CN112249363A - Visual detection test bed and method for ground-imitating flight of plant protection unmanned aerial vehicle - Google Patents
Visual detection test bed and method for ground-imitating flight of plant protection unmanned aerial vehicle Download PDFInfo
- Publication number
- CN112249363A CN112249363A CN202011199719.4A CN202011199719A CN112249363A CN 112249363 A CN112249363 A CN 112249363A CN 202011199719 A CN202011199719 A CN 202011199719A CN 112249363 A CN112249363 A CN 112249363A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- terrain
- flight
- plant protection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 77
- 230000000007 visual effect Effects 0.000 title claims abstract description 42
- 238000012360 testing method Methods 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 title claims description 20
- 238000004891 communication Methods 0.000 claims abstract description 87
- 230000033001 locomotion Effects 0.000 claims abstract description 71
- 238000004088 simulation Methods 0.000 claims abstract description 45
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical group C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims description 33
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000012876 topography Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000000575 pesticide Substances 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Images
Classifications
-
- 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
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B21/00—Projectors or projection-type viewers; Accessories therefor
- G03B21/54—Accessories
- G03B21/56—Projection screens
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B35/00—Stereoscopic photography
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Manufacturing & Machinery (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a visual detection test bed and a visual detection method for ground-imitating flight of a plant protection unmanned aerial vehicle, wherein the visual detection equipment for the ground-imitating flight of the plant protection unmanned aerial vehicle comprises a holographic projection module, a detection photography module, a display module, a control module, a terrain simulation module and a motion module, wherein the holographic projection module comprises a 3D holographic projector and a 3D holographic projection communication unit; the detection photography module comprises a high-speed camera and a photography communication unit; the display module comprises a display communication unit and a display; the control module comprises an automatic flight control unit and a ground control unit; the terrain simulation module comprises a profiling component, a terrain simulation communication unit and a terrain control unit; the motion module includes a motion platform assembly and a motion platform communication unit. The invention discloses a visual detection test bed and a visual detection method for ground-imitating flight of a plant protection unmanned aerial vehicle, which can realize real-time visual detection of flight precision of the plant protection unmanned aerial vehicle when the plant protection unmanned aerial vehicle flies on dynamically-changed terrain-imitating.
Description
Technical Field
The invention relates to a system and a method for detecting flight performance of a plant protection unmanned aerial vehicle, in particular to a visual detection test bed and a method for ground-imitating flight of the plant protection unmanned aerial vehicle.
Background
At present, the disease and insect pest control in China mainly takes a manual knapsack sprayer as a main part, and has low operation efficiency, high labor intensity and poor safety. The tractor-drawn or self-propelled sprayer is limited in field operation due to the influence of special ground walking conditions such as paddy fields, mountains and hills. Compared with the prior art, the unmanned aerial vehicle pesticide application operation is high in efficiency, low in cost and strong in farmland adaptability, and is popular among farmers in recent years. According to the introduction of the agricultural and computerized division of the national agricultural and mechanical Commission, the stock of the plant protection unmanned aerial vehicles in China reaches 1.4 thousands of frames as of 2017, and leaps the first in the world. Meanwhile, the total work load of the plant protection unmanned aerial vehicle is increased from millions of acres in 2015 to billions of acres in 2017. Although the industry is rapidly developing, the industry is still in a blank area in terms of industry standards and detection.
In order to solve the problem in the aspect of the unmanned aerial vehicle of above-mentioned plant protection detects, the utility model patent of the grant announcement for CN 207379500U discloses an unmanned aerial vehicle track detection device, and the device includes: the supporting frame is erected on the foundation; set up camera on the support frame, it is used for acquireing the real-time image of unmanned aerial vehicle flight in-process in real time, the top of camera is provided with shielding plate and its lateral wall and all is provided with the calibration pole, the calibration pole is used for maring the camera with relative relation between the shielding plate, above-mentioned unmanned aerial vehicle track detection device acquires its real-time image when unmanned aerial vehicle flies through the camera that sets up in real time, restores the track of unmanned aerial vehicle flight in-process through the mode of observing the analysis photo.
But above-mentioned unmanned aerial vehicle track detection device still has following problem: 1. the track of the ground-imitating flight of the unmanned aerial vehicle cannot be observed in real time; 2. the flight precision of the unmanned aerial vehicle on dynamically-changed simulated terrain cannot be intuitively observed in real time.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a visual detection test bed for ground-imitating flight of a plant protection unmanned aerial vehicle, and realizes real-time visual detection of flight precision of the plant protection unmanned aerial vehicle when the plant protection unmanned aerial vehicle flies on dynamically-changed terrain-imitating ground.
The invention further aims to provide a visual detection method for the ground-imitating flight of the plant protection unmanned aerial vehicle.
