CN109959588B - Device for indoor detection of spraying quality of plant protection aircraft and application method of device - Google Patents
Device for indoor detection of spraying quality of plant protection aircraft and application method of device Download PDFInfo
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- CN109959588B CN109959588B CN201910178035.7A CN201910178035A CN109959588B CN 109959588 B CN109959588 B CN 109959588B CN 201910178035 A CN201910178035 A CN 201910178035A CN 109959588 B CN109959588 B CN 109959588B
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- 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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- 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 invention discloses a device for detecting spraying quality of a plant protection aircraft indoors and a using method thereof, wherein the device comprises a data receiving device, a driving device and a control system, the data receiving device comprises a connecting frame, a plurality of data receiving modules and a rotating device, each data receiving module comprises a data receiving cylinder, a data receiving frame, a plurality of groups of data receiving platforms and a rotating driving mechanism, and a skylight is arranged on the data receiving cylinder; the control system is used for communicating with the plant protection unmanned aerial vehicle, controlling the moving speed of the data receiving device and the rotating speed of the data receiving platform to be consistent with the flying speed of the plant protection unmanned aerial vehicle, and controlling the connecting frame to rotate so as to enable the skylight of each data receiving barrel to face upwards in turn. The device not only can track and detect plant protection unmanned aerial vehicle spraying quality in real time, but also can provide the space of placing many sampling area simultaneously to alleviate scientific research personnel's work burden.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle spraying, in particular to a device for detecting the spraying quality of a plant protection aircraft indoors and a using method thereof.
Background
The plant protection unmanned plane is used as an emerging operation machine in the agricultural field, and is rapidly popularized and developed in China due to the characteristics of higher operation efficiency, adaptation to different terrains and the like. The method has been widely applied to grain crops such as wheat, soybean, rice and the like in China, and gradually extends to economic crops such as litchi, citrus and the like. A large number of scientific researchers in China invest a large amount of time to research the application of the plant protection unmanned aerial vehicle in actual operation every year, and the work effect is improved, so that higher social benefit is expected to be obtained.
However, scientific research is limited by the growing period of crops, and the field test is mostly developed in 5 months to 9 months each year, which brings great obstruction to the scientific research. And when researching the influence of single factors or multiple factors on the test result, the climate change in the field often seriously affects the test result, if the test can be carried out indoors, the accuracy of the test result can be improved, and the indoor test is carried out in a wind tunnel in the prior art, but the wind tunnel laboratory has high manufacturing cost. Meanwhile, in field test, the spraying quality of the aircraft in different states is required to be continuously tracked, so that the field test workload is great, and scientific researchers often spend a long time to arrange sampling points in the field when researching the test taking the mist deposition distribution rule as a dependent variable. Therefore, if the device is invented, the influence of the field climate condition on the test result is eliminated, and meanwhile, all the acquisition points can be recovered once by one operation, so that the time is saved, and the spraying quality of the aircraft in different states can be continuously tracked.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a device for detecting the spraying quality of a plant protection aircraft indoors, which not only can track and detect the spraying quality of a plant protection unmanned aerial vehicle in real time, but also can provide a space for placing a plurality of sampling belts at the same time, and can research the spraying quality of the plant protection unmanned aerial vehicle at different flight speeds according to test requirements.
The invention further aims to provide a using method of the device for detecting the spraying quality of the plant protection aircraft indoors.
The technical scheme for solving the technical problems is as follows:
the device for detecting the spraying quality of the plant protection aircraft indoors comprises a bracket, a data receiving device arranged on the bracket, a driving device for driving the data receiving device to do horizontal movement and a control system, wherein,
the data receiving device comprises a connecting frame, a plurality of data receiving modules arranged on the connecting frame and a rotating device used for driving the connecting frame to rotate around the axis of the connecting frame, wherein the plurality of data receiving modules are uniformly arranged along the circumferential direction of the connecting frame, each data receiving module comprises a data receiving cylinder, a data receiving frame arranged in the data receiving cylinder, a plurality of groups of data receiving platforms arranged on the data receiving frame and a rotating driving mechanism used for driving the data receiving frame to rotate by taking the axis of the data receiving cylinder as a rotating center, the plurality of groups of data receiving platforms are uniformly arranged on the data receiving frame along the axis direction of the data receiving cylinder, each group of data receiving platforms is composed of a plurality of data receiving platforms, and the plurality of data receiving platforms are uniformly arranged along the circumferential direction of the data receiving frame; a skylight is arranged on the outer circumferential surface of the data receiving cylinder at a position corresponding to each group of data receiving platforms;
the control system is used for realizing communication with the flight control system of the plant protection unmanned aerial vehicle, controlling the moving speed of the data receiving device and the rotating speed of the data receiving platform to be consistent with the flight speed of the plant protection unmanned aerial vehicle, and controlling the connecting frame to rotate so as to enable the skylight of each data receiving cylinder to face upwards in turn.
