CN110450974A - A kind of indoor checking system and method for more rotor plant protection drone application performances - Google Patents
A kind of indoor checking system and method for more rotor plant protection drone application performances Download PDFInfo
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- CN110450974A CN110450974A CN201910633747.3A CN201910633747A CN110450974A CN 110450974 A CN110450974 A CN 110450974A CN 201910633747 A CN201910633747 A CN 201910633747A CN 110450974 A CN110450974 A CN 110450974A
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- 230000033001 locomotion Effects 0.000 claims abstract description 57
- 238000001514 detection method Methods 0.000 claims abstract description 45
- 238000005507 spraying Methods 0.000 claims abstract description 25
- 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 abstract description 24
- 230000003028 elevating effect Effects 0.000 claims abstract description 19
- 239000003595 mist Substances 0.000 claims abstract description 14
- 239000007921 spray Substances 0.000 claims abstract description 12
- 238000007689 inspection Methods 0.000 claims abstract description 9
- 238000009826 distribution Methods 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims description 17
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- 238000012800 visualization Methods 0.000 claims description 4
- 238000003860 storage Methods 0.000 claims description 3
- 230000003447 ipsilateral effect Effects 0.000 claims description 2
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- 238000000151 deposition Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention relates to the indoor checking system and method for a kind of more rotor plant protection drone application performances, system includes: upper computer module, slave computer module, linear moving module, elevating movement module, linear motion apart from detection module, lifting distance detection module, pedestal and laser radar.Unmanned plane is installed on the fixed device of unmanned plane；Crossbeam is adjusted to a certain height, straight-line transmitting movable plate is adjusted to initial position；The movement velocity for setting unmanned plane, starts more rotor plant protection drones and linear motor mould group, and unmanned plane starts tandem movement；Spray field in laser radar scanning section simultaneously, shows in upper computer module and exports；According to the demand of inspection, the speed of horizontal depth of beam and unmanned plane is adjusted, is repeated the above steps, obtains more rotor plant protection drone spraying swaths under different work Parameter Conditions and mist field distribution.The present invention is sprayed at indoor simulation job test for unmanned plane, and detection error is small, easy to operate, has repeatability.
Description
Technical field
The invention belongs to agricultural aviation spray application fields more particularly to a kind of more rotor plant protection drones to be administered performance
The indoor method of inspection and system.
Background technique
More rotor plant protection drones are widely used in agriculture application field.It is revolve to guarantee pesticide supplying effect more
Wing plant protection drone needs suitably adjust spray head spacing before being administered operation, and select job parameter (operation height appropriate
And operating speed).However, the spraying system structure evaluation of more rotor plant protection drones, spraying swath and Pcnten-1 yne-4 Evaluation for Uniformity,
And the selection of job parameter has been a hot spot of research and difficult point.Therefore, the more rotor plant protection drones of accurate evaluation are administered phase
The performance indicator of pass is the necessary basis support for promoting plant protection drone practical application.
The existing largely research about plant protection drone application performance evaluation both at home and abroad, but most researchs are based on
Crop field operating environment, common method are the deposition method of inversion, i.e., using materials such as water sensitive paper, droplet acquisition framves, sometimes in medicine
Tracer is dissolved in liquid, by recycling the water sensitive paper of different location, analysis Droplet deposition carries out inverting, and reckoning was entirely sprayed
The spatial distribution of droplet in journey.But the data processing of this method is many and diverse, and processing result relies on image scanning effect, is easy to lead
Cause measurement result inaccuracy.In addition, the performance indicator of more rotor plant protection drones is evaluated in detection in the environment of crop field, it is highly prone to
The influence of uncontrollable environmental factor (natural wind speed, wind direction, air themperature and relative humidity), it is possible to create biggish result is missed
Difference, and can not be corrected.Indoor environment is as one of comparatively ideal environment, if there is sufficient space, can be used for detecting the more rotations of evaluation
Wing plant protection drone is avoided that the interference of environmental factor.It is existing interior detection valuator device be mainly wind-tunnel, by using compared with
Ideal wind field in small confined space simulates forward travel state when plant protection drone application in conjunction with the lifting of plant protection drone.But
Be wind tunnel device confined space it is limited, may make plant protection drone blade formed wind field be unable to fully develop, cannot simulate
Actual crop field is administered condition, and detects mist droplet deposition in wind-tunnel and also commonly use the deposition method of inversion, may cause testing result
There are errors.
In conclusion the present invention proposes a kind of indoor method of inspection for more rotor plant protection drones application performance, shape
At a set of detection system, accurate evaluation more rotor plant protection drones application performance, raising detection evaluation efficiency, promotion are examined
Repeatability is of great significance.