The technical scheme for solving the technical problems is as follows:
a visual detection test bed for ground-imitating flight of a plant protection unmanned aerial vehicle comprises a holographic projection module, a detection photography module, a display module, a control module for controlling the unmanned aerial vehicle to fly automatically, a terrain simulation module and a motion module, wherein,
the holographic projection module comprises a 3D holographic projector and a 3D holographic projection communication unit, wherein the 3D holographic projector is used for projecting a double-layer profiling light curtain above a simulated terrain; the detection photographing module comprises a high-speed camera and a photographing communication unit; the display module comprises a display communication unit and a display, wherein the display communication unit is used for being in wireless connection with the photographing communication unit; the control module comprises an automatic flight control unit and a ground control unit for planning the double-layer profiling light curtain, the ground control unit is in wireless connection with the 3D holographic projector through a 3D holographic projection communication unit, and the automatic flight control unit is in wireless connection with the ground control unit;
the terrain simulation module comprises a profiling component for simulating a simulated terrain, a terrain simulation communication unit and a terrain control unit for planning the simulated terrain, and the terrain control unit and the profiling component are in wireless connection with the terrain simulation communication unit; the motion module comprises a motion platform assembly and a motion platform communication unit, wherein the motion platform assembly is used for installing the terrain simulation module, and the motion platform communication unit is in wireless connection with the motion platform assembly and the terrain simulation communication unit.
The visual detection equipment of above-mentioned plant protection unmanned aerial vehicle imitative ground flight's theory of operation is:
starting a terrain simulation module, sending terrain data to a terrain simulation communication unit by a terrain control unit, wherein the terrain simulation communication unit is in communication connection with a profiling component, and the profiling component simulates a simulated terrain by receiving the terrain data; the terrain simulation communication unit is wirelessly connected with the motion platform communication unit, the motion platform communication unit sends a motion instruction to the motion platform assembly to drive the motion platform assembly to move, and the profiling assembly is mounted on the motion platform assembly, so that the motion platform assembly drives the profiling assembly which constructs the simulated terrain to move, and the dynamically-changed simulated terrain can be simulated; the ground control unit calculates ground-imitating flight data and light curtain projection data according to the contour of the simulated terrain, the ground control unit sends the ground-imitating flight data to the automatic flight control unit, the automatic flight control unit drives the plant protection unmanned aerial vehicle to start after receiving the ground-imitating flight data, and the plant protection unmanned aerial vehicle flies to a preset flight starting point and starts to fly along the direction of the simulated terrain; the ground control unit sends the light curtain projection data to the 3D holographic projection communication unit, and the 3D holographic projection communication unit transmits the light curtain projection data to the 3D holographic projector after receiving the light curtain projection data, so that the 3D holographic projector projects a double-layer profiling light curtain above the simulated terrain; after the photography communication unit receives unmanned aerial vehicle's enable signal, with information transmission to high-speed camera on, make high-speed camera start-up work, carry out whole video recording along plant protection unmanned aerial vehicle imitative ground flight orbit, and carry out high-speed photography and record to the position condition at flight in-process and double-deck profile modeling light curtain boundary of plant protection unmanned aerial vehicle, meanwhile, photography communication unit will photograph and record data real-time transmission to display communication unit, display communication unit transmits the real-time picture to the display, thereby watch the condition that plant protection unmanned aerial vehicle crossed the double-deck profile modeling light curtain boundary of simulation topography on the display, so that judge plant protection unmanned aerial vehicle's flight precision, realize the real-time visual detection of plant protection unmanned aerial vehicle when flying on dynamic change's imitative topography.
In a preferred embodiment of the present invention, the holographic projection module and the detection photography module are both disposed on the support.
Preferably, the support comprises a lifting mechanism and a rotating mechanism, wherein the lifting mechanism comprises a lifting driving motor, a linear module arranged in the vertical direction and a lifting seat arranged on the linear module; the rotating mechanism comprises a rotating driving motor arranged on the lifting seat and a rotating plate arranged on the rotating driving motor.
Preferably, there are two sets of the rotating mechanisms, and the holographic projection module and the detection photography module are respectively installed on the two sets of the rotating mechanisms.
In a preferred embodiment of the present invention, the motion platform assembly includes a motor, a driving pulley, a driven pulley, a transmission belt installed between the driving pulley and the driven pulley, and a frame for installing the driving pulley and the driven pulley, and the profiling assembly is installed on the transmission belt.
According to a preferable scheme of the invention, the profiling component comprises a plurality of groups of up-and-down movement mechanisms, and each up-and-down movement mechanism comprises a lead screw sliding table, an up-and-down driving motor, a sliding table seat and a lifting cylinder, wherein the lead screw sliding table, the up-and-down driving motor, the sliding table seat and the lifting cylinder are arranged in the vertical direction, the sliding table seat is installed on.
Preferably, the up-and-down moving mechanism is disposed on the conveyor belt in a dot matrix form.
In a preferred embodiment of the invention, the shape of the double-layer profiling light curtain is consistent with the shape of the simulated terrain.
According to a preferable scheme of the invention, the control module plans a preset height of the ground-imitating flight, the preset height plus an allowable error of the upward flight is the height of the upper layer light curtain, and the preset height minus an allowable error of the downward flight is the height of the lower layer light curtain.
