CN111959823A - Many rotors plant protection unmanned aerial vehicle's angle of pitch and rotor speed measuring platform - Google Patents
Many rotors plant protection unmanned aerial vehicle's angle of pitch and rotor speed measuring platform Download PDFInfo
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- CN111959823A CN111959823A CN202010927148.5A CN202010927148A CN111959823A CN 111959823 A CN111959823 A CN 111959823A CN 202010927148 A CN202010927148 A CN 202010927148A CN 111959823 A CN111959823 A CN 111959823A
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
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Abstract
The invention relates to a pitch angle and rotor wing rotating speed measuring platform of a multi-rotor-wing plant protection unmanned aerial vehicle, which comprises a truss, a vertical lifting mechanism, a horizontal walking mechanism, an unmanned aerial vehicle fixing mechanism and a rotating speed measuring instrument, wherein the truss is connected with the vertical lifting mechanism; the pair of horizontal traveling mechanisms are respectively arranged between the pair of upright columns on the left side and the pair of upright columns on the right side of the truss in a bilateral symmetry manner and synchronously move upwards or downwards through the vertical lifting mechanism; the pair of unmanned aerial vehicle fixing mechanisms used for mounting the multi-rotor plant protection unmanned aerial vehicle to be tested are respectively and fixedly connected to the upper horizontal guide rail pulley and the lower horizontal guide rail pulley of the two horizontal travelling mechanisms, and the multi-rotor plant protection unmanned aerial vehicle to be tested can freely pitch when flying forwards or backwards, and the pitch angle is measured through the tilt angle sensor; all be equipped with a rotational speed measuring apparatu that is used for monitoring rotor rotational speed on the many rotors plant protection unmanned aerial vehicle's that awaits measuring every rotor. The invention realizes the accurate measurement of the pitch angle and the rotor rotation speed of the unmanned aerial vehicle under various working conditions.
Description
Technical Field
The invention relates to the technical field of plant protection unmanned aerial vehicles, in particular to a pitch angle and rotor rotation speed measuring platform of a multi-rotor plant protection unmanned aerial vehicle.
Background
Agricultural aviation plant protection has many advantages such as safety, high efficiency and emergent prevention and cure ability reinforce, can effectively ensure grain safety, reduces the personnel's risk of poisoning of giving medicine to the poor free of charge. Wherein, many rotor plant protection unmanned aerial vehicle easily controls, mobility and stability are strong, the price is lower relatively, can develop rapidly and extensively use in recent years. The field tests and computational fluid dynamics simulation researches of numerous scholars show that when the multi-rotor plant protection unmanned aerial vehicle is adopted to carry out pesticide application operation, the wind field generated by pressing the rotor of the unmanned aerial vehicle and the environmental wind are key factors influencing the deposition and drift of fog drops.
However, in the course of the above studies, there still remain a number of problems: although the field test can truly reflect the operation process and the pesticide application effect, the conditions such as the ambient wind speed and the wind direction are extremely uncontrollable and are influenced by the external environment and the proficiency of operators, the flight parameters of the unmanned aerial vehicle and the test setting cannot be completely consistent, and the uncertainty of the test result is increased; the simulation research of the wind field is carried out by means of computational fluid dynamics simulation software, the problem that environmental factors are uncontrollable is solved, the test cost is greatly reduced, and under the condition that the flying speed, the flying height and the load are fixed, the key working parameters (the pitch angle and the rotor wing rotating speed) of the plant protection unmanned aerial vehicle cannot be accurately matched and set in the computational fluid dynamics simulation software.
In addition, due to the fact that flying is forbidden or limited in local areas, researchers are not convenient to conduct field tests, and key working parameters of the unmanned aerial vehicle cannot be directly obtained outdoors. Synthesize above condition, for remedying the not enough of current research, the urgent need is built a laboratory with many rotors plant protection unmanned aerial vehicle key working parameter measuring platform, to certain flying speed, flying height and load operating mode under, unmanned aerial vehicle's the angle of pitch and rotor rotational speed measure.
Disclosure of Invention
In view of the above technical problems, the present invention aims to provide a pitch angle and rotor rotation speed measurement platform for a multi-rotor plant protection unmanned aerial vehicle, which can stably and reliably measure the pitch angle and rotor rotation speed of the plant protection unmanned aerial vehicle under various working conditions, so as to accurately match and set key working parameters of the unmanned aerial vehicle in computational fluid dynamics simulation software.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a many rotors plant protection unmanned aerial vehicle's angle of pitch and rotor speed measurement platform, carries out angle of pitch and rotor speed measurement to many rotors plant protection unmanned aerial vehicle 5 that awaits measuring, many rotors plant protection unmanned aerial vehicle 5 that awaits measuring includes four rotors, six rotors, eight rotor plant protection unmanned aerial vehicle.
The measuring platform comprises a truss 1, a vertical lifting mechanism 2, a horizontal walking mechanism 3, an unmanned aerial vehicle fixing mechanism 4 and a rotating speed measuring instrument.
The truss 1 is a cubic frame and comprises an upper rectangular frame, a lower rectangular frame and upright columns vertically and fixedly connected with four corners of the upper rectangular frame and the lower rectangular frame.
The pair of horizontal traveling mechanisms 3 are respectively disposed between the pair of columns on the left side and the pair of columns on the right side of the truss 1 in left-right symmetry, and are synchronously moved up or down by the vertical elevating mechanism 2.
The horizontal travelling mechanism 3 comprises an upper horizontal guide rail 11, an upper horizontal guide rail pulley 10, a lower horizontal guide rail 14, a lower horizontal guide rail pulley 15, a horizontal guide rail connecting block 6, a stepping motor 8, a synchronous toothed belt 9, a driving toothed belt wheel 7 and a driven toothed belt wheel 13.
The front end and the rear end of an upper horizontal guide rail 11 and a lower horizontal guide rail 14 which are arranged in parallel are respectively connected with a horizontal guide rail connecting block 6; the driving toothed belt wheel 7 and the driven toothed belt wheel 13 are respectively arranged at the front part and the rear part of the upper horizontal guide rail 11, and the synchronous toothed belt 9 is sleeved on the driving toothed belt wheel 7 and the driven toothed belt wheel 13; and a power output shaft of the stepping motor 8 is connected with the driving toothed belt wheel 7.
The upper horizontal guide rail pulley 10 and the lower horizontal guide rail pulley 15 are freely slidably disposed on the upper horizontal guide rail 11 and the lower horizontal guide rail 14, respectively, wherein the upper horizontal guide rail pulley 10 is connected with the timing belt 9.
A pair of unmanned aerial vehicle fixing mechanisms 4 for mounting a multi-rotor plant protection unmanned aerial vehicle 5 to be tested are respectively and fixedly connected to an upper horizontal guide rail pulley 10 and a lower horizontal guide rail pulley 15 of the two horizontal traveling mechanisms 3, and the multi-rotor plant protection unmanned aerial vehicle 5 to be tested can freely pitch when flying forwards or backwards, and the pitch angle is measured through the tilt angle sensor 410; all be equipped with a rotational speed measuring apparatu that is used for monitoring rotor rotational speed on the every rotor of many rotors plant protection unmanned aerial vehicle 5 that awaits measuring.
The vertical lifting mechanism 2 drives the horizontal travelling mechanism 3 to rise to a height equal to the preset flying height of the multi-rotor plant protection unmanned aerial vehicle 5 to be tested; horizontal traveling mechanism 3's last horizontal guide rail pulley 10's horizontal migration speed equals the predetermined airspeed of many rotors plant protection unmanned aerial vehicle 5 that awaits measuring.
The driven toothed belt wheel 13 is arranged on the upper horizontal guide rail 11 through a tensioning device 12; the tensioner 12 includes an adjustment rod 121, a "U" shaped support plate 122, a spring 123, a follower plate 124, and a circlip 125.
The U-shaped supporting plate 122 comprises a horizontal supporting part and two fixing parts which are arranged at two ends of the horizontal supporting part and fixedly connected on the upper horizontal guide rail 11, and a bolt adjusting groove 122-1 and a driven wheel shaft moving groove 122-2 are arranged on the horizontal supporting part along the length direction of the upper horizontal guide rail 11; the follow-up plate 124 is fixedly connected with the inner surface of the horizontal supporting part of the U-shaped supporting plate 122 in a position adjustable way in cooperation with the bolt adjusting groove 122-1, and the rotating shaft of the driven toothed pulley 13 passes through the driven wheel shaft moving groove 122-2 to be connected with the follow-up plate 124; the adjusting rod 121 is disposed along the length direction of the upper horizontal guide rail 11, a screw thread portion of the adjusting rod 121 is penetrated through by a fixed connection portion on one side of the U-shaped support plate 122 and is fixedly connected with the follower plate 124, a spring snap ring 125 is connected to the screw thread portion of the adjusting rod 121 through screw thread, and a spring 123 is sleeved on the spring snap ring 125, and the spring 123 is located between the spring snap ring 125 and the follower plate 124.
The upper horizontal guide rail pulley 10 comprises an upper concave wheel 101, an upper auxiliary wheel 102 and an upper support plate 103; the lower horizontal guide pulley 15 includes a lower concave wheel 151, a lower auxiliary wheel 152, and a lower support plate 153.