Summary of the invention
In order to realize that more rotor plant protection drones of indoor environment are administered service check, spraying swath, application are obtained uniformly
Property etc. indexs, realize job parameter selection with spraying system structure optimization adjust, the invention proposes one kind for more rotors plant
Indoor checking system and method, the specific technical solution for protecting unmanned plane application performance are as follows:
A kind of indoor checking system of more rotor plant protection drone application performances, comprising:
Upper computer module, slave computer module, linear moving module, elevating movement module, linear motion apart from detection module,
Lifting distance detection module, pedestal 3, laser radar 14 and PWM frequency converter；
The linear moving module includes linear motor mounting platform 1, linear motor mould group 2, SBR guide rail 4, SBR guide rail
Sliding block 27, straight-line transmitting movable plate 5, belt wheel mounting platform 11, belt pulley 12, parallel band 13 and linear motor driver 31；
The elevating movement module include lifting motor mould group 6, left riser guide 7, crossbeam 8, the fixed device 9 of unmanned plane,
Right riser guide 10, riser guide fixing seat 15 and lifting motor driver 34；
The linear moving module is installed on the pedestal 3, and the elevating movement module is installed on the linear motion
In module, the laser radar 14 is installed on straight-line transmitting movable plate 5；The slave computer module respectively with upper computer module, straight line
Motion module, elevating movement module, linear motion are connected apart from detection module with lifting distance detection module；The laser thunder
It is connected up to 14 with upper computer module；
The upper computer module is for showing visualization interface, the interface as human-computer interaction；And pass through slave computer module
Realize the control to linear moving module and elevating movement module, and the data that storage laser radar 14 acquires；
The linear motion that the linear moving module connects for realizing nobody, the elevating movement module is for realizing nobody
The lifting connect；The linear motion is used for the front-rear position of the left riser guide 7 of real-time monitoring apart from detection module；It is described lifting away from
From the upper and lower position that detection module is used for real-time monitoring crossbeam 8；The laser radar 14 is used for for given zone in a certain plane
The mist field detecting in domain.
The right and left on the pedestal 3 installs SBR guide rail 4 respectively；It is sliding that SBR guide rail is installed on the SBR guide rail 4
Block 27；Straight-line transmitting movable plate 5 is fixedly mounted on the SBR guide rail slide block 27；
Linear motor mounting platform 1 is fixedly mounted in the front end of the pedestal 3, is fixedly mounted in the rear end of the pedestal 3
Belt wheel mounting platform 11；Linear motor mould group 2 is installed on the linear motor mounting platform 1, in the belt wheel mounting platform
Belt pulley 12 is installed on 11；The linear motor mould group 2 is connected by parallel band 13 with belt pulley 12.
The linear moving module further includes parallel band pressed seat 28, and the parallel band 13 is solid by parallel band pressed seat 28
Due on straight-line transmitting movable plate 5.
When linear motor mould group 2 operates, parallel band 13 is driven to be moved forward and backward, while belt pulley 12 rotates, Linear transmission
Plate 5 is moved forward and backward with parallel band 13.
The left riser guide 7 includes motor drive chain 16, upper sprocket wheel 1, upper lifting drive bearing block 19, upper sprocket wheel
2 20, upper lifting transmission shaft 21, lifting and driving chain 22, lower sprocket 23, lower lifting and driving bearing block 24, lower 25 and of lifting and driving axis
Lower bearing fixed plate 26.
The right and left on the straight-line transmitting movable plate 5 fixes 1 riser guide fixing seat 15 respectively；In the left and right two
Left riser guide 7 and right riser guide 10 is fixedly mounted in the riser guide fixing seat 15 on side respectively；
Lifting motor mould group 6 is fixedly mounted in the lower end left side of the left riser guide 7, in the left riser guide 7
Lower end right side be fixedly mounted lower bearing fixed plate 26, in the lower bearing fixed plate 26 install under lifting and driving bearing block
24, one end of the lower lifting and driving axis 25 is installed into the bearing of lower lifting and driving bearing block 24, lower lifting and driving axis 25
Lower sprocket 23 is fixedly mounted in the other end；
Drive bearing block 19 is gone up and down on the upper end of the left riser guide 7 is fixedly mounted；The upper lifting transmission shaft 21
Middle part be located at it is upper lifting drive bearing block 19 in bearing in, it is upper lifting transmission shaft 21 left end be fixedly mounted upper sprocket wheel one
18, upper sprocket wheel 2 20 is fixedly mounted in the right end of upper lifting transmission shaft 21；
The lifting motor mould group 6 is respectively positioned on the left side of the left riser guide 7 with upper sprocket wheel 1；The lifting motor
Mould group 6 is connect with upper sprocket wheel 1 by motor drive chain 16；The upper sprocket wheel 2 20 is respectively positioned on the left liter with lower sprocket 23
The right side of guide rail 7 drops；The upper sprocket wheel 2 20 is connect with lower sprocket 23 by lifting and driving chain 22.
It is equipped with slide block guide rail in the inside of the left riser guide 7 and the inside of right riser guide 10, in the left liter
The lifting slider being respectively equipped on the slide block guide rail of guide rail 7 and the slide block guide rail of right riser guide 10 with slide block guide rail cooperation drops
17。
The lifting slider 17 cooperated with the slide block guide rail of left riser guide 7 is fixedly connected with lifting and driving chain 22.
