CN108502188A - A kind of plant protection drone spraying operation wind field test system and method - Google Patents
A kind of plant protection drone spraying operation wind field test system and method Download PDFInfo
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- CN108502188A CN108502188A CN201810524573.2A CN201810524573A CN108502188A CN 108502188 A CN108502188 A CN 108502188A CN 201810524573 A CN201810524573 A CN 201810524573A CN 108502188 A CN108502188 A CN 108502188A
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- 238000012360 testing method Methods 0.000 title claims abstract description 146
- 238000005507 spraying Methods 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000005183 dynamical system Methods 0.000 claims abstract description 72
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 54
- 239000007921 spray Substances 0.000 claims abstract description 20
- 230000000694 effects Effects 0.000 claims abstract description 18
- 230000008569 process Effects 0.000 claims abstract description 9
- 238000004891 communication Methods 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims description 21
- 230000005611 electricity Effects 0.000 claims description 15
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 14
- 239000007788 liquid Substances 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 9
- 230000008844 regulatory mechanism Effects 0.000 claims description 9
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 7
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 abstract description 4
- 230000036544 posture Effects 0.000 description 16
- 230000008859 change Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 5
- 239000010720 hydraulic oil Substances 0.000 description 4
- 239000003921 oil Substances 0.000 description 4
- 238000004088 simulation Methods 0.000 description 4
- 238000010998 test method Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 239000002828 fuel tank Substances 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000010727 cylinder oil Substances 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011888 foil Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000002917 insecticide Substances 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M9/00—Aerodynamic testing; Arrangements in or on wind tunnels
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- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Fluid Mechanics (AREA)
- General Physics & Mathematics (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention belongs to air vehicle technique fields, system and method is tested more particularly to a kind of plant protection drone spraying operation wind field, the system includes power supply system, earth station, test platform and dynamical system, sprinkling system and flight control system on test platform, and power supply system is respectively that test platform, dynamical system, sprinkling system and flight control system provide electric energy；Flight control system is connect with dynamical system, and is wirelessly communicated with earth station；Dynamical system drives test platform rotation, and generates corresponding wind field so that sprinkling system completes spray effect test under the wind field.Above-mentioned plant protection drone spraying operation wind field tests system and method, structure and operating process are simple, pass through the information such as the posture of the real-time monitoring and test platform of flight control system and dynamical system rotating speed, and feed back to earth station, with flight control system wireless communication earth station can monitor relevant parameter information in real time, and preserve test data for subsequently refering to.
Description
Technical field
The present invention relates to air vehicle technique fields, and in particular to a kind of plant protection drone spraying operation wind field test system and
Method.
Background technology
Existing plant protection drone includes single rotor and more rotors, the advance of single rotor plant protection drone, retrogressing, rising,
Decline mainly by the angle realization for adjusting main paddle, steering is realized by adjusting the tail-rotor of tail portion, main paddle and tail-rotor
The probability that interferes with each other of wind field it is extremely low.Feature is that wind field is unified, it is big to push wind field, blade generation downwash flow can make medicine
Liquid reaches the blade back of crop bottom, disclosure satisfy that various crop such as:Field crop, long-stalked crop, fruit tree and denseer crop
Job requirements.More rotor plant protection drones in-flight advance, retreat, is traversing, turning to, increasing, reducing mainly by adjustment paddle
The rotating speed of leaf implements various actions, and feature is that two adjacent blade direction of rotation are opposite, so the wind field between them
It interferes with each other, it is disorderly to will also result in certain wind field.The relatively more rotor fog machine advantage of single rotor fog machine is to spray
It spills uniformly, wind field is stablized, but operates hardly possible, needs the flight control system of more complicated higher level, to flying the operation level requirement of hand
Very high, actual job requires environment temperature, and cost is higher.The market that above-mentioned various shortcoming causes single rotor is general
And it is not so good as more rotor plant protection drones.
Either more rotors or single rotor plant protection drone, during near-earth plant protection operation, the spiral of rotor generation
Downward eddy flow Wind influences the spray effect of plant protection operation very big.However, presently relevant research and test equipment
Mainly for single rotor plant protection drone, not yet occur being suitable for more rotor plant protection drone test equipments, and existing to Dan Xuan
The device structure that the rotor wind field of wing plant protection drone is tested is complicated, cumbersome, for example, application No. is
The Chinese invention patent of " 200910213355.8 " provides a kind of test of movable unmanned helicopter agricultural spraying operation wind field and sets
Standby and test method needs first to be fixed on unmanned helicopter on the telescopic rod for being placed in hydraulically extensible cylinder front end on fixed station,
So that unmanned plane is in fixed air position, and complete to test by test equipment.The test equipment that the patent of invention is provided
More rotor plant protection drones are not particularly suited for, since the nozzle of more rotor plant protection drones is usually mounted to the machine below propeller
On arm, propeller shape at wind field under spray downwards, and the equipment needs plant protection drone being placed on fixed station, is bound to
Collection of the lower section test equipment to being sprayed insecticide is influenced, and then influences test data；In addition, the test equipment is complicated,
It is cumbersome, and the parameters such as power, test cannot be set, it is difficult to test mode and process are monitored, test data can not trace.
