform comprises a vehicle body and a lifting mechanism. A cantilever horizontal telescopic mechanism is mounted at the top of the lifting mechanism; the tail end of the cantilever horizontal telescopic mechanism is provided with a plant protection unmanned aerial vehicle workbench, and an angle adjusting oil cylinder is connected between the cantilever horizontal telescopic mechanism and the plant protection unmanned aerial vehicle workbench; a hydraulic system is further installed on the vehicle body. The plant protection unmanned aerial vehicle workbench is provided with a plurality of rotor wings and rotor wing motors arranged corresponding to the rotor wings; a control system is further installed on the vehicle body. The control system can control the lifting mechanism, the cantilever horizontal telescopic mechanism and the angle adjusting oil cylinder to operate. According to the integrated flight coupling wind field test platform for the multi-rotor plant protection unmanned aerial vehicle, the plant protection unmanned aerial vehicle workbench can be conveniently moved to a specific position, the height, the extension distance and the angle of the plant protection unmanned aerial vehicle workbench can be adjusted, and the purposes of multi-rotor type adaptation and multi-operation height and angle simulation can be achieved.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) testing technology, and in particular to an integrated flight coupling wind field testing platform and method for multi-rotor agricultural UAVs. Background Technology

[0002] With the advancement of agriculture, agricultural drones have become the mainstream equipment for agricultural plant protection due to their advantages such as small size, portability, long endurance, flexible relocation, and efficient pest and disease detection. The stability of the rotor airflow field directly affects the uniformity of pesticide atomization, canopy penetration depth, and pesticide utilization rate. Therefore, rotor airflow field research has become a core direction for technology optimization. However, in outdoor experiments, fluctuations in wind speed and direction can disrupt the rotor airflow steady state, leading to data distortion and making it impossible to support accurate research. Thus, indoor experiments have become the ideal scenario. However, existing indoor experimental schemes have significant drawbacks: insufficient altitude adjustment precision, lack of reliable mechanisms to accurately control the distance between the rotor and the simulated canopy, and inability to obtain complete "altitude-wind field-application effect" data; lack of flight stability, with no effective attitude constraint structure, making the drone susceptible to airflow disturbances and equipment vibration deviation, affecting data repeatability; and relatively fixed rotor number and flight angle, making it difficult to flexibly adapt to common models such as four- to eight-rotor drones, and also difficult to simulate complex working conditions such as sloping plots and side-flying.

[0003] The current mainstream method for indoor testing of drones is bench testing, such as the scheme shown in patent CN110836841A. This scheme has low testing flexibility and cannot meet diverse testing needs. In addition, although patents such as CN119099871A have designed vehicle-mounted test benches, they are mainly used to simulate the performance parameters of multi-rotor drones in actual flight, such as lift, drag, propeller force efficiency, and propeller motor conversion efficiency, which cannot meet the needs of downwash airflow testing in this application.

[0004] In summary, there is an urgent need to design an experimental device that can avoid interference from external wind fields, while also ensuring stable indoor "flight" of drones, precise adjustment of rotor-canopy height, compatibility with multiple rotor models, and simulation of multiple operating angles. This is a key issue and core requirement for promoting the development of agricultural drone spraying technology towards precision and efficiency. Summary of the Invention

[0005] Purpose of the invention: In order to overcome the shortcomings of the existing technology, the present invention provides an integrated flight coupling wind field test platform and method that is highly flexible in testing, easy to move, and can simulate different types of drones as well as multi-rotor agricultural drones at different altitudes and attitudes.

[0006] Technical solution: To achieve the above objectives, the present invention provides a multi-rotor agricultural drone integrated flight coupling wind field test platform, which includes a vehicle body, on which a lifting mechanism is installed; a cantilever horizontal telescopic mechanism is installed on the top of the lifting mechanism; an agricultural drone workbench is installed at the end of the cantilever horizontal telescopic mechanism, and an angle adjustment cylinder for changing the relative angle between the two is connected between them; a hydraulic system is also installed on the vehicle body.

