CN116198743A - Comprehensive detection platform and detection method for emasculation unmanned aerial vehicle for seed production corn - Google Patents
Comprehensive detection platform and detection method for emasculation unmanned aerial vehicle for seed production corn Download PDFInfo
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- CN116198743A CN116198743A CN202310437511.9A CN202310437511A CN116198743A CN 116198743 A CN116198743 A CN 116198743A CN 202310437511 A CN202310437511 A CN 202310437511A CN 116198743 A CN116198743 A CN 116198743A
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Abstract
The invention discloses a comprehensive detection platform and a detection method for a seed production corn emasculation unmanned plane, wherein the comprehensive detection platform comprises a support rack, an aerial suspension moving device, a microclimate environment simulation device, a crop planting simulation device, a test data detection device and a background command control system; the support rack is a main body frame of the comprehensive detection platform; the aerial suspension moving device is arranged on a sliding rail of the support rack and used for suspending and fixing the detection object; the microclimate environment simulation device is used for simulating a microclimate environment in the detection platform; the crop planting simulation device is used for simulating an agronomic crop planting scene; the test data detection device is a plurality of sensing sensor sets and is used for collecting a plurality of test data of a detection object; the background command control system is used for controlling and monitoring the operation of each part of the detection platform. The invention is suitable for detection tests of emasculation unmanned aerial vehicles or emasculation mechanical arms, and is also suitable for detection tests of phenotype data of other types of unmanned aerial vehicles or mechanical arms and crops.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle equipment, and particularly relates to a comprehensive detection platform and a detection method for a seed production corn emasculation unmanned aerial vehicle.
Background
Crop seed quality is related to national grain safety, wherein corn is an important staple food crop for human beings, is an important feed and industrial raw crop for human beings, and is a crop with the largest global planting area. More than 98% of the corn varieties planted at present are hybrid corn varieties, but the variety advantages of hybrid corn can be gradually reduced from the second generation, so that the hybrid corn seeds need to be produced year by year, and the seed production area is huge. The female parent corn emasculation is the most critical and difficult to control in the hybrid corn seed production process, and directly affects the whole seed production quality of hybrid corn. The window time of the female parent corn emasculation link is short, the emasculation rate requirement is high, and the emasculation period needs to be manually inspected for a plurality of times, thus extremely consuming manpower. The labor required by the emasculation operation is lacking, the emasculation operation of the seed production corns mainly depends on manual emasculation, and a small amount of ground emasculation machines are adopted for emasculation, so that the current situation can not adapt to the high-quality development of the seed production industry, and the level of the emasculation mechanization and the intellectualization of the seed production corns is improved.
In recent years, with the development of unmanned aerial vehicle technology, the research of emasculation unmanned aerial vehicle aiming at the accurate emasculation and leak-repairing emasculation requirements of seed corn gradually becomes a hot spot. The research of the emasculation unmanned aerial vehicle relates to multidisciplinary direction research such as aircraft design, rotor wind field optimization, emasculation mechanical arm structural design, corn tassel cutting/pulling mechanism, corn tassel target identification positioning and the like, and in addition, the research and the development of the emasculation unmanned aerial vehicle and other agricultural unmanned aerial vehicles need to be carried out for a large number of outdoor and field experiments to verify. However, outdoor and field experiments are often interfered by weather, natural wind, illumination, crop planting season limitation and other factors, so that the research of agricultural unmanned aerial vehicles such as emasculation unmanned aerial vehicles and the like is severely restricted.
In order to develop the performance detection, rotor wind field detection, and data acquisition of tassel phenotype of corn to be emasculated, etc. of the emasculated unmanned aerial vehicle and the emasculation mechanical arm, it is necessary to develop a comprehensive detection platform and a detection method of the emasculated unmanned aerial vehicle for seed production corn.
Disclosure of Invention
Aiming at the problems, the invention provides a comprehensive detection platform and a detection method for a seed production corn emasculation unmanned plane, which also have the functions of performance detection of other unmanned planes, performance detection of other mechanical arms, phenotype information acquisition of other crops and the like.