Invention content
In order to solve the above technical problems, The present invention provides a kind of plant protection drone spraying operation wind field test system and
Method.
First aspect present invention provides a kind of plant protection drone spraying operation wind field test system, including power supply system,
Earth station, test platform and dynamical system, sprinkling system and flight control system on the test platform, the power supply system
System is respectively that the test platform, dynamical system, sprinkling system and flight control system provide electric energy；
The flight control system is connect with the dynamical system, and is wirelessly communicated with the earth station；The dynamical system drives institute
Test platform rotation is stated, and generates corresponding wind field so that sprinkling system completes spray effect test under the wind field.
Known to, dynamical system includes the mechanical, electrical reconciliation blade of electricity, and motor is connected with electricity tune, the power input and confession that electricity is adjusted
Electric system connects, and electricity reconciliation flight control system is connected, and the pwm signal control that electricity is adjusted inputs and velocity feedback output is respectively connected to
Flight control system.
Plant protection drone spraying operation wind field provided by the present invention tests system, to be measured by being installed on test platform
Dynamical system, by motor speed in the posture and dynamical system of the real-time monitoring and test platform of flight control system, and feed back to and fly
The earth station of Radio Communication is controlled, earth station after the control information real time processing such as motor speed by flight control system to feeding back to
Dynamical system, dynamical system provides and is formed by wind field under corresponding motor speed in test, reaches corresponding wind field test effect.
Further, the test platform includes attitude regulation mechanism and motion platform, and the motion platform includes installation
Platform and the circular multiple mounting brackets for being connected to the erecting bed, one end of the mounting bracket are connected to the erecting bed, separately
The dynamical system is fixed in one end.Change the posture of the erecting bed by the attitude regulation mechanism, flight control system perceives institute
It states the posture information of erecting bed and is sent to earth station, simulation unmanned plane is sprayed under different postures and under corresponding wind field
It spills, to complete spray effect test.The test platform can simulate unmanned plane horizontal flight and pitch attitude variation, and test dynamic
The corresponding spray effect of the formed wind field of Force system, the dynamical system convenient for being provided different manufacturers are tested, and operation is fast
Prompt and conveniently, testing efficiency is high, has versatility.
Further, the attitude regulation mechanism includes support column, turntable, hydraulic cylinder and bulb, and the support column passes through
The turntable and the hydraulic cylinder, which relatively rotate, to be connected, and is fixedly connected on the turntable at the top of the hydraulic cylinder, bottom with it is described
Bulb is flexibly connected, and the bulb is fixed on the erecting bed；It is installed on suspended ceiling device at the top of the support column.Used ball
Head is universal ball end, and hydraulic cylinder is rotatablely connected by bulb and erecting bed, so that hydraulic cylinder can be using bulb as run-on point
It is rotated, erecting bed is enabled to change posture under the driving of hydraulic cylinder.
Preferably, the suspended ceiling device includes pedestal, connecting pole and crossbeam, and the top of the connecting pole connects with the crossbeam
It connects, bottom is fixed on the pedestal.
Preferably, the sprinkling system includes medicine-chest, outlet tube, total jet pipe, branch's jet pipe, water pump and nozzle, the medicine
The liquid outlet of case is connect by outlet tube with water pump inlet, and the liquid outlet of the water pump is connect with total jet pipe, described total
Jet pipe is connect with multiple branch's jet pipes, and the end of branch's jet pipe connects the nozzle.
Preferably, the power supply system includes power supply and section board, the power supply by section board be the test platform,
Dynamical system, sprinkling system and flight control system power supply.
Preferably, the flight control system includes attitude transducer, PMU, FCU and the first digital transmission module, and the PMU power supplys are defeated
Enter end to connect with the power supply system, the PMU power output ends are connect with the FCU, and the attitude transducer, the first number pass
Module and dynamical system are connect with the FCU；First digital transmission module and the second digital transmission module communicate to connect, second number
Transmission module is connect with earth station.
