CN107860690A - A kind of device and method for detecting agricultural unmanned plane spraying droplet deposition uniformity - Google Patents
A kind of device and method for detecting agricultural unmanned plane spraying droplet deposition uniformity Download PDFInfo
- Publication number
- CN107860690A CN107860690A CN201711016813.XA CN201711016813A CN107860690A CN 107860690 A CN107860690 A CN 107860690A CN 201711016813 A CN201711016813 A CN 201711016813A CN 107860690 A CN107860690 A CN 107860690A
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- Prior art keywords
- unmanned plane
- hole tray
- droplet deposition
- array hole
- deposition uniformity
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume, or surface-area of porous materials
- G01N15/04—Investigating sedimentation of particle suspensions
Abstract
The present invention relates to a kind of device and method for detecting agricultural unmanned plane spraying droplet deposition uniformity, the device includes frame, X to motion, Y-direction motion, Z-direction motion, objective table, laser ranging module, array hole tray container and frame；In field of pesticide delivery, using the detection means in the present invention and droplet deposition uniformity detection method, unmanned plane during flying height, speed and the drift skyborne to droplet of rotor wind field and the influence situation of deposition can be studied indoors, and test space can be saved, there is the characteristics of quick, directly perceived.
Description
Technical field
The invention belongs to unmanned plane spraying field, and in particular to one kind detects agricultural unmanned plane spraying droplet deposition uniformity
Device and method.
Technical background
Agricultural unmanned plane is not restricted by geographic factor, and smoothly can efficiently fulfil assignment task, unmanned plane medicine, fertile spraying operation
Effect is good, safe, and can reduce the risk of operating personnel's pesticide poisoning, and automaticity is high, and Complete working unit personnel are relative
Less, labor intensity is low, so unmanned plane is agriculturally being widely used.
During unmanned plane pesticide spraying, the mist droplet particle size size of agricultural chemicals, coverage density are to insecticide, bactericide etc.
Drug effect has a significant impact, and droplet deposition uniformity affects pesticide efficacy, and certain droplet coverage density can reaches
Preferable prevention effect, and the spray pattern of Large Copacity elution formula need not be used, therefore the monitoring to droplet deposition uniformity exists
It is extremely important during unmanned plane sprinkling.
Field is sprayed in agriculture unmanned plane at present, it is main to be covered using water sensitive paper detection method to detect droplet density and droplet
Rate, method are that water sensitive paper is pasted onto on slide, slide are placed in crops according to certain spacing, mistake after spraying
For a period of time, slide is collected to be sealed in the Glass carrier box for fill silica gel particle, after droplet fixation, scanning input electricity
Brain, but this method needs to carry out in outdoor field, and detection error is larger, and experimental enviroment is uncontrollable, causes result of the test each
Variant, repeatability is low.
The content of the invention
To solve above technical problem, one kind can be carried out indoors, experimental enviroment is controllable, quick and precisely for present invention offer
The method that ground detects unmanned plane spraying droplet deposition conditions, and the detection means for being adapted to this method, concrete technical scheme are provided
It is as follows：
A kind of device for detecting agricultural unmanned plane spraying droplet deposition uniformity, including frame, X are to motion, Y-direction fitness machine
Structure, Z-direction motion, objective table, laser ranging module, array hole tray container and frame；X is to motion by motor, synchronization
Wheel group, synchronizing wheel V, synchronizing wheel VI and rubber synchronous belt III form；Z-direction motion by handwheel, sliding block, polished rod, bearing block,
Driving block, screw mandrel and rolling bearing units composition；Y-direction motion is by with seats bearing, bearing block, polished rod group, polished rod III, polished rod
Vth, polished rod I, polished rod II, polished rod IV, sliding block group, slider I, sliding block II, rubber synchronous belt group, rubber synchronous belt I, rubber are synchronous
Band II, synchronizing wheel group, synchronizing wheel III, synchronizing wheel I, synchronizing wheel II, synchronizing wheel IV and motor composition；Y-direction fortune is provided with frame
Motivation structure and Z-direction motion, X is connected to motion with thread connecting mode in Y-direction motion, X is on motion
Laser ranging module is installed, the lower section of laser ranging module is provided with objective table, and array hole tray container is placed on objective table, loading
The both sides of platform are connected with Z-direction motion；X is driven to motion and Y-direction motion using synchronizing wheel+timing belt, motor
Dynamic form is moved along a straight line, and Z-direction motion is moved along a straight line by the way of screw mandrel, one end is fixedly connected with the hand wheel.