The invention aims at being realized by the following technical scheme, and the following technical scheme is combined with the accompanying drawings:
as one aspect of the invention, a comprehensive detection platform of a seed production corn emasculation unmanned plane is provided, which comprises a support rack 1, an aerial suspension moving device 2, a microclimate environment simulation device 3, a crop planting simulation device 4, a test data detection device 5 and a background command control system 6; wherein the support rack 1 is a main body frame of the comprehensive detection platform and can move; the crop planting simulation device 4 is integrally arranged in the support rack 1 and is used for simulating agricultural scenes for planting corn or other crops, and specifically comprises crop height, crop planting spacing, crop planting density, crop gripping characteristics and the like; the aerial suspension moving device 2 is connected to the top of the supporting rack 1 in a sliding way and is positioned above the crop planting simulation device 4, and is used for suspending and fixing a detection object and driving the detection object to move along a sliding rail at a constant speed, at a variable speed, at a slow brake, at a sudden stop and the like; the microclimate environment simulation device 3 is arranged at the side part of the supporting bench 1 and is used for simulating and adjusting microclimate environment parameters such as air temperature, humidity, environmental crosswind and the like in the detection platform; the test data detection device 5 is arranged on the crop planting simulation device 4, and the test data detection device 5 is a plurality of detection sensor sets and is used for collecting a plurality of test data of a detection object; the background command control system 6 is electrically connected with the support bench 1, the aerial suspension mobile device 2, the microclimate environment simulation device 3, the crop planting simulation device 4 and the test data detection device 5, and is used for controlling and adjusting the operation of each part of the detection platform, including controlling and adjusting the displacement of the slide rail, the displacement of the aerial suspension mobile device, the ground lifting simulation, the microclimate environment parameter adjustment, the test data acquisition and storage, and is also used for monitoring and storing the image and the environment parameter data in the test process and electrically controlling each part required by the test bench.
Further, the support rack 1 comprises a main body frame 11, a sliding rail 12 and a synchronous moving trolley module 13, wherein the main body frame 11 comprises a sliding table top 111, a frame 112 and a longitudinal displacement rail 113; the longitudinal displacement rail 113 is positioned at the top of the main body frame, the sliding rail 12 is connected below the longitudinal displacement rail 113 in a sliding way through the synchronous moving trolley module, and the sliding rail 12 can longitudinally move along the longitudinal displacement rail 113; the crop planting simulation device 4 is arranged on the sliding table top 111; the aerial suspension moving device 2 is connected to the sliding rail 12 in a sliding way and can move transversely along the sliding rail; the microclimate environment simulation device 3 is mounted on a frame 112.
Further, the aerial suspension moving device 2 comprises a multifunctional moving slide block 21, a multi-gesture elastic base 22 and a detection object fixing clamp, and the multifunctional moving slide block, the multi-gesture elastic base and the detection object fixing clamp are sequentially installed from top to bottom along the vertical direction; the multifunctional movable slide block 21 is slidably connected to the top of the support rack 1, and is used for driving the multi-pose elastic base, the detection object fixing clamp piece and the detection object to realize actions such as transverse uniform displacement, variable speed displacement, slow braking, emergency stop and the like; the multi-attitude elastic base 22 is arranged at the bottom of the multifunctional movable slide block 21 and is rigidly connected with the multifunctional movable slide block, and is used for consuming and relieving the disturbance of the body after the rotation of the rotor wing of the unmanned aerial vehicle, and adjusting the three attitudes of roll, pitch and yaw of a detection object; the detection object fixing clamping piece is detachably fixed at the bottom of the multi-pose elastic base and used for hanging and fixing the detection object.
Furthermore, the detection object fixing clip member is an unmanned aerial vehicle fixing clip member 23 or a mechanical arm fixing clip member 24, the unmanned aerial vehicle fixing clip member 23 is used for suspending and fixing the emasculation unmanned aerial vehicle 14, and the mechanical arm fixing clip member 24 is used for suspending and fixing the emasculation mechanical arm 15; the unmanned aerial vehicle fixing clamp 23 comprises a clamp seat 231, an inner sucker 232 and a mechanical clamping arm 233, wherein the clamp seat 231 is a main body part of the unmanned aerial vehicle fixing clamp 23, the top of the clamp seat is rigidly connected with the multi-posture elastic base 22, the inner sucker 232 is arranged at the bottom of the clamp seat, and the inner sucker 232 is used for adsorbing a top cover of a body of the emasculation unmanned aerial vehicle 14; the mechanical clamping arms 233 are all arranged on the side surface of the clamping seat 231, one end of each mechanical clamping arm is fixed on the clamping seat 231, and the other end of each mechanical clamping arm is a movable U-shaped buckle for fixing the arm of the emasculation unmanned aerial vehicle 14; the mechanical arm fixing clamp 24 comprises a clamp main body 241, a locking member 242 and a locking stud 243, the locking member 242 is adjusted to advance or retreat by rotating the locking stud 243, and the locking member 242 is used for fixing the emasculation mechanical arm 15; the mechanical arm fixing clip 24 may also fix other types of mechanical arms.