The lifting slider 17 slides up and down in the guide rail；
The left and right ends of the crossbeam 8 are fixedly connected with two lifting sliders 17 respectively；The crossbeam 8 is horizontally disposed；In
The fixed device 9 of unmanned plane is fixedly mounted on the crossbeam 8；The fixed device 9 of the unmanned plane binds more rotor plant protection for installing
Unmanned plane.
When the lifting motor mould group 6 operating, upper sprocket wheel 18 is driven to rotate by motor drive chain 16, then pass through rising
Transmission shaft 21 is dropped, upper sprocket wheel 20 is driven to rotate, and drives lifting slider 17 to move up and down by lifting and driving chain 22, is driven simultaneously
Crossbeam 8 moves up and down；
Laser particle analyzer is also fixedly installed on the straight-line transmitting movable plate 5, the laser particle analyzer is avoided parallel with pressure
The installation site of tight seat 28；The laser particle analyzer for realizing spraying swath and mist field uniformity combine detection；
The slave computer module passes sequentially through PWM frequency converter (abbreviation PWM), linear motor driver 31 and linear motor mould
Group 2 is connected；Slave computer module passes sequentially through PWM frequency converter, lifting motor driver 34 is connected with lifting motor mould group 6；
The upper computer module is realized by slave computer module: controlling the speed of lifting motor mould group 6,1. to realize crossbeam
8 lifting；2. the speed of linear motor mould group 2 is controlled, to realize the speed regulation of 5 tandem of straight-line transmitting movable plate movement；3. storing
The data that laser radar 14 acquires；
Based on the above technical solution, the slave computer module includes: single-chip microcontroller 29, the single-chip microcontroller 29 for pair
Linear motor mould group 2 and lifting motor mould group 6 carry out start-up and shut-down control and speed is adjusted.
Based on the above technical solution, the model of the single-chip microcontroller 29 are as follows: Arduino Mega 2560.
Based on the above technical solution, the slave computer module is connected with upper computer module by serial ports.
Based on the above technical solution, the upper computer module is computer 30 (i.e. host computer).
Based on the above technical solution, the upper computer module is connected with laser radar 14 by Ethernet.
Based on the above technical solution, the linear motion is apart from detection module are as follows: laser range sensor 1,
The lifting detection module are as follows: laser range sensor 2 35.
Based on the above technical solution, the physical length of the physical length of the pedestal 3 and the SBR guide rail 4, according to
Increased or shortened according to actually detected evaluation and demand；
The fixed device 9 of the unmanned plane is parallel to crossbeam 8 and ground, can bind different model more rotor plant protection nobody
Machine.
Based on the above technical solution, the length of the crossbeam 8 is set as 5m, so that more rotor plant protection drone paddles
It is leaf at wind field drive droplet sufficiently to spread, and reduce the interference in 14 detection range of laser radar to the greatest extent.
Based on the above technical solution, the type of the laser radar 14 are as follows: two-dimensional section detection type.
The speed that linear motor mould group 2 is controlled by slave computer module is examined in conjunction with the distance of laser range sensor 1
It surveys, the adjusting of point-to-point speed may be implemented.
The SBR guide rail slide block 27 realizes the linear motion of low-friction coefficient on the SBR guide rail 4；
Other than laser radar and laser particle analyzer, the present invention also other test devices such as mountable water sensitive paper, to realize
Multiple determination.
A kind of indoor method of inspection of more rotor plant protection drone application performances, is applied using above-mentioned more rotor plant protection drones
The indoor checking system of pharmacological property energy, comprising the following steps:
S1, installation bind more rotor plant protection drones on the fixed device 9 of unmanned plane；
S2, crossbeam 8 is adjusted to a certain height, to simulate the actual job height of more rotor plant protection drones, and will be straight
Line driver plate 5 is adjusted to initial position；The initial position is the position ipsilateral with linear motor mould group 2；
S3, the movement velocity that more rotor plant protection drones are set by upper computer module, and open laser radar 14 and upper
Position machine module；
The spraying system and rotor kinematic system of S4, the more rotor plant protection drones of starting, form spray field；Start straight-line electric
Machine mould group 2, more rotor plant protection drones start tandem movement；Meanwhile utilizing being sprayed in 14 scanning cross-section of laser radar
, the Pcnten-1 yne-4 of detection sectional plane shows in upper computer module and exports；
S5, according to examine demand, adjust crossbeam 8 height and unmanned plane speed, repeat step S4, obtain different work
More rotor plant protection drone spraying swaths and mist field distribution under Parameter Conditions；
S6, it is verified, all components is put in order into initial position, close upper computer module, close power supply.