[0007] The agricultural drone workbench has multiple rotors and a rotor motor corresponding to each rotor.

[0008] The vehicle body is also equipped with a control system; the control system can control the operation of the lifting mechanism, the cantilever horizontal telescopic mechanism and the angle adjustment cylinder.

[0009] Furthermore, the lifting mechanism has a counterweight at its top; the cantilever horizontal telescopic mechanism is a hydraulic cylinder, with its cylinder seat connected to the counterweight and its telescopic rod connected to the agricultural drone's workbench.

[0010] Furthermore, the lifting mechanism includes a seat plate and a top plate, and also includes a scissor structure consisting of multiple scissor arms placed between the seat plate and the top plate; the lifting mechanism also includes a lifting cylinder for driving the deformation of the scissor structure.

[0011] Specifically, all scissor arms are hinged in pairs to form X-shaped assemblies, with adjacent X-shaped assemblies interconnected. The base plate and top plate each have a horizontal first and second sliding groove. The end of one scissor arm of the topmost X-shaped assembly is hinged to the top plate, and the end of the other scissor arm has a first guide rod that fits into the second sliding groove. The end of one scissor arm of the bottommost X-shaped assembly is hinged to the base plate, and the end of the other scissor arm has a second guide rod that fits into the first sliding groove. The cylinder seat of the lifting cylinder is hinged to the base plate, and the telescopic rod is hinged to the first guide rod or to one of the scissor arms.

[0012] Furthermore, the agricultural drone workbench includes a connecting rod and a connecting plate located at the lower end of the connecting rod, the connecting plate having multiple connecting parts arranged in a circumferential array; the agricultural drone workbench also includes an extension rod, the rotor motor being mounted at the end of the extension rod; the length and number of the extension rods can be changed. The length direction of the extension rod is perpendicular to the length direction of the connecting rod.

[0013] Furthermore, the connecting part includes a slot located on the outer peripheral surface of the connecting plate, and also includes a screw hole penetrating the connecting plate; one end of the extension rod is a plug-in end that can be inserted into the connecting part, and the other end has a connecting part for connecting the rotor motor; the plug-in end has a through hole; a screw passing through the screw hole and the through hole fixes the extension rod relative to the connecting plate.

[0014] Furthermore, the connecting rod has a first hinge lug and a second hinge lug; the first hinge lug is connected to the end of the cantilever horizontal telescopic mechanism, and the angle adjusting cylinder is connected to the second hinge lug and the telescopic rod of the cantilever horizontal telescopic mechanism.

[0015] Furthermore, the hydraulic system includes a hydraulic oil tank, a hydraulic pump, a drive motor, and hydraulic valves; the hydraulic pump is connected to the drive motor, and the lifting cylinder, the cantilever horizontal telescopic mechanism, and the angle adjusting cylinder each have corresponding hydraulic valves. The hydraulic valves are used to control the pressure, flow rate, and flow direction of the hydraulic oil to achieve telescopic control of each cylinder.

[0016] Furthermore, the vehicle body includes a body and multiple wheels, which are connected to the body via a shock-absorbing mechanism; a battery and an on-board charger are installed inside the vehicle body. The battery can supply power to the drive motor and other electrical units.

[0017] Furthermore, lifting handles are fixed on both the front and rear sides of the vehicle body.

[0018] An integrated flight-coupled wind field test method for multi-rotor agricultural drones, based on the aforementioned integrated flight-coupled wind field test platform for multi-rotor agricultural drones, includes the following methods:

[0019] Control the vehicle body to move to the designated position;

[0020] The lifting mechanism, cantilever horizontal telescopic mechanism, and angle adjustment cylinder are controlled according to the target test parameters to change the height, extension length, and tilt angle of the agricultural drone's workbench, respectively.