The rotating shaft of the upper concave wheel 101 and the rotating shaft of the upper auxiliary wheel 102 are respectively arranged on the upper supporting plate 103, wherein the upper concave wheel 101 rolls on the boss at the bottom surface of the upper horizontal guide rail 11 along the length direction of the upper horizontal guide rail 11; the rotation axis of the upper auxiliary wheel 102 and the rotation axis of the upper concave wheel 101 are arranged in parallel with each other, and the upper auxiliary wheel 102 is in contact with the surface of the upper horizontal guide rail 11; the top end of the upper supporting plate 103 is fixedly connected with the synchronous cog belt 9 through a locking block 16.
The rotation axis of the lower concave wheel 151 and the rotation axis of the lower auxiliary wheel 152 are respectively installed on the lower support plate 153, wherein the lower concave wheel 151 rolls on the boss of the bottom surface of the lower horizontal guide rail 14 along the length direction of the lower horizontal guide rail 14; the rotation axis of the lower auxiliary wheel 152 and the rotation axis of the lower concave wheel 151 are arranged perpendicular to each other, and the lower auxiliary wheel 152 is in contact with the surface of the lower horizontal guide rail 14. Go up backup pad 103 and bottom suspension fagging 153 and be connected with unmanned aerial vehicle fixed establishment 4.
The ends of the driving toothed belt wheel 7 and the stepping motor 8 are the driving end of the horizontal travelling mechanism 3, and the end of the driven toothed belt wheel 13 is the driven end of the horizontal travelling mechanism 3; from the active end to the passive end, the horizontal running mechanism 3 is divided into three stages: the device comprises an acceleration section, a constant speed measurement section and a deceleration section, wherein indicator lamps with different colors and detected by Hall sensors are arranged among the sections; wherein, the horizontal migration speed of the uniform velocity measurement section is the same as the flying speed of the multi-rotor plant protection unmanned aerial vehicle 5 to be measured.
The vertical lifting mechanism 2 comprises a T-shaped guide rail 201, a rolling guide shoe 202, a one-way single pulley 203, a steering double pulley 204, a universal corner pulley 205, a driving end steel wire rope 206, a driven end steel wire rope 207, a rope winding and unwinding wheel 208 and a double-shaft motor 209.
The front end and the rear end of each horizontal travelling mechanism 3 are respectively and vertically provided with a T-shaped guide rail 201 fixed on the upright post of the truss 1; one end of the rolling type guide shoe 202 is fixedly connected with a horizontal guide rail connecting block 6 of the horizontal travelling mechanism 3, and the other end of the rolling type guide shoe can roll up and down along the T-shaped guide rail 201.
A one-way single pulley 203 and a double-steering pulley 204 are fixedly connected to two longitudinal beams of the upper rectangular frame of the truss 1, which are parallel to the horizontal travelling mechanism 3, the one-way single pulley 203 is positioned above the horizontal guide rail connecting block 6 at the front end of the horizontal travelling mechanism 3, and the double-steering pulley 204 is positioned above the horizontal guide rail connecting block 6 at the rear end of the horizontal travelling mechanism 3; two universal corner pulleys 205 are fixedly connected to a beam of an upper rectangular frame of the truss 1 at the rear end of the horizontal travelling mechanism 3; the double-shaft motor 209 is fixedly connected to a cross beam of a lower rectangular frame of the truss 1 right below the universal corner pulley 205; two rope take-up and pay-off pulleys 208 are respectively fixedly connected to two power output shafts of a double-shaft motor 209.
The rotating shaft of the one-way single pulley 203 is perpendicular to the T-shaped guide rail 201.
The double diverting pulleys 204 comprise a horizontal diverting pulley 204-1 and a vertical diverting pulley 204-2 with mutually vertical rotating shafts, and a vertical connecting shaft which is rotatably connected between the shells of the horizontal diverting pulley 204-1 and the vertical diverting pulley 204-2; the rotating shaft of the vertical steering wheel 204-2 is perpendicular to the T-shaped guide rail 201, and the shell of the vertical steering wheel 204-2 can horizontally rotate for 360 degrees relative to the shell of the horizontal steering wheel 204-1.
The universal corner pulley 205 comprises a first universal corner wheel 205-1, a second universal corner wheel 205-2 and a vertical rotating shaft, wherein the first universal corner wheel 205-1 and the second universal corner wheel 205-2 are arranged on the same horizontal shaft, the top end of the vertical rotating shaft can be horizontally and rotatably connected to a cross beam of an upper rectangular frame of the truss 1 by 360 degrees, the bottom end of the vertical rotating shaft is connected with the top ends of shells of the first universal corner wheel 205-1 and the second universal corner wheel 205-2 through a pin shaft which is horizontal and perpendicular to horizontal shafts of the first universal corner wheel 205-1 and the second universal corner wheel 205-2, and the first universal corner wheel 205-1 and the second universal corner wheel 205-2 can swing by 180 degrees by taking the pin shaft as an axis.
One ends of the driving end steel wire rope 206 and the driven end steel wire rope 207 are fixedly connected on the same rope take-up and pay-off wheel 208, and the other end of the driving end steel wire rope 206 is fixedly connected on a horizontal guide rail connecting block 6 at the front end of the horizontal walking mechanism 3 through a first universal corner wheel 205-1 of the universal corner pulley 205, a horizontal steering wheel 204-1 of the steering double pulley 204 and the one-way single pulley 203 in sequence; the other end of the driven end steel wire rope 207 is fixedly connected to the horizontal guide rail connecting block 6 at the rear end of the horizontal travelling mechanism 3 through a second universal corner wheel 205-2 of the universal corner pulley 205 and a vertical steering wheel 204-2 of the steering double pulley 204 in sequence.
The unmanned aerial vehicle fixing mechanism 4 comprises a triangular support frame 401, a telescopic rod 402, an inclined auxiliary rod 404, an inclined main rod 405, a limiting polished rod 406, a first buffer spring 407, a second buffer spring 414, a laser sensor 408, an inclination angle sensor 410 and a bayonet 411.
The triangular support frame 401 comprises a horizontal frame 401-1, an inclined frame 401-2 and a connecting frame 401-3 which are fixedly connected with each other; the horizontal frame 401-1 is vertical to the horizontal travelling mechanism 3; the tail ends of the horizontal frame 401-1 and the inclined frame 401-2 are respectively fixedly connected with the upper supporting plate 103 of the upper horizontal guide rail pulley 10 and the lower supporting plate 153 of the lower horizontal guide rail pulley 15.
The telescopic rod 402 horizontally penetrates through a unthreaded hole in the middle of the connecting end of the horizontal frame 401-1 and the inclined frame 401-2 and is fixed and limited by a tightening screw 403; the outer end of the telescopic rod 402 is provided with a sliding rod 402-1, and the sliding rod 402-1 freely slides in a horizontal sliding groove arranged on the horizontal frame 401-1 along the direction vertical to the horizontal travelling mechanism 3; the inner end of the telescopic rod 402 is vertically connected with the middle part of the tilting main rod 405 through a bearing 412.
The tilting auxiliary rod 404 is arranged above the tilting main rod 405 through a pair of limiting polished rods 406, and the tilting auxiliary rod 404 is parallel to the tilting main rod 405; the limiting polished rod 406 can freely move and vertically penetrates through the tilting main rod 405, the top end of the limiting polished rod 406 is vertically and fixedly connected with the lower end surface of the tilting auxiliary rod 404, and the bottom end is fixedly connected with a spring baffle 413 through threads; the two limiting polish rods 406 are sleeved with a first buffer spring 407 and a second buffer spring 414, wherein the first buffer spring 407 is located between the tilting main rod 405 and the spring baffle 413, and the second buffer spring 414 is located between the tilting auxiliary rod 404 and the tilting main rod 405.
The tilt sensor 410 and the laser sensor 408 are installed on the upper end surface of the tilting main rod 405, and the tilt sensor 410 is used for detecting the tilt angle of the tilting main rod 405The angle, namely the pitching angle θ of the unmanned aerial vehicle, of the laser sensor 408 is used for detecting the vertical distance L between the tilting auxiliary rod 404 and the tilting main rod 405; under the condition that the platform is in an unloaded state, the distance between the platform and the platform is a fixed value and is an unloaded distance L0。
One or two bayonets 411 for clamping the horn 501 of the multi-rotor plant protection unmanned aerial vehicle 5 to be tested are adjustably arranged in a fixing groove on the upper end surface of the tilting auxiliary rod 404, and the fixing groove is arranged along the length direction of the tilting auxiliary rod 404; bayonet 411 can 360 horizontal rotation to adapt to the different centre gripping many rotors plant protection unmanned aerial vehicle 5's that awaits measuring horn 501.
An inclination angle limiter 409 is arranged at the inner end of the telescopic rod 402, and the inclination angle limiter 409 comprises a scale plate 409-1 and a limiting bolt 409-2; the scale plate 409-1 is vertically and fixedly connected to the inner end of the telescopic rod 402, and an arc-shaped through hole with the end point of the inner end of the telescopic rod 402 as the circle center is formed in the scale plate 409-1; the position of the limiting bolt 409-2 is adjustably fixed in an arc-shaped through hole in the scale plate 409-1, and the limiting bolt 409-2 is located below the tilting main rod 405.