Preferably, the connecting frame and the data receiving frame are both composed of a central shaft and a plurality of support rods arranged on the central shaft, wherein the axial direction of the support rods is vertical to the axial direction of the central shaft, the data receiving cylinder or/and the data receiving platform are mounted on the support rods, and the plane direction of the data receiving platform is vertical to the axial direction of the support rods.
Preferably, the driving device comprises racks arranged on the support and located on two sides of the connecting frame, gears meshed with the racks and used for driving the gears to rotate, wherein the gears are connected with a central shaft of the connecting frame through bearings, the length direction of the racks is perpendicular to the axis direction of the connecting frame, the rotating mechanism comprises a motor fixing seat and a driving motor arranged on the motor fixing seat, the driving motor is connected with the gears through a synchronous transmission mechanism, a sliding mechanism is arranged between the motor fixing seat and the support, and the sliding mechanism is used for enabling the rotating mechanism to synchronously move with the data receiving device along the length direction of the racks.
Preferably, the synchronous transmission mechanism comprises a driving synchronous wheel arranged on a main shaft of the driving motor, a driven synchronous wheel arranged on the gear and a synchronous belt encircling the driving synchronous wheel and the driven synchronous wheel, wherein a cylindrical boss is arranged on the gear, the axial direction of the cylindrical boss coincides with the axial direction of the gear, a groove meshed with a synchronous tooth of the synchronous belt is formed in the outer circumferential surface of the cylindrical boss, and the cylindrical boss forms the driven synchronous wheel.
Preferably, the sliding mechanism comprises two sliding rails arranged on the bracket and V-shaped rollers arranged on the motor fixing seat and matched with the sliding rails, and the length directions of the two sliding rails are parallel to the length direction of the rack; the four V-shaped rollers are arranged at the bottom of the motor fixing seat.
Preferably, the rotary driving mechanism comprises a rotary motor, the rotary motor is mounted on one side of the data receiving cylinder, end covers are arranged at two ends of the data receiving cylinder, one end of a central shaft of the data receiving frame is mounted on the end cover at one end of the data receiving cylinder, the other end of the central shaft penetrates through the end cover at the other end of the data receiving cylinder and then is connected with the rotary motor, and a bearing matched with the central shaft of the data receiving frame is arranged at the position where the central shaft of the data receiving frame contacts with the end cover.
Preferably, the rotating device comprises a moving seat arranged on the bracket and at the side opposite to the driving device, a rotating motor arranged on the moving seat and a gear transmission mechanism, wherein a guide mechanism is arranged between the moving seat and the bracket, the guide mechanism comprises a guide rail arranged on the bracket and a guide wheel arranged on the moving seat and matched with the guide rail, and the length direction of the guide rail is parallel to the length direction of the slide rail; the gear transmission mechanism comprises a driven gear arranged on the central shaft of the connecting frame and a driving gear arranged on the main shaft of the rotating motor and meshed with the driven gear, the central shaft of the connecting frame penetrates through the movable seat and then is connected with the driven gear, and a bearing is arranged at the position of the central shaft of the connecting frame, which is in contact with the movable seat.
Preferably, the control system comprises a communication module, a gear rotating speed control module, a data receiving device control module and a data receiving platform control module, wherein the communication module is arranged on the motor fixing seat, and the input end of the communication module is in wireless connection with a flight control system on the plant protection unmanned aerial vehicle and is used for acquiring the flight speed and the water pump switching state of the plant protection unmanned aerial vehicle in real time; the first output end of the communication module is connected with the input end of the gear rotating speed control module, and the output end of the gear rotating speed control module is connected with a driving motor on the motor fixing seat and is used for enabling the moving speed of the data receiving device to be consistent with the flying speed of the plant protection unmanned aerial vehicle; the second output end of the communication module is connected with the input end of the data receiving device control module, and the output end of the data receiving device control module is connected with the rotating motor and used for controlling the rotating angle of the connecting frame in the data receiving device; the third output end of the communication module is connected with the rotating motor positioned at the end part of the data receiving cylinder and used for controlling the rotation linear speed of the data receiving platform on the data receiving frame to be consistent with the flight speed of the plant protection unmanned aerial vehicle.