[0021] The rotor motor is controlled to operate according to preset parameters, and the vehicle body is tested in a fixed position, or the vehicle body is tested by moving along a preset path at a preset speed.

[0022] Collect relevant parameters of the downwash airflow.

[0023] Beneficial Effects: The integrated flight coupling wind field test platform and method for multi-rotor agricultural drones of the present invention have the following beneficial effects:

[0024] (1) The multi-rotor plant protection drone integrated flight coupling wind field test platform of the present invention can easily move the plant protection drone workbench to a specific position, and can adjust the height, extension distance and angle of the plant protection drone workbench through the lifting mechanism, the cantilever horizontal telescopic mechanism and the angle adjustment cylinder respectively, so as to achieve the test objectives of avoiding external wind field interference, while taking into account the stable indoor "flight" of the drone, precise adjustment of rotor-canopy height, multi-rotor model adaptation and multi-operation angle simulation.

[0025] (2) The lifting mechanism adopts a scissor structure. By driving the extension rod of the lifting cylinder to extend and retract, the lifting mechanism has a large lifting range and can accurately adjust the relative height between the rotor and the canopy within a large height range, so as to fully test the rotor downwash airflow at different heights.

[0026] (3) The structural design of the plant protection drone workbench can easily change the length and number of extension rods, as well as the type of rotor motor and rotor. Through simple disassembly and assembly, it can easily simulate different models of multi-rotor drones, flexibly simulate various common plant protection drone models from quadcopter to octocopter, and improve the flexibility and adaptability of the experiment.

[0027] (4) The method of the present invention can simulate and change the flight altitude of the UAV, and can accurately simulate and quantify the attitude of the plant protection UAV when operating on sloping terrain or side flight, simulating complex working conditions, and greatly expanding the experimental range and application value. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of the integrated flight-coupled wind field test platform for multi-rotor agricultural drones.

[0029] Figure 2 Here is a structural diagram of the lifting mechanism;

[0030] Figure 3 This is a structural diagram of the workbench of an agricultural drone;

[0031] Figure 4 This is a structural diagram of the connecting disk;

[0032] Figure 5 Here is a structural diagram of the extension rod;

[0033] Figure 6 This is a structural diagram of the hydraulic system;

[0034] Figure 7 This is a structural diagram of the combined wheel and shock absorption mechanism.

[0035] Figure 8 This is a structural diagram of the car body.

[0036] In the diagram: 1-Body body; 11-Body body; 12-Wheel; 13-Shock absorption mechanism; 14-Battery; 15-On-board charger; 2-Lifting mechanism; 21-Seat plate; 22-Top plate; 23-Scissor arm; 24-Lifting cylinder; 25-First guide rod; 26-Second guide rod; 3-Cantilever horizontal telescopic mechanism; 4-Plant protection drone workbench; 41-Rotor; 42-Rotor motor; 43-Connecting rod; 43a-First hinge ear; 43b-Second hinge ear; 44-Connecting plate; 44a-Slot; 44b-Screw hole; 45-Extension rod; 45a-Plug-in end; 45b-Through hole; 45c-Connecting part; 46-Screw; 5-Angle adjustment cylinder; 6-Counterweight; 7-Hydraulic system; 71-Hydraulic oil tank; 72-Hydraulic pump; 73-Drive motor; 74-Hydraulic valve; 8-Lifting handle. Detailed Implementation

[0037] The invention will now be further described with reference to the accompanying drawings.

[0038] like Figure 1 The multi-rotor agricultural drone integrated flight coupling wind field test platform shown includes a vehicle body 1, on which a lifting mechanism 2 is installed; a cantilever horizontal telescopic mechanism 3 is installed on the top of the lifting mechanism 2; an agricultural drone workbench 4 is installed at the end of the cantilever horizontal telescopic mechanism 3, and an angle adjustment cylinder 5 is connected between the two to change the relative angle between them; a hydraulic system 7 is also installed on the vehicle body 1.