Preferably, frame is built using aluminium alloy extrusions, is bolted；
Preferably, array hole tray container profile is cuboid, and tank is covered with container, and tank is the rectangular of 1cm × 1cm × 10cm
The distance between body structure, two neighboring tank is 0.5 ~ 1mm, and array hole tray container bottom is equipped with steamboat；There is hole side, is used for
Latch connects between two containers；
Preferably, the bottom of frame is equipped with universal wheel；
Preferably, guide rail is provided with objective table, guide rail is engaged with the steamboat of array hole tray container bottom；
It is highly preferred that objective table is provided with baffle plate, two necks are set on guide rail, thrust block is placed on groove, track, baffle plate and only
Pushing block limits the position of array hole tray container together；
It is highly preferred that objective table bottom is equipped with the high sensor of survey.
Present invention also offers a kind of method for detecting agricultural unmanned plane spraying droplet deposition uniformity, following step is included
Suddenly：
（1）Spraying unmanned plane is fixed on from the ground on 0.5 ~ 2m device；According to unmanned plane nozzle position and spraying breadth point
Cloth situation, 2 ~ 100 array hole tray containers are placed on the ground, coordinate mark is carried out to each array hole tray container；
（2）Medicine-chest is filled, starts unmanned plane, open shower nozzle, sprays decoction, the droplet deposited by array hole tray container collection；Treat
Liquid medicine jet is complete, and unmanned plane is closed after closing shower nozzle；
（3）The objective table of Liquid volume inspector device is put down manually, and array hole tray container is put into Liquid volume inspector device；
（4）The X of automatic calibration liquid volume detection device, Y-direction, determine that laser ranging module detects starting point；Manual calibration fills
The Z-direction put, determine objective table height；
（5）Start to detect：Positive direction of the laser ranging module along X is detected into a line, then laser ranging module is at the end of the row
Hold to Y positive direction and detect a groove, then laser ranging module detects to X negative direction, is detected in a zigzag successively.Together
When, the data transfer detected to microprocessor is resolved, obtains liquid volume by laser ranging module through microprocessor；
（6）After detection, laser ranging module automatically returns to starting point, detects other array hole tray containers, repeats to walk above
Rapid 5；
（7）Data analysis, mist droplet deposition distribution situation is shown in the form of graphics.
The technical advantages of the present invention are that：Unmanned plane during flying height, speed and rotor wind field can be studied indoors to mist
Skyborne drift and the influence situation of deposition are dripped, and test space can be saved, there is the characteristics of quick, directly perceived.Meanwhile this
Invention can be to unmanned plane in static state（Without rotor wind）, dynamic（There is rotor wind）The droplets uniformity of spraying makes quantitative identification.
Brief description of the drawings
Fig. 1 is the structural representation of detection means in the present invention
Fig. 2 is the objective table graphics of detection means in the present invention
Fig. 3 is the array hole tray container graphics of detection means in the present invention
Fig. 4 is 4 array hole tray container connection figures of detection means in the present invention
Wherein, specific code is：100th, X is to motion 110, motor 120, the synchronizing wheel V 122 of synchronizing wheel group 121, same
Step wheel VI 130, rubber synchronous belt III 200, Z-direction motion 210, handwheel 220, sliding block 230, polished rod 240, bearing block
250th, driving block 260, screw mandrel 270, rolling bearing units 300, Y-direction motion 310, with seats bearing 320, bearing block
330th, polished rod group 331, polished rod III 332, polished rod V 333, polished rod I 334, polished rod II 335, polished rod IV 340, sliding block group
341st, slider I 342, sliding block II 350, rubber synchronous belt group 351, rubber synchronous belt I 352, rubber synchronous belt II 360, same
Walk wheel group；361st, synchronizing wheel III 362, synchronizing wheel I 363, synchronizing wheel II 364, synchronizing wheel IV 370, motor 400, Laser Measuring
Away from module 500, array hole tray container 600, steamboat 700, objective table 800, frame 900, universal wheel 1000, thrust block
1100th, latch.