Preferably, the number of the data receiving devices is three, and the included angle between two adjacent data receiving devices is 120 degrees; each group of data receiving platforms is three, and the included angle between two adjacent data receiving platforms is 120 degrees.
The application method of the device for detecting the spraying quality of the plant protection aircraft indoors comprises the following steps of:
(1) Installing a device indoors, and placing a fog drop collector on each data receiving platform of each data receiving module;
(2) The control system controls the driving device to work so that the data receiving device moves horizontally, the moving speed of the data receiving device is consistent with the flying speed of the plant protection unmanned aerial vehicle, and meanwhile, the control system controls one of the data receiving cylinders in the data receiving device to rotate to the uppermost part so that the skylight of the data receiving cylinder faces upwards horizontally;
(3) After the flying speed of the plant protection unmanned aerial vehicle is stable, the control system detects that the water pump of the plant protection unmanned aerial vehicle is in an on state, and then controls the data receiving platform in the data receiving cylinder to rotate, wherein the rotating linear speed of the data receiving platform is consistent with the flying speed of the plant protection unmanned aerial vehicle;
(4) When the data receiving platform rotates for a circle, the control system controls the rotating device to work, so that the other data receiving cylinder rotates to the uppermost position, and the skylight of the data receiving cylinder faces upwards horizontally;
(5) And (3) repeating the action of the step (4), and after all data receiving platforms in all the data receiving cylinders collect data, controlling the device to stop working by the control system, and ending the test.
Compared with the prior art, the invention has the following beneficial effects:
1. the device is suitable for indoor use, so that a plurality of outdoor uncontrollable factors, such as a changed outdoor wind field, temperature and humidity, illumination and the like, can be avoided, and the detection accuracy is improved.
2. Because the data receiving platforms of each data receiving module in the data receiving device are multiple groups and are arranged along the axis direction of the data receiving cylinder, the device not only can collect the fog drop deposition quantity of a plurality of points in a single linear sampling band, but also can collect the fog drop deposition quantity of the same position in the plurality of linear sampling bands, and the detection precision of a test is improved by collecting multiple groups of data.
3. According to the device for detecting the spraying quality of the plant protection aircraft indoors, the horizontal moving speed is consistent with the flying speed of the plant protection unmanned aerial vehicle, the device and the plant protection unmanned aerial vehicle are in a relatively static state, and the plant protection unmanned aerial vehicle and the device move relative to the ground, so that in the process that the device synchronously moves linearly along with the plant protection unmanned aerial vehicle relative to the ground, the device can collect the fog drop deposition amounts of different points in the linear track, so that the time for arranging sampling points back and forth on a test field by scientific researchers can be saved, and the workload of the scientific researchers is reduced.
Drawings
Fig. 1-3 are schematic perspective views of different view angles of an embodiment of an apparatus for indoor detection of spray quality of a plant protection aircraft according to the present invention.
Fig. 4 is a schematic perspective view of the data receiving module (with the data receiving cylinder removed).
Fig. 5 is a block diagram of the control system.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but embodiments of the present invention are not limited thereto.