Further, the microclimate environment simulation device 3 includes an air temperature and humidity adjustment module 31 and a side wind simulation adjustment module 32 for simulating and adjusting the ambient side wind and the air temperature and humidity required by the test.
Further, the crop planting simulation device 4 comprises a lifting module 41, a simulation ground 42, a crop plant clamp array 43, a transverse guide rail sliding block assembly 44 and a longitudinal guide rail sliding block assembly 45; the lifting module 41 is arranged at the bottom of the simulated ground 42 and is used for adjusting the ground clearance of the simulated ground 42; the crop plant fixture array 43 is composed of a plurality of crop plant fixtures, and the plurality of crop plant fixtures are respectively arranged on the rail crossing nodes of the transverse rail slide block assembly 44 and the longitudinal rail slide block assembly 45.
Still further, the crop plant fixture comprises a potting fixed fixture 431, a stalk fixed fixture 432 and a loading base 433, wherein the potting fixed fixture 431 is used for fixing the crop plant 16 planted in the flowerpot, and the stalk fixed fixture 432 is used for directly fixing the crop plant 16 in a bare root state; the pot culture fixed clamp 431 or the stalk fixed clamp 432 is fixedly connected with the load base 433 through a stud; the weight of the load base 433 is self-weight so as to simulate the ground grabbing characteristics of different crop plants, and the weight of the load base 433 is self-weight m Dead weight =F Pulling force /g –m Basin soil -m Plants and methods of making the same M is as follows Basin soil Is the weight of the flowerpot and the soil, m Plants and methods of making the same G is the weight of the crop plant in bare weight, g is the weight coefficient (taken9.8N/kg), F Pulling force The average pulling force for pulling the true crop plants out of the soil.
Further, the test data detection device 5 comprises a rotor wind field sensor, a tassel cutting force measurement sensor, a tassel grabbing force measurement sensor, a crop height measurement sensor, a crop image acquisition sensor and a gesture detection sensor.
Further, the background command control system 6 comprises a master control platform 61, an electrical control cabinet 62 and a test monitoring module, wherein the master control platform 61 is electrically connected with the electrical control cabinet 62, and the electrical control cabinet 62 is electrically connected with the support rack 1, the aerial suspension moving device 2, the microclimate environment simulating device 3, the crop planting simulating device 4, the test data detecting device 5 and the test monitoring module; the test monitoring module comprises a global video monitoring unit 631, a near-field video monitoring unit 632 and a micro-environment monitoring unit 633, wherein the global video monitoring unit 631 is arranged around the main body frame of the support rack 1 and is used for monitoring and recording global test images; the near field video monitoring unit 632 is disposed at a front position of the detected object, and is configured to monitor and record a close-range test image; the micro-environment monitoring unit 633 is a combination of air temperature and humidity, three-dimensional wind speed and direction, and illumination sensors.
As another aspect of the invention, a detection method of a comprehensive detection platform of a seed production corn emasculation unmanned aerial vehicle is provided, comprising the following steps:
s1: hanging and fixing a detection object: selecting a corresponding detection object fixing clamping piece according to the detection object being a castration unmanned aerial vehicle or a castration mechanical arm, and hanging and installing the detection object on the aerial hanging moving device by means of the crop planting simulation device;
s2: arranging crops for fixing and detecting: simulating a crop planting agronomic scene of crops for detection by using a crop planting simulation device, selecting a corresponding crop plant clamp, and adjusting the crop planting simulation device by using the background command control system so as to adjust the crop planting row spacing and the plant spacing; fixing crop plants on the crop plant simulation device through a crop plant clamp;
s3: arranging each detection sensor of the test data detection device on a comprehensive detection platform;
s4: setting and adjusting parameters of a test bed: setting the displacement speed, the displacement direction and the displacement distance of the suspended detection object through the background command control system, adjusting the relative height between the crop plants on the crop planting simulation device and the suspended detection object, and setting the wind, temperature and humidity environment parameters simulated by the microclimate environment simulation device;
s5: after the steps are finished, starting a detection object, controlling the action of the detection object through the background command control system, and simultaneously controlling the test data detection device to collect test data of the detection object;
s6: and after the current test data acquisition is completed, closing the detection object in time, if the test is not completed, repeating the steps S2-S5, and continuously acquiring the test data until the detection is completed.