Embodiment
The present invention is described in further detail with reference to Fig. 1 to Fig. 4.
The invention provides a kind of device for detecting agricultural unmanned plane spraying droplet deposition uniformity, including frame 900, X
To motion 100, Y-direction motion 300, Z-direction motion 200, objective table 700, laser ranging module 400, array cave
Disk container 500 and frame 800；X is to motion 100 by motor 110, synchronizing wheel group 120,121 synchronizing wheels V, synchronizing wheel VI
122 and rubber synchronous belt III 130 form；Z-direction motion is by handwheel 210, sliding block 220, polished rod 230, bearing block 240, transmission
Sliding block 250, screw mandrel 260 and rolling bearing units 270 form；Y-direction motion 300 is by with seats bearing 310, bearing block 320, polished rod group
330th, polished rod III 331, polished rod V 332, polished rod I 333, polished rod II 334, polished rod IV 335, sliding block group 340, slider I 341, sliding block
II 342, rubber synchronous belt group 350, rubber synchronous belt I 351, rubber synchronous belt II 352, synchronizing wheel group 360, synchronizing wheel III 361,
Synchronizing wheel I 362, synchronizing wheel II 363, synchronizing wheel IV 364 and motor 370 form；Y-direction motion 300 is provided with frame 800
With Z-direction motion 200, X is connected to motion 100 with thread connecting mode in Y-direction motion 300, X is to motion
Laser ranging module 400 is installed, the lower section of laser ranging module 400 is provided with objective table 700, array hole tray container 500 on 100
It is placed on objective table 700, the both sides of objective table 700 are connected with Z-direction motion 200；X is to motion 100 and Y-direction fitness machine
Structure 300 is moved along a straight line using synchronizing wheel+timing belt, motor-driven form, and Z-direction motion 200 uses the side of screw mandrel
Formula moves along a straight line, and one end is fixedly connected with the hand wheel.
In the present invention, the frame 800 of Liquid volume inspector device is to be erected using aluminium alloy extrusions come aluminium alloy extrusions
It is bolted.
X is to be transported using synchronizing wheel+timing belt, motor-driven form come straight line to fitness machine 100, Y-direction motion 300
Dynamic, X is connected through a screw thread in Y-direction motion 300 to motion 100, enables laser ranging module 400 in X, Y side
To movement；What Z-direction motion 200 was moved along a straight line by the way of screw mandrel 260, one end is fixedly connected with the hand wheel, and works as loading
When platform 700 declines, array hole tray container 500 is facilitated to be put into objective table 700；Examined equipped with high sensor is surveyed the bottom of objective table 700
The terrain clearance of objective table 700 is surveyed, for the height of manual calibration objective table 700.
The profile of array hole tray container 500 is cuboid, and tank is covered with container, and tank is 1cm × 1cm × 10cm length
The distance between cube, adjacent two tanks are 0.5 ~ 1mm；The bottom of array hole tray container 500 is equipped with steamboat 600, convenient to move
It is dynamic；There is fluting the side of array hole tray container 700, convenient to carry；There is hole the side of array hole tray container 700, between two containers
Latch 1100 connects.
Meanwhile the carrying and movement of the Liquid volume inspector device of the present invention for convenience, at the bottom of frame 800 of the present apparatus
Portion is equipped with universal wheel 900.
In addition, to be quickly put into array hole tray container 500, it is provided with the objective table 700 of Liquid volume inspector device
Guide rail, guide rail are engaged with the steamboat 600 of the bottom of array hole tray container 500, and control array hole tray container 500 is in objective table 700
On movement locus, to be quickly put into.Objective table 700 is provided with baffle plate, and two necks are set on guide rail, thrust block is placed with groove
1000, guide rail, baffle plate and thrust block 1000 limit the position of array hole tray container jointly.