[0039] The agricultural drone workbench 4 has multiple rotors 41 and a rotor motor 42 corresponding to each rotor 41;

[0040] The vehicle body 1 is also equipped with a control system; the control system can control the operation of the lifting mechanism 2, the cantilever horizontal telescopic mechanism 3 and the angle adjustment cylinder 5.

[0041] The multi-rotor plant protection drone integrated flight coupling wind field test platform of the present invention can easily move the plant protection drone workbench 4 to a specific position, and can adjust the height, extension distance and angle of the plant protection drone workbench 4 through the lifting mechanism 2, the cantilever horizontal telescopic mechanism 3 and the angle adjustment cylinder 5 respectively. It can achieve the test objectives of avoiding external wind field interference, while taking into account the stable indoor "flight" of the drone, precise adjustment of rotor-canopy height, multi-rotor model adaptation and multi-operation angle simulation.

[0042] Preferably, the lifting mechanism 2 has a counterweight 6 at its top; the cantilever horizontal telescopic mechanism 3 is a hydraulic cylinder, with its cylinder seat connected to the counterweight 6 and its telescopic rod connected to the agricultural drone workbench 4. The counterweight 6 can ensure the overall stability of the test vehicle and prevent the main body 1 from becoming unbalanced and overturning due to the telescopic rod of the cantilever horizontal telescopic mechanism 3 extending too far or the lift generated by the agricultural drone workbench 4.

[0043] like Figure 2 As shown, the lifting mechanism 2 includes a seat plate 21 and a top plate 22, and also includes a scissor structure consisting of multiple scissor arms 23 placed between the seat plate 21 and the top plate 22; the lifting mechanism 2 also includes a lifting cylinder 24 for driving the deformation of the scissor structure.

[0044] Specifically, all scissor arms 23 are hinged in pairs to form X-shaped assemblies, with adjacent X-shaped assemblies interconnected. The base plate 21 and the top plate 22 each have a horizontal first groove and a second groove, respectively. The end of one scissor arm 23 of the topmost X-shaped assembly is hinged to the top plate 22, and the end of the other scissor arm 23 has a first guide rod 25 that fits into the second groove. The end of one scissor arm 23 of the bottommost X-shaped assembly is hinged to the base plate 21, and the end of the other scissor arm 23 has a second guide rod 26 that fits into the first groove. The cylinder seat of the lifting cylinder 24 is hinged to the base plate 21, and the telescopic rod is hinged to the first guide rod 25 or to one of the scissor arms 23.

[0045] The lifting mechanism 2, which adopts a scissor structure, extends and retracts through the telescopic rod of the lifting cylinder 24. The lifting mechanism 2 has a large lifting range and can accurately adjust the relative height between the rotor and the canopy within a large range, so as to fully test the rotor downwash airflow at different heights.

[0046] Preferably, such as Figure 3 As shown, the agricultural drone workbench 4 includes a connecting rod 43 and a connecting plate 44 located at the lower end of the connecting rod 43. The connecting plate 44 has multiple connecting parts arranged in a circumferential array. The agricultural drone workbench 4 also includes an extension rod 45, and the rotor motor 42 is installed at the end of the extension rod 45. The length and number of the extension rods 45 can be changed. The length direction of the extension rods 45 is perpendicular to the length direction of the connecting rod 43.

[0047] Preferably, such as Figure 4 As shown, the connecting part includes a slot 44a located on the outer peripheral surface of the connecting disk 44, and also includes a screw hole 44b penetrating the connecting disk 44; as Figure 5As shown, one end of the extension rod 45 is a plug-in end 45a that can be inserted into the connecting part 44a, and the other end has a connecting part 45c that connects to the rotor motor 42; the plug-in end 45a has a through hole 45b; the screw 46 passing through the screw hole 44b and the through hole 45b fixes the extension rod 45 relative to the connecting plate 44.