A visual detection method for ground-imitating flight of a plant protection unmanned aerial vehicle is characterized by comprising the following steps:
(1) the terrain control unit plans a simulated terrain, sends terrain data to the terrain simulation communication unit, and sends the terrain data to the profiling assembly and the motion platform communication unit;
(2) the profiling component receives terrain simulation data and simulates a simulated terrain;
(3) the motion module receives a motion instruction through the motion platform communication unit, drives the motion platform assembly to move, and drives the profiling assembly which constructs the simulated terrain to move to form a dynamically-changed simulated terrain;
(4) the ground control unit calculates the ground-imitating flight data and the light curtain projection data according to the contour of the simulated terrain, and sends the data to the automatic flight control unit and the holographic projection module;
(5) the 3D holographic projection communication unit receives light curtain projection data and transmits the light curtain projection data to the 3D holographic projector, so that a double-layer copying light curtain is projected above a simulated terrain, and the section size between the two layers of light curtains of the double-layer copying light curtain is determined according to the allowable flight error size;
(6) the automatic flight control unit receives the ground-imitating flight data and drives the plant protection unmanned aerial vehicle to start, and the plant protection unmanned aerial vehicle flies to a preset flight starting point and starts flying along the simulated terrain direction;
(7) the detection photography module receives starting information of the plant protection unmanned aerial vehicle through the detection photography communication unit to start working, carries out whole-process video recording along the ground-imitating flight track of the plant protection unmanned aerial vehicle, carries out high-speed photography and recording on the position condition of the plant protection unmanned aerial vehicle and the boundary of the double-layer copying light curtain of the simulated terrain in the flight process, and transmits data to the display module;
(8) the display module receives data through the display communication unit and transmits a real-time picture to the display;
(9) the situation that the plant protection unmanned aerial vehicle crosses the boundary of the double-layer copying light curtain of the simulated terrain is observed on the display, and the flight precision of the plant protection unmanned aerial vehicle flying in the simulated terrain is judged.
Compared with the prior art, the invention has the following beneficial effects:
1. the visual detection test bed for the ground-imitating flight of the plant protection unmanned aerial vehicle is combined with a 3D holographic projection technology, can realize visual detection of various indexes of the flight path of the plant protection unmanned aerial vehicle, gets rid of the limitation of detection of the existing electronic information technology, and is a brand-new and breakthrough-type detection mode in the field of flight path detection of the plant protection unmanned aerial vehicle.
2. The visual detection test bed for the ground-imitating flight of the plant protection unmanned aerial vehicle uses the light curtain of the 3D holographic projection technology, not only can protect the unmanned aerial vehicle, but also breaks away from the construction of unmanned aerial vehicle detection fields and equipment, and improves the economical efficiency of unmanned aerial vehicle detection.
3. According to the visual detection test bed for the ground-imitating flight of the plant protection unmanned aerial vehicle, the data sent by the photographic communication unit is received through the display communication unit, real-time picture recording is carried out on the display, the position condition of the plant protection unmanned aerial vehicle and the boundary of the double-layer copying light curtain of the simulated terrain can be directly checked on the display, and then the flight precision of the plant protection unmanned aerial vehicle when flying along the preset track is judged.
4. The visual detection test bed for the ground-imitating flight of the plant protection unmanned aerial vehicle comprises a terrain simulation module and a motion module, wherein a profile modeling component on the terrain simulation module is arranged on a motion platform component on the motion module, and the terrain imitation formed by the profile modeling component can be dynamically changed, so that the real-time visual detection of the plant protection unmanned aerial vehicle during the flight on the dynamically changed terrain imitation is realized.
Drawings
Fig. 1-3 are schematic structural views of an embodiment of a visual detection test bed for ground-imitating flight of a plant protection unmanned aerial vehicle, and fig. 1 is a spatial arrangement diagram and functional module diagrams; FIG. 2 is a schematic view of a stent; fig. 3 is a schematic view of the up-and-down movement mechanism.
Fig. 4 is a schematic view of the working flow of the visual detection test bed for the ground-imitating flight of the plant protection unmanned aerial vehicle.
Fig. 5 is a functional block diagram of a visual detection test bed for ground-imitating flight of the plant protection unmanned aerial vehicle.
Fig. 6 is a top view of a visual inspection test bed for ground-imitating flight of a plant protection unmanned aerial vehicle according to a second embodiment of the invention.