Referring to fig. 1 to 5, the device for indoor detection of spray quality of a plant protection aircraft of the present invention comprises a bracket 1, a data receiving device 2 arranged on the bracket 1, a driving device 3 for driving the data receiving device 2 to horizontally move, and a control system 5, wherein,
the data receiving device 2 comprises a connecting frame 2-1, a plurality of data receiving modules arranged on the connecting frame 2-1 and a rotating device 4 for driving the connecting frame 2-1 to rotate around the axis of the connecting frame, wherein the plurality of data receiving modules are uniformly arranged along the circumferential direction of the connecting frame 2-1, each data receiving module comprises a data receiving cylinder 2-2, a data receiving frame 2-6 arranged in the data receiving cylinder 2-2, a plurality of groups of data receiving platforms 2-5 arranged on the data receiving frame 2-6 and a rotating driving mechanism for driving the data receiving frame 2-6 to perform rotating motion by taking the axis of the data receiving cylinder 2-2 as a rotating center, each group of data receiving platforms 2-5 is uniformly arranged on the data receiving frame 2-6 along the axis direction of the data receiving cylinder 2-2, each group of data receiving platforms 2-5 is composed of a plurality of data receiving platforms 2-5, and the plurality of data receiving platforms 2-5 are uniformly arranged along the circumferential direction of the data receiving frame 2-6; a skylight 2-3 is arranged on the outer circumferential surface of the data receiving cylinder 2-2 at a position corresponding to each group of data receiving platforms 2-5;
the control system 5 is used for realizing communication with a flight control system of the plant protection unmanned aerial vehicle, controlling the moving speed of the data receiving device 2 and the rotating speed of the data receiving platform 2-5 to be consistent with the flight speed of the plant protection unmanned aerial vehicle, and controlling the connecting frame 2-1 to rotate so as to enable the skylight 2-3 of each data receiving cylinder 2-2 to face upwards in turn.
Referring to fig. 1 to 5, the working principle of the device for indoor detection of the spraying quality of the plant protection aircraft of the invention is as follows:
firstly, the plant protection unmanned aerial vehicle takes off and starts spraying work, after the control system 5 detects that the plant protection unmanned aerial vehicle starts working, the flight speed of the plant protection unmanned aerial vehicle is monitored in real time, the driving device 3 is controlled to work, so that the data receiving device 2 starts to do horizontal movement, the horizontal movement speed of the data receiving device 2 is consistent with the flight speed of the plant protection unmanned aerial vehicle, and the plant protection unmanned aerial vehicle and the device of the invention are in a relatively static state. After the flying speed of the plant protection unmanned aerial vehicle is stable, the control system 5 controls the rotating device 4 to work, so that one data receiving cylinder 2-2 moves to the uppermost position, and the skylight 2-3 on the data receiving cylinder 2-2 faces upwards horizontally. Then, the plant protection unmanned aerial vehicle starts spraying work, the control system 5 controls the rotation driving mechanism in the data receiving module to work, so that the linear speed of the data receiving platform 2-5 is consistent with the flying speed of the plant protection unmanned aerial vehicle, at this time, the plant protection unmanned aerial vehicle and the device of the invention are in a relatively static state, and the spraying quality of the plant protection unmanned aerial vehicle when flying from above the data receiving platform 2-5 is detected in the test, so that although the plant protection unmanned aerial vehicle and the data receiving device 2 are in the relatively static state, the linear speed of the data receiving platform 2-5 is consistent with the flying speed of the plant protection unmanned aerial vehicle, if the data receiving platform 2-5 is taken as a reference object, the plant protection unmanned aerial vehicle moves relatively relative to the data receiving platform 2-5, and the moving speed is the flying speed of the plant protection unmanned aerial vehicle. After the data receiving platform 2-5 in the uppermost data receiving cylinder 2-2 rotates for one circle, the control system 5 controls the rotating device 4 to work, so that the connecting frame 2-1 is driven to rotate for a certain angle, the other data receiving cylinder 2-2 moves to the uppermost position, the skylight 2-3 of the data receiving cylinder 2-2 faces upwards horizontally, and collection of the other group of data is started. And repeating the experimental steps, wherein after the data are collected by the plurality of groups of data receiving platforms 2-5 in the plurality of data receiving cylinders 2-2 in the data receiving device 2, the control system 5 controls the device to stop working, and the experiment is ended.
Referring to fig. 1 to 5, the horizontal moving speed of the device for detecting the spraying quality of the plant protection aircraft in the room is consistent with the flying speed of the plant protection unmanned aerial vehicle, the device and the plant protection unmanned aerial vehicle are in a relatively static state, and the plant protection unmanned aerial vehicle and the device of the invention move relative to the ground, so that in the process that the device synchronously moves along with the plant protection unmanned aerial vehicle relative to the ground, the device can collect the deposition amounts of the fog drops at different points in the linear track, a researcher does not need to spend a long time to arrange a large number of sampling points on the ground, and as the data receiving platforms in each data receiving module are arranged in a plurality of groups along the axis direction of the data receiving cylinder 2-2, each group of data receiving platforms 2-5 is a plurality of data receiving platforms, the device of the invention can collect the deposition amounts of the fog drops at a plurality of points in a plurality of linear sampling bands, and can collect the deposition amounts of the fog drops at the same distance in a plurality of linear sampling bands, and the detection accuracy is improved by collecting a plurality of groups of data. In addition, the device can perform the test indoors, so that the influence of a plurality of outdoor climate factors can be avoided, and the detection precision is further improved.