[0048] The structural design of the agricultural drone workbench 4 allows for easy changes in the length and number of extension rods 45, as well as easy changes in the type of rotor motor 42 and rotor 41. Through simple disassembly and assembly, it can easily simulate different models of multi-rotor drones, flexibly simulating various common agricultural drone models from quadcopters to octcopters, thus improving the flexibility and adaptability of the experiment.

[0049] Preferably, the connecting rod 43 has a first hinge ear 43a and a second hinge ear 43b; the first hinge ear 43a is connected to the end of the cantilever horizontal telescopic mechanism 3, and the angle adjusting cylinder 5 is connected to the second hinge ear 43b and the telescopic rod of the cantilever horizontal telescopic mechanism 3.

[0050] Preferably, such as Figure 6 As shown, the hydraulic system 7 includes a hydraulic oil tank 71, a hydraulic pump 72, a drive motor 73, and hydraulic valves 74. The hydraulic pump 72 is connected to the drive motor 73. The lifting cylinder 24, the cantilever horizontal telescopic mechanism 3, and the angle adjusting cylinder 5 each have corresponding hydraulic valves 74. The hydraulic valves 74 are used to control the pressure, flow rate, and flow direction of the hydraulic oil to achieve telescopic control of each cylinder.

[0051] Preferably, the vehicle body 1 includes a body 11 and a plurality of wheels 12, such as Figure 7 As shown, the wheel 12 is connected to the vehicle body 11 via a shock absorption mechanism 13; Figure 8 As shown, a battery 14 and an on-board charger 15 are installed inside the vehicle body 11. The shock-absorbing structure ensures the stability of the test vehicle during movement, reduces the interference of additional vibrations on airflow, and enhances overall stability and safety. The battery 14 can supply power to the drive motor 73 and other electrical units.

[0052] Preferably, lifting handles 8 are fixed on both the front and rear sides of the vehicle body 11, which facilitates manual handling of the test vehicle.

[0053] The integrated flight-coupled wind field test method for multi-rotor agricultural drones, based on the aforementioned integrated flight-coupled wind field test platform for multi-rotor agricultural drones, includes the following steps S101-S104:

[0054] Step S101: Control the vehicle body 1 to move to the designated position;

[0055] Step S102: Control the operation of the lifting mechanism 2, the cantilever horizontal telescopic mechanism 3 and the angle adjustment cylinder 5 according to the target test parameters, so as to change the height, extension length and tilt angle of the plant protection drone workbench 4 respectively.

[0056] Step S103: Control the rotor motor 42 to operate according to preset parameters, and make the vehicle body 1 conduct a test in a fixed position, or make the vehicle body 1 move along a preset path at a preset speed for a test.

[0057] Step S104: Collect relevant parameters of the downwash airflow.

[0058] The method of this invention can simulate changes in the flight altitude of drones and can accurately simulate and quantify the attitude of agricultural drones when operating on sloping terrain or flying sideways, simulating complex working conditions and greatly expanding the experimental scope and application value.

[0059] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A multi-rotor agricultural drone integrated flight-coupled wind field test platform, characterized in that, It includes a vehicle body (1), on which a lifting mechanism (2) is installed; a cantilever horizontal telescopic mechanism (3) is installed on the top of the lifting mechanism (2); a plant protection drone workbench (4) is installed at the end of the cantilever horizontal telescopic mechanism (3), and an angle adjustment cylinder (5) is connected between the two to change the relative angle between them; a hydraulic system (7) is also installed on the vehicle body (1). The plant protection drone workbench (4) has multiple rotors (41) and a rotor motor (42) corresponding to each rotor (41). The vehicle body (1) is also equipped with a control system; the control system can control the operation of the lifting mechanism (2), the cantilever horizontal telescopic mechanism (3) and the angle adjustment cylinder (5).