The comprehensive detection platform and the detection method thereof for the seed production corn emasculation unmanned aerial vehicle can be used for detection tests such as performance detection of the seed production corn emasculation unmanned aerial vehicle and an emasculation mechanical arm, rotor wind field detection of the emasculation unmanned aerial vehicle, and data acquisition of tassel phenotype of corn to be emasculated, and have the functions of detection of other types of unmanned aerial vehicles, detection of other mechanical arms and phenotype information acquisition of other crops.
Compared with other agricultural unmanned aerial vehicle test platforms, the invention has the following advantages:
1. the invention relates to a comprehensive detection platform special for a detection test of a corn emasculation unmanned aerial vehicle and a mechanical arm for seed production, and overcomes the defect that the existing detection platform special for the detection of the emasculation unmanned aerial vehicle and the emasculation mechanical arm cannot meet the detection test requirements of the corn emasculation unmanned aerial vehicle and the emasculation mechanical arm.
2. The detection platform is multipurpose, can be used for carrying out detection tests of the emasculation unmanned aerial vehicle and the emasculation mechanical arm of the seed production corn, and has the functions of detection of various agricultural unmanned aerial vehicles, detection of the mechanical arm and acquisition of crop phenotype information.
3. The crop planting simulation device of the test platform can simulate a field crop planting scene; the micro-meteorological environment simulation device of the test platform can simulate meteorological environments required by a test, including ambient side wind and air temperature and humidity; the crop planting simulation device and the microclimate environment simulation device are combined to provide the actual working environment as much as possible for the test aircraft or the mechanical arm.
4. The test platform main body can move freely, and can be used for carrying out tests outdoors or indoors.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are some embodiments of the invention and that other drawings can be obtained from these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a comprehensive detection platform of a seed production corn emasculation unmanned aerial vehicle;
FIG. 2 is a schematic structural view of a main body frame of the inspection platform;
FIG. 3 is a schematic view of the structure of the support stand;
FIG. 4 is a schematic illustration of the mounting location of a synchronous mobile cart;
fig. 5 is a schematic structural view of a corn emasculation unmanned aerial vehicle suspended by an aerial suspension mobile device;
fig. 6 is a schematic structural view of a corn emasculation mechanical arm suspended by an aerial suspension mobile device;
fig. 7 is a schematic structural view of the unmanned aerial vehicle fixing clip and the mechanical arm fixing clip;
FIG. 8 is a schematic view of a crop planting simulation apparatus;
FIG. 9 is an enlarged view of a portion of a crop planting simulation device;
FIG. 10 is a schematic structural view of two crop plant fixtures;
FIG. 11 is a schematic view of the structure of the load bed, wherein (a) is a plan view of the load bed and (b) is a bottom view of the load bed;
fig. 12 is a structural isometric view of a comprehensive detection platform of a seed production corn emasculation unmanned aerial vehicle;
in the figure:
1-a support stand; 2-overhead suspension of the mobile device; 3-a microclimate environment simulation device; 4-a crop planting simulation device; 5-test data detection means; 6-a background command control system; 11-a main body frame; 12-sliding rails; 13-a synchronous moving trolley module; 14-emasculation unmanned plane; 15-a emasculation mechanical arm; 16-crop plants;
111-sliding table top; 112-a frame; 113-longitudinal displacement tracks; 131-a first synchronous moving trolley; 132-a second synchronous mobile cart;
21-a multifunctional mobile slider; 22-a multi-pose elastic base; 23-unmanned aerial vehicle fixing clamping pieces; 24-a mechanical arm fixing clamp; 231-a clamping seat; 232-an inner suction cup; 233-mechanical clamping arm; 241-clip body; 242-locking member; 243-locking the stud;
31-an air temperature and humidity adjusting module; 32-a crosswind simulation adjusting module;
41-lifting module; 42-simulating the ground; 43-crop plant fixture array; 44-a transverse rail-slide assembly; 45-longitudinal rail-slide block assembly; 421-horizontal plane; 422-longitudinal rails; 423-transverse tracks; 431-potting fixed fixture; 432-stalk fixed clamp; 433-a load-bearing base; 441-transverse rails; 442-longitudinally synchronous displacement slide block; 451-longitudinal rails; 452-laterally synchronizing the displacement slide;
61-a master control platform; 62-an electrical control cabinet; 631-a global video monitoring unit; 632-a near field video monitoring unit; 633-microenvironment monitoring unit.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without any inventive effort, are intended to be within the scope of the invention.