The measuring platform further comprises a control platform, the control platform comprises a single chip microcomputer master control module and a PC (personal computer) end, and the single chip microcomputer master control module is respectively connected with the PC end, the rotating speed measuring instrument, the laser sensor 408, the inclination angle sensor 410, the stepping motor 8 of the horizontal travelling mechanism 3 and the double-shaft motor 209 of the vertical lifting mechanism 2.
The singlechip general control module sets the speed V of the horizontal running mechanism according to the PC endZAnd height H of vertical lifting mechanismZAnd the start, stop, steering and rotating speed of the stepping motor 8 and the double-shaft motor 209 are controlled, so that the moving distance, the moving direction and the moving speed of the horizontal travelling mechanism 3 and the vertical lifting mechanism 2 are controlled.
The single chip microcomputer master control module receives and processes return signals of the rotating speed measuring instrument, the laser sensor 408 and the tilt angle sensor 410, controls fine adjustment of the vertical lifting mechanism 2 according to the processing result of the return signals of the laser sensor 408, and sends the rotating speed r of the rotor wing measured by the rotating speed measuring instrument and the pitch angle theta measured by the tilt angle sensor 410 to the PC end for displaying and storing.
A method for measuring the pitch angle and the rotor rotation speed of a multi-rotor plant protection unmanned aerial vehicle by using the measuring platform comprises the following steps:
s1, preparation before measurement;
s1.1, determining measurement working condition parameters at a PC (personal computer) end of a control platform: the unit of the drug loading G is kg, the unit of the flying speed V is m/s, the unit of the flying height H is m; and setting the speed V of the horizontal running mechanismZEqual to the flying speed V and the height H of the vertical lifting mechanismZEqual to the flying height H; adding a liquid medicine into a medicine box of the multi-rotor plant protection unmanned aerial vehicle 5 to be tested, wherein the weight of the liquid medicine is equal to the medicine-carrying capacity G;
s1.2, controlling a horizontal walking mechanism 3 and a vertical lifting mechanism 2 through a singlechip general control module, arranging an unmanned aerial vehicle fixing mechanism 4 at an initial end, and then clamping and fixing a horn 501 of a multi-rotor plant protection unmanned aerial vehicle 5 to be tested through a bayonet 411 to enable the multi-rotor plant protection unmanned aerial vehicle 5 to be tested to be arranged on the ground;
s1.3, after the many rotors plant protection unmanned aerial vehicle 5 that awaits measuring is fixed well, set for at unmanned aerial vehicle remote control APP end and preset flight height HSEqual to the flying height H and the preset flying speed VSWhen the flying speed is equal to the flying speed V and the take-off key is pressed, the single chip microcomputer general control module starts the vertical lifting mechanism 2, so that the multi-rotor-wing plant protection unmanned aerial vehicle 5 to be tested stably rises to the flying height H, and simultaneously, the vertical lifting mechanism 2 drives the horizontal walking mechanism 3 to gradually adjust upwards to the flying height H along with the multi-rotor-wing plant protection unmanned aerial vehicle 5 to be tested;
s1.4, finely adjusting the vertical lifting mechanism 2 to ensure that the multi-rotor plant protection unmanned aerial vehicle 5 to be tested is in a free hovering state;
when the multi-rotor plant protection unmanned aerial vehicle 5 and the vertical lifting mechanism 2 to be tested reach the flying height H, the single chip microcomputer master control module judges whether the vertical distance L between the tilting auxiliary rod 404 and the tilting main rod 405 detected by the laser sensor 408 is equal to the no-load distance L or not0If L is equal to L0If the first buffer spring 407 and the second buffer spring 414 of the buffer spring 407 are not compressed, the multi-rotor plant protection unmanned aerial vehicle 5 to be tested is at the preset flying height HSIn a free hovering state, the vertical lifting mechanism 2 is locked; if L is<L0Or L > L0The first buffer spring 407 or the second buffer spring 414 is compressed, and the vertical lift mechanism 2 is finely adjusted upward or downward until L is L0；
S2, starting measurement;
s2.1, the single chip microcomputer master control module enables each rotor rotation speed r of the multi-rotor plant protection unmanned aerial vehicle 5 to be detected, detected by each rotation speed measuring instrument, in the free hovering stateXi(i is 1, 2, 3 … …) is sent to the PC for displaying and recording;
s2.2, pressing a front flight key at the remote control APP end of the unmanned aerial vehicle, and starting the horizontal travelling mechanism 3 at the same time; after the multi-rotor plant protection unmanned aerial vehicle 5 to be tested enters the uniform measurement section of the horizontal walking mechanism 3, the single chip microcomputer general control module detects the pitch angle theta of the unmanned aerial vehicle detected by the tilt angle sensor 410 and the rotating speed r of each rotor of the multi-rotor plant protection unmanned aerial vehicle 5 to be tested in the forward flying state detected by each rotating speed measuring instrumentFi(i is 1, 2, 3 … …) is sent to the PC for displaying and recording;
s3, resetting after measurement;
when the multi-rotor plant protection unmanned aerial vehicle 5 to be tested enters the deceleration section of the horizontal travelling mechanism 3, a stop key and a landing key are pressed at the remote control APP end of the unmanned aerial vehicle, and the rotor of the unmanned aerial vehicle stops rotating; meanwhile, the horizontal walking mechanism 3 and the vertical lifting mechanism 2 are controlled to reset to the starting end through the singlechip master control module.
Compared with the prior art, the invention has the beneficial effects that:
1) the pitch angle and rotor rotation speed measuring platform of the multi-rotor plant protection unmanned aerial vehicle is provided, so that the pitch angle and rotor rotation speed of the unmanned aerial vehicle under various working conditions can be accurately measured, the problem that key working parameters of the unmanned aerial vehicle cannot be directly obtained outdoors due to no flight or flight limitation in local areas is solved, the aim of accurately matching and setting the key working parameters of the multi-rotor plant protection unmanned aerial vehicle in computational fluid dynamics simulation software is fulfilled, and the defects of current research are overcome;
2) the horizontal running mechanism adopts synchronous cog belt transmission (the optimal transmission ratio is 1:1), and has high transmission precision, compact structure and good wear resistance. The driven end of the horizontal travelling mechanism is provided with a tensioning device, so that the tensioning force of the synchronous toothed belt can be adjusted periodically, and mechanical faults are avoided;
3) the horizontal walking mechanism adopts an upper horizontal guide rail and a lower horizontal guide rail, the upper horizontal guide rail is mainly a support guide rail of the horizontal walking transmission mechanism, and the lower horizontal guide rail plays a role in auxiliary support for the fixing mechanism of the unmanned aerial vehicle;
4) the vertical lifting mechanism adopts the matching of a T-shaped guide rail and a rolling type guide shoe and the matching of a steel wire rope and a pulley block, the maximum measuring height of the platform can be flexibly adjusted according to the flight height requirement, and a double-shaft motor is preferably selected, so that the synchronous lifting of the horizontal walking mechanism can be realized;
5) the telescopic rod and the bayonet of the fixing mechanism of the unmanned aerial vehicle can be flexibly adjusted, and the fixing mechanism can be suitable for mounting and fixing different types of unmanned aerial vehicles;
6) the tilting main rod of the tilting device is preferably connected with the telescopic rod of the unmanned aerial vehicle fixing mechanism through a bearing, so that the tilt angle of the tilting device accurately reflects the pitch angle of the unmanned aerial vehicle;
7) during measurement, the vertical distance L-L detected on the tilting device is required0The speed of the horizontal travelling mechanism in the constant-speed measuring section is consistent with the flight speed of the unmanned aerial vehicle, so that the limitation of the platform on the unmanned aerial vehicle can be reduced, and the real flight state can be simulated;
8) because the rotating speeds of the rotors are not consistent when the unmanned aerial vehicle flies forward, a rotating speed measuring instrument for detecting the rotating speed of the rotors is arranged on each rotor, so that the accuracy of a measuring result is obviously improved, and the authenticity of the key parameter setting in the computational fluid dynamics simulation software is obviously improved;
9) this platform structure innovation, control module response time are short, the degree of accuracy is high, satisfy many rotor plant protection unmanned aerial vehicle pitch angle and rotor rotational speed measuring demand.
Drawings
Fig. 1 is a schematic structural view of a pitch angle and rotor speed measurement platform of a multi-rotor plant protection unmanned aerial vehicle of the present invention;
fig. 2 is a schematic structural view of the horizontal traveling mechanism 3;
FIG. 3a is a schematic front view of tensioner 12;
FIG. 3b is a schematic sectional view taken along line A-A of FIG. 3 a;
fig. 4 is a side view of the horizontal traveling mechanism 3 and a partially enlarged view;
fig. 5 is a schematic view of the mounting structure of the "T" shaped guide rail 201 and the rolling guide shoe 202 of the vertical lift mechanism 2;
fig. 6 is a schematic diagram showing the arrangement of pulleys and a wire rope of the vertical lifting mechanism 2;
FIG. 7a is a schematic structural view of a single-direction pulley 203;
figure 7b is a schematic view of the structure of the diverting double pulley 204;
fig. 7c is a schematic structural view of the universal corner pulley 205;
fig. 8 is a schematic perspective view of the fixing mechanism 4 of the unmanned aerial vehicle;
fig. 9a is a schematic structural diagram of a tilting device of the fixing mechanism 4 of the unmanned aerial vehicle;
FIG. 9B is a schematic cross-sectional view taken along line B-B of FIG. 9 a;
FIG. 9c is a schematic diagram illustrating the limiting principle of the inclination limiter 409;
figure 10 is a schematic view of a bayonet 411 holding a horn 501 of a different type of drone;
FIG. 11 is a flow chart of platform measurement.