Referring to fig. 1-5, the connecting frame 2-1 and the data receiving frame 2-6 are each composed of a central shaft and a plurality of support rods arranged on the central shaft, wherein the axial direction of the support rods is perpendicular to the axial direction of the central shaft, the data receiving cylinder 2-2 or/and the data receiving platform 2-5 are mounted on the support rods, and the plane direction of the data receiving platform 2-5 is perpendicular to the axial direction of the support rods. Thus, by driving the central shaft in the connecting frame 2-1 and the data receiving frame 2-6 to rotate, the plurality of data receiving modules and the plurality of data receiving platforms 2-5 can be driven to rotate.
Referring to fig. 1-5, the driving device 3 includes a rack 3-8 disposed on the bracket 1 and located at two sides of the connection frame 2-1, a gear 3-3 disposed at two sides of the connection frame 2-1 and meshed with the rack 3-8, and a rotation mechanism for driving the gear 3-3 to rotate, wherein the gear 3-3 is connected with a central shaft of the connection frame 2-1 through a bearing 6, a length direction of the rack 3-8 is perpendicular to an axis direction of the connection frame 2-1, the rotation mechanism includes a motor fixing seat 3-1 and a driving motor 3-2 disposed on the motor fixing seat 3-1, wherein the driving motor 3-2 is connected with the connection frame 2-1 through a synchronous transmission mechanism 3-5, and the motor fixing seat 3-1 is provided with a sliding mechanism between the bracket 1, and the sliding mechanism is used for enabling the rotation mechanism to make synchronous movement with the data receiving device 2 along the length direction of the rack 3-8. In this way, the gear 3-3 is driven to rotate by the driving motor 3-2, so as to drive the data receiving device 2 to horizontally move, and because the motor fixing seat 3-1 is connected with the bracket 1 through the sliding mechanism, the sliding mechanism is used for promoting the rotating mechanism to synchronously move with the data receiving device 2 along the length direction of the rack 3-8, so that the motor fixing seat 3-1, the driving motor 3-2 arranged on the motor fixing seat 3-1 and the synchronous transmission mechanism 3-5 can linearly move along with the data receiving device 2, and the speeds of the motor fixing seat 3-1, the driving motor 3-2 and the synchronous transmission mechanism are consistent.
Referring to fig. 1-5, the synchronous transmission mechanism 3-5 comprises a driving synchronous wheel arranged on a main shaft of the driving motor 3-2, a driven synchronous wheel arranged on the gear 3-3 and a synchronous belt encircling the driving synchronous wheel and the driven synchronous wheel; the gear 3-3 is provided with a cylindrical boss 3-4, the axial direction of the cylindrical boss 3-4 coincides with the axial direction of the gear 3-3, the outer circumferential surface of the cylindrical boss 3-4 is provided with a groove meshed with the synchronous teeth of the synchronous belt, and the cylindrical boss 3-4 forms the driven synchronous wheel. The driving synchronous wheel is driven to rotate by the driving motor 3-2, so that the gear 3-3 is driven to rotate, and the gear 3-3 and the data receiving device 2 do horizontal movement. In addition, the synchronous belt also pulls the driving motor 3-2 and the motor fixing seat 3-1 to synchronously perform horizontal movement in the process of horizontally moving the data receiving device 2.
Referring to fig. 1-5, the sliding mechanism comprises two sliding rails 3-6 arranged on the bracket 1 and V-shaped rollers 3-7 arranged on the motor fixing seat 3-1 and matched with the sliding rails 3-6, wherein the length directions of the two sliding rails 3-6 are parallel to the length direction of the rack 3-8; the number of the V-shaped rollers 3-7 is four, and the four V-shaped rollers 3-7 are arranged at the bottom of the motor fixing seat 3-1.