Wherein, 1, a bracket; 1-1, double-layer profiling light curtain; 2. a 3D holographic projector; 3. a 3D holographic projection communication unit; 4. a high-speed camera; 5. a photographic communication unit; 6. a plant protection unmanned aerial vehicle; 7. a lifting drive motor; 8. a linear module; 9. a lifting seat; 10. a rotary drive motor; 11. a rotating plate; 12. an up-down driving motor; 13. a screw rod sliding table; 14. a slide pedestal; 15. a lifting cylinder; 16. a profiling component; 17. an up-down driving mechanism; 18. a conveyor belt; 19. a frame; 20. a motion platform communication unit; 21. a terrain control unit; 22. a terrain simulation communication unit; 23. an endless conveyor belt.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
Example 1
Referring to fig. 1-5, a visual detection test bed for ground-imitating flight of a plant protection unmanned aerial vehicle 6 comprises a holographic projection module, a detection photography module, a display module, a control module for controlling the unmanned aerial vehicle to fly automatically, a terrain simulation module and a motion module, wherein,
the holographic projection module comprises a 3D holographic projector 2 and a 3D holographic projection communication unit 3, wherein the 3D holographic projector 2 is used for projecting a double-layer profiling light curtain 1-1 above a simulated terrain; the detection camera module comprises a high-speed camera 4 and a camera communication unit 5; the display module comprises a display communication unit and a display which are wirelessly connected with the photographing communication unit 5; the control module comprises an automatic flight control unit and a ground control unit used for planning the double-layer profiling light curtain 1-1, the ground control unit is wirelessly connected with the 3D holographic projector 2 through a 3D holographic projection communication unit 3, and the automatic flight control unit is wirelessly connected with the ground control unit;
the terrain simulation module comprises a profiling component 16 for simulating a simulated terrain, a terrain simulation communication unit 22 and a terrain control unit 21 for planning the simulated terrain, wherein the terrain control unit 21 and the profiling component 16 are both in wireless connection with the terrain simulation communication unit 22; the motion module includes a motion platform assembly for mounting the terrain simulation module and a motion platform communication unit 20, the motion platform communication unit 20 being wirelessly connected to the motion platform assembly and the terrain simulation communication unit 22.
Referring to fig. 1, the holographic projection system further comprises a support 1, and the holographic projection module and the detection photography module are both arranged on the support 1. The holographic projection module and the detection photography module are arranged on the bracket 1, so that the fixed installation is realized, and the holographic projection module and the detection photography module have good stability in the projection and photography processes.
Referring to fig. 2, the support 1 includes a lifting mechanism and a rotating mechanism, wherein the lifting mechanism includes a lifting driving motor 7, a linear module 8 arranged in a vertical direction, and a lifting base 9 mounted on the linear module 8; the rotating mechanism comprises a rotating driving motor 10 arranged on the lifting seat 9 and a rotating plate 11 arranged on the rotating driving motor 10.
Referring to fig. 2, there are two sets of rotating mechanisms, and the holographic projection module and the detection photography module are respectively installed on the two sets of rotating mechanisms. The two groups of rotating mechanisms are arranged, so that the holographic projection module and the detection photographing module which are respectively arranged on the rotating mechanisms can rotate independently, the projection range or the photographing range is increased, and the adaptability is stronger.
Referring to fig. 1, the motion platform assembly includes a motor, a driving pulley, a driven pulley, a transmission belt 18 mounted between the driving pulley and the driven pulley, and a frame 19 for mounting the driving pulley and the driven pulley, and the copying assembly 16 is mounted on the transmission belt 18. Set up the motion platform subassembly of structure, terrain simulation module install on conveyer belt 18, and motor drive driving pulley rotates to drive conveyer belt 18 and rotate, make the imitative topography that terrain simulation module simulated be in dynamic change's state, realize the real-time visual detection of plant protection unmanned aerial vehicle 6 when flying on dynamic change's imitative topography.
Referring to fig. 1 and 3, the profiling assembly 16 includes a plurality of sets of up-and-down movement mechanisms 17, and the up-and-down movement mechanisms 17 include a screw rod sliding table 13, an up-and-down driving motor 12, a sliding table base 14 mounted on the sliding table, and a lifting cylinder 15 mounted on the sliding table base 14, which are vertically arranged. The profiling component 16 is arranged, the terrain control unit 21 sends terrain data to the terrain simulation communication unit 22, the terrain simulation communication unit 22 is in wireless connection with the profiling component 16, the upper and lower driving motors 12 are started, and therefore the lifting cylinders 15 mounted on the screw rod sliding table 13 do lifting motion, and the plurality of groups of lifting cylinders 15 form a simulated terrain by dynamically controlling the lifting cylinders 15 to rise at different heights, so that a dynamically-changed simulated terrain is formed; the profile assembly 16 mounted on the conveyor belt 18 is lowered in its entirety at the end immediately below the conveyor belt 18, thereby facilitating travel to the underside of the conveyor belt 18, as the lifting cylinder 15 of the profile assembly 16 is lowered. Profile modeling subassembly 16 is about to move the one end of 18 upsides of conveyer belt, and profile modeling subassembly 16's lift cylinder 15 rises different height according to topographic data once more to simulate out the simulation topography, circulate above-mentioned process in proper order, realize plant protection unmanned aerial vehicle 6 in the real-time visual detection to flight precision when continuous, the imitative topography of dynamic change flies.
Referring to fig. 1, the up-and-down moving mechanism 17 is disposed on the conveyor belt 18 in a dot matrix form. The up-down moving mechanisms 17 are arranged in a lattice form so that various terrains can be simulated by individually controlling each up-down moving mechanism 17, for example, the lifting cylinders 15 in the same column are controlled to the same height, and the lifting cylinders 15 in the same row are controlled to different heights, thereby forming a slope surface formed by the top surfaces of the lifting cylinders 15.