Second aspect, the present invention provides the test sides that system is tested using above-mentioned plant protection drone spraying operation wind field
Method includes the following steps：
（1）Flight control system, dynamical system and sprinkling system are installed on the test platform, and establish flight control system and earth station
Communication connection；
（2）Power supply system is connect with flight control system, dynamical system, sprinkling system and test platform respectively；
（3）Corresponding kinetic parameter is set in earth station according to dynamical system to be measured；
（4）Test platform is adjusted at preset height and carrying out sprinkling test：Start sprinkling system after being manipulated by earth station
With dynamical system and dynamic adjustment test platform posture so that sprinkling system completes sprinkling in the case where dynamical system is formed by wind field
Test；
（5）After the completion of sprinkling test, it is formed by data and is stored in earth station and data report is generated by earth station.
Preferably, the step（4）It also needs to carry out self-test, the step of the motor self-test to motor before carrying out sprinkling test
It is rapid as follows：
Start motor in the case where being fitted without blade；
So that the motor of corresponding channel is run according to fixed idle speed value；
It is without exception to check that circuit has in motor operation course, motor has no abnormal sound, Caton phenomenon；
Judge whether each motor steering is correct；
Confirm errorless rear deenergization, installation blade is to carry out subsequently spraying test.
Preferably, the step（4）In sprinkling test process further include following steps：
The flight control system obtains supply voltage, throttle and test platform vibration data in real time, and is sent to earth station；
When supply voltage, throttle or test platform vibration data are more than alarm threshold value set in flight control system, fly control
The corresponding alarm code of system feedback is shown to earth station and to control dynamical system out of service.
Using above-mentioned technical proposal, including following advantageous effect：Plant protection drone spraying operation wind provided by the present invention
Test system and method, structure and operating process are simple, by the posture of the real-time monitoring and test platform of flight control system and
The information such as dynamical system rotating speed, and feed back to earth station.Meanwhile rotating speed etc. is controlled information real time processing by earth station, is issued dynamic
Force system so that dynamical system forms wind field after reaching corresponding rotating speed, the spray effect test under corresponding wind field is completed, with winged control
The earth station of Radio Communication can monitor relevant parameter information in real time, and preserve test data for subsequently refering to.
Description of the drawings
Fig. 1 is the structure diagram that plant protection drone spraying operation wind field provided by the present invention tests system；
Fig. 2 is the structural schematic diagram that plant protection drone spraying operation wind field provided by the present invention tests system；
Fig. 3 is the structural schematic diagram of test platform provided by the present invention；
Fig. 4 is the phantom of test platform provided by the present invention；
The structure diagram of Fig. 5 sprinkling systems provided by the present invention（One hydraulic cylinder is only shown in figure）；
Fig. 6 is the structural schematic diagram of hydraulic system provided by the present invention；
Fig. 7 is the structure diagram of flight control system provided by the present invention.
In figure：
1, support column；2, turntable；3, hydraulic cylinder；3.1, cylinder body；3.2, hydraulic stem；4, erecting bed；5, mounting bracket；6, bulb；
7, blade；8, crossbeam；9, connecting pole；10, pedestal；11, medicine-chest；12, bearing；13, outlet tube；14, water pump；15, total jet pipe；
16, branch's jet pipe；17, nozzle；18, hydraulic oil container；19, hydraulic pump；20, oil inlet pipe；21, hydraulic controller；22, flowline.
Specific implementation mode
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached in the embodiment of the present invention
Figure, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is the present invention
A part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not having
The every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
In the present invention, term "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on ... shown in the drawings or
Position relationship.These terms are not intended to limit indicated dress primarily to preferably describe the present invention and embodiment
It sets, element or component must have particular orientation, or be constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term "upper" also are likely used for indicating certain relations of dependence or connection relation in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in the present invention can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected " " socket " shall be understood in a broad sense.For example, can
To be to be fixedly connected, it is detachably connected or monolithic construction；Can be mechanical connection, or electrical connection；It can be directly connected,
Either indirectly connected through an intermediary, or it is two connections internal between device, element or component.For
For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
Unless otherwise indicated, the meaning of " multiple " is two or more.
It is described in further detail below by specific embodiment and in conjunction with attached drawing to the present invention.
Embodiment one：
Either more rotors or single rotor plant protection drone, during near-earth plant protection operation, the downward spiral of rotor generation
Eddy flow Wind the spray effect of plant protection operation is influenced it is very big, since spraying operation wind field is mainly by dynamic on unmanned plane
Blade in Force system is produced when rotating, and being formed by wind field and the parameter of electric machine and paddle size has much relations.Therefore,
A kind of plant protection drone spraying operation wind field test system is present embodiments provided, by simulating the appearance in unmanned plane operation process
State changes, and changes motor speed in dynamical system, tests the spray effect under formed wind field.