Wherein the reference numerals are:
1 truss 2 vertical lifting mechanism
201T-shaped guide rail 202 rolling type guide shoe
203 single direction single pulley 204 direction changing double pulley
204-1 horizontal steering wheel 204-2 vertical steering wheel
205 universal corner pulley 205-1 first universal corner pulley
205-2 second universal corner wheel 206 driving end steel wire rope
207 driven end steel wire rope 208 rope winding and unwinding wheel
209 two-shaft motor
3 horizontal running gear 4 unmanned aerial vehicle fixed establishment
401-1 horizontal frame of 401 triangular support frame
401-2 tilting frame 401-3 connecting frame
402 telescopic rod 402-1 sliding rod
403 tightening screw 404 tilting sub-rod
405 main pole 406 spacing polished rod that verts
407 first buffer spring 408 laser sensor
409 dip angle limiter 409-1 scale plate
409-2 spacing bolt 410 inclination angle sensor
411 bayonet 412 bearing
413 spring retainer 414 second buffer spring
5 many rotors plant protection unmanned aerial vehicle 501 horn awaits measuring
6 horizontal guide rail connecting block 7 driving toothed belt wheel
8 stepping motor 9 synchronous tooth belt
10 upper horizontal guide rail pulley 101 upper concave wheel
102 upper supporting plate on auxiliary wheel 103
11 upper horizontal guide rail 12 tensioning device
121 adjusting rod 122U-shaped supporting plate
122-1 bolt adjusting groove 122-2 driven axle moving groove
123 spring 124 follower plate
125 spring snap ring
13 driven toothed belt wheel 14 lower horizontal guide rail
Lower concave wheel of 15 lower horizontal guide rail pulley 151
152 lower auxiliary wheel 153 lower support plate
16 locking block
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
As shown in fig. 1, a pitch angle and rotor rotation speed measurement platform of a multi-rotor plant protection unmanned aerial vehicle measures the pitch angle and rotor rotation speed of a multi-rotor plant protection unmanned aerial vehicle 5 to be measured; the platform comprises a truss 1, a vertical lifting mechanism 2, a horizontal walking mechanism 3, an unmanned aerial vehicle fixing mechanism 4, a rotating speed measuring instrument and a control platform. The multi-rotor plant protection unmanned aerial vehicle 5 to be tested comprises four rotors ("×" type or "+" type), six rotors ("×" type or "+" type), and eight rotor plant protection unmanned aerial vehicles (in fig. 1, the "+" type six rotor plant protection unmanned aerial vehicle is taken as an example).
The truss 1 is a cubic frame and comprises an upper rectangular frame, a lower rectangular frame and upright columns vertically and fixedly connected with four corners of the upper rectangular frame and the lower rectangular frame.
The pair of horizontal traveling mechanisms 3 are respectively disposed between the pair of columns on the left side and the pair of columns on the right side of the truss 1 in left-right symmetry, and are synchronously moved up or down by the vertical elevating mechanism 2.
As shown in fig. 2, the horizontal traveling mechanism 3 includes an upper horizontal guide rail 11, an upper horizontal guide rail pulley 10, a lower horizontal guide rail 14, a lower horizontal guide rail pulley 15, a horizontal guide rail connecting block 6, a stepping motor 8, a synchronous cog belt 9, a driving cog belt wheel 7, and a driven cog belt wheel 13.
The front end and the rear end of an upper horizontal guide rail 11 and a lower horizontal guide rail 14 which are arranged in parallel are respectively connected with a horizontal guide rail connecting block 6 through bolts; the driving toothed belt wheel 7 and the driven toothed belt wheel 13 are respectively arranged at the front part and the rear part of the upper horizontal guide rail 11, and the synchronous toothed belt 9 is sleeved on the driving toothed belt wheel 7 and the driven toothed belt wheel 13; and a power output shaft of the stepping motor 8 is connected with the driving toothed belt wheel 7.
The upper horizontal guide rail pulley 10 and the lower horizontal guide rail pulley 15 are freely slidably disposed on the upper horizontal guide rail 11 and the lower horizontal guide rail 14, respectively, wherein the upper horizontal guide rail pulley 10 is further connected with the timing belt 9.
A pair of unmanned aerial vehicle fixed establishment 4 that is used for installing many rotors plant protection unmanned aerial vehicle 5 that awaits measuring is the rigid coupling respectively on two horizontal running gear 3's last horizontal guide rail pulley 10 and horizontal guide rail pulley 15 down, just many rotors plant protection unmanned aerial vehicle 5 that awaits measuring can freely every single move when flying forward or backward to measure the angle of pitch through inclination sensor 410. All be equipped with a rotational speed measuring apparatu that is used for monitoring rotor rotational speed on the every rotor of many rotors plant protection unmanned aerial vehicle 5 that awaits measuring.
The vertical lifting mechanism 2 drives the horizontal travelling mechanism 3 to rise to a height equal to the preset flying height of the multi-rotor plant protection unmanned aerial vehicle 5 to be tested; horizontal traveling mechanism 3's last horizontal guide rail pulley 10's horizontal migration speed equals the predetermined airspeed of many rotors plant protection unmanned aerial vehicle 5 that awaits measuring.
Preferably, the driven cogged pulley 13 is mounted on the upper horizontal rail 11 by means of a tensioning device 12.
As shown in fig. 3a and 3b, the tensioner 12 includes an adjustment lever 121, a "U" shaped support plate 122, a spring 123, a follower plate 124, and a snap ring 125.
The U-shaped supporting plate 122 comprises a horizontal supporting part and two fixing parts which are arranged at two ends of the horizontal supporting part and fixedly connected on the upper horizontal guide rail 11, and a bolt adjusting groove 122-1 and a driven wheel shaft moving groove 122-2 are arranged on the horizontal supporting part along the length direction of the upper horizontal guide rail 11; the follower plate 124 is fixedly attached to the inner surface of the horizontal support portion of the "U" -shaped support plate 122 with a bolt engaged with the bolt adjusting groove 122-1 in a position adjustable, and the rotation shaft of the driven sprocket 13 is connected to the follower plate 124 through the driven-wheel shaft moving groove 122-2. The adjusting rod 121 is disposed along the length direction of the upper horizontal guide rail 11, a screw thread portion of the adjusting rod 121 is penetrated through by a fixed connection portion on one side of the U-shaped support plate 122 and is fixedly connected with the follower plate 124, a spring snap ring 125 is connected to the screw thread portion of the adjusting rod 121 through screw thread, and a spring 123 is sleeved on the spring snap ring 125, and the spring 123 is located between the spring snap ring 125 and the follower plate 124.
The bolt between the U-shaped support plate 122 and the follower plate 124 is loosened, the adjusting rod 121 is rotated clockwise, the adjusting rod 121 moves to the rear part (right direction in fig. 3 b) of the upper horizontal guide rail 11, the spring 123 is further compressed, the driven toothed pulley 13 and the follower plate 124 move together to the rear part (right direction in fig. 3 b) of the upper horizontal guide rail 11, when the tension of the timing toothed belt 9 is appropriate, the bolt between the U-shaped support plate 122 and the follower plate 124 is tightened, the driven toothed pulley 13 is fixed, and therefore the tension of the timing toothed belt 9 is increased. The reverse adjustment then reduces the tension of the timing belt 9.
As shown in fig. 4, the upper horizontal guide pulley 10 includes an upper concave wheel 101, an upper auxiliary wheel 102, and an upper support plate 103. The lower horizontal guide pulley 15 includes a lower concave wheel 151, a lower auxiliary wheel 152, and a lower support plate 153.
The rotating shaft of the upper concave wheel 101 and the rotating shaft of the upper auxiliary wheel 102 are respectively arranged on the upper supporting plate 103, wherein the upper concave wheel 101 rolls on the boss at the bottom surface of the upper horizontal guide rail 11 along the length direction of the upper horizontal guide rail 11; the rotation axis of the upper auxiliary wheel 102 and the rotation axis of the upper concave wheel 101 are arranged in parallel, and the upper auxiliary wheel 102 contacts with the surface of the upper horizontal guide rail 11 to play a role of auxiliary rolling. The top end of the upper supporting plate 103 is fixedly connected with the synchronous cog belt 9 through a locking block 16.
The rotation axis of the lower concave wheel 151 and the rotation axis of the lower auxiliary wheel 152 are respectively installed on the lower support plate 153, wherein the lower concave wheel 151 rolls on the boss of the bottom surface of the lower horizontal guide rail 14 along the length direction of the lower horizontal guide rail 14; the rotation axis of the lower auxiliary wheel 152 and the rotation axis of the lower concave wheel 151 are perpendicular to each other, and the lower auxiliary wheel 152 contacts with the surface of the lower horizontal guide rail 14 to play a role of auxiliary rolling.