Referring to fig. 1, the double-layer profiling light curtain 1-1 has an outline which is consistent with the outline of a simulated terrain. The double-layer copying light curtain 1-1 is arranged, a ground-imitating flying space consisting of the double-layer copying light curtain 1-1 is formed above the simulated terrain, and the plant protection unmanned aerial vehicle 6 flies in the ground-imitating flying space, so that the flying precision meets the set requirement, otherwise, the flying precision does not meet the set requirement.
Referring to fig. 1, the control module plans a preset height of the ground-imitating flight, the preset height plus an allowable error of the upward flight is a height of the upper layer light curtain, and the preset height minus an allowable error of the downward flight is a height of the lower layer light curtain. Thus, the preset height is the flight height of the plant protection unmanned aerial vehicle 6, the plant protection unmanned aerial vehicle 6 is watched on the display to fly in the double-layer profiling light curtain 1-1, and when the plant protection unmanned aerial vehicle 6 crosses the light curtain boundary, the flight of the plant protection unmanned aerial vehicle 6 exceeds the flight error size; on the contrary, when the plant protection unmanned aerial vehicle 6 keeps flying in the double-layer profiling light curtain 1-1 in the flying process, the plant protection unmanned aerial vehicle 6 flies in the allowable flight error range, and the requirement of flight precision is met; in addition, when different flight errors are required to be set according to the technology and operation requirements, the distance between the lower layer light curtain and the upper layer light curtain is adjusted, and the related detection requirements can be flexibly adapted.
Referring to fig. 1, a simulated terrain is set on a motion platform, and thus, the simulated terrain is in a dynamic change process, and corresponds to the flight condition of the plant protection unmanned aerial vehicle 6 when the motion platform is parked, for example, the plant protection unmanned aerial vehicle 6 is in the process of spraying large-area crop lands, when the pesticide is sprayed and needs to be returned and loaded, and needs to land on a truck with pesticide in the same operation, the ground control unit calculates flight data according to the shape of a bulge on the mobile truck, and sends the flight data to the automatic flight control unit, the automatic flight control unit receives the flight data, and drives the plant protection unmanned aerial vehicle 6 to fly, so that the plant protection unmanned aerial vehicle 6 avoids the bulge on the mobile truck, and safely lands at a designated position.
The working principle of the visual detection test bed for the ground-imitating flight of the plant protection unmanned aerial vehicle is as follows:
starting a terrain simulation module, sending terrain data to a terrain simulation communication unit 22 by a terrain control unit 21, wherein the terrain simulation communication unit 22 is in communication connection with a profiling component 16, and the profiling component 16 simulates a simulated terrain by receiving the terrain data; the terrain simulation communication unit 22 is wirelessly connected with the motion platform communication unit 20, a motion instruction is sent to the motion platform assembly through the motion platform communication unit 20, the motion platform assembly is driven to move, and the profiling assembly 16 which is constructed to simulate the terrain is driven by the motion platform assembly to move due to the fact that the profiling assembly 16 is installed on the motion platform assembly, so that the dynamically-changed terrain simulation can be simulated; the ground control unit calculates ground-imitating flight data and light curtain projection data according to the contour of the simulated terrain, the ground control unit sends the ground-imitating flight data to the automatic flight control unit, the automatic flight control unit drives the plant protection unmanned aerial vehicle 6 to start after receiving the ground-imitating flight data, and the plant protection unmanned aerial vehicle 6 flies to a preset flight starting point and starts to fly along the direction of the simulated terrain; the ground control unit sends the light curtain projection data to the 3D holographic projection communication unit 3, and after receiving the light curtain projection data, the 3D holographic projection communication unit 3 transmits the light curtain projection data to the 3D holographic projector 2, so that the 3D holographic projector 2 projects a double-layer profiling light curtain 1-1 above the simulated terrain; after receiving the starting signal of the unmanned aerial vehicle, the photography communication unit 5 transmits information to the high-speed camera 4, so that the high-speed camera 4 is started to work, the whole-course video recording is carried out along the simulated ground flight track of the plant protection unmanned aerial vehicle 6, and the high-speed photography and recording are carried out on the position condition of the plant protection unmanned aerial vehicle 6 and the boundary of the double-layer copying light curtain 1-1 in the flight process, meanwhile, the photography communication unit 5 transmits the photography and recording data to the display communication unit in real time, and the display communication unit transmits the real-time picture to the display, so that the condition that the plant protection unmanned aerial vehicle 6 crosses the boundary of the double-layer copying light curtain 1-1 of the simulated terrain is observed on the display, the flight precision of the plant protection unmanned aerial vehicle 6 is judged, and the real-time visual detection of the plant protection unmanned aerial vehicle.