Advantageous effects of the invention are as follows:
The present invention is directed in the application of more rotor plant protection drones and inspection technology field, to more rotors based on crop field environment
The design of plant protection drone spraying system structure and difficulties existing for spraying effect overall merit, propose that technical solution is solved
Certainly；Herein described technical solution can detect under the conditions of less testing time, and obtain more rotor plant protection drones
Multinomial sprinkling index, comprising: Pcnten-1 yne-4 uniformity and spraying swath, and display testing result can be directly calculated, it avoids big
During the environment measuring of field the problems such as existing environmental factor interference, there is good intuitive, accuracy and repeatability；By
Adjustable in the speed of linear motion plate 5 and the adjustable height of crossbeam 8, the present invention is more in line with the analog detection to actual job
Demand.Technical solution of the present invention degree of integration is high, easy to operate, and accuracy is high, sprays suitable for more rotor plant protection drones
The Test And Checkout of mist system performance evaluation and adjustment and job parameter selection.
Detailed description of the invention
The present invention has following attached drawing:
Fig. 1 is the control hardware annexation schematic block for the indoor checking system that more rotor plant protection drones are administered performance
Figure；
Fig. 2 is the general structure schematic diagram for the indoor checking system that more rotor plant protection drones are administered performance；
Fig. 3 is that the partial structurtes of the left riser guide 7 for the indoor checking system that more rotor plant protection drones are administered performance are shown
It is intended to；
Fig. 4 is the partial structurtes signal of the SBR guide rail 4 for the indoor checking system that more rotor plant protection drones are administered performance
Figure；
Fig. 5 is that the parallel band 13 for the indoor checking system that more rotor plant protection drones are administered performance and straight-line transmitting movable plate 5 connect
Connect the partial structural diagram at place；
Fig. 6 is the indoor method of inspection flow diagram that more rotor plant protection drones are administered performance；
Spraying swath and droplet point when Fig. 7 is certain six rotor plant protection drone simulation job height 1.5m, operating speed 4m/s
Cloth uniformity testing result schematic diagram；
Spraying swath and droplet point when Fig. 8 is certain six rotor plant protection drone simulation job height 1.5m, operating speed 1m/s
Cloth uniformity testing result schematic diagram；
Fig. 9 is certain six rotor plant protection drone simulation job height 1.5m, operating speed 1m/s, two spray heads of left and right are respectively retracted
Spraying swath and Pcnten-1 yne-4 uniformity testing result schematic diagram after 50mm.
Appended drawing reference:
1, linear motor mounting platform；2, linear motor mould group；3, pedestal；4, SBR guide rail；5, straight-line transmitting movable plate；6, it rises
Motor mould group drops；7, left riser guide；8, crossbeam；9, the fixed device of unmanned plane；10, right riser guide；11, belt wheel installation is flat
Platform；12, belt pulley；13, parallel band；14, laser radar；15, riser guide fixing seat；16, motor drive chain；17, lifting is slided
Block；18, upper sprocket wheel one；19, upper lifting drive bearing block；20, upper sprocket wheel two；21, upper lifting transmission shaft；22, lifting and driving chain；
23, lower sprocket；24, lower lifting and driving bearing block；25, lower lifting and driving axis；26, lower bearing fixed plate；27, SBR guide rail slide block；
28, parallel band pressed seat；29, single-chip microcontroller；30, computer；31, linear motor driver；32, laser range sensor one；34,
Lifting motor driver；35, laser range sensor two.
Specific embodiment
In the following with reference to the drawings and specific embodiments, the present invention is further explained.
Fig. 1 is that the control hardware annexation for the indoor checking system that the more rotor plant protection drones of the present invention are administered performance is shown
Meaning block diagram.Fig. 2-Fig. 5 illustrates the structural schematic diagram of the indoor checking system of more rotor plant protection drone application performances, wherein scheming
2 be the general structure schematic diagram of system, and Fig. 3 is the partial structural diagram of left riser guide 7 and its each component, and Fig. 4 leads for SBR
The partial structural diagram of rail 4 and SBR guide rail slide block 27, Fig. 5 are the partial structurtes of straight-line transmitting movable plate 5 and 13 junction of parallel band
Schematic diagram.The indoor method of inspection flow diagram of the more rotor plant protection drone application performances of Fig. 6.
A kind of indoor checking system of more rotor plant protection drone application performances, comprising:
Upper computer module, slave computer module, linear moving module, elevating movement module, linear motion apart from detection module,
Lifting distance detection module, pedestal 3, laser radar 14 and PWM frequency converter；
The linear moving module includes linear motor mounting platform 1, linear motor mould group 2, SBR guide rail 4, SBR guide rail
Sliding block 27, straight-line transmitting movable plate 5, belt wheel mounting platform 11, belt pulley 12, parallel band 13 and linear motor driver 31；
The elevating movement module include lifting motor mould group 6, left riser guide 7, crossbeam 8, the fixed device 9 of unmanned plane,
Right riser guide 10, riser guide fixing seat 15 and lifting motor driver 34；
The linear moving module is installed on the pedestal 3, and the elevating movement module is installed on the linear motion
In module, the laser radar 14 is installed on straight-line transmitting movable plate 5；The slave computer module respectively with upper computer module, straight line
Motion module, elevating movement module, linear motion are connected apart from detection module with lifting distance detection module；The laser thunder
It is connected up to 14 with upper computer module；
The upper computer module is for showing visualization interface, the interface as human-computer interaction；And pass through slave computer module
Realize the control to linear moving module and elevating movement module, and the data that storage laser radar 14 acquires；
The linear motion that the linear moving module connects for realizing nobody, the elevating movement module is for realizing nobody
The lifting connect；The linear motion is used for the front-rear position of the left riser guide 7 of real-time monitoring apart from detection module；It is described lifting away from
From the upper and lower position that detection module is used for real-time monitoring crossbeam 8；The laser radar 14 is used for for given zone in a certain plane
The mist field detecting in domain.