The embodiment 1, as shown in fig. 1, 2 and 12, is a comprehensive detection platform of a seed production corn emasculation unmanned plane, and comprises a support rack 1, an aerial suspension moving device 2, a microclimate environment simulating device 3, a crop planting simulating device 4, a test data detecting device 5 and a background command control system 6; wherein the support rack 1 is a main body frame of the comprehensive detection platform and can move; the crop planting simulation device 4 is integrally arranged in the support rack 1 and is arranged on the sliding table top 111 of the support rack 1, and is used for simulating the crop planting density and has the function of adjusting the relative height between crops and a detection object; the aerial suspension moving device 2 is arranged on a sliding rail 12 at the top of the supporting rack 1 and is positioned above the crop planting simulation device 4 and used for suspending and moving and fixing a detection object; the microclimate environment simulation device 3 is arranged at the side part of the supporting bench 1 and is used for simulating and adjusting the temperature, humidity and environmental crosswind of the air in the detection platform; the test data detection device 5 is arranged on the crop planting simulation device 4, and the test data detection device 5 is a plurality of detection sensor sets and is used for collecting a plurality of test data of a detection object; the background command control system 6 is electrically connected with the support rack 1, the overhead suspension moving device 2, the microclimate environment simulation device 3, the crop planting simulation device 4 and the test data detection device 5 and is used for controlling and adjusting the operation of each part of the detection platform.
As shown in fig. 2 to 4, the support rack 1 includes a main body frame 11, a slide rail 12, and a synchronous moving trolley module 13, wherein the synchronous moving trolley module 13 is longitudinally slidably connected to the top of the main body frame 11, and two ends of the slide rail 12 are respectively connected to the synchronous moving trolley module 13. The synchronous moving trolley module 13 drives the sliding rail 12 to longitudinally displace, and the synchronous moving trolley module 13 is preferably composed of a first synchronous moving trolley 131 and a second synchronous moving trolley 132; the main body frame 11 comprises a sliding table 111, a frame 112 and a longitudinal displacement rail 113, and is preferably a movable cuboid main body frame in the embodiment; the longitudinal displacement rail 113 is composed of 2 rails, and is located at the top of the main body frame, the first synchronous moving trolley 131 and the second synchronous moving trolley 132 are respectively arranged on the 2 rails of the longitudinal displacement rail 113, two ends of the sliding rail 12 are respectively and rigidly connected with the bottoms of the first synchronous moving trolley 131 and the second synchronous moving trolley 132, and are arranged below the longitudinal displacement rail 113; the crop planting simulation device 4 is arranged on the sliding table top 111; the aerial suspension moving device 2 is connected to the sliding rail 12 in a sliding way and can move transversely along the sliding rail; the microclimate environment simulation device 3 is mounted on a frame 112.
As shown in fig. 5 and 6, the aerial suspension moving device 2 includes a multifunctional moving slide block 21, a multi-pose elastic base 22, and a detection object fixing clip, where the multifunctional moving slide block 21, the multi-pose elastic base 22, and the detection object fixing clip are installed in the vertical direction from top to bottom in sequence, and the multifunctional moving slide block 21 is disposed on the slide rail 12 of the support rack 1, and is used to drive the multi-pose elastic base 22, the detection object fixing clip, and the detection object (the emasculation unmanned aerial vehicle 14 or the emasculation mechanical arm 15) to move laterally; the multi-pose elastic base 22 is arranged at the bottom of the multifunctional movable slide block 21 and is rigidly connected with the multifunctional movable slide block, and is used for consuming and relieving rising power and left-right vibration after the rotor of the emasculation unmanned aerial vehicle 14 rotates, and setting and adjusting three pose angles of roll, pitch and yaw of the emasculation unmanned aerial vehicle 14; the detection object fixing clamping piece is arranged at the bottom of the multi-pose elastic base 22 and is rigidly connected with the multi-pose elastic base 22, and is used for hanging and fixing a detection object, and the detection object fixing clamping piece can be conveniently detached and installed at the bottom of the multi-pose elastic base 22.
As shown in fig. 5, 6 and 7, the detection object fixing clip member includes an unmanned aerial vehicle fixing clip member 23 and a mechanical arm fixing clip member 24, the unmanned aerial vehicle fixing clip member 23 is used for suspending and fixing the emasculation unmanned aerial vehicle 14, and the mechanical arm fixing clip member 24 is used for suspending and fixing the emasculation mechanical arm 15. The unmanned aerial vehicle fixing clamp 23 comprises a clamp seat 231, an inner sucker 232 and a mechanical clamping arm 233, wherein the clamp seat 231 is a main body part of the unmanned aerial vehicle fixing clamp 23, the top of the clamp seat is rigidly connected with the multi-posture elastic base 22, the inner sucker 232 is arranged at the bottom of the clamp seat, and the inner sucker 232 is used for adsorbing and fixing a top cover of a body of the experimental unmanned aerial vehicle; the mechanical clamping arms 233 are uniformly arranged on the side face of the clamping seat 231, one end of each mechanical clamping arm 233 is fixed on the clamping seat 231, one end of each mechanical clamping arm is a movable U-shaped buckle and used for fixing the arm of the detection object, the number of the mechanical clamping arms 233 is preferably 8, and the four-rotor, six-rotor and eight-rotor unmanned aerial vehicle fixed mounting can be met through the structure of the embodiment. The mechanical arm fixing clamp 24 includes a clamp body 241, a locking member 242, and a locking stud 243, wherein the locking stud 243 is an external threaded stud, and the locking member 242 is adjusted to advance or retract by rotating the locking stud 243, so as to lock or unlock the emasculation mechanical arm 15.
