CN110450975A - Actively system and method are linked in simulation for a kind of more rotor plant protection drone flight attitudes - Google Patents
Actively system and method are linked in simulation for a kind of more rotor plant protection drone flight attitudes Download PDFInfo
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- CN110450975A CN110450975A CN201910645082.8A CN201910645082A CN110450975A CN 110450975 A CN110450975 A CN 110450975A CN 201910645082 A CN201910645082 A CN 201910645082A CN 110450975 A CN110450975 A CN 110450975A
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- 238000004088 simulation Methods 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000012360 testing method Methods 0.000 claims abstract description 36
- 230000005693 optoelectronics Effects 0.000 claims abstract description 25
- 238000001514 detection method Methods 0.000 claims abstract description 24
- 238000011156 evaluation Methods 0.000 claims abstract description 15
- 238000004422 calculation algorithm Methods 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 238000012800 visualization Methods 0.000 claims description 3
- 241001269238 Data Species 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 6
- 239000007921 spray Substances 0.000 description 5
- 230000000694 effects Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 206010000369 Accident Diseases 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013401 experimental design Methods 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000011895 specific detection Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
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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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Stepping Motors (AREA)
Abstract
The invention belongs to agricultural aviation performance detection technical fields, being related to a kind of more rotor plant protection drone flight attitudes, actively system and method are linked in simulation, and system includes: rotatable platform, worm screw, stepping decelerating motor, slidably platform, turbine, obliquity sensor, more rotor plant protection drone clampers, blade test the speed optoelectronic switch, single-chip microcontroller, motor driver, sliding block, sliding rail, pulling equipment and host computer；Method is summarized as follows: installing more rotor plant protection drones on more rotor plant protection drone clampers；Starting obliquity sensor, blade test the speed optoelectronic switch, the inclination angle of the more rotor plant protection drones of active control；More rotor plant protection drones are moved at different rates, realize more rotor plant protection drone performance detections evaluation under friction speed.The present invention realizes: to linking for the indoor active attitude-simulatings of more rotor plant protection drones, easy to operate, accuracy is high, and structure is simple, influences on more rotor plant protection drones small.
Description
Technical field
The invention belongs to agricultural aviation performance detection technical field more particularly to a kind of more rotor plant protection drone flight appearances
Actively system and method are linked in simulation to state.
Background technique
More rotor plant protection drones have started widely to undertake plant protection task in agriculture field, can guarantee plant protection work
Efficiency and quality.For the operation effectiveness for guaranteeing more rotor plant protection drones, need to carry out the performance of more rotor plant protection drones
Detection evaluation.Current more rotor plant protection drone performance detection schemes are based on outdoor detection environment, this not only needs large area
Test site and labor intensive test arrangement, and influence factor (such as wind speed, wind direction) uncontrollable, pole of outdoor environment
Easily making testing result, there are large errors.If environment carries out the performance detection of more rotor plant protection drones indoors, can keep away
Exempt from unstable environmental factor interference, obtain more standardized data, the preparation in place and arrangement are also faster.
More rotor plant protection drones limited space indoors, directly flight are easy to happen aircraft accident, to indoor environment
Space size is more demanding, needs a kind of special entity, can fix more rotor plant protection drones and its posture becomes
Change.Existing passive type multi-rotor unmanned aerial vehicle posture analysis platform (number of patent application 201820201469.5) at present, by pure machine
Tool structure realizes that the posture of multi-rotor unmanned aerial vehicle is simulated certainly, but this structure cannot accurately react more rotations there are frictional force
The variation of wing UAV Attitude angle.The present invention proposes that a kind of flight attitude of more rotor plant protection drones actively simulates to link
System and method pass through active detecting paddle speed and carry out more rotor fog machine flight attitude simulations by way of simulating posture, can
More accurately to realize the simulation to more rotor plant protection drone flight attitudes.The system is installed on the sliding rail of indoor detection platform
On, pass through active detecting and simulate the flight attitude of more rotor plant protection drones, speed in different positions, is obtained so as to detect
Much various performances of rotor plant protection drone, such as spray uniformity, spray the performances such as range.