The visual detection method for the ground-imitating flight of the plant protection unmanned aerial vehicle comprises the following steps:
(1) the terrain control unit 21 plans the simulated terrain, sends the terrain data to the terrain simulation communication unit, and sends the terrain data to the profiling assembly 16 and the platform communication unit 20;
(2) the profiling component 16 receives terrain simulation data and simulates a simulated terrain;
(3) the motion module receives a motion instruction through the motion platform communication unit 20, drives the motion platform assembly to move, and drives the profiling assembly 16 which constructs the simulated terrain to move, so as to form a dynamically changed simulated terrain;
(4) the ground control unit calculates the ground-imitating flight data and the light curtain projection data according to the contour of the simulated terrain, and sends the data to the automatic flight control unit and the holographic projection module;
(5) the 3D holographic projection communication unit 3 receives the light curtain projection data and transmits the light curtain projection data to the 3D holographic projector 2, so that a double-layer copying light curtain 1-1 is projected above a simulated terrain, and the section size between the two layers of light curtains of the double-layer copying light curtain 1-1 is determined according to the allowable flight error size;
(6) the automatic flight control unit receives the ground-imitating flight data, drives the plant protection unmanned aerial vehicle 6 to start, and the plant protection unmanned aerial vehicle 6 flies to a preset flight starting point and starts flying along the simulated terrain direction;
(7) the detection photography module starts working after receiving starting information of the plant protection unmanned aerial vehicle 6 through the detection photography communication unit 5, carries out whole-process video recording along the ground-imitating flight track of the plant protection unmanned aerial vehicle 6, carries out high-speed photography and recording on the position condition of the boundary between the plant protection unmanned aerial vehicle 6 and the double-layer copying light curtain 1-1 of the simulated terrain in the flight process, and transmits data to the display module;
(8) the display module receives data through the display communication unit and transmits a real-time picture to the display;
(9) the situation that the plant protection unmanned aerial vehicle 6 crosses the boundary of the double-layer copying light curtain 1-1 simulating the terrain is observed on the display, and the flight precision of the plant protection unmanned aerial vehicle 6 flying in a simulated ground mode is judged.
Example 2
Referring to fig. 6, the present embodiment is different from embodiment 1 in that the conveyor belt is an endless conveyor belt 23. The detection area is arranged on one side of the annular conveyor belt 23, and when the profiling component 16 arranged on the annular conveyor belt 23 moves to one side of the detection area along with the annular conveyor belt 23, the plurality of groups of lifting cylinders 15 are made to rise at different heights through dynamic control, so that the plurality of groups of lifting cylinders 15 form a simulated terrain, and a dynamically-changed simulated terrain is formed; when the copying assembly 16 is about to move to the other side of the endless conveyor belt 23, the lifting cylinder 15 of the copying assembly 16 is completely descended, and when the copying assembly 16 is about to move to one side of the monitoring area, the lifting cylinder 15 of the copying assembly 16 is lifted up by different heights again according to the terrain data, so that the simulated terrain is simulated; the processes are circulated in sequence, and real-time visual detection of the flight precision of the plant protection unmanned aerial vehicle 6 during continuous and dynamically-changed terrain-imitating flight is achieved.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and are included in the scope of the present invention.
Claims (10)
1. A visual detection test bed for ground-imitating flight of a plant protection unmanned aerial vehicle comprises a holographic projection module, a detection photography module, a display module, a control module for controlling the unmanned aerial vehicle to fly automatically, a terrain simulation module and a motion module, wherein,
the holographic projection module comprises a 3D holographic projector and a 3D holographic projection communication unit, wherein the 3D holographic projector is used for projecting a double-layer profiling light curtain above a simulated terrain; the detection photographing module comprises a high-speed camera and a photographing communication unit; the display module comprises a display communication unit and a display, wherein the display communication unit is used for being in wireless connection with the photographing communication unit; the control module comprises an automatic flight control unit and a ground control unit for planning the double-layer profiling light curtain, the ground control unit is in wireless connection with the 3D holographic projector through a 3D holographic projection communication unit, and the automatic flight control unit is in wireless connection with the ground control unit;
the terrain simulation module comprises a profiling component for simulating a simulated terrain, a terrain simulation communication unit and a terrain control unit for planning the simulated terrain, and the terrain control unit and the profiling component are in wireless connection with the terrain simulation communication unit; the motion module comprises a motion platform assembly and a motion platform communication unit, wherein the motion platform assembly is used for installing the terrain simulation module, and the motion platform communication unit is in wireless connection with the motion platform assembly and the terrain simulation communication unit.
2. The visual detection test bed of a plant protection unmanned aerial vehicle imitative ground flight of claim 1, characterized by further comprising a support, the holographic projection module and the detection photography module are all arranged on the support.
3. The visual detection test bed for the ground-imitating flight of a plant protection unmanned aerial vehicle according to claim 2, wherein the support comprises a lifting mechanism and a rotating mechanism, wherein the lifting mechanism comprises a lifting driving motor, a linear module arranged in the vertical direction and a lifting seat mounted on the linear module; the rotating mechanism comprises a rotating driving motor arranged on the lifting seat and a rotating plate arranged on the rotating driving motor.