In addition, present invention also offers a kind of using a kind of side for detecting agricultural unmanned plane spraying droplet deposition uniformity
Method, comprise the steps of：
（1）Spraying unmanned plane is fixed on from the ground on 0.5 ~ 2m device；According to unmanned plane nozzle position and spraying breadth point
Cloth situation, 2 ~ 100 array hole tray containers are placed on the ground, coordinate mark is carried out to each array hole tray container；
（2）Medicine-chest is filled, starts unmanned plane, open shower nozzle, sprays decoction, the droplet deposited by array hole tray container collection；Treat
Liquid medicine jet is complete, and unmanned plane is closed after closing shower nozzle；
（3）The objective table of Liquid volume inspector device is put down manually, and array hole tray container is put into Liquid volume inspector device；
（4）The X of automatic calibration liquid volume detection device, Y-direction, determine that laser ranging module detects starting point；Manual calibration fills
The Z-direction put, determine objective table height；
（5）Start to detect：Positive direction of the laser ranging module along X is detected into a line, then laser ranging module is at the end of the row
Hold to Y positive direction and detect a groove, then laser ranging module detects to X negative direction, is detected in a zigzag successively.Together
When, the data transfer detected to microprocessor is resolved, obtains liquid volume by laser ranging module through microprocessor；
（6）After detection, laser ranging module automatically returns to starting point, detects other array hole tray containers, repeats to walk above
Rapid 5；
（7）Data analysis, mist droplet deposition distribution situation is shown in the form of graphics.
Claims (10)
- A kind of 1. device for detecting agricultural unmanned plane spraying droplet deposition uniformity, it is characterised in that：Including frame, X to motion Mechanism, Y-direction motion, Z-direction motion, objective table, laser ranging module, array hole tray container and frame；X is to fitness machine Structure is made up of motor, synchronizing wheel group, synchronizing wheel V, synchronizing wheel VI and rubber synchronous belt III；Z-direction motion by handwheel, sliding block, Polished rod, bearing block, driving block, screw mandrel and rolling bearing units composition；Y-direction motion by with seats bearing, bearing block, polished rod group, Polished rod III, polished rod V, polished rod I, polished rod II, polished rod IV, sliding block group, slider I, sliding block II, rubber synchronous belt group, rubber synchronous belt Ith, rubber synchronous belt II, synchronizing wheel group, synchronizing wheel III, synchronizing wheel I, synchronizing wheel II, synchronizing wheel IV and motor composition；Set in frame It is equipped with Y-direction motion and Z-direction motion, X is connected to motion with thread connecting mode in Y-direction motion, X is to fortune Laser ranging module is installed, the lower section of laser ranging module is provided with objective table, and array hole tray container is placed in loading on motivation structure On platform, the both sides of objective table are connected with Z-direction motion；X is to motion and Y-direction motion using synchronizing wheel+synchronous Band, motor-driven form are moved along a straight line, and Z-direction motion is moved along a straight line by the way of screw mandrel, one end is consolidated with handwheel Fixed connection.
- 2. a kind of device for detecting agricultural unmanned plane spraying droplet deposition uniformity according to claim 1, its feature exist In：Frame is built using aluminium alloy extrusions, is bolted.
- 3. a kind of device for detecting agricultural unmanned plane spraying droplet deposition uniformity according to claim 1, its feature exist In：Array hole tray container profile is cuboid, is covered with tank in container.
- 4. a kind of device for detecting agricultural unmanned plane spraying droplet deposition uniformity according to claim 3, its feature exist In：The distance between the rectangular parallelepiped structure, two neighboring tank that the tank is 1cm × 1cm × 10cm is 0.5 ~ 1mm.
- 5. a kind of device of the agricultural unmanned plane spraying droplet deposition uniformity of detection according to claim 1 or 3, its feature It is：Array hole tray container bottom is equipped with steamboat；There is hole side, is connected for latch between two containers.
- 6. a kind of device for detecting agricultural unmanned plane spraying droplet deposition uniformity according to claim 1, its feature exist In：The bottom of frame is equipped with universal wheel.