Summary of the invention
In order to realize the simulation to more rotor plant protection drone flight attitudes, the present invention proposes a kind of more rotor plant protection
Actively system and method are linked in simulation to unmanned plane during flying posture, and specific technical solution is as follows:
Actively system is linked in simulation for a kind of more rotor plant protection drone flight attitudes, comprising: rotatable platform 1, worm screw 2,
Stepping decelerating motor 3, slidably platform 4, turbine 5, obliquity sensor 6, more rotor plant protection drone clampers 7, blade test the speed
Optoelectronic switch 8, single-chip microcontroller, motor driver, sliding block, sliding rail, pulling equipment and host computer；
The sliding block slides on the slide rail under the traction of pulling equipment；
The top of the slidably platform 4 is fixedly connected with a slide block；
Stepping decelerating motor 3 is fixedly mounted in the lower section of the slidably platform 4；
The output shaft of the stepping decelerating motor 3 is fixedly connected with worm screw 2, and the worm screw 2 engages with turbine 5；
Turbine bearing block (being equipped with bearing) is fixedly installed in the rotatable platform 1, the turbine wheel shaft of the turbine 5 is fixed
It is installed on the turbine bearing block, one end of the turbine wheel shaft is flexibly connected with the lower end of slidably platform 4；It is described rotatable
Platform 1 is rotated with the rotation of turbine 5；
Obliquity sensor 6 is fixedly mounted in the top of the rotatable platform 1, it is solid in the lower section of the rotatable platform 1
It tests the speed optoelectronic switch 8 equipped with more rotor plant protection drone clampers 7 and blade Dingan County；
The single-chip microcontroller is connect by motor driver with stepping decelerating motor 3, single-chip microcontroller and obliquity sensor 6, upper
Machine, blade test the speed optoelectronic switch 8, more rotor plant protection drones connection.
Based on the above technical solution, more rotor plant protection drone clampers 7 are for the firm more rotors of clamping
Plant protection drone；The stepping decelerating motor 3 is used to control the inclination angle of more rotor plant protection drones.
Based on the above technical solution, the obliquity sensor 6 is used to detect the inclination angle of rotatable platform 1；It is described
Blade tests the speed optoelectronic switch 8 for detecting the revolving speed of more rotor plant protection drone blades.
Based on the above technical solution, the host computer is for showing visualization interface, as connecing for human-computer interaction
Mouthful.
Based on the above technical solution, the single-chip microcontroller is used for: controlling stepping decelerating motor 3,1. to realize control
The inclination angle of more rotor plant protection drones；2. obtaining and recording the inclination data of obliquity sensor 6；It tests the speed 3. obtaining and recording blade
The measurement data of optoelectronic switch 8.
Based on the above technical solution, the single-chip microcontroller is connect by signal wire and the blade optoelectronic switch 8 that tests the speed, institute
Single-chip microcontroller is stated to connect by signal wire with more rotor plant protection drones.
Based on the above technical solution, the single-chip microcontroller is STM32F103RCT6 single-chip microcontroller.
Based on the above technical solution, the host computer is computer.
Based on the above technical solution, inclination angle simulation algorithm built in the single-chip microcontroller；More rotations built in the single-chip microcontroller
Wing plant protection drone controls software.
Actively method is linked in simulation for a kind of more rotor plant protection drone flight attitudes, using above-mentioned more rotor plant protection drones
Actively system is linked in simulation to flight attitude, comprising the following steps:
S1, more rotor plant protection drones are reliably fixed by more rotor plant protection drone clampers 7；It is sensed by inclination angle
Device 6 determines that the posture of more rotor plant protection drones is in a horizontal position, and starts more rotor plant protection drones, accesses single-chip microcontroller control
System；
S2, the operating parameter that the evaluation of this performance detection is arranged on host computer input flying speed, slidably platform 4
Under the action of pulling equipment, start to be slided on the slide rail with certain speed；The data of single-chip microcontroller reading obliquity sensor 6
Test the speed the data of optoelectronic switch 8 with blade, and by control stepping decelerating motor 3, controls the inclination angle of more rotor plant protection drones；
S3, the detection evaluation that more rotor plant protection drone performances are carried out according to detection demand；
S4, detection evaluation if desired is carried out to the performance of more rotor plant protection drones at different speeds, variation can be slided
The step of sliding speed of moving platform 4 on the slide rail, repetition above-mentioned S2-S3；
After S5, detection evaluation, rotatable platform 1 returns to horizontal position, and slidably platform 4 returns to initial position, institute
State the end that initial position is sliding rail.
It should be noted that present invention is primarily intended to by active detecting and simulate in different positions more rotor plant protection without
Man-machine flight attitude, speed so as to detect the various performances for obtaining more rotor plant protection drones, such as spray uniformly
Property sprays the performances such as range.When using the present invention, need to install other detecting instruments or instrument additional according to specific detection demand.