Referring to fig. 1-5, the rotary driving mechanism comprises a rotary motor 2-4, the rotary motor 2-4 is mounted on one side of the data receiving cylinder 2-3, end covers are arranged at two ends of the data receiving cylinder 2-3, one end of a central shaft of the data receiving frame 2-6 is mounted on an end cover at one end of the data receiving cylinder 2-3, the other end of the central shaft passes through the end cover at the other end of the data receiving cylinder 2-3 and then is connected with the rotary motor 2-4, and a bearing 6 matched with the central shaft of the data receiving frame 2-6 is arranged at a position where the central shaft of the data receiving frame 2-6 contacts with the end cover. The central shaft of the data receiving frame 2-6 is driven to rotate by the rotating motor 2-4, so that the data receiving platform 2-5 is driven to rotate.
Referring to fig. 1-5, the rotating device 4 comprises a moving seat 4-1 arranged on the bracket 1 at the side opposite to the driving device 3, a rotating motor (not shown in the specification and the drawing) arranged on the moving seat 4-1, and a gear transmission mechanism, wherein a guiding mechanism is arranged between the moving seat 4-1 and the bracket 1, the guiding mechanism comprises a guide rail 4-5 arranged on the bracket 1 and a guide wheel 4-4 arranged on the moving seat 4-1 and matched with the guide rail 4-5, and the length direction of the guide rail 4-5 is parallel to the length direction of the sliding rail 3-6; the gear transmission mechanism comprises a driven gear 4-3 arranged on the central shaft of the connecting frame 2-1 and a driving gear 4-2 arranged on the main shaft of the rotating motor and meshed with the driven gear 4-3, the central shaft of the connecting frame 2-1 penetrates through the movable seat 4-1 and then is connected with the driven gear 4-3, and a bearing 6 is arranged at the position, contacted with the movable seat 4-1, of the central shaft of the connecting frame 2-1. The driving gear 4-2 is driven to rotate by the rotating motor, so that the driven gear 4-3 is driven to rotate, and the driven gear 4-3 rotates and drives the central shaft of the connecting frame 2-1 to rotate, so that the rotating motion of a plurality of data receiving modules on the connecting frame 2-1 can be realized. In addition, when the data receiving device 2 moves horizontally, the central shaft of the connecting frame 2-1 can also drive the movable seat 4-1 to move synchronously, so that the moving speeds of the driving device 3, the data receiving device 2 and the rotating device 4 are consistent with the flying speed of the plant protection unmanned plane.
Referring to fig. 1-5, the control system 5 includes a communication module 5-1, a gear rotation speed control module 5-2, a data receiving device control module 5-3 and a data receiving platform control module 5-4, wherein the communication module 5-1 is arranged on the motor fixing seat 3-1, and an input end of the communication module 5-1 is wirelessly connected with a flight control system on the plant protection unmanned aerial vehicle, so as to obtain the flight speed and the water pump switching state of the plant protection unmanned aerial vehicle in real time; the first output end of the communication module 5-1 is connected with the input end of the gear rotating speed control module 5-2, and the output end of the gear rotating speed control module 5-2 is connected with the driving motor 3-2 on the motor fixing seat 2-1 for promoting the moving speed of the data receiving device 2 to be consistent with the flying speed of the plant protection unmanned plane; the second output end of the communication module 5-1 is connected with the input end of the data receiving device control module 5-3, and the output end of the data receiving device control module 5-3 is connected with the rotating device 4 and used for controlling the rotating angle of the connecting frame 2-1 in the data receiving device 2; the third output end of the communication module 5-1 is connected with the rotating motor 2-4 positioned at the end part of the data receiving cylinder 2-2, and is used for controlling the rotation linear speed of the data receiving frame 2-6 to be consistent with the flight speed of the plant protection unmanned aerial vehicle.
Referring to fig. 1-5, the number of the data receiving devices 2 is three, and the angle between two adjacent data receiving devices 2 is 120 degrees; each group of data receiving platforms 2-5 is three, and the included angle between the adjacent data receiving platforms 2-5 is 120 degrees.