And the upper supporting plate 103 and the lower supporting plate 153 are connected with the unmanned aerial vehicle fixing mechanism 4 through bolts.
The ends of the driving toothed belt wheel 7 and the stepping motor 8 are the driving end of the horizontal travelling mechanism 3, and the end of the driven toothed belt wheel 13 is the driven end of the horizontal travelling mechanism 3; from the active end to the passive end, the horizontal running mechanism 3 is divided into three stages: the device comprises an acceleration section, a constant speed measurement section and a deceleration section, wherein indicator lamps with different colors and detected by Hall sensors are arranged among the sections; wherein, the horizontal migration speed of the uniform velocity measurement section is the same as the flying speed of the multi-rotor plant protection unmanned aerial vehicle 5 to be measured.
As shown in fig. 5 and 6, the vertical lifting mechanism 2 includes a "T" shaped guide rail 201, a rolling guide shoe 202, a single-direction pulley 203, a double-steering pulley 204, a universal angle pulley 205, a drive end wire rope 206, a driven end wire rope 207, a rope reel 208, and a double-shaft motor 209.
The front end and the rear end of each horizontal travelling mechanism 3 are respectively and vertically provided with a T-shaped guide rail 201 fixed on the upright post of the truss 1; one end of the rolling type guide shoe 202 is fixedly connected with a horizontal guide rail connecting block 6 of the horizontal travelling mechanism 3, and the other end of the rolling type guide shoe can roll up and down along the T-shaped guide rail 201.
A one-way single pulley 203 and a double steering pulley 204 are fixedly connected to two longitudinal beams of the upper rectangular frame of the truss 1, which are parallel to the horizontal travelling mechanism 3, the one-way single pulley 203 is positioned above the horizontal guide rail connecting block 6 at the front end (driving end) of the horizontal travelling mechanism 3, and the double steering pulley 204 is positioned above the horizontal guide rail connecting block 6 at the rear end (driven end) of the horizontal travelling mechanism 3; two universal corner pulleys 205 are fixedly connected to a cross beam of the upper rectangular frame of the truss 1 at the rear end (driven end) of the horizontal traveling mechanism 3. The double-shaft motor 209 is fixedly connected to a cross beam of a lower rectangular frame of the truss 1 right below the universal corner pulley 205. Two rope take-up and pay-off pulleys 208 are respectively fixedly connected to two power output shafts of a double-shaft motor 209.
As shown in fig. 7a, the rotation axis of the one-way single pulley 203 is perpendicular to the T-shaped guide rail 201.
As shown in FIG. 7b, the diverting double pulley 204 comprises a horizontal diverting pulley 204-1 and a vertical diverting pulley 204-2 with their rotation axes perpendicular to each other, and a vertical connecting shaft rotatably connected between the casings of the horizontal diverting pulley 204-1 and the vertical diverting pulley 204-2. The rotating shaft of the vertical steering wheel 204-2 is perpendicular to the T-shaped guide rail 201, and the shell of the vertical steering wheel 204-2 can horizontally rotate for 360 degrees relative to the shell of the horizontal steering wheel 204-1.
As shown in fig. 7c, the universal corner pulley 205 includes a first universal corner wheel 205-1 and a second universal corner wheel 205-2 disposed on the same horizontal axis, and a vertical rotating axis, the top end of the vertical rotating axis is connected to the beam of the upper rectangular frame of the truss 1 in a 360 ° horizontal rotation manner, the bottom end of the vertical rotating axis is connected to the top end of the housing of the first universal corner wheel 205-1 and the second universal corner wheel 205-2 through a pin shaft which is horizontal and perpendicular to the horizontal axis of the first universal corner wheel 205-1 and the second universal corner wheel 205-2, and the first universal corner wheel 205-1 and the second universal corner wheel 205-2 can swing 180 ° around the pin shaft.
One ends of the driving end steel wire rope 206 and the driven end steel wire rope 207 are fixedly connected on the same rope take-up and pay-off wheel 208, and the other end of the driving end steel wire rope 206 is fixedly connected on a horizontal guide rail connecting block 6 at the front end (driving end) of the horizontal walking mechanism 3 through a first universal corner wheel 205-1 of the universal corner pulley 205, a horizontal steering wheel 204-1 of the steering double pulley 204 and the one-way single pulley 203 in sequence; the other end of the driven end steel wire rope 207 is fixedly connected to the horizontal guide rail connecting block 6 at the rear end (driven end) of the horizontal traveling mechanism 3 through a second universal corner wheel 205-2 of the universal corner pulley 205 and a vertical steering wheel 204-2 of the steering double pulley 204 in sequence.
As shown in fig. 8, 9a and 9b, the unmanned aerial vehicle fixing mechanism 4 includes a triangular support bracket 401, a telescopic rod 402, an auxiliary tilting rod 404, a main tilting rod 405, a limit polished rod 406, a first buffer spring 407, a second buffer spring 414, a laser sensor 408, an inclination sensor 410, and a bayonet 411.
The triangular support frame 401 comprises a horizontal frame 401-1, an inclined frame 401-2 and a connecting frame 401-3 which are fixedly connected with each other; the horizontal frame 401-1 is vertical to the horizontal travelling mechanism 3; the tail ends of the horizontal frame 401-1 and the inclined frame 401-2 are fixedly connected with the upper supporting plate 103 of the upper horizontal guide rail pulley 10 and the lower supporting plate 153 of the lower horizontal guide rail pulley 15 through bolts respectively, so that the aim that the fixing mechanism 4 of the unmanned aerial vehicle moves horizontally along with the horizontal walking mechanism 3 is fulfilled.
The telescopic rod 402 horizontally penetrates through a unthreaded hole in the middle of the connecting end of the horizontal frame 401-1 and the inclined frame 401-2 and is fixed and limited by a tightening screw 403; the outer end of the telescopic rod 402 is provided with a sliding rod 402-1, and the sliding rod 402-1 freely slides in a horizontal sliding groove arranged on the horizontal frame 401-1 along the direction vertical to the horizontal travelling mechanism 3; the inner end of the telescopic rod 402 is vertically connected with the middle part of the tilting main rod 405 through a bearing 412.
The tilting sub-rod 404 is arranged above the tilting main rod 405 through a pair of limiting polished rods 406, and the tilting sub-rod 404 is parallel to the tilting main rod 405. The limiting polished rod 406 can freely move and vertically penetrate through the tilting main rod 405, the top end of the limiting polished rod 406 is vertically and fixedly connected with the lower end face of the tilting auxiliary rod 404, and the bottom end is fixedly connected with a spring baffle 413 through threads. The two limiting polish rods 406 are sleeved with a first buffer spring 407 and a second buffer spring 414, wherein the first buffer spring 407 is located between the tilting main rod 405 and the spring baffle 413, and the second buffer spring 414 is located between the tilting auxiliary rod 404 and the tilting main rod 405.
One or two bayonets 411 for clamping the horn 501 of the multi-rotor plant protection unmanned aerial vehicle 5 to be tested are adjustably arranged in a fixing groove on the upper end surface of the tilting auxiliary rod 404, and the fixing groove is arranged along the length direction of the tilting auxiliary rod 404; bayonet 411 can 360 horizontal rotation to adapt to the horn 501 of the many rotors plant protection unmanned aerial vehicle 5 that awaits measuring of different centre gripping.
Preferably, as shown in fig. 9c, an inner end of the telescopic rod 402 is provided with an inclination angle limiter 409, and the inclination angle limiter 409 comprises a scale plate 409-1 and a limiting bolt 409-2; the scale plate 409-1 is vertically and fixedly connected to the inner end of the telescopic rod 402 through a screw, and an arc-shaped through hole with the end point of the inner end of the telescopic rod 402 as the circle center is formed in the scale plate 409-1; the limiting bolt 409-2 is adjustably fixed in an arc-shaped through hole in the scale plate 409-1 through a nut, and the limiting bolt 409-2 is located below the tilting main rod 405. Loosening the nut of the limit bolt 409-2, and adjusting the stud of the limit bolt 409-2 to the maximum limit pitch angle theta along the arc-shaped through hole on the scale plate 409-1maxAnd then the nut of the limiting bolt 409-2 is screwed down to realize the adjustment and fixation of the limiting angle of the inclination angle limiter 409. When the multi-rotor plant protection unmanned aerial vehicle 5 to be tested flies forward, if the pitch angle theta reaches the maximum limit pitch angle thetamaxThen the main rod 405 is tiltedThe surface touches the double-screw bolt of spacing bolt 409-2, and the angle of pitch theta of the many rotor plant protection unmanned aerial vehicle 5 that awaits measuring stops the increase, effectively prevents to await measuring many rotor plant protection unmanned aerial vehicle and tumbles because of the too big emergence of angle of pitch.
The control platform comprises a singlechip master control module and a PC (personal computer) end, wherein the singlechip master control module is respectively connected with the PC end, the rotating speed measuring instrument, the laser sensor 408, the inclination angle sensor 410, the stepping motor 8 of the horizontal walking mechanism 3 and the double-shaft motor 209 of the vertical lifting mechanism 2.