The right and left on the pedestal 3 installs SBR guide rail 4 respectively；It is sliding that SBR guide rail is installed on the SBR guide rail 4
Block 27；Straight-line transmitting movable plate 5 is fixedly mounted on the SBR guide rail slide block 27；
Linear motor mounting platform 1 is fixedly mounted in the front end of the pedestal 3, is fixedly mounted in the rear end of the pedestal 3
Belt wheel mounting platform 11；Linear motor mould group 2 is installed on the linear motor mounting platform 1, in the belt wheel mounting platform
Belt pulley 12 is installed on 11；The linear motor mould group 2 is connected by parallel band 13 with belt pulley 12.
The linear moving module further includes parallel band pressed seat 28, and the parallel band 13 is solid by parallel band pressed seat 28
Due on straight-line transmitting movable plate 5.
When linear motor mould group 2 operates, parallel band 13 is driven to be moved forward and backward, while belt pulley 12 rotates, Linear transmission
Plate 5 is moved forward and backward with parallel band 13.
The left riser guide 7 includes motor drive chain 16, upper sprocket wheel 1, upper lifting drive bearing block 19, upper sprocket wheel
2 20, upper lifting transmission shaft 21, lifting and driving chain 22, lower sprocket 23, lower lifting and driving bearing block 24, lower 25 and of lifting and driving axis
Lower bearing fixed plate 26.
The right and left on the straight-line transmitting movable plate 5 fixes 1 riser guide fixing seat 15 respectively；In the left and right two
Left riser guide 7 and right riser guide 10 is fixedly mounted in the riser guide fixing seat 15 on side respectively；
Lifting motor mould group 6 is fixedly mounted in the lower end left side of the left riser guide 7, in the left riser guide 7
Lower end right side be fixedly mounted lower bearing fixed plate 26, in the lower bearing fixed plate 26 install under lifting and driving bearing block
24, one end of the lower lifting and driving axis 25 is installed into the bearing of lower lifting and driving bearing block 24, lower lifting and driving axis 25
Lower sprocket 23 is fixedly mounted in the other end；
Drive bearing block 19 is gone up and down on the upper end of the left riser guide 7 is fixedly mounted；The upper lifting transmission shaft 21
Middle part be located at it is upper lifting drive bearing block 19 in bearing in, it is upper lifting transmission shaft 21 left end be fixedly mounted upper sprocket wheel one
18, upper sprocket wheel 2 20 is fixedly mounted in the right end of upper lifting transmission shaft 21；
The lifting motor mould group 6 is respectively positioned on the left side of the left riser guide 7 with upper sprocket wheel 1；The lifting motor
Mould group 6 is connect with upper sprocket wheel 1 by motor drive chain 16；The upper sprocket wheel 2 20 is respectively positioned on the left liter with lower sprocket 23
The right side of guide rail 7 drops；The upper sprocket wheel 2 20 is connect with lower sprocket 23 by lifting and driving chain 22.
It is equipped with slide block guide rail in the inside of the left riser guide 7 and the inside of right riser guide 10, in the left liter
The lifting slider being respectively equipped on the slide block guide rail of guide rail 7 and the slide block guide rail of right riser guide 10 with slide block guide rail cooperation drops
17。
The lifting slider 17 cooperated with the slide block guide rail of left riser guide 7 is fixedly connected with lifting and driving chain 22.
The lifting slider 17 slides up and down in the guide rail；
The left and right ends of the crossbeam 8 are fixedly connected with two lifting sliders 17 respectively；The crossbeam 8 is horizontally disposed；In
The fixed device 9 of unmanned plane is fixedly mounted on the crossbeam 8；The fixed device 9 of the unmanned plane binds more rotor plant protection for installing
Unmanned plane.
When the lifting motor mould group 6 operating, upper sprocket wheel 18 is driven to rotate by motor drive chain 16, then pass through rising
Transmission shaft 21 is dropped, upper sprocket wheel 20 is driven to rotate, and drives lifting slider 17 to move up and down by lifting and driving chain 22, is driven simultaneously
Crossbeam 8 moves up and down；
Laser particle analyzer is also fixedly installed on the straight-line transmitting movable plate 5, the laser particle analyzer is avoided parallel with pressure
The installation site of tight seat 28；The laser particle analyzer for realizing spraying swath and mist field uniformity combine detection；
The slave computer module passes sequentially through PWM frequency converter (abbreviation PWM), linear motor driver 31 and linear motor mould
Group 2 is connected；Slave computer module passes sequentially through PWM frequency converter, lifting motor driver 34 is connected with lifting motor mould group 6；
The upper computer module is realized by slave computer module: controlling the speed of lifting motor mould group 6,1. to realize crossbeam
8 lifting；2. the speed of linear motor mould group 2 is controlled, to realize the speed regulation of 5 tandem of straight-line transmitting movable plate movement；3. storing
The data that laser radar 14 acquires；
Based on the above technical solution, the slave computer module includes: single-chip microcontroller 29, the single-chip microcontroller 29 for pair
Linear motor mould group 2 and lifting motor mould group 6 carry out start-up and shut-down control and speed is adjusted.