A kind of plant protection drone spraying operation wind field test system is present embodiments provided, refering to fig. 1, including power supply system
System, earth station, test platform and dynamical system, sprinkling system and flight control system on the test platform, the confession
Electric system is respectively that the test platform, dynamical system, sprinkling system and flight control system provide electric energy；The flight control system and institute
Dynamical system connection is stated, and is wirelessly communicated with the earth station；The dynamical system drives the test platform rotation, and generates
Corresponding wind field completes spray effect test for sprinkling system under the wind field.
Known to, dynamical system includes the mechanical, electrical reconciliation blade of electricity, and motor is connected with electricity tune, the power input and confession that electricity is adjusted
Electric system connects, and electricity reconciliation flight control system is connected, and the pwm signal control that electricity is adjusted inputs and velocity feedback output is respectively connected to
Flight control system.
The plant protection drone spraying operation wind field that the present embodiment is provided tests system, is waited for by being installed on test platform
The dynamical system of survey makes sprinkling system be sprayed in the case where dynamical system is formed by wind field, sprayed after starting sprinkling system
Cheng Zhong by motor speed in the posture and dynamical system of the real-time monitoring and test platform of flight control system, and is fed back to and flight control system
The earth station of wireless communication, earth station by flight control system after the control information real time processing such as motor speed to feeding back to dynamical system
System, dynamical system provides and is formed by wind field under corresponding motor speed in test, and is completed by existing corresponding test equipment
The test data collection of embodiment spray effect under corresponding wind field, specifically may be used the existing mist for being positioned over test platform bottom
Drop distribution detector or droplet test card detect Pcnten-1 yne-4 in pesticide spray, droplet density and droplet coverage, existing
Pcnten-1 yne-4 detector or the test philosophy of droplet test card are known to those skilled in the art, are not detailed herein.
Further, while refering to Fig. 2,3 and 4, the test platform includes attitude regulation mechanism and motion platform, described
Motion platform includes erecting bed 4 and the circular multiple mounting brackets 5 for being connected to the erecting bed 4, one end of the mounting bracket 5
It is connected to the erecting bed 4, the other end fixes the dynamical system.Change the erecting bed 4 by the attitude regulation mechanism
Posture, flight control system perceives the posture information of the erecting bed and is sent to earth station, and simulation unmanned plane is under different postures
And sprayed under corresponding wind field, to complete spray effect test.
In the present embodiment, optionally, the attitude regulation mechanism includes support column 1, turntable 2, hydraulic cylinder 3 and bulb 6, institute
It states support column 1 and connection is relatively rotated by the turntable 2 and the hydraulic cylinder 3,3 top of the hydraulic cylinder is fixedly connected on described
Turntable 2, bottom are flexibly connected with the bulb 6, and the bulb 6 is fixed on the erecting bed 4；1 top installation of the support column
In suspended ceiling device.Optionally, support column 1 can be telescopic mast, and the height for adjusting motion platform can be needed according to test.
Preferably, bearing 12, the inner ring of the bearing 12 and the support column 1 are equipped in the turntable that the present embodiment is provided
It is fixedly connected, the outer ring of the bearing 12 is affixed and is fixedly connected with 2 inner wall of the turntable, and furred ceiling is fixed at 1 top of support column
Device, under the drive of dynamical system, turntable 2 can surround the support and rotate.
As a kind of preferred structure of the present embodiment, around connecting, there are four mounting bracket 5, simulations four around erecting bed 4
Rotor plant protection drone, in order to more convenient and effectively change motion platform gesture, the attitude regulation mechanism provided
Include four hydraulic cylinders 3, four hydraulic cylinders 3 are connected between turntable 2 and erecting bed 4, in order to control hydraulic cylinder
, it is known that ground further includes hydraulic oil container 18, hydraulic pump 19 and hydraulic pump control device 21 refering to Fig. 6, and each hydraulic cylinder 3 configures one
Hydraulic pump 19, oil inlet pipe 20 and flowline 22, hydraulic cylinder 3 include cylinder body 3.1 and hydraulic stem 3.2, hydraulic pump 19 and hydraulic oil container
18 connections, one end of oil inlet pipe 20 are connect with 3.1 top side of cylinder body, and the other end is connect with hydraulic pump 19, and the one of flowline 22
End connect with 3.1 bottom side of cylinder body, the other end is connect with hydraulic pump 19, the hydraulic pump corresponding to four hydraulic cylinders respectively with together
One fuel tank connection, the oil pump in fuel tank is gone out, and each hydraulic pump is connect with hydraulic pump control device, is controlled by hydraulic controller each
Hydraulic pump works, illustrate only a hydraulic cylinder in figure, and the connection relation of another hydraulic cylinder and hydraulic oil container is same as above.