For example, detecting spraying for more rotor plant protection drones if necessary uniformity and sprays range, then need in addition to exist
Suitable position installs the instruments such as laser radar or laser particle analyzer additional.
Advantageous effects of the invention are as follows:
The present invention attitude-simulating scheme in existing more rotor plant protection drones room there are aiming at the problem that, propose technical solution
It solves；Herein described technical solution indoors under limited space, can realize the flight of more rotor plant protection drones
Attitude-simulating；Avoid defect present in outdoor more rotor plant protection drone performance detection schemes: the test site of large area
With the test arrangement of labor intensive and the interference of the unstable environmental factor of outdoor environment.The present invention by obliquity sensor 6,
Blade tests the speed optoelectronic switch 8, the inclination angle of the more rotor plant protection drones of active control；Mobile entire test is flat at different rates
Platform realizes more rotor plant protection drone performance detections evaluation under friction speed.Technical solution of the present invention is easy to operate, accurately
Degree is high, and structure is simple, and the influence to more rotor plant protection drones is small.
Detailed description of the invention
The present invention has following attached drawing:
Fig. 1 is that more rotor plant protection drone flight attitudes actively simulate the structural schematic diagram for linking system；
Fig. 2 is that more rotor plant protection drone flight attitudes control system hardware annexation that actively system is linked in simulation is shown
Meaning block diagram
Fig. 3 is that actively method flow schematic diagram is linked in simulation to more rotor plant protection drone flight attitudes；
Fig. 4 is that actively inclination angle change of system during performance evaluation is linked in simulation to more rotor plant protection drone flight attitudes
Change schematic graph.
Appended drawing reference:
1. rotatable platform, 2. worm screws, 3. stepping decelerating motors, 4. slidably platforms, 5. turbines, 6. obliquity sensors,
7. the plant protection drone clamper of rotor more than, 8. blades test the speed optoelectronic switch.
Specific embodiment
In the following with reference to the drawings and specific embodiments, the present invention is further explained.
Fig. 1 is that the more rotor plant protection drone flight attitudes of the present invention actively simulate the structural schematic diagram for linking system.
Fig. 2 is that the more rotor plant protection drone flight attitudes of the present invention control system hardware that actively system is linked in simulation connects
Relationship schematic block diagram.
Actively system is linked in simulation for a kind of more rotor plant protection drone flight attitudes, comprising: rotatable platform 1, worm screw 2,
Stepping decelerating motor 3, slidably platform 4, turbine 5, obliquity sensor 6, more rotor plant protection drone clampers 7, blade test the speed
Optoelectronic switch 8, single-chip microcontroller, motor driver, sliding block, sliding rail, pulling equipment and host computer；
The sliding block slides on the slide rail under the traction of pulling equipment；
The top of the slidably platform 4 is fixedly connected with a slide block；
Stepping decelerating motor 3 is fixedly mounted in the lower section of the slidably platform 4；
The output shaft of the stepping decelerating motor 3 is fixedly connected with worm screw 2, and the worm screw 2 engages with turbine 5；
Turbine bearing block (being equipped with bearing) is fixedly installed in the rotatable platform 1, the turbine wheel shaft of the turbine 5 is fixed
It is installed on the turbine bearing block, one end of the turbine wheel shaft is flexibly connected with the lower end of slidably platform 4；It is described rotatable
Platform 1 is rotated with the rotation of turbine 5；
Obliquity sensor 6 is fixedly mounted in the top of the rotatable platform 1, it is solid in the lower section of the rotatable platform 1
It tests the speed optoelectronic switch 8 equipped with more rotor plant protection drone clampers 7 and blade Dingan County；
The single-chip microcontroller is connect by motor driver with stepping decelerating motor 3, single-chip microcontroller and obliquity sensor 6, upper
Machine, blade test the speed optoelectronic switch 8, more rotor plant protection drones connection.
Based on the above technical solution, more rotor plant protection drone clampers 7 are for the firm more rotors of clamping
Plant protection drone；The stepping decelerating motor 3 is used to control the inclination angle of more rotor plant protection drones.
Based on the above technical solution, the obliquity sensor 6 is used to detect the inclination angle of rotatable platform 1；It is described
Blade tests the speed optoelectronic switch 8 for detecting the revolving speed of more rotor plant protection drone blades.
Based on the above technical solution, the host computer is for showing visualization interface, as connecing for human-computer interaction
Mouthful.