4. The visual detection test bed for the plant protection unmanned aerial vehicle flying across the ground as claimed in claim 3, wherein there are two sets of the rotating mechanisms, and the holographic projection module and the detection photography module are respectively mounted on the two sets of the rotating mechanisms.
5. The visual detection test bed for ground-imitating flight of plant protection unmanned aerial vehicle as claimed in claim 1, wherein the motion platform assembly comprises a motor, a driving pulley, a driven pulley, a transmission belt mounted between the driving pulley and the driven pulley, and a frame for mounting the driving pulley and the driven pulley, and the copying assembly is mounted on the transmission belt.
6. The visual detection test bed that plant protection unmanned aerial vehicle ground-imitated flies of claim 5, characterized in that, the profile modeling subassembly includes a plurality of sets of up-and-down movement mechanisms, the up-and-down movement mechanism includes lead screw slip table, upper and lower driving motor, the slide block seat of installing on the slip table and the lift cylinder of installing on the slide block seat that set up in the vertical direction.
7. The visual detection test bed for the ground-imitating flight of a plant protection unmanned aerial vehicle as claimed in claim 6, wherein the up-and-down movement mechanism is arranged on the conveyor belt in a lattice form.
8. The visual detection test bed for the ground-imitating flight of a plant protection unmanned aerial vehicle according to claim 1, characterized in that the shape of the double-layer copying light curtain is consistent with the shape of the simulated terrain.
9. The visual detection test bed for the ground-imitating flight of a plant protection unmanned aerial vehicle of claim 8, wherein the control module plans a preset height of the ground-imitating flight, the preset height plus an allowable error of the upward flight is a height of the upper layer light curtain, and the preset height minus an allowable error of the downward flight is a height of the lower layer light curtain.
10. A visual detection method for ground-imitating flight of a plant protection unmanned aerial vehicle is characterized by comprising the following steps:
(1) the terrain control unit plans a simulated terrain, sends terrain data to the terrain simulation communication unit, and sends the terrain data to the profiling assembly and the motion platform communication unit;
(2) the profiling component receives terrain simulation data and simulates a simulated terrain;
(3) the motion module receives a motion instruction through the motion platform communication unit, drives the motion platform assembly to move, and drives the profiling assembly which constructs the simulated terrain to move to form a dynamically-changed simulated terrain;
(4) the ground control unit calculates the ground-imitating flight data and the light curtain projection data according to the contour of the simulated terrain, and sends the data to the automatic flight control unit and the holographic projection module;
(5) the 3D holographic projection communication unit receives light curtain projection data and transmits the light curtain projection data to the 3D holographic projector, so that a double-layer copying light curtain is projected above a simulated terrain, and the section size between the two layers of light curtains of the double-layer copying light curtain is determined according to the allowable flight error size;
(6) the automatic flight control unit receives the ground-imitating flight data and drives the plant protection unmanned aerial vehicle to start, and the plant protection unmanned aerial vehicle flies to a preset flight starting point and starts flying along the simulated terrain direction;
(7) the detection photography module receives starting information of the plant protection unmanned aerial vehicle through the detection photography communication unit to start working, carries out whole-process video recording along the ground-imitating flight track of the plant protection unmanned aerial vehicle, carries out high-speed photography and recording on the position condition of the plant protection unmanned aerial vehicle and the boundary of the double-layer copying light curtain of the simulated terrain in the flight process, and transmits data to the display module;
(8) the display module receives data through the display communication unit and transmits a real-time picture to the display;
(9) the situation that the plant protection unmanned aerial vehicle crosses the boundary of the double-layer copying light curtain of the simulated terrain is observed on the display, and the flight precision of the plant protection unmanned aerial vehicle flying in the simulated terrain is judged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011199719.4A CN112249363B (en) | 2020-10-30 | 2020-10-30 | Visual detection test bed and method for ground-imitating flight of plant protection unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011199719.4A CN112249363B (en) | 2020-10-30 | 2020-10-30 | Visual detection test bed and method for ground-imitating flight of plant protection unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112249363A true CN112249363A (en) | 2021-01-22 |
| CN112249363B CN112249363B (en) | 2022-03-18 |
Family
ID=74268746