In the present embodiment, in order to change motion platform gesture, can hydraulic pump work be controlled by hydraulic pump control device 21 respectively
Make so that the hydraulic cylinder of each hydraulic cylinder is flexible up and down, to achieve the purpose that change motion platform pitch angle and the billowing elevation angle, appearance
The design parameter that state changes feeds back to earth station and carries out data processing and preservation after being perceived by flight control system.
Support column 1 can be fixed on indoor ceiling in the present embodiment, suspended ceiling device can also be fixed on, it is optional
Ground, the suspended ceiling device include pedestal 10, connecting pole 9 and crossbeam 8, and the top of the connecting pole 9 is connect with the crossbeam 8, bottom
Portion is fixed on the pedestal 10.Suspended ceiling device has certain weight, can ensure the test platform during the motion not
It will appear shaking phenomenon.
Preferably, refering to Fig. 5, the sprinkling system includes medicine-chest 11, outlet tube 13, total jet pipe 15, branch's jet pipe 16, water
Pump 14 and nozzle 17, the liquid outlet of the medicine-chest 11 are connect by outlet tube 13 with 14 inlet of water pump, and the water pump 14 goes out
Liquid mouth is connect with total jet pipe 15, and total jet pipe 15 is connect with multiple branch's jet pipes 16, the end of branch's jet pipe 16
Connect the nozzle 17.Nozzle 17 is installed on the lower section of blade, and sprinkling is completed in the case where the rotation of blade 7 is formed by wind field, wherein
Blade is fixed on the free end of mounting bracket 5.Medicine-chest 11 can be fixed on ground or suspended ceiling device connecting pole.
Preferably, the power supply system includes power supply and section board, the power supply by section board be the test platform,
Dynamical system, sprinkling system and flight control system power supply.
Since plant protection drone is often 6S and 12S with supply voltage, to ensure to the greatest extent may be used with plant protection producer actual job effect
Can be consistent, power supply is using large capacity, powerful poly-lithium battery.Section board input has positive and negative polarities port, corresponding
Power positive cathode is connected, output is made of 10 road XT90 plugs, respectively each system power supply.
If it is 6S to test power voltage, monoblock battery positive and negative anodes are directly correspondingly connected with section board input port, i.e., it is electric
Pond cathode is correspondingly connected with the cathode of section board input terminal；Anode is correspondingly connected with the anode of section board input terminal.If test is dynamic
Power voltage is 12S, needs to use series line（Cathode-anode）, i.e. one piece of battery（A#）Cathode is correspondingly connected with one end of series line,
The other end of series line connects another piece of battery（B#）Anode, two pieces of batteries have been connected into 12S power supplys.Again by battery（B#）It is negative
Pole is correspondingly connected with the cathode of power supply system input terminal, by battery（A#）Anode is correspondingly connected with the anode of power supply system input terminal.
In the present embodiment, the flight control system includes attitude transducer, PMU, FCU and the first digital transmission module, the PMU electricity
Source input terminal is connect with the power supply system, the PMU power output ends and the FCU（Flight controller）Connection, the appearance
State sensor, the first digital transmission module and dynamical system are connect with the FCU；First digital transmission module and the second digital transmission module are logical
Letter connection, second digital transmission module are connect by USB with earth station.
The present embodiment obtains the posture information of test platform and moves in real time by installing flight control system on test platform
Earth station is sent to by the first digital transmission module, the second digital transmission module after the relevant informations such as the rotating speed of Force system, by earth station into
Row displays and saves.In addition, earth station can input the tachometer value of corresponding motor, and control the rotating speed of corresponding motor so that with
The corresponding blade of motor is formed after corresponding wind field sprays for sprinkling system under set motor speed by test equipment
Measure spray effect.Wind field test system provided in this embodiment can be quick and effectively to the dynamical system of plant protection drone
Sprinkling test is carried out, is installed without being directed to entire plant protection drone, it is simple in structure, it is easy for installation.Wherein, flight control system,
Sprinkling system, power supply system and earth station can be adapted for each dynamical system to be measured, need to only be mounted directly dynamical system to be measured
It on test platform, and can be tested, not limited by plant protection drone size, versatility is higher, is suitable for after connecting equipment
It is widely popularized and applies.