Based on the above technical solution, the model of the single-chip microcontroller 29 are as follows: Arduino Mega 2560.
Based on the above technical solution, the slave computer module is connected with upper computer module by serial ports.
Based on the above technical solution, the upper computer module is computer 30 (i.e. host computer).
Based on the above technical solution, the upper computer module is connected with laser radar 14 by Ethernet.
Based on the above technical solution, the linear motion is apart from detection module are as follows: laser range sensor 1,
The lifting detection module are as follows: laser range sensor 2 35.
Based on the above technical solution, the physical length of the physical length of the pedestal 3 and the SBR guide rail 4, according to
Increased or shortened according to actually detected evaluation and demand；
The fixed device 9 of the unmanned plane is parallel to crossbeam 8 and ground, can bind different model more rotor plant protection nobody
Machine.
Based on the above technical solution, the length of the crossbeam 8 is set as 5m, so that more rotor plant protection drone paddles
It is leaf at wind field drive droplet sufficiently to spread, and reduce the interference in 14 detection range of laser radar to the greatest extent.
Based on the above technical solution, the type of the laser radar 14 are as follows: two-dimensional section detection type.
The speed that linear motor mould group 2 is controlled by slave computer module is examined in conjunction with the distance of laser range sensor 1
It surveys, the adjusting of point-to-point speed may be implemented.
The SBR guide rail slide block 27 realizes the linear motion of low-friction coefficient on the SBR guide rail 4；
Other than laser radar and laser particle analyzer, the present invention also other test devices such as mountable water sensitive paper, to realize
Multiple determination.
Slave computer module selects 2560 single-chip microcontroller of Arduino Mega (slave computer) to be used as control system core, and uses
Serial port realizes the interaction with computer 30 (host computer)；Computer 30 is realized and laser radar 14 using Ethernet
Communication；Upper computer module realizes human-computer interaction using the visualization interface that Qt writes environment production, and slave computer module realizes straight line
The start-up and shut-down control and speed of motor mould group 2 and lifting motor mould group 7 are adjusted, to realize that crossbeam 8 and unmanned plane fix device 9
The speed adjusting etc. that height adjustment and straight-line transmitting movable plate 5 move along a straight line.
As shown below are as follows: it is to the above to the example that more rotor plant protection drone spray fields carry out droplet scanning
The verification experimental verification of process.
Test objective: verifying effectiveness of the invention detects the indoor inspection system of more rotor plant protection drone application performances
Each section of system whether operational excellence.
Experimental design: it is carried out with reference to the operating procedure of Fig. 6, specifically tests process are as follows:
1. installation binds certain six rotor plant protection drone of model on the fixed device 9 of unmanned plane；
2. adjusting crossbeam 8 to apart from ground level 1.5m, straight-line transmitting movable plate 5 is adjusted to initial position；
3. remaining 4m/s by the movement velocity that upper computer module sets straight-line transmitting movable plate 5, and open laser radar 14
With upper computer module (being related to related software)；
4. starting more rotor plant protection drone spraying systems and rotor kinematic system, spray field is formed；Start linear motor
Mould group 2, more rotor plant protection drones start tandem movement；Meanwhile using the spray field in 14 scanning cross-section of laser radar,
The Pcnten-1 yne-4 of detection sectional plane obtains spraying swath and the mist field distribution of more rotor plant protection drones, shows and export in upper computer module
Test result, as shown in Figure 7；
5. by the testing result of Fig. 7 it is found that the detection excessive velocities of more rotor plant protection drone 4m/s, cause droplet to drift about
Than more serious, it is therefore desirable to reduce detection speed.The movement velocity setting of straight-line transmitting movable plate 5 is remained into 1m/s, is readjusted
The height of crossbeam 8 is 1.5m away from ground, repeats step 4, obtains the spraying swath of operating speed more rotor plant protection drones adjusted
With mist field distribution, as shown in Figure 8；
6. the reduction it is found that the droplet of more rotor plant protection drones drifts about by the testing result of Fig. 8, but Pcnten-1 yne-4 concentrates on
Two parts, therefore detect and evaluate again after spray head spacing is reduced.The movement velocity of straight-line transmitting movable plate 5 continues to remain 1m/s,
The left and right sides spray head of the six rotor wing unmanned aerial vehicles spraying system is respectively retracted 50mm, repeats step 4, obtains spraying system structure tune
The spraying swath of more rotor plant protection drones after whole and mist field distribution, as shown in Figure 9；
7. being verified, all components are put in order into initial position, close upper computer module, close power supply.