As shown in fig. 1 and 2, the microclimate environment simulation device 3 includes an air temperature and humidity adjustment module 31 and a side wind simulation adjustment module 32 for simulating the environmental side wind and air temperature and humidity required by the adjustment test.
As shown in fig. 8, 9 and 11, the crop planting simulation device 4 is used for simulating different crop planting agronomic scenes, and specifically includes fixing crops, adjusting the height of the crops, adjusting the relative height of a detection object from the crops, adjusting the planting distance and density of the crops, and simulating the ground grabbing characteristic of the crops, and includes a lifting module 41, a simulated ground 42, a crop plant fixture array 43, a transverse guide rail slide block assembly 44 and a longitudinal guide rail slide block assembly 45. The lifting module 41 is arranged at the bottom of the simulated ground 42 and is used for adjusting the ground distance height of the simulated ground 42 so as to adjust the relative height of the agricultural crops from the detection object, and the lifting module is preferably used for electrically controlling the hydraulic lifting; the crop plant fixture array 43 is composed of a plurality of crop plant fixtures, the plurality of crop plant fixtures are respectively arranged on the rail crossing nodes of the transverse guide rail sliding block assembly 44 and the longitudinal guide rail sliding block assembly 45, and the number n of the crop plant fixtures is equal to the number n Clamp According to the test requirement, n in the embodiment Clamp 24, i.e. transverse rail-slide assembly 44%HThe direction is transverse), the number of the transverse guide rails is 4, and the number of the longitudinal guide rail sliding block assemblies is 45%ZThe direction is longitudinal), the number of the longitudinal guide rails is 6.
The simulated floor 42 comprises a horizontal plane 421, a longitudinal rail 422 and a transverse rail 423 for simulating a horizontal floor, and the top of the longitudinal rail 422 is higher than the top of the transverse rail 423, so that the longitudinal rail 451 is arranged above the transverse rail 441 when rail crossing is realized.
As shown in fig. 8 and 10, the crop plant fixture comprises a potting fixed fixture 431, a stalk fixed fixture 432 and a load-bearing base 433, wherein the potting fixed fixture 431 is used for fixing the crop plant 16 planted in the flowerpot, the stalk fixed fixture 432 is used for directly fixing the crop plant 16 in a bare root state, the potting fixed fixture 431 or the stalk fixed fixture 432 is fixedly connected with the load-bearing base 433 through studs, a cross-shaped groove is formed in the bottom of the load-bearing base, and the longitudinal guide rail and the transverse guide rail respectively pass through the cross-shaped groove and are above the transverse guide rail; in addition, the weight of the load base 433 is self-weight so as to simulate the ground grabbing characteristics of different crop plants, and the weight of the load base 433 is self-weight m Dead weight =F Pulling force /g –m Basin soil -m Plants and methods of making the same M is as follows Basin soil Is the weight of the flowerpot and the soil, m Plants and methods of making the same G is the gravity coefficient (9.8N/kg) of the bare weight of the crop plants, F Pulling force For the average pulling force of the true crop plants pulled out from the soil, the preferred value range of the pulling force of the corn plants in this example is 40-N-120N.
The transverse rail slide block assembly 44 is composed of a plurality of groups of transverse rails 441 and longitudinal synchronous displacement slide blocks 442, wherein each longitudinal synchronous displacement slide block 442 is composed of 2 longitudinal displacement trolleys, the longitudinal synchronous displacement slide blocks 442 are respectively arranged on the 2 longitudinal rails 422 of the simulated ground 42 and can longitudinally and synchronously slide, the transverse rails 441 are fixed on the tops of the longitudinal synchronous displacement slide blocks 442 through movable buckles, and the displacement of the longitudinal synchronous displacement slide blocks 442 is remotely controlled through the master control platform 61 so as to adjust the spacing between the transverse rails, so that the adjustment of the plant spacing of the simulated crops is realized.