Based on the above technical solution, the single-chip microcontroller is used for: controlling stepping decelerating motor 3,1. to realize control
The inclination angle of more rotor plant protection drones；2. obtaining and recording the inclination data of obliquity sensor 6；It tests the speed 3. obtaining and recording blade
The measurement data of optoelectronic switch 8.
Based on the above technical solution, the single-chip microcontroller is connect by signal wire and the blade optoelectronic switch 8 that tests the speed, institute
Single-chip microcontroller is stated to connect by signal wire with more rotor plant protection drones.
Based on the above technical solution, the single-chip microcontroller is STM32F103RCT6 single-chip microcontroller.
Based on the above technical solution, the host computer is computer.
Based on the above technical solution, inclination angle simulation algorithm built in the single-chip microcontroller；More rotations built in the single-chip microcontroller
Wing plant protection drone controls software.
Fig. 3 is that the more rotor plant protection drone flight attitudes of the present invention actively simulate the workflow schematic diagram for linking method.
More rotor plant protection drones are reliably fixed by more rotor plant protection drone clampers 7；More rotations are determined by obliquity sensor 6
The posture of wing plant protection drone is in a horizontal position, and starts more rotor plant protection drones, access single-chip microcontroller control；Slidably platform
4 start to be slided on the slide rail with certain speed under the effect of external pulling equipment, and single-chip microcontroller reads the blade photoelectricity that tests the speed and opens
8 data are closed, and control the inclination angle of more rotor plant protection drones by controlling stepping decelerating motor 3；Carry out more rotor plant protection without
Man-machine performance detection evaluation；If desired carry out detection evaluation in performance of the different speed to more rotor plant protection drones, then with
Different speed are tested.After test, rotatable platform 1 returns to horizontal position, and slidably platform 4 returns to initial bit
It sets.
As shown below, it is to process as described above that more rotor plant protection drone flight attitudes, which actively simulate the example linked,
Verification experimental verification.
Test objective: verifying effectiveness of the invention, detecting more rotor plant protection drone flight attitudes, actively simulation is linked
Each section of system whether operational excellence.
Experimental design: it is carried out with reference to the operating procedure of Fig. 3, specifically tests process are as follows:
(1) more rotor plant protection drones are fixed on more rotor plant protection drone clampers 7,
(2) according to the reading of obliquity sensor 6, the angle of rotatable platform 1 is adjusted to horizontal position.
(3) start more rotor plant protection drones, access single-chip microcontroller control.
(4) operating parameter of this performance detection evaluation is set on host computer, and input flying speed (can sliding platform
4 sliding speed on the slide rail) etc. parameters.
(5) more rotor plant protection drone rotors start turning, and the slidably beginning of platform 4 starts to slide with the speed set,
Single-chip microcontroller by blade test the speed optoelectronic switch 8 detect blade speed, by obliquity sensor 6 provide control feedback, start to control
Stepping decelerating motor 3 processed controls the inclination angle of rotatable platform 1, and records the data of obliquity sensor 6.Fig. 4 comments for one-time detection
Change of pitch angle figure during valence, wherein abscissa is the time, and ordinate is the angle at inclination angle.
(6) different flying speeds is changed, the step of above-mentioned (2) arrive (5) is repeated.When after the test, passing through host computer
It issues and instructs to single-chip microcontroller, all devices are back to original state.
It is shown by test result it is found that can stablize with herein described method and maintain more rotor plant protection drones
Tilt angles.
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.To those skilled in the art, the change made based on the present invention also belongs to of the invention
Protection scope.
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. actively system is linked in simulation to a kind of more rotor plant protection drone flight attitudes characterized by comprising rotatable platform
(1), worm screw (2), stepping decelerating motor (3), slidably platform (4), turbine (5), obliquity sensor (6), more rotor plant protection without
Man-machine clamper (7), blade are tested the speed optoelectronic switch (8), single-chip microcontroller, motor driver, sliding block, sliding rail, pulling equipment and upper
Machine；
The sliding block slides on the slide rail under the traction of pulling equipment；
It is fixedly connected with a slide block above the slidably platform (4)；
Stepping decelerating motor (3) are fixedly mounted in the lower section of the slidably platform (4)；
The output shaft of the stepping decelerating motor (3) is fixedly connected with worm screw (2), and the worm screw (2) is engaged with turbine (5)；
Turbine bearing block is fixedly installed on the rotatable platform (1), the turbine wheel shaft of the turbine (5) is fixedly installed in described
On turbine bearing block, one end of the turbine wheel shaft is flexibly connected with the lower end of slidably platform (4)；The rotatable platform (1)
It is rotated with the rotation of turbine (5)；
Obliquity sensor (6) are fixedly mounted in the top of the rotatable platform (1), in the lower section of the rotatable platform (1)
It is fixedly installed with more rotor plant protection drone clampers (7) and blade tests the speed optoelectronic switch (8)；
The single-chip microcontroller is connect by motor driver with stepping decelerating motor (3), single-chip microcontroller and obliquity sensor (6), upper
Machine, blade test the speed optoelectronic switch (8), more rotor plant protection drones connection.