Embodiment two
The present embodiment provides on the basis of embodiment one using above-mentioned plant protection drone spraying operation wind field test system
Test method, include the following steps：
S101, flight control system, dynamical system and sprinkling system are installed on the test platform, and establish flight control system and ground
The communication connection stood；
By the attitude transducer of flight control system, PMU（Power management module）、FCU（Flight controller）Connect with the first digital transmission module
It connects, the PMU power inputs are connect with power supply system, and PMU power output ends are connect with FCU, attitude transducer, the first number
Transmission module and dynamical system are connect with FCU；First digital transmission module and the second digital transmission module communicate to connect, second digital transmission module
It is connect with earth station by USB.
Dynamical system is fixed on to the free end of mounting bracket, wherein motor output shaft is connect with blade, and motor is adjusted with electricity
Connection, electricity are adjusted and are connect with FCU.
It is fixed on the connecting pole of suspended ceiling device after the medicine-chest of sprinkling system is filled water or liquid, the liquid outlet of medicine-chest is logical
Outlet tube to be crossed to connect with water pump inlet, the liquid outlet of water pump is connect with total jet pipe, and total jet pipe is connect with multiple branch's jet pipes, point
The end of branch jet pipe connects nozzle.Water pump can be fixed on suspended ceiling device, and nozzle 17 is installed on the lower section of blade 7, in blade
Rotation, which is formed by under wind field, completes sprinkling, and wherein blade is fixed on the free end of mounting bracket.
S102, power supply system is connect with flight control system, dynamical system, sprinkling system and test platform respectively；
If it is 6S to test power voltage, monoblock battery positive and negative anodes are directly correspondingly connected with section board input port, i.e. battery is negative
Pole is correspondingly connected with the cathode of section board input terminal；Anode is correspondingly connected with the anode of section board input terminal.If testing power electric
Pressure is 12S, needs to use series line（Cathode-anode）, i.e. one piece of battery（A#）Cathode is correspondingly connected with one end of series line, series connection
The other end of line connects another piece of battery（B#）Anode, two pieces of batteries have been connected into 12S power supplys.Again by battery（B#）Cathode pair
The cathode that power supply system input terminal should be connected, by battery（A#）Anode is correspondingly connected with the anode of power supply system input terminal, section board
Input has positive and negative polarities port, is correspondingly connected with power positive cathode, and output is made of 10 road XT90 plugs, and respectively each system supplies
Electricity.
S103, corresponding kinetic parameter is arranged in earth station according to dynamical system to be measured；
Specifically, according to dynamical system to be measured be arranged the number of axle, voltage, motor KV, motor number of pole-pairs, paddle size, minimum speed,
The parameters such as maximum (top) speed.
S104, test platform is adjusted at preset height and carrying out sprinkling test：Start spray after being manipulated by earth station
It spills system and dynamical system and dynamic adjusts test platform posture so that sprinkling system is complete in the case where dynamical system is formed by wind field
It is tested at sprinkling；
Pose adjustment is independent from each other with dynamical system control, and after dynamical system starts, blade drives motion platform is opposite to prop up
Dagger 1 is rotated, and simulation unmanned plane makes sprinkling system complete sprinkling in the case where blade is formed by wind field.Optionally,
It can change motion platform gesture by attitude regulation mechanism in test process（Pitching and roll angle）, posture information is by flying control system
Attitude transducer in system is sent to earth station and is handled and preserved after measuring, can simulate unmanned plane under different postures
Wind field spray effect.
After the completion of S105, sprinkling test, it is formed by data and is stored in earth station and data report is generated by earth station.Spray
Earth station can be all stored in by spilling the various data obtained in test process, convenient for subsequently checking and analyzing.
The direction of rotation of the adjacent foil of multi-rotor unmanned aerial vehicle needs on the contrary, therefore, must in the installation of more rotor unmanned aircrafts
It must ensure that each motor direction of rotation is correct, otherwise unmanned vehicle will be unable to take off, and user needs to examine before aircraft flight
Motor installation direction is looked into, in order to avoid it is in the presence of that aircraft falls machine once taking off.And if motor direction of rotation in this sprinkling test
It is wrong, generated wind field will certainly be influenced, to cause test effect inaccurate, in order to overcome the problem, this present embodiment
In, the S104 is also needed before carrying out sprinkling test to motor progress self-test, and the step of motor self-test is as follows：
Start motor in the case where being fitted without blade；
So that the motor of corresponding channel is run according to fixed idle speed value；
It is without exception to check that circuit has in motor operation course, motor has no abnormal sound, Caton phenomenon；
Judge whether each motor steering is correct；If motor steering is wrong, line sequence regulation motor positive and negative rotation is manually changed
Confirm errorless rear deenergization, installation blade is to carry out subsequently spraying test.