Referring to fig. 1 to 5, the method for using the device for detecting the spraying quality of the plant protection aircraft indoors comprises the following steps:
(1) Installing a device indoors, and placing a fog drip collector on each data receiving platform 2-5 of each data receiving module;
(2) The control system 5 controls the driving device 3 to work so that the data receiving device 2 moves horizontally, the moving speed of the data receiving device 2 is consistent with the flying speed of the plant protection unmanned aerial vehicle, and meanwhile, the control system 5 controls one of the data receiving cylinders 2-2 in the data receiving device 2 to rotate to the uppermost part so that the skylight 2-3 of the data receiving cylinder 2-2 faces horizontally upwards;
(3) After the flying speed of the plant protection unmanned aerial vehicle is stable, the control system 5 controls the data receiving platform 2-5 in the data receiving cylinder 2-2 to rotate after detecting that the water pump of the plant protection unmanned aerial vehicle is in an on state, and the rotating linear speed of the data receiving platform 2-5 is consistent with the flying speed of the plant protection unmanned aerial vehicle;
(4) When the data receiving platform 2-5 rotates for one circle, the control system 5 controls the rotating device 4 to work, so that the other data receiving cylinder 2-2 rotates to the uppermost part, and the skylight 2-3 of the data receiving cylinder 2-2 faces upwards horizontally;
(5) And (3) repeating the action of the step (4), and after all the data receiving platforms 2-5 in all the data receiving cylinders 2-2 collect data, controlling the device to stop working by the control system 5, and ending the test.
The foregoing is illustrative of the present invention and is not to be construed as limiting thereof, but rather as various changes, modifications, substitutions, combinations, and simplifications which may be made therein without departing from the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (5)
1. The device for detecting the spraying quality of the plant protection aircraft indoors is characterized by comprising a bracket, a data receiving device arranged on the bracket, a driving device for driving the data receiving device to do horizontal movement and a control system, wherein,
the data receiving device comprises a connecting frame, a plurality of data receiving modules arranged on the connecting frame and a rotating device used for driving the connecting frame to rotate around the axis of the connecting frame, wherein the plurality of data receiving modules are uniformly arranged along the circumferential direction of the connecting frame, each data receiving module comprises a data receiving cylinder, a data receiving frame arranged in the data receiving cylinder, a plurality of groups of data receiving platforms arranged on the data receiving frame and a rotating driving mechanism used for driving the data receiving frame to rotate by taking the axis of the data receiving cylinder as a rotating center, the plurality of groups of data receiving platforms are uniformly arranged on the data receiving frame along the axis direction of the data receiving cylinder, each group of data receiving platforms is composed of a plurality of data receiving platforms, and the plurality of data receiving platforms are uniformly arranged along the circumferential direction of the data receiving frame; a skylight is arranged on the outer circumferential surface of the data receiving cylinder at a position corresponding to each group of data receiving platforms;
the control system is used for realizing communication with a flight control system of the plant protection unmanned aerial vehicle, controlling the moving speed of the data receiving device and the rotating speed of the data receiving platform to be consistent with the flight speed of the plant protection unmanned aerial vehicle, and controlling the connecting frame to rotate so as to enable the skylight of each data receiving cylinder to face upwards in turn;
the connecting frame and the data receiving frame are composed of a central shaft and a plurality of supporting rods arranged on the central shaft, wherein the axial direction of the supporting rods is perpendicular to the axial direction of the central shaft, the data receiving cylinder or/and the data receiving platform are arranged on the supporting rods, and the plane direction of the data receiving platform is perpendicular to the axial direction of the supporting rods;
the driving device comprises racks arranged on the brackets and positioned on two sides of the connecting frame, gears which are arranged on two sides of the connecting frame and meshed with the racks, and a rotating mechanism for driving the gears to rotate, wherein the gears are connected with a central shaft of the connecting frame through bearings, the length direction of the racks is perpendicular to the axis direction of the connecting frame, the rotating mechanism comprises a motor fixing seat and a driving motor arranged on the motor fixing seat, the driving motor is connected with the gears through a synchronous transmission mechanism, a sliding mechanism is arranged between the motor fixing seat and the brackets, and the sliding mechanism is used for enabling the rotating mechanism to synchronously move with the data receiving device along the length direction of the racks;
the rotary driving mechanism comprises a rotary motor, the rotary motor is arranged on one side of the data receiving cylinder, end covers are arranged at two ends of the data receiving cylinder, one end of a central shaft of the data receiving frame is arranged on the end cover at one end of the data receiving cylinder, the other end of the central shaft passes through the end cover at the other end of the data receiving cylinder and then is connected with the rotary motor, and a bearing matched with the central shaft of the data receiving frame is arranged at the position where the central shaft of the data receiving frame contacts with the end cover;
the sliding mechanism comprises two sliding rails arranged on the bracket and V-shaped rollers arranged on the motor fixing seat and matched with the sliding rails, and the length directions of the two sliding rails are parallel to the length direction of the rack; the four V-shaped rollers are arranged at the bottom of the motor fixing seat;
the rotating device comprises a moving seat arranged on the bracket and at one side opposite to the driving device, a rotating motor arranged on the moving seat and a gear transmission mechanism, wherein a guide mechanism is arranged between the moving seat and the bracket, the guide mechanism comprises a guide rail arranged on the bracket and a guide wheel arranged on the moving seat and matched with the guide rail, and the length direction of the guide rail is parallel to the length direction of the slide rail; the gear transmission mechanism comprises a driven gear arranged on the central shaft of the connecting frame and a driving gear arranged on the main shaft of the rotating motor and meshed with the driven gear, the central shaft of the connecting frame penetrates through the movable seat and then is connected with the driven gear, and a bearing is arranged at the position of the central shaft of the connecting frame, which is in contact with the movable seat.