- 7. a kind of device for detecting agricultural unmanned plane spraying droplet deposition uniformity according to claim 1, its feature exist In：Guide rail is provided with objective table, guide rail is engaged with the steamboat of array hole tray container bottom.
- 8. a kind of device for detecting agricultural unmanned plane spraying droplet deposition uniformity according to claim 7, its feature exist In：Objective table places thrust block, track, baffle plate and thrust block limit together provided with two necks are set on baffle plate, guide rail on groove Determine the position of array hole tray container.
- 9. a kind of device for detecting agricultural unmanned plane spraying droplet deposition uniformity according to claim 1, its feature exist In：Objective table bottom is equipped with the high sensor of survey.
- 10. a kind of a kind of method of agricultural unmanned plane spraying droplet deposition uniformity of detection using described in claim 1, it is special Sign is to comprise the steps of：（1）Spraying unmanned plane is fixed on from the ground on 0.5 ~ 2m device；According to unmanned plane nozzle position and spraying breadth point Cloth situation, 2 ~ 100 array hole tray containers are placed on the ground, coordinate mark is carried out to each array hole tray container；（2）Medicine-chest is filled, starts unmanned plane, open shower nozzle, sprays decoction, the droplet deposited by array hole tray container collection；Treat Liquid medicine jet is complete, and unmanned plane is closed after closing shower nozzle；（3）The objective table of Liquid volume inspector device is put down manually, and array hole tray container is put into Liquid volume inspector device；（4）The X of automatic calibration liquid volume detection device, Y-direction, determine that laser ranging module detects starting point；Manual calibration fills The Z-direction put, determine objective table height；（5）Start to detect：Positive direction of the laser ranging module along X is detected into a line, then laser ranging module is at the end of the row Hold to Y positive direction and detect a groove, then laser ranging module detects to X negative direction, is detected in a zigzag successively, together When, the data transfer detected to microprocessor is resolved, obtains liquid volume by laser ranging module through microprocessor；（6）After detection, laser ranging module automatically returns to starting point, detects other array hole tray containers, repeats to walk above Rapid 5；（7）Data analysis, mist droplet deposition distribution situation is shown in the form of graphics.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711016813.XA CN107860690B (en) | 2017-10-26 | 2017-10-26 | Device and method for detecting deposition uniformity of spray droplets of agricultural unmanned aerial vehicle |
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|---|---|---|---|
| CN201711016813.XA CN107860690B (en) | 2017-10-26 | 2017-10-26 | Device and method for detecting deposition uniformity of spray droplets of agricultural unmanned aerial vehicle |
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| CN107860690A true CN107860690A (en) | 2018-03-30 |
| CN107860690B CN107860690B (en) | 2020-08-07 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108535152A (en) * | 2018-05-17 | 2018-09-14 | 华南农业大学 | A kind of Full-automatic reel formula mist droplet deposition image Rapid Circulation harvester and method |
| CN109116373A (en) * | 2018-07-17 | 2019-01-01 | 江苏省农业科学院 | A kind of droplet drift detection system based on two-dimensional laser radar scanning sensor |
| CN109164022A (en) * | 2018-06-28 | 2019-01-08 | 华南农业大学 | A kind of deposition droplet volume measuring method based on the linear coplanar capacitor of length |
| CN109187292A (en) * | 2018-09-18 | 2019-01-11 | 江苏擎宇化工科技有限公司 | A kind of device of test droplet transmitting behavior |
| 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 |
| CN115683963A (en) * | 2022-09-19 | 2023-02-03 | 兰州空间技术物理研究所 | Device and method for testing lunar dust deposition uniformity |
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| CN112763248B (en) * | 2020-12-29 | 2022-05-10 | 华南农业大学 | Detection device and method for directly measuring spraying physical and chemical characteristics of plant protection aircraft |
| CN115683963A (en) * | 2022-09-19 | 2023-02-03 | 兰州空间技术物理研究所 | Device and method for testing lunar dust deposition uniformity |
| CN115683963B (en) * | 2022-09-19 | 2023-10-27 | 兰州空间技术物理研究所 | Device and method for testing deposition uniformity of moon dust |
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