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011199719.4A Expired - Fee Related CN112249363B (en) | 2020-10-30 | 2020-10-30 | Visual detection test bed and method for ground-imitating flight of plant protection unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112249363B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115266178A (en) * | 2022-09-18 | 2022-11-01 | 常州希米智能科技有限公司 | Plant protection machine test platform |
| CN116902220A (en) * | 2023-09-11 | 2023-10-20 | 农业农村部南京农业机械化研究所 | Agricultural unmanned plane ground-imitating flight detection method and detection equipment |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160246304A1 (en) * | 2015-02-24 | 2016-08-25 | Qualcomm Incorporated | Near-flight Testing Maneuvers for Autonomous Aircraft |
| CN207379500U (en) * | 2017-08-31 | 2018-05-18 | 中国电力科学研究院 | Unmanned aerial vehicle flight path detection device |
| CN109032157A (en) * | 2018-07-23 | 2018-12-18 | 拓攻（南京）机器人有限公司 | Unmanned plane imitative ground operational method, device, equipment and storage medium |
| CN109508041A (en) * | 2019-01-21 | 2019-03-22 | 梁晓龙 | Plant protection drone group system and plant protection method |
| CN110134147A (en) * | 2019-06-20 | 2019-08-16 | 安阳全丰航空植保科技股份有限公司 | A kind of autonomous paths planning method and device of plant protection drone |
| CN211207173U (en) * | 2020-02-21 | 2020-08-07 | 沈阳航空航天大学 | Unmanned aerial vehicle ground-imitating flight system based on laser radar |
-
2020
- 2020-10-30 CN CN202011199719.4A patent/CN112249363B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160246304A1 (en) * | 2015-02-24 | 2016-08-25 | Qualcomm Incorporated | Near-flight Testing Maneuvers for Autonomous Aircraft |
| CN207379500U (en) * | 2017-08-31 | 2018-05-18 | 中国电力科学研究院 | Unmanned aerial vehicle flight path detection device |
| CN109032157A (en) * | 2018-07-23 | 2018-12-18 | 拓攻（南京）机器人有限公司 | Unmanned plane imitative ground operational method, device, equipment and storage medium |
| CN109508041A (en) * | 2019-01-21 | 2019-03-22 | 梁晓龙 | Plant protection drone group system and plant protection method |
| CN110134147A (en) * | 2019-06-20 | 2019-08-16 | 安阳全丰航空植保科技股份有限公司 | A kind of autonomous paths planning method and device of plant protection drone |
| CN211207173U (en) * | 2020-02-21 | 2020-08-07 | 沈阳航空航天大学 | Unmanned aerial vehicle ground-imitating flight system based on laser radar |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115266178A (en) * | 2022-09-18 | 2022-11-01 | 常州希米智能科技有限公司 | Plant protection machine test platform |
| CN116902220A (en) * | 2023-09-11 | 2023-10-20 | 农业农村部南京农业机械化研究所 | Agricultural unmanned plane ground-imitating flight detection method and detection equipment |
| CN116902220B (en) * | 2023-09-11 | 2023-12-22 | 农业农村部南京农业机械化研究所 | Agricultural unmanned plane ground-imitating flight detection method and detection equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112249363B (en) | 2022-03-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112249363B (en) | Visual detection test bed and method for ground-imitating flight of plant protection unmanned aerial vehicle | |
| CN107672817B (en) | Intelligent take-off and landing system of mobile vehicle-mounted unmanned aerial vehicle | |
| CN111422369B (en) | Unmanned aerial vehicle automatic airport and control method | |
| CN210316752U (en) | Unmanned aerial vehicle multimachine hangar | |
| CN110879617A (en) | Infrared-guided unmanned aerial vehicle landing method and device | |
| CN216967835U (en) | Sufficient robot motion testing arrangement | |
| CN108669046B (en) | Plant protection unmanned vehicle integrating visual navigation and Beidou positioning and control method | |
| CN112144937A (en) | Unmanned aerial vehicle multimachine hangar | |
| CN111056028A (en) | Unmanned aerial vehicle navigation is with barrier monitoring devices | |
| CN114791368A (en) | Wheel type multi-robot multifunctional test platform and test method | |
| CN115256333A (en) | Photovoltaic engineering intelligent installation robot and working method thereof | |
| CN107678445A (en) | A kind of intelligent Stage System and its control method based on unmanned plane | |
| CN112241181B (en) | Visual detection device and method for ground-imitating flight of plant protection unmanned aerial vehicle | |
| CN112306094B (en) | Visual detection device and method for obstacle avoidance flight of plant protection unmanned aerial vehicle | |
| CN113932776B (en) | Live-action modeling unmanned aerial vehicle system | |
| CN112212836A (en) | Visual detection device and method for S-shaped flight trajectory of plant protection unmanned aerial vehicle | |
| CN208076898U (en) | A kind of intelligent scanning device | |
| CN216292415U (en) | Monitoring devices of pleurotus geesteranus yellow spot disease | |
| CN215448468U (en) | Stability experimental device of unmanned vehicle | |
| KR101915265B1 (en) | Spatial image drawing system without the effects of surrounding obstacles | |
| CN220455175U (en) | Plants and methods of making the same data collecting device | |
| CN109795694A (en) | A kind of cargo receiving device, unmanned plane delivery system and method | |
| CN221561357U (en) | Multipurpose intelligent inspection robot | |
| CN215752715U (en) | Geographic environment survey device capable of being disguised | |
| CN114136319B (en) | Navigation method and device for shooting infrared heat map of substation equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 255086 room 313, block A, Gao Chuang garden, hi tech Development Zone, Zibo, Shandong. Patentee after: Shandong University of Technology Country or region after: China Address before: 255000 No. 266, New Village West Road, Zhangdian District, Zibo, Shandong Patentee before: Shandong University of Technology Country or region before: China |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220318 |