The singlechip general control module sets the speed V of the horizontal running mechanism according to the PC endZAnd height H of vertical lifting mechanismZAnd the start, stop, steering and rotating speed of the stepping motor 8 and the double-shaft motor 209 are controlled, so that the moving distance, the moving direction and the moving speed of the horizontal travelling mechanism 3 and the vertical lifting mechanism 2 are controlled.
The single chip microcomputer master control module receives and processes return signals of the rotating speed measuring instrument, the laser sensor 408 and the tilt angle sensor 410, controls fine adjustment of the vertical lifting mechanism 2 according to the processing result of the return signals of the laser sensor 408, and sends the rotating speed r of the rotor wing measured by the rotating speed measuring instrument and the pitch angle theta measured by the tilt angle sensor 410 to the PC end for displaying and storing.
In addition, the multi-rotor plant protection unmanned aerial vehicle has a manual remote control flight function, and also has one-key take-off and landing and autonomous flight functions, namely, the preset flight height H of the unmanned aerial vehicle is set through the unmanned aerial vehicle remote control APP terminalSAnd a preset flying speed VSThen, after a takeoff key is pressed down at first, the unmanned aerial vehicle automatically rises to the set preset flight height HSHovering, pressing the front flight key and then enabling the unmanned aerial vehicle to fly at the set preset flight height HSAt a preset flying speed VSThe unmanned aerial vehicle flies forward, and after pressing the stop key, the unmanned aerial vehicle stops flying forward and hovers, and after pressing the landing key, the unmanned aerial vehicle automatically lands.
A method for measuring the pitch angle and the rotor rotation speed of a multi-rotor plant protection unmanned aerial vehicle is shown in figure 11 and comprises the following steps:
s1, preparation before measurement.
S1.1, controllingThe PC end of the platform determines the parameters of the measuring working conditions: drug loading amount G (kg), flying speed V (m/s), flying height H (m); and setting the speed V of the horizontal running mechanismZEqual to the flying speed V and the height H of the vertical lifting mechanismZEqual to the flying height H; adding liquid medicine (for safety, water is used for replacing the liquid medicine during measurement) into a medicine box of the multi-rotor plant protection unmanned aerial vehicle 5 to be measured, wherein the weight of the liquid medicine is equal to the medicine-carrying capacity G;
s1.2, through the total accuse module control horizontal running gear 3 of singlechip and vertical elevating system 2, arrange unmanned aerial vehicle fixed establishment 4 in the initiating terminal, then will await measuring many rotor plant protection unmanned aerial vehicle 5' S horn 501 centre gripping through bayonet 411 is fixed, makes many rotor plant protection unmanned aerial vehicle 5 that awaits measuring arrange ground in.
As shown in fig. 10, for a "+" type quadrotor plant protection unmanned aerial vehicle, a bayonet 411 is needed on each side to hold the horn 501. For an "x" type quad-rotor plant protection unmanned aerial vehicle, a six (x "type or" + ") type plant protection unmanned aerial vehicle, or an eight-rotor plant protection unmanned aerial vehicle, two bayonets 411 are needed on each side to clamp the horn 501.
S1.3, after the many rotors plant protection unmanned aerial vehicle 5 that awaits measuring is fixed well, set for at unmanned aerial vehicle remote control APP end and preset flight height HSEqual to the flying height H and the preset flying speed VSWhen the flying speed is equal to the flying speed V and the take-off key is pressed, the single chip microcomputer general control module starts the vertical lifting mechanism 2, so that the multi-rotor-wing plant protection unmanned aerial vehicle 5 to be tested stably rises to the flying height H, and simultaneously, the vertical lifting mechanism 2 drives the horizontal walking mechanism 3 to gradually adjust upwards to the flying height H along with the multi-rotor-wing plant protection unmanned aerial vehicle 5 to be tested;
s1.4, finely adjusting the vertical lifting mechanism 2 to ensure that the multi-rotor plant protection unmanned aerial vehicle 5 to be tested is in a free hovering state;
although the vertical lifting mechanism height HZAnd a preset flying height HSAll risen to flying height H, but whether can not confirm the many rotors plant protection unmanned aerial vehicle 5 that awaits measuring at this time and be in the state of freely hovering, in order to guarantee that the many rotors plant protection unmanned aerial vehicle 5 that awaits measuring is in the state of freely hovering during the measurement, need finely tune vertical elevating system's height.
When the many rotors plant protection unmanned aerial vehicle 5 that awaits measuring and vertical elevating system 2 all arriveAfter the flying height H is reached, the singlechip general control module judges whether the vertical distance L between the tilting auxiliary rod 404 and the tilting main rod 405 detected by the laser sensor 408 is equal to the no-load distance L or not0If L is equal to L0If the first buffer spring 407 and the second buffer spring 414 of the buffer spring 407 are not compressed, the multi-rotor plant protection unmanned aerial vehicle 5 to be tested is at the preset flying height HSIn a free hovering state, the vertical lifting mechanism 2 is locked; if L is<L0Or L > L0The first buffer spring 407 or the second buffer spring 414 is compressed, and the vertical lift mechanism 2 is finely adjusted upward or downward until L is L0。
And S2, starting measurement.
S2.1, the single chip microcomputer master control module enables each rotor rotation speed r of the multi-rotor plant protection unmanned aerial vehicle 5 to be detected, detected by each rotation speed measuring instrument, in the free hovering stateXi(i is 1, 2, 3 … …) is sent to the PC for displaying and recording;
s2.2, pressing a front flight key at the remote control APP end of the unmanned aerial vehicle, and starting the horizontal travelling mechanism 3 at the same time; after the multi-rotor plant protection unmanned aerial vehicle 5 to be tested enters the uniform measurement section of the horizontal walking mechanism 3, the single chip microcomputer general control module detects the pitch angle theta of the unmanned aerial vehicle detected by the tilt angle sensor 410 and the rotating speed r of each rotor of the multi-rotor plant protection unmanned aerial vehicle 5 to be tested in the forward flying state detected by each rotating speed measuring instrumentFi(i is 1, 2, 3 … …) is sent to the PC for displaying and recording;
and S3, resetting after measurement.
When the multi-rotor plant protection unmanned aerial vehicle 5 to be tested enters the deceleration section of the horizontal travelling mechanism 3, a stop key and a landing key are pressed at the remote control APP end of the unmanned aerial vehicle, and the rotor of the unmanned aerial vehicle stops rotating; meanwhile, the horizontal walking mechanism 3 and the vertical lifting mechanism 2 are controlled to reset to the starting end through the singlechip master control module.
Unmanned aerial vehicle pitch angle theta for deriving PC end records and each rotor rotation speed r in free hovering stateXi(i 1, 2, 3 … …) and the speed r of each rotor in the forward flight stateFi(i-1, 2 and 3 … …) data, which are used as key working parameters in computational fluid dynamics simulation software under the working conditions of drug loading G, flight speed V and flight height HThe matching setting of the numbers.
Claims (10)
1. A pitch angle and rotor rotation speed measuring platform of a multi-rotor plant protection unmanned aerial vehicle is used for measuring the pitch angle and the rotor rotation speed of a multi-rotor plant protection unmanned aerial vehicle (5) to be measured, wherein the multi-rotor plant protection unmanned aerial vehicle (5) to be measured comprises a four-rotor plant protection unmanned aerial vehicle, a six-rotor plant protection unmanned aerial vehicle and an eight-rotor plant protection unmanned aerial vehicle, and is characterized in that,
the measuring platform comprises a truss (1), a vertical lifting mechanism (2), a horizontal walking mechanism (3), an unmanned aerial vehicle fixing mechanism (4) and a rotating speed measuring instrument;
the truss (1) is a cubic frame and comprises an upper rectangular frame, a lower rectangular frame and upright posts which are vertically and fixedly connected with four corners of the upper rectangular frame and the lower rectangular frame;
the pair of horizontal traveling mechanisms (3) are arranged between the pair of upright columns on the left side and the pair of upright columns on the right side of the truss (1) in a bilateral symmetry mode respectively and synchronously move upwards or downwards through the vertical lifting mechanism (2);
the horizontal travelling mechanism (3) comprises an upper horizontal guide rail (11), an upper horizontal guide rail pulley (10), a lower horizontal guide rail (14), a lower horizontal guide rail pulley (15), a horizontal guide rail connecting block (6), a stepping motor (8), a synchronous toothed belt (9), a driving toothed belt wheel (7) and a driven toothed belt wheel (13);
the front end and the rear end of an upper horizontal guide rail (11) and a lower horizontal guide rail (14) which are arranged in parallel are respectively connected with a horizontal guide rail connecting block (6); the driving toothed belt wheel (7) and the driven toothed belt wheel (13) are respectively arranged at the front part and the rear part of the upper horizontal guide rail (11), and the synchronous toothed belt (9) is sleeved on the driving toothed belt wheel (7) and the driven toothed belt wheel (13); the power output shaft of the stepping motor (8) is connected with the driving toothed belt wheel (7);
the upper horizontal guide rail pulley (10) and the lower horizontal guide rail pulley (15) are arranged on the upper horizontal guide rail (11) and the lower horizontal guide rail (14) in a freely sliding manner, wherein the upper horizontal guide rail pulley (10) is connected with the synchronous toothed belt (9);
a pair of unmanned aerial vehicle fixing mechanisms (4) used for installing a multi-rotor plant protection unmanned aerial vehicle (5) to be tested are respectively and fixedly connected to an upper horizontal guide rail pulley (10) and a lower horizontal guide rail pulley (15) of two horizontal traveling mechanisms (3), and when the multi-rotor plant protection unmanned aerial vehicle (5) to be tested flies forwards or backwards, the multi-rotor plant protection unmanned aerial vehicle can freely pitch and the pitch angle is measured through an inclination angle sensor (410); all be equipped with a rotational speed measuring apparatu that is used for monitoring rotor rotational speed on every rotor of many rotors plant protection unmanned aerial vehicle (5) that awaits measuring.