The longitudinal rail slide block assembly 45 is composed of a plurality of groups of longitudinal rails 451 and transverse synchronous displacement slide blocks 452, wherein each transverse synchronous displacement slide block 452 is composed of 2 transverse displacement trolleys, and the transverse synchronous displacement slide blocks are respectively arranged on the 2 transverse rails 423 of the simulated ground 42 and can transversely and synchronously slide. The longitudinal guide rails 451 are fixed on the transverse synchronous displacement sliding blocks 452 through movable buckles, and the transverse synchronous displacement sliding blocks 452 are remotely controlled to displace through the master control platform 61 so as to adjust the spacing between the longitudinal guide rails, thereby realizing adjustment of the row spacing of the simulated crops.
As shown in fig. 1 and 8, in this embodiment, the test data detection device 5 is disposed on the simulated ground 42, and preferably comprises a rotor wind field sensor, a tassel cutting force measurement sensor, a tassel grabbing force measurement sensor, a crop height measurement sensor, a crop image acquisition sensor, and a gesture detection sensor, so as to perform performance detection of the emasculation unmanned aerial vehicle and the emasculation mechanical arm, rotor wind field detection of the corn emasculation unmanned aerial vehicle, and image data acquisition of tassel of corn to be emasculated.
As shown in fig. 1, 2 and 8, the background command control system 6 includes a master control platform 61, an electrical control cabinet 62 and a test monitoring module, and is used for controlling and adjusting the longitudinal displacement of the slide rail 12, the lateral displacement of the overhead suspension moving device 2, the lifting of the simulated ground 42, the simulation of the test environment parameters by the microclimate environment simulation device 3, the collection of test data by the test data detection device, the collection and storage of video images and environment parameter data in the test process, and the electrical control of all parts required by the test stand, in this embodiment, the master control platform 61 is arranged outside the support bench 1.
The test monitoring module comprises a global video monitoring unit 631, a near field video monitoring unit 632 and a micro environment monitoring unit 633. The global video monitoring unit 631 is preferably a common visible light camera, and is disposed around the main body frame of the support rack 1, for monitoring and recording global test images; the near field video monitoring unit 632 is preferably a combination of a high-speed camera and a common visible light camera, and is disposed at a front position of the detected object, for monitoring and recording the close-range test image; the micro-environment monitoring unit 633 is preferably a combination of air temperature and humidity, three-dimensional wind speed and wind direction, and illumination sensors, and is arranged on the frame 112 for monitoring environmental parameters on the detection platform, and the monitoring frequency of the micro-environment parameters is preferably more than or equal to 1Hz.
The general control platform 61 is electrically connected with the electrical control cabinet 62, and the electrical control cabinet 62 is electrically connected with the support rack 1, the overhead suspension moving device 2, the microclimate environment simulation device 3, the crop planting simulation device 4, the test data detection device 5 and the test monitoring module.
The detection method of the comprehensive detection platform of the corn emasculation unmanned plane for seed production comprises the following steps:
s1: hanging and fixing a detection object: according to the detection object being the emasculation unmanned aerial vehicle 14 or the emasculation mechanical arm 15, a corresponding unmanned aerial vehicle fixing clamp 23 or mechanical arm fixing clamp 24 is selected, and the detection object is hung and installed on the aerial hanging moving device 2 by means of the assistance of the lifting function of the crop planting simulation device 4.
S2: according to the variety type and planting density of the target crop of the detected object operation: firstly, selecting a corresponding crop plant clamp (a potting fixed clamp or a stalk fixed clamp), and controlling the spacing between a transverse guide rail and a longitudinal guide rail of the crop planting simulation device 4 through the background command control system 6 so as to adjust the planting density (row spacing and plant spacing); crop plant holders are placed and crop plants 16 are fixed at the crossing points of the transverse rails and the longitudinal rails, and sensor acquisition points of the test data detection device are arranged on the crop plant simulation device 4.
S2: arranging crops for fixing and detecting: the crop planting simulation device 4 is utilized to simulate the planting agronomic scene of crops for detection, a corresponding crop plant clamp (a potting fixed clamp 431 or a stalk fixed clamp 432) is selected, and the spacing between the transverse guide rail 441 and the longitudinal guide rail 451 of the crop planting simulation device 4 is adjusted through the background command control system 6, so that the crop planting row spacing and the plant spacing are adjusted; crop plant holders are placed and crop plants are secured at the intersection points of the transverse rail 441 and the longitudinal rail 451.