It is shown by test result it is found that with herein described method, situations such as droplet deposition uniformity, spraying swath shows clear
It is clear, it can successfully obtain detecting required index.
The embodiment of the present invention is given for the purpose of illustration and description, and is not to send out without any omission or by this
It is bright to be limited to disclosed form.Those skilled in the art also belong to guarantor of the invention based on the modification that the application is made
Protect range.
The content not being described in detail in this specification belongs to the prior art well known to professional and technical personnel in the field.
Claims (10)
1. a kind of indoor checking system of more rotor plant protection drone application performances characterized by comprising
Upper computer module, slave computer module, linear moving module, elevating movement module, linear motion are apart from detection module, lifting
Apart from detection module, pedestal (3) and laser radar (14)；
The linear moving module includes that linear motor mounting platform (1), linear motor mould group (2), SBR guide rail (4), SBR are led
Rail sliding block (27), straight-line transmitting movable plate (5), belt wheel mounting platform (11), belt pulley (12), parallel band (13) and linear motor driving
Device (31)；
The elevating movement module includes lifting motor mould group (6), left riser guide (7), crossbeam (8), the fixed device of unmanned plane
(9), right riser guide (10), riser guide fixing seat (15) and lifting motor driver (34)；
The linear moving module is installed on the pedestal (3), and the elevating movement module is installed on the linear motion mould
On block, the laser radar (14) is installed on straight-line transmitting movable plate (5)；The slave computer module respectively with upper computer module, straight
Line motion module, elevating movement module, linear motion are connected apart from detection module with lifting distance detection module；The laser
Radar (14) is connected with upper computer module；
The upper computer module is for showing visualization interface, the interface as human-computer interaction；And it is realized by slave computer module
Control to linear moving module and elevating movement module, and the data of storage laser radar (14) acquisition；
The linear motion that the linear moving module connects for realizing nobody, what the elevating movement module connect for realizing nobody
Lifting；The linear motion is used for the front-rear position of the left riser guide of real-time monitoring (7) apart from detection module；The lifting distance
Detection module is used for the upper and lower position of real-time monitoring crossbeam (8)；The laser radar (14) is used for for specific in a certain plane
The mist field detecting in region.
2. the indoor checking system of more rotor plant protection drone application performances as described in claim 1, it is characterised in that: in institute
It states the right and left on pedestal (3) and SBR guide rail (4) is installed respectively；SBR guide rail slide block is installed on the SBR guide rail (4)
(27)；Straight-line transmitting movable plate (5) are fixedly mounted on the SBR guide rail slide block (27)；
Linear motor mounting platform (1) is fixedly mounted in the front end of the pedestal (3), in the fixed peace in the rear end of the pedestal (3)
It fills belt wheel mounting platform (11)；Linear motor mould group (2) are installed on the linear motor mounting platform (1), in the belt wheel
Belt pulley (12) are installed on mounting platform (11)；The linear motor mould group (2) passes through parallel band (13) and belt pulley (12) phase
Connection.
3. the indoor checking system of more rotor plant protection drone application performances as described in claim 1, it is characterised in that: described
Linear moving module further includes parallel band pressed seat (28), and the parallel band (13) is fixed on directly by parallel band pressed seat (28)
On line driver plate (5)；
When linear motor mould group (2) operating, parallel band (13) is driven to be moved forward and backward, while belt pulley (12) rotates, straight-line transmitting
Movable plate (5) is moved forward and backward with parallel band (13).
4. the indoor checking system of more rotor plant protection drone application performances as described in claim 1, it is characterised in that: described
Left riser guide (7) includes motor drive chain (16), upper sprocket wheel one (18), upper lifting drive bearing block (19), upper sprocket wheel two
(20), upper lifting transmission shaft (21), lifting and driving chain (22), lower sprocket (23), lower lifting and driving bearing block (24), lower lifting pass
Moving axis (25) and lower bearing fixed plate (26)；
Lifting motor mould group (6) are fixedly mounted in the lower end left side of the left riser guide (7), in the left riser guide
(7) lower bearing fixed plate (26) are fixedly mounted in lower end right side, go up and down and pass under installing on the lower bearing fixed plate (26)
Dynamic bearing seat (24), one end of the lower lifting and driving axis (25) are installed into the bearing of lower lifting and driving bearing block (24), under
Lower sprocket (23) are fixedly mounted in the other end of lifting and driving axis (25)；
Drive bearing block (19) are gone up and down on the upper end of the left riser guide (7) is fixedly mounted；The upper lifting transmission shaft
(21) middle part is located in the bearing in upper lifting drive bearing block (19), and the left end of upper lifting transmission shaft (21) is fixedly mounted
Upper sprocket wheel two (20) are fixedly mounted in the right end of sprocket wheel one (18), upper lifting transmission shaft (21)；
The lifting motor mould group (6) and upper sprocket wheel one (18) are respectively positioned on the left side of the left riser guide (7)；The lifting electricity
Machine mould group (6) is connect with upper sprocket wheel one (18) by motor drive chain (16)；The upper sprocket wheel two (20) and lower sprocket (23) are equal
Positioned at the right side of the left riser guide (7)；The upper sprocket wheel two (20) and lower sprocket (23) are connected by lifting and driving chain (22)
It connects.