2. actively system is linked in simulation to more rotor plant protection drone flight attitudes as described in claim 1, it is characterised in that: institute
It states more rotor plant protection drone clampers (7) and clamps more rotor plant protection drones for firm；The stepping decelerating motor (3) is used
In the inclination angle for controlling more rotor plant protection drones.
3. actively system is linked in simulation to more rotor plant protection drone flight attitudes as described in claim 1, it is characterised in that: institute
Obliquity sensor (6) are stated for detecting the inclination angle of rotatable platform (1)；The blade test the speed optoelectronic switch (8) for detect it is more
The revolving speed of rotor plant protection drone blade.
4. actively system is linked in simulation to more rotor plant protection drone flight attitudes as described in claim 1, it is characterised in that: institute
It states host computer to be used to show visualization interface, the interface as human-computer interaction.
5. actively system is linked in simulation to more rotor plant protection drone flight attitudes as described in claim 1, which is characterized in that institute
It states single-chip microcontroller to be used for: 1. controlling stepping decelerating motor (3), to realize the inclination angle for controlling more rotor plant protection drones；2. obtaining simultaneously
Record the inclination data of obliquity sensor (6)；It tests the speed the measurement datas of optoelectronic switch (8) 3. obtaining and recording blade.
6. actively system is linked in simulation to more rotor plant protection drone flight attitudes as described in claim 1, it is characterised in that: institute
It states single-chip microcontroller to connect by signal wire and the blade optoelectronic switch (8) that tests the speed, the single-chip microcontroller passes through signal wire and more rotor plant protection
Unmanned plane connection.
7. actively system is linked in simulation to more rotor plant protection drone flight attitudes as described in claim 1, it is characterised in that: institute
Stating single-chip microcontroller is STM32F103RCT6 single-chip microcontroller.
8. actively system is linked in simulation to more rotor plant protection drone flight attitudes as described in claim 1, it is characterised in that: institute
Stating host computer is computer.
9. more rotor plant protection drone flight attitudes as described in claim 1-8 any claim, which actively simulate to link, is
System, it is characterised in that: inclination angle simulation algorithm built in the single-chip microcontroller；More rotor plant protection drone controls are soft built in the single-chip microcontroller
Part.
It is any described using claim 1-9 10. actively method is linked in simulation to a kind of more rotor plant protection drone flight attitudes
Actively system is linked in simulation to more rotor plant protection drone flight attitudes, which comprises the following steps:
S1, more rotor plant protection drones are reliably fixed by more rotor plant protection drone clampers (7)；Pass through obliquity sensor
(6) it determines that the posture of more rotor plant protection drones is in a horizontal position, starts more rotor plant protection drones, access single-chip microcontroller control
System；
S2, the operating parameter that the evaluation of this performance detection is arranged on host computer input flying speed, slidably platform (4) In
Under the action of pulling equipment, start to be slided on the slide rail with certain speed；Single-chip microcontroller reads the data of obliquity sensor (6)
Test the speed the data of optoelectronic switch (8) with blade, and by control stepping decelerating motor (3), controls more rotor plant protection drones
Inclination angle；
S3, the detection evaluation that more rotor plant protection drone performances are carried out according to detection demand；
S4, detection evaluation if desired is carried out to the performance of more rotor plant protection drones at different speeds, variation is slidably put down
The step of sliding speed of platform (4) on the slide rail, repetition above-mentioned S2-S3；
After S5, detection evaluation, rotatable platform (1) returns to horizontal position, and slidably platform (4) returns to initial position, institute
State the end that initial position is sliding rail.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910645082.8A CN110450975A (en) | 2019-07-17 | 2019-07-17 | Actively system and method are linked in simulation for a kind of more rotor plant protection drone flight attitudes |
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| CN201910645082.8A CN110450975A (en) | 2019-07-17 | 2019-07-17 | Actively system and method are linked in simulation for a kind of more rotor plant protection drone flight attitudes |
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