In the present embodiment, further, in order to avoid due to voltage, throttle is excessively high or motion platform vibrations are excessive and
Equipment damage is caused, alarm and protection mechanism is additionally provided with, specifically, the sprinkling test process in the present embodiment in step S104 also wraps
Include following steps：
The flight control system obtains supply voltage, throttle and test platform vibration data in real time, and is sent to earth station；
When supply voltage, throttle or test platform vibration data are more than alarm threshold value set in flight control system, fly control
The corresponding alarm code of system feedback is shown to earth station and to control dynamical system out of service.
Specifically, if detection shakes excessive either brownout or throttle is excessively high, stopped by flight control system control motor
Turn, and feeds back corresponding alarm code and shown in earth station；Known to, the alarm and protection as long as excessive there are one motor throttle,
Low pressure alarming threshold values, vibrations alarming threshold value and throttle alarm threshold value can be adjusted according to actual conditions.
The plant protection drone spraying operation wind field test method that the present embodiment is provided, survey is monitored by flight control system in real time
The information such as posture and the dynamical system rotating speed of platform are tried, and feed back to earth station.Meanwhile rotating speed etc. is controlled information by earth station
Processing in real time, issues dynamical system so that dynamical system forms wind field after reaching corresponding rotating speed, completes the sprinkling under corresponding wind field
Measure of merit can monitor relevant parameter information in real time with the earth station of flight control system wireless communication, and preserve test data confession
Subsequently refering to.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of plant protection drone spraying operation wind field tests system, which is characterized in that including power supply system, earth station, test
Platform and dynamical system, sprinkling system and flight control system on the test platform, the power supply system are respectively institute
It states test platform, dynamical system, sprinkling system and flight control system and electric energy is provided；
The flight control system is connect with the dynamical system, and is wirelessly communicated with the earth station；The dynamical system drives institute
Test platform rotation is stated, and generates corresponding wind field so that sprinkling system completes spray effect test under the wind field.
2. plant protection drone spraying operation wind field according to claim 1 tests system, which is characterized in that the test is flat
Platform includes attitude regulation mechanism and motion platform, and the motion platform includes erecting bed（4）It is connected to the erecting bed with surrounding
（4）Multiple mounting brackets（5）, the mounting bracket（5）One end be connected to the erecting bed（4）, the other end fix described in
Dynamical system.
3. plant protection drone spraying operation wind field according to claim 2 tests system, which is characterized in that the posture tune
It includes support column to save mechanism（1）, turntable（2）, hydraulic cylinder（3）And bulb（6）, the support column（1）Pass through the turntable（2）With
The hydraulic cylinder（3）Relatively rotate connection, the hydraulic cylinder（3）Top is fixedly connected on the turntable（2）, bottom and the ball
Head（6）Flexible connection, the bulb（6）It is fixed on the erecting bed（4）；The support column（1）Top is installed on suspended ceiling device.
4. plant protection drone spraying operation wind field according to claim 3 tests system, which is characterized in that the furred ceiling dress
It sets including pedestal（10）, connecting pole（9）And crossbeam（8）, the connecting pole（9）Top and the crossbeam（8）Connection, bottom are solid
Due to the pedestal（10）On.
5. plant protection drone spraying operation wind field according to claim 1 tests system, which is characterized in that the sprinkling system
System includes medicine-chest（11）, outlet tube（13）, total jet pipe（15）, branch's jet pipe（16）, water pump（14）And nozzle（17）, the medicine-chest
（11）Liquid outlet pass through outlet tube（13）With water pump（14）Inlet connects, the water pump（14）Liquid outlet and total spray
Pipe（15）Connection, total jet pipe（15）With multiple branch's jet pipes（16）Connection, branch's jet pipe（16）End connect institute
State nozzle（17）.
6. plant protection drone spraying operation wind field according to claim 1 tests system, which is characterized in that the power supply system
System includes power supply and section board, and the power supply is the test platform, dynamical system, sprinkling system by section board and flies control system
System power supply.
7. plant protection drone spraying operation wind field according to claim 1 tests system, which is characterized in that the winged control system
System includes attitude transducer, PMU, FCU and the first digital transmission module, and the PMU power inputs are connect with the power supply system, institute
It states PMU power output ends to connect with the FCU, the attitude transducer, the first digital transmission module and dynamical system connect with the FCU
It connects；First digital transmission module and the second digital transmission module communicate to connect, and second digital transmission module is connect with earth station.