5. the indoor checking system of more rotor plant protection drone application performances as described in claim 1, it is characterised in that: in institute
It states the right and left on straight-line transmitting movable plate (5) and fixes a riser guide fixing seat (15) respectively；In the liter of described the right and left
Left riser guide (7) and right riser guide (10) are fixedly mounted respectively in drop guide rail fixing seat (15)；
It is equipped with slide block guide rail on the inside of the inside of the left riser guide (7) and right riser guide (10), in the left liter
It drops to be respectively equipped on the slide block guide rail of guide rail (7) and the slide block guide rail of right riser guide (10) and be slided with the lifting of slide block guide rail cooperation
Block (17)；
The lifting slider (17) cooperated with the slide block guide rail of left riser guide (7) is fixedly connected with lifting and driving chain (22)；It is described
Lifting slider (17) slides up and down in the guide rail；
The left and right ends of the crossbeam (8) are fixedly connected with two lifting sliders (17) respectively；The crossbeam (8) is horizontally disposed；
It is fixed device (9) that unmanned plane is fixedly mounted on the crossbeam (8)；The unmanned plane fixed device (9) is for installing more rotors
Plant protection drone.
6. the indoor checking system of more rotor plant protection drone application performances as claimed in claim 3, it is characterised in that: in institute
It states and is also fixedly installed with laser particle analyzer on straight-line transmitting movable plate (5), the laser particle analyzer avoids parallel band pressed seat (28)
Installation site；The laser particle analyzer for realizing spraying swath and mist field uniformity combine detection.
7. the indoor checking system of more rotor plant protection drone application performances as described in claim 1, it is characterised in that: described
Slave computer module passes sequentially through PWM frequency converter, linear motor driver (31) is connected with linear motor mould group (2)；Slave computer
Module passes sequentially through PWM frequency converter, lifting motor driver (34) is connected with lifting motor mould group (6)；
The upper computer module is realized by slave computer module: controlling the speed of lifting motor mould group (6), 1. to realize crossbeam
(8) lifting；2. the speed of linear motor mould group (2) is controlled, to realize the speed regulation of straight-line transmitting movable plate (5) tandem movement；
3. storing the data of laser radar (14) acquisition.
8. the indoor checking system of more rotor plant protection drone application performances as described in claim 1, it is characterised in that: described
Slave computer module includes: single-chip microcontroller (29), and the single-chip microcontroller (29) is used for linear motor mould group (2) and lifting motor mould group
(6) it carries out start-up and shut-down control and speed is adjusted；The model of the single-chip microcontroller (29) are as follows: Arduino Mega 2560；
The slave computer module is connected with upper computer module by serial ports；The upper computer module is computer (30)；It is described
Upper computer module is connected with laser radar (14) by Ethernet；
The linear motion is apart from detection module are as follows: laser range sensor one (32), the lifting detection module are as follows: Laser Measuring
Away from sensor two (35).
9. the indoor checking system of more rotor plant protection drones application performance as described in claim 1-8 any claim,
It is characterized by: the physical length of the physical length of the pedestal (3) and the SBR guide rail (4), according to actually detected evaluation and
Demand is adjusted；
The unmanned plane fixed device (9) is parallel to crossbeam (8) and ground；The length of the crossbeam (8) is set as 5m；It is described to swash
The type of optical radar are as follows: two-dimensional section detection type.
10. a kind of indoor method of inspection of more rotor plant protection drone application performances, using claim 1-9 any claim
The indoor checking system of more rotor plant protection drones application performance, comprising the following steps:
S1, the more rotor plant protection drones of installation are on unmanned plane fixed device (9)；
S2, crossbeam (8) is adjusted to a certain height, to simulate the actual job height of more rotor plant protection drones, and by straight line
Driver plate (5) is adjusted to initial position；The initial position is the position ipsilateral with linear motor mould group (2)；
S3, the movement velocity that more rotor plant protection drones are set by upper computer module, and open laser radar (14) and upper
Machine module；
The spraying system and rotor kinematic system of S4, the more rotor plant protection drones of starting, form spray field；Start linear motor mould
Group (2), more rotor plant protection drones start tandem movement；Meanwhile utilizing being sprayed in laser radar (14) scanning cross-section
, the Pcnten-1 yne-4 of detection sectional plane shows in upper computer module and exports；
S5, according to examine demand, adjust crossbeam (8) height and unmanned plane speed, repeat step S4, obtain different work ginseng
More rotor plant protection drone spraying swaths and mist field distribution under said conditions；
S6, it is verified, all components is put in order into initial position, close upper computer module, close power supply.
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