2. The pitch angle and rotor speed measuring platform of the multi-rotor plant protection unmanned aerial vehicle according to claim 1, wherein the vertical lifting mechanism (2) drives the horizontal traveling mechanism (3) to have a rising height equal to a preset flying height of the multi-rotor plant protection unmanned aerial vehicle (5) to be measured; the horizontal migration speed of the upper horizontal guide rail pulley (10) of the horizontal traveling mechanism (3) is equal to the preset flight speed of the multi-rotor plant protection unmanned aerial vehicle (5) to be tested.
3. The multi-rotor plant protection unmanned aerial vehicle's pitch angle and rotor speed measurement platform of claim 1, wherein the driven cogged pulley (13) is mounted on an upper horizontal rail (11) through a tensioning device (12); the tensioning device (12) comprises an adjusting rod (121), a U-shaped supporting plate (122), a spring (123), a follow-up plate (124) and a spring clamping ring (125);
the U-shaped supporting plate (122) comprises a horizontal supporting part and two fixedly connected parts which are arranged at two ends of the horizontal supporting part and fixedly connected on the upper horizontal guide rail (11), and a bolt adjusting groove (122-1) and a driven wheel shaft moving groove (122-2) are arranged on the horizontal supporting part along the length direction of the upper horizontal guide rail (11); the follow-up plate (124) is fixedly connected with the inner surface of the horizontal supporting part of the U-shaped supporting plate (122) in a position-adjustable mode in cooperation with the bolt adjusting groove (122-1), and the rotating shaft of the driven toothed pulley (13) penetrates through the driven pulley shaft moving groove (122-2) to be connected with the follow-up plate (124); the adjusting rod (121) is arranged along the length direction of the upper horizontal guide rail (11), the thread part of the adjusting rod (121) is penetrated by the fixed connection part on one side of the U-shaped supporting plate (122) and is fixedly connected with the follow-up plate (124), the thread part of the adjusting rod (121) is in threaded connection with the spring clamp ring (125) and is sleeved with the spring (123), and the spring (123) is located between the spring clamp ring (125) and the follow-up plate (124).
4. The multi-rotor plant protection drone's pitch and rotor rpm measurement platform of claim 1, wherein the upper horizontal guide-rail pulley (10) comprises an upper concave wheel (101), an upper auxiliary wheel (102), and an upper support plate (103); the lower horizontal guide rail pulley (15) comprises a lower concave wheel (151), a lower auxiliary wheel (152) and a lower support plate (153);
the rotating shaft of the upper concave wheel (101) and the rotating shaft of the upper auxiliary wheel (102) are respectively arranged on the upper supporting plate (103), wherein the upper concave wheel (101) rolls on a boss on the bottom surface of the upper horizontal guide rail (11) along the length direction of the upper horizontal guide rail (11); the rotating shaft of the upper auxiliary wheel (102) and the rotating shaft of the upper concave wheel (101) are arranged in parallel, and the upper auxiliary wheel (102) is in contact with the surface of the upper horizontal guide rail (11); the top end of the upper supporting plate (103) is fixedly connected with the synchronous toothed belt (9) through a locking block (16);
the rotating shaft of the lower concave wheel (151) and the rotating shaft of the lower auxiliary wheel (152) are respectively arranged on the lower supporting plate (153), wherein the lower concave wheel (151) rolls on a boss on the bottom surface of the lower horizontal guide rail (14) along the length direction of the lower horizontal guide rail (14); the rotating shaft of the lower auxiliary wheel (152) and the rotating shaft of the lower concave wheel (151) are arranged vertically, and the lower auxiliary wheel (152) is contacted with the surface of the lower horizontal guide rail (14);
go up backup pad (103) and bottom suspension fagging (153) and be connected with unmanned aerial vehicle fixed establishment (4).
5. The pitch angle and rotor speed measuring platform of the multi-rotor plant protection unmanned aerial vehicle of claim 1, wherein the ends of the driving toothed belt wheel (7) and the stepping motor (8) are driving ends of the horizontal traveling mechanism (3), and the ends of the driven toothed belt wheel (13) are driven ends of the horizontal traveling mechanism (3); from the active end to the passive end, the horizontal walking mechanism (3) is divided into three stages: the device comprises an acceleration section, a constant speed measurement section and a deceleration section, wherein indicator lamps with different colors and detected by Hall sensors are arranged among the sections; wherein, the horizontal migration speed of the uniform velocity measurement section is the same as the flying speed of the multi-rotor plant protection unmanned aerial vehicle (5) to be measured.
6. The pitch angle and rotor speed measurement platform of a multi-rotor plant protection unmanned aerial vehicle of claim 1, wherein the vertical lift mechanism (2) comprises a "T" shaped guide rail (201), a rolling guide shoe (202), a single-direction single pulley (203), a steering double pulley (204), a universal corner pulley (205), a drive end wire rope (206), a driven end wire rope (207), a rope take-up and pay-off wheel (208), and a double-shaft motor (209);
the front end and the rear end of each horizontal travelling mechanism (3) are respectively and vertically provided with a T-shaped guide rail (201) fixed on the upright post of the truss (1); one end of the rolling type guide shoe (202) is fixedly connected with a horizontal guide rail connecting block (6) of the horizontal travelling mechanism (3), and the other end of the rolling type guide shoe can roll up and down along the T-shaped guide rail (201);
two longitudinal beams parallel to the horizontal travelling mechanism (3) of an upper rectangular frame of the truss (1) are fixedly connected with a one-way single pulley (203) and a double steering pulley (204), the one-way single pulley (203) is positioned above a horizontal guide rail connecting block (6) at the front end of the horizontal travelling mechanism (3), and the double steering pulley (204) is positioned above the horizontal guide rail connecting block (6) at the rear end of the horizontal travelling mechanism (3); two universal corner pulleys (205) are fixedly connected to a cross beam of an upper rectangular frame of the truss (1) at the rear end of the horizontal travelling mechanism (3); the double-shaft motor (209) is fixedly connected to a cross beam of a lower rectangular frame of the truss (1) right below the universal corner pulley (205); two rope winding and unwinding wheels (208) are respectively fixedly connected to two power output shafts of a double-shaft motor (209);
the rotating shaft of the one-way single pulley (203) is vertical to the T-shaped guide rail (201);
the double steering pulleys (204) comprise a horizontal steering wheel (204-1) and a vertical steering wheel (204-2) with mutually vertical rotating shafts, and a vertical connecting shaft which is rotatably connected between the shells of the horizontal steering wheel (204-1) and the vertical steering wheel (204-2); the rotating shaft of the vertical steering wheel (204-2) is perpendicular to the T-shaped guide rail (201), and the shell of the vertical steering wheel (204-2) can horizontally rotate for 360 degrees relative to the shell of the horizontal steering wheel (204-1);
the universal corner pulley (205) comprises a first universal corner wheel (205-1) and a second universal corner wheel (205-2) which are arranged on the same horizontal shaft, and a vertical rotating shaft, wherein the top end of the vertical rotating shaft can be horizontally and rotatably connected to a cross beam of an upper rectangular frame of the truss (1) by 360 degrees, the bottom end of the vertical rotating shaft is connected with the top ends of shells of the first universal corner wheel (205-1) and the second universal corner wheel (205-2) through a pin shaft which is horizontal and vertical to the horizontal shafts of the first universal corner wheel (205-1) and the second universal corner wheel (205-2), and the first universal corner wheel (205-1) and the second universal corner wheel (205-2) can swing by 180 degrees by taking the pin shaft as an axis;
one ends of the driving end steel wire rope (206) and the driven end steel wire rope (207) are fixedly connected to the same rope take-up and pay-off wheel (208), and the other end of the driving end steel wire rope (206) is fixedly connected to a horizontal guide rail connecting block (6) at the front end of the horizontal travelling mechanism (3) through a first universal corner wheel (205-1) of the universal corner pulley (205), a horizontal steering wheel (204-1) of the steering double pulley (204) and a one-way single pulley (203) in sequence; the other end of the driven end steel wire rope (207) is fixedly connected to a horizontal guide rail connecting block (6) at the rear end of the horizontal travelling mechanism (3) through a second universal corner wheel (205-2) of the universal corner pulley (205) and a vertical steering wheel (204-2) of the steering double pulley (204) in sequence.