2. The integrated flight-coupled wind field test platform for multi-rotor agricultural drones according to claim 1, characterized in that, The lifting mechanism (2) has a counterweight (6) at its top; the cantilever horizontal telescopic mechanism (3) is a hydraulic cylinder, whose cylinder seat is connected to the counterweight (6), and whose telescopic rod is connected to the plant protection drone workbench (4).

3. The integrated flight-coupled wind field test platform for multi-rotor agricultural drones according to claim 1, characterized in that, The lifting mechanism (2) includes a seat plate (21) and a top plate (22), and also includes a scissor structure consisting of multiple scissor arms (23) placed between the seat plate (21) and the top plate (22); the lifting mechanism (2) also includes a lifting cylinder (24) for driving the deformation of the scissor structure.

4. The integrated flight coupling wind field test platform for multi-rotor agricultural drones according to claim 1, characterized in that, The plant protection drone workbench (4) includes a connecting rod (43) and a connecting plate (44) located at the lower end of the connecting rod (43). The connecting plate (44) has multiple connecting parts arranged in a circular array. The plant protection drone workbench (4) also includes an extension rod (45). The rotor motor (42) is installed at the end of the extension rod (45). The length and number of the extension rods (45) can be changed.

5. The integrated flight coupling wind field test platform for multi-rotor agricultural drones according to claim 4, characterized in that, The connecting part includes a slot (44a) on the outer peripheral surface of the connecting plate (44) and a screw hole (44b) through the connecting plate (44); one end of the extension rod (45) is a plug end (45a) that can be inserted into the connecting part (44a), and the other end has a connecting part (45c) for connecting the rotor motor (42); the plug end (45a) has a through hole (45b); a screw (46) passing through the screw hole (44b) and the through hole (45b) fixes the extension rod (45) relative to the connecting plate (44).

6. The integrated flight coupling wind field test platform for multi-rotor agricultural drones according to claim 4, characterized in that, The connecting rod (43) has a first hinge ear (43a) and a second hinge ear (43b); the first hinge ear (43a) is connected to the end of the cantilever horizontal telescopic mechanism (3), and the angle adjusting cylinder (5) is connected to the second hinge ear (43b) and the telescopic rod of the cantilever horizontal telescopic mechanism (3).

7. The integrated flight coupling wind field test platform for multi-rotor agricultural drones according to claim 3, characterized in that, The hydraulic system (7) includes a hydraulic oil tank (71), a hydraulic pump (72), a drive motor (73), and a hydraulic valve (74); the hydraulic pump (72) is connected to the drive motor (73), and the lifting cylinder (24), the cantilever horizontal telescopic mechanism (3), and the angle adjusting cylinder (5) each have a corresponding hydraulic valve (74).

8. The integrated flight-coupled wind field test platform for multi-rotor agricultural drones according to claim 1, characterized in that, The vehicle body (1) includes a body (11) and multiple wheels (12), the wheels (12) being connected to the body (11) via a shock absorption mechanism (13); a battery (14) and an on-board charger (15) are installed inside the body (11).

9. The integrated flight coupling wind field test platform for multi-rotor agricultural drones according to claim 1, characterized in that, Lifting handles (8) are fixed on both the front and rear sides of the vehicle body (11).

10. A method for testing integrated flight coupled wind fields of multi-rotor agricultural drones, based on the integrated flight coupled wind field testing platform for multi-rotor agricultural drones as described in claim 1, characterized in that the method... include: Control the vehicle body (1) to move to the designated position; The lifting mechanism (2), the cantilever horizontal telescopic mechanism (3) and the angle adjustment cylinder (5) are controlled according to the target test parameters to change the height, extension length and tilt angle of the plant protection drone workbench (4) respectively. Control the rotor motor (42) to operate according to preset parameters, and make the vehicle body (1) test in a fixed position, or make the vehicle body (1) move along a preset path at a preset speed. Collect relevant parameters of the downwash airflow.

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