8. using the test side of the plant protection drone spraying operation wind field test system described in claim 1~7 any one
Method, which is characterized in that include the following steps：
（1）Flight control system, dynamical system and sprinkling system are installed on the test platform, and establish flight control system and earth station
Communication connection；
（2）Power supply system is connect with flight control system, dynamical system, sprinkling system and test platform respectively；
（3）Corresponding kinetic parameter is set in earth station according to dynamical system to be measured；
（4）Test platform is adjusted at preset height and carrying out sprinkling test：Start sprinkling system after being manipulated by earth station
With dynamical system and dynamic adjustment test platform posture so that sprinkling system completes sprinkling in the case where dynamical system is formed by wind field
Test；
（5）After the completion of sprinkling test, it is formed by data and is stored in earth station and data report is generated by earth station.
9. described according to the method described in claim 8, it is characterized in that, the dynamical system includes the mechanical, electrical reconciliation blade of electricity
Step（4）It is also needed before carrying out sprinkling test to motor progress self-test, the step of motor self-test is as follows：
Start motor in the case where being fitted without blade；
So that the motor of corresponding channel is run according to fixed idle speed value；
It is without exception to check that circuit has in motor operation course, motor has no abnormal sound, Caton phenomenon；
Judge whether each motor steering is correct；
Confirm errorless rear deenergization, installation blade is to carry out subsequently spraying test.
10. according to the method described in claim 8, it is characterized in that, the step（4）In sprinkling test process further include as
Lower step：
The flight control system obtains supply voltage, throttle and test platform vibration data in real time, and is sent to earth station；
When supply voltage, throttle or test platform vibration data are more than alarm threshold value set in flight control system, fly control
The corresponding alarm code of system feedback is shown to earth station and to control dynamical system out of service.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810524573.2A CN108502188A (en) | 2018-05-28 | 2018-05-28 | A kind of plant protection drone spraying operation wind field test system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810524573.2A CN108502188A (en) | 2018-05-28 | 2018-05-28 | A kind of plant protection drone spraying operation wind field test system and method |
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| Publication Number | Publication Date |
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| CN108502188A true CN108502188A (en) | 2018-09-07 |
Family
ID=63401543
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810524573.2A Withdrawn CN108502188A (en) | 2018-05-28 | 2018-05-28 | A kind of plant protection drone spraying operation wind field test system and method |
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| CN (1) | CN108502188A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109159920A (en) * | 2018-09-21 | 2019-01-08 | 农业部南京农业机械化研究所 | More rotor unmanned aerial vehicle simulation of wind testing stands |
| CN109159921A (en) * | 2018-09-28 | 2019-01-08 | 陈怡君 | A kind of Intelligent unattended machine production detection lifting gear |
| CN109813521A (en) * | 2019-01-28 | 2019-05-28 | 河南农业大学 | A kind of plant protection drone wind field detection device |
| CN110092011A (en) * | 2019-05-31 | 2019-08-06 | 吉林省农业机械研究院 | A kind of cable type flight experiment platform |
| CN110155368A (en) * | 2019-05-31 | 2019-08-23 | 吉林省农业机械研究院 | A kind of rail mounted flight experiment platform |
| CN111874259A (en) * | 2020-05-25 | 2020-11-03 | 中国农业大学 | Plant protection unmanned aerial vehicle lift and ground effect change real-time detection system |
| CN112763248A (en) * | 2020-12-29 | 2021-05-07 | 华南农业大学 | Detection device and method for directly measuring spraying physical and chemical characteristics of plant protection aircraft |
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2018
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109159920A (en) * | 2018-09-21 | 2019-01-08 | 农业部南京农业机械化研究所 | More rotor unmanned aerial vehicle simulation of wind testing stands |
| CN109159921A (en) * | 2018-09-28 | 2019-01-08 | 陈怡君 | A kind of Intelligent unattended machine production detection lifting gear |
| CN109813521A (en) * | 2019-01-28 | 2019-05-28 | 河南农业大学 | A kind of plant protection drone wind field detection device |
| CN109813521B (en) * | 2019-01-28 | 2024-04-05 | 河南农业大学 | Plant protection unmanned aerial vehicle wind field detection device |
| CN110092011A (en) * | 2019-05-31 | 2019-08-06 | 吉林省农业机械研究院 | A kind of cable type flight experiment platform |
| CN110155368A (en) * | 2019-05-31 | 2019-08-23 | 吉林省农业机械研究院 | A kind of rail mounted flight experiment platform |
| CN111874259A (en) * | 2020-05-25 | 2020-11-03 | 中国农业大学 | Plant protection unmanned aerial vehicle lift and ground effect change real-time detection system |
| CN112763248A (en) * | 2020-12-29 | 2021-05-07 | 华南农业大学 | Detection device and method for directly measuring spraying physical and chemical characteristics of plant protection aircraft |
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Application publication date: 20180907 |