7. The multi-rotor plant protection unmanned aerial vehicle's pitch angle and rotor speed measurement platform of claim 1, wherein the unmanned aerial vehicle securing mechanism (4) comprises a tripod (401), a telescoping rod (402), a tilt sub-rod (404), a tilt main rod (405), a limit polished rod (406), a first buffer spring (407), a second buffer spring (414), a laser sensor (408), an inclination sensor (410), and a bayonet (411);
the triangular support frame (401) comprises a horizontal frame (401-1), an inclined frame (401-2) and a connecting frame (401-3) which are fixedly connected with each other; the horizontal frame (401-1) is vertical to the horizontal travelling mechanism (3); the tail ends of the horizontal frame (401-1) and the inclined frame (401-2) are respectively fixedly connected with an upper supporting plate (103) of the upper horizontal guide rail pulley (10) and a lower supporting plate (153) of the lower horizontal guide rail pulley (15);
the telescopic rod (402) horizontally penetrates through a unthreaded hole in the middle of the connecting end of the horizontal frame (401-1) and the inclined frame (401-2), and is fixed and limited by a tightening screw (403); the outer end of the telescopic rod (402) is provided with a sliding rod (402-1), and the sliding rod (402-1) freely slides in a horizontal sliding groove arranged on the horizontal frame (401-1) along the direction vertical to the horizontal travelling mechanism (3); the inner end of the telescopic rod (402) is vertically connected with the middle part of the tilting main rod (405) through a bearing (412);
the tilting auxiliary rod (404) is arranged above the tilting main rod (405) through a pair of limiting polished rods (406), and the tilting auxiliary rod (404) is parallel to the tilting main rod (405); the limiting polished rod (406) can freely move and vertically penetrates through the tilting main rod (405), the top end of the limiting polished rod (406) is vertically and fixedly connected with the lower end face of the tilting auxiliary rod (404), and the bottom end is fixedly connected with a spring baffle (413) through threads; a first buffer spring (407) and a second buffer spring (414) are sleeved on the two limiting polished rods (406), wherein the first buffer spring (407) is positioned between the tilting main rod (405) and the spring baffle (413), and the second buffer spring (414) is positioned between the tilting auxiliary rod (404) and the tilting main rod (405);
the tilt angle sensor (410) and the laser sensor (408) are installed on the upper end face of the tilting main rod (405), the tilt angle sensor (410) is used for detecting the tilt angle of the tilting main rod (405), namely the pitch angle theta of the unmanned aerial vehicle, and the laser sensor (408) is used for detecting the vertical distance L between the tilting auxiliary rod (404) and the tilting main rod (405); under the condition that the platform is in an unloaded state, the distance between the platform and the platform is a fixed value and is an unloaded distance L0；
One or two bayonets (411) used for clamping a machine arm (501) of the multi-rotor plant protection unmanned aerial vehicle (5) to be tested are arranged in a fixing groove of the upper end face of the tilting auxiliary rod (404) in a position-adjustable manner, and the fixing groove is arranged along the length direction of the tilting auxiliary rod (404); bayonet socket (411) can 360 horizontal rotation to adapt to horn (501) of the many rotors plant protection unmanned aerial vehicle (5) that await measuring of different centre gripping.
8. The multi-rotor plant protection unmanned aerial vehicle's pitch angle and rotor speed measurement platform of claim 7, wherein the inner end of the telescoping rod (402) is provided with an inclination limiter (409), the inclination limiter (409) comprising a scale plate (409-1) and a limit bolt (409-2); the scale plate (409-1) is vertically and fixedly connected to the inner end of the telescopic rod (402), and an arc-shaped through hole with the end point of the inner end of the telescopic rod (402) as the circle center is formed in the scale plate (409-1); the position of the limiting bolt (409-2) is adjustably fixed in the arc-shaped through hole in the scale plate (409-1), and the limiting bolt (409-2) is located below the tilting main rod (405).
9. The pitch angle and rotor speed measuring platform of the multi-rotor plant protection unmanned aerial vehicle of any one of claims 1-8, wherein the measuring platform further comprises a control platform, the control platform comprises a single chip microcomputer general control module and a PC end, and the single chip microcomputer general control module is respectively connected with the PC end, the speed measuring instrument, the laser sensor (408), the tilt sensor (410), the stepping motor (8) of the horizontal traveling mechanism (3) and the double-shaft motor (209) of the vertical lifting mechanism (2);
the singlechip general control module sets the speed V of the horizontal running mechanism according to the PC endZAnd height H of vertical lifting mechanismZThe start, the stop, the steering and the rotating speed of the stepping motor (8) and the double-shaft motor (209) are controlled, so that the moving distance, the moving direction and the moving speed of the horizontal walking mechanism (3) and the vertical lifting mechanism (2) are controlled;
the single chip microcomputer master control module receives and processes return signals of the rotating speed measuring instrument, the laser sensor (408) and the tilt angle sensor (410), controls fine adjustment of the vertical lifting mechanism (2) according to the processing result of the return signals of the laser sensor (408), and sends the rotating speed r of the rotor wing measured by the rotating speed measuring instrument and the pitch angle theta measured by the tilt angle sensor (410) to the PC end for displaying and storing.
10. A method for measuring pitch angle and rotor speed of a multi-rotor plant protection unmanned aerial vehicle by using the measuring platform of any one of claims 1-9, comprising the following steps:
s1, preparation before measurement;
s1.1, determining measurement working condition parameters at a PC (personal computer) end of a control platform: the unit of the drug loading G is kg, the unit of the flying speed V is m/s, the unit of the flying height H is m; and setting the speed V of the horizontal running mechanismZEqual to the flying speed V and the height H of the vertical lifting mechanismZEqual to the flying height H; to be tested multi-turnAdding a liquid medicine into a medicine box of the wing plant protection unmanned aerial vehicle (5), wherein the weight of the liquid medicine is equal to the medicine-carrying amount G;
s1.2, a horizontal walking mechanism (3) and a vertical lifting mechanism (2) are controlled through a single chip microcomputer general control module, an unmanned aerial vehicle fixing mechanism (4) is arranged at an initial end, and then a horn (501) of a multi-rotor plant protection unmanned aerial vehicle (5) to be tested is clamped and fixed through a bayonet (411), so that the multi-rotor plant protection unmanned aerial vehicle (5) to be tested is arranged on the ground;
s1.3, after many rotors plant protection unmanned aerial vehicle (5) that await measuring are fixed, set for at unmanned aerial vehicle remote control APP end and preset flight height HSEqual to the flying height H and the preset flying speed VSThe flying speed is equal to the flying speed V, a takeoff key is pressed down, and meanwhile, the single chip microcomputer general control module starts the vertical lifting mechanism (2), so that the multi-rotor-wing plant protection unmanned aerial vehicle (5) to be tested stably rises to the flying height H, and meanwhile, the vertical lifting mechanism (2) drives the horizontal walking mechanism (3) to gradually upwards adjust to the flying height H along with the multi-rotor-wing plant protection unmanned aerial vehicle (5) to be tested;
s1.4, finely adjusting the vertical lifting mechanism (2) to ensure that the multi-rotor plant protection unmanned aerial vehicle (5) to be tested is in a free hovering state;
when the multi-rotor plant protection unmanned aerial vehicle (5) and the vertical lifting mechanism (2) to be tested reach the flying height H, the single chip microcomputer master control module judges whether the vertical distance L between the tilting auxiliary rod (404) and the tilting main rod (405) detected by the laser sensor (408) is equal to the no-load distance L0If L is equal to L0If the first buffer spring (407) and the second buffer spring (414) of the buffer spring (407) are not compressed, the multi-rotor plant protection unmanned aerial vehicle (5) to be tested is at the preset flying height HSIn a free hovering state, locking the vertical lifting mechanism (2); if L is<L0Or L > L0The first buffer spring (407) or the second buffer spring (414) is compressed, and the vertical lifting mechanism (2) is finely adjusted upwards or downwards until L is equal to L0；
S2, starting measurement;
s2.1, the single chip microcomputer master control module enables each rotor rotation speed r of the multi-rotor plant protection unmanned aerial vehicle (5) to be detected, detected by each rotation speed measuring instrument, to be in a free hovering stateXi(i is 1, 2, 3 … …) is sent to the PC for displaying and recording;
s2.2, pressing a front flight key at the APP end of the unmanned aerial vehicle remote control, and simultaneously starting the horizontal travelling mechanism (3); after the multi-rotor plant protection unmanned aerial vehicle (5) to be tested enters the uniform speed measurement section of the horizontal walking mechanism (3), the single chip microcomputer master control module detects the pitch angle theta of the unmanned aerial vehicle detected by the tilt angle sensor (410) and the rotating speed r of each rotor of the multi-rotor plant protection unmanned aerial vehicle (5) to be tested in the forward flying state detected by each rotating speed measuring instrumentFi(i is 1, 2, 3 … …) is sent to the PC for displaying and recording;
s3, resetting after measurement;
when the multi-rotor plant protection unmanned aerial vehicle (5) to be tested enters a deceleration section of the horizontal travelling mechanism (3), pressing a stop key and a landing key at the remote control APP end of the unmanned aerial vehicle, and stopping the rotation of the rotor of the unmanned aerial vehicle; meanwhile, the horizontal walking mechanism (3) and the vertical lifting mechanism (2) are controlled to reset to the starting end through the singlechip master control module.
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