2. The device for indoor detection of spraying quality of plant protection aircraft according to claim 1, wherein the synchronous transmission mechanism comprises a driving synchronous wheel arranged on a main shaft of the driving motor, a driven synchronous wheel arranged on the gear and a synchronous belt encircling the driving synchronous wheel and the driven synchronous wheel, wherein a cylindrical boss is arranged on the gear, the axial direction of the cylindrical boss coincides with the axial direction of the gear, a groove meshed with a synchronous tooth of the synchronous belt is arranged on the outer circumferential surface of the cylindrical boss, and the cylindrical boss forms the driven synchronous wheel.
3. The device for indoor detection of spraying quality of a plant protection aircraft according to claim 1, wherein the control system comprises a communication module, a gear rotating speed control module, a data receiving device control module and a data receiving platform control module, wherein the communication module is arranged on the motor fixing seat, and the input end of the communication module is in wireless connection with a flight control system on the plant protection unmanned aerial vehicle and is used for acquiring the flight speed and the water pump switching state of the plant protection unmanned aerial vehicle in real time; the first output end of the communication module is connected with the input end of the gear rotating speed control module, and the output end of the gear rotating speed control module is connected with a driving motor on the motor fixing seat and is used for enabling the moving speed of the data receiving device to be consistent with the flying speed of the plant protection unmanned aerial vehicle; the second output end of the communication module is connected with the input end of the data receiving device control module, and the output end of the data receiving device control module is connected with the rotating motor and used for controlling the rotating angle of the connecting frame in the data receiving device; the third output end of the communication module is connected with the rotating motor positioned at the end part of the data receiving cylinder and used for controlling the rotation linear speed of the data receiving platform on the data receiving frame to be consistent with the flight speed of the plant protection unmanned aerial vehicle.
4. The device for indoor detection of plant protection aircraft spraying quality according to claim 1, wherein the number of the data receiving devices is three, and the included angle between two adjacent data receiving devices is 120 degrees; each group of data receiving platforms is three, and the included angle between two adjacent data receiving platforms is 120 degrees.
5. A method of using the apparatus for indoor detection of plant protection aircraft spray quality as described in any one of claims 1-4, comprising the steps of:
(1) Installing a device indoors, and placing a fog drop collector on each data receiving platform of each data receiving module;
(2) The control system controls the driving device to work so that the data receiving device moves horizontally, the moving speed of the data receiving device is consistent with the flying speed of the plant protection unmanned aerial vehicle, and meanwhile, the control system controls one of the data receiving cylinders in the data receiving device to rotate to the uppermost part so that the skylight of the data receiving cylinder faces upwards horizontally;
(3) After the flying speed of the plant protection unmanned aerial vehicle is stable, the control system detects that the water pump of the plant protection unmanned aerial vehicle is in an on state, and then controls the data receiving platform in the data receiving cylinder to rotate, wherein the rotating linear speed of the data receiving platform is consistent with the flying speed of the plant protection unmanned aerial vehicle;
(4) When the data receiving platform rotates for a circle, the control system controls the rotating device to work, so that the other data receiving cylinder rotates to the uppermost position, and the skylight of the data receiving cylinder faces upwards horizontally;
(5) And (3) repeating the action of the step (4), and after all data receiving platforms in all the data receiving cylinders collect data, controlling the device to stop working by the control system, and ending the test.
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