S3: test data detection sensors are arranged, and detection sensors of the test data detection device 5 are arranged on a test stand.
S4: and setting and adjusting parameters of the test bed, namely setting parameters such as displacement speed, displacement direction, displacement distance and the like of the suspended detection object through the background command control system 6, adjusting the relative height between the crop plants on the simulated ground 42 and the suspended detection object, and setting parameters of wind, temperature and humidity environment simulated by the microclimate environment simulation device 3.
S5: after the steps are finished, the detection object is started, then the background command control system 6 controls the action of the detection object, and simultaneously controls the test data detection device 5 and the test monitoring module to collect test data of the detection object.
S6: and after the current test data acquisition is completed, closing the detection object in time, if the test is not completed, repeating the steps S2-S5, and continuously acquiring the test data until the detection is completed.
Embodiment 4, the structure of this embodiment is the same as that of embodiment 1, and the difference is that the test data detection device 5 preferably comprises a gesture detection sensor, a picking motion track recording sensor, and a picking speed detection sensor, and the test stand can be used for performing a performance detection test of a crop fruit picking manipulator.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The comprehensive detection platform for the emasculation unmanned aerial vehicle for the seed production of the corn is characterized by comprising a support bench (1), an aerial suspension moving device (2), a microclimate environment simulation device (3), a crop planting simulation device (4), a test data detection device (5) and a background command control system (6); the support rack (1) is a main body frame of the comprehensive detection platform and can move; the crop planting simulation device (4) is integrally arranged in the support rack (1) and is used for simulating a corn planting agronomic scene; the aerial suspension moving device (2) is connected to the top of the supporting rack (1) in a sliding way and is positioned above the crop planting simulation device (4) and used for suspending and moving a detection object; the microclimate environment simulation device (3) is arranged at the side part of the supporting bench (1) and is used for adjusting microclimate environment parameters in the detection platform; the test data detection device (5) is arranged on the crop planting simulation device (4), and the test data detection device (5) is a plurality of detection sensor sets and is used for collecting a plurality of test data of a detection object; the background command control system (6) is electrically connected with the support rack (1), the overhead suspension moving device (2), the microclimate environment simulation device (3), the crop planting simulation device (4) and the test data detection device (5) and is used for controlling and adjusting the operation of each part of the detection platform.
2. The comprehensive detection platform for the seed production corn emasculation unmanned aerial vehicle according to claim 1, wherein the support bench (1) comprises a main body frame (11), a sliding rail (12) and a synchronous moving trolley module (13), and the main body frame (11) comprises a sliding table top (111), a frame (112) and a longitudinal displacement rail (113); the longitudinal displacement rail (113) is positioned at the top of the main body frame, the sliding rail (12) is connected below the longitudinal displacement rail (113) in a sliding way through the synchronous moving trolley module, and the sliding rail (12) can longitudinally move along the longitudinal displacement rail (113); the crop planting simulation device (4) is arranged on the sliding table top (111); the aerial suspension moving device (2) is connected to the sliding rail (12) in a sliding way and can move transversely along the sliding rail; the microclimate environment simulation device (3) is mounted on a frame (112).
3. The comprehensive detection platform for the seed production corn emasculation unmanned aerial vehicle according to claim 1, wherein the aerial suspension moving device (2) comprises a multifunctional moving slide block (21), a multi-attitude elastic base (22) and a detection object fixing clamp; the multifunctional movable slide block (21) is connected to the top of the support rack (1) in a sliding manner; the multi-gesture elastic base (22) is fixed at the bottom of the multifunctional movable slide block (21); the detection object fixing clamping piece is detachably arranged at the bottom of the multi-pose elastic base and used for hanging and fixing the detection object.
4. A comprehensive detection platform for a seed production corn emasculation unmanned aerial vehicle according to claim 3, wherein the detection object fixing clamping pieces comprise an unmanned aerial vehicle fixing clamping piece (23) and a mechanical arm fixing clamping piece (24), the unmanned aerial vehicle fixing clamping piece (23) is used for hanging and fixing the emasculation unmanned aerial vehicle (14), and the mechanical arm fixing clamping piece (24) is used for hanging and fixing an emasculation mechanical arm (15); the unmanned aerial vehicle fixing clamp (23) comprises a clamp seat (231), an inner sucker (232) and a mechanical clamping arm (233), wherein the clamp seat (231) is a main body part of the unmanned aerial vehicle fixing clamp (23), the top of the clamp seat is rigidly connected with the multi-posture elastic base (22), the inner sucker (232) is arranged at the bottom of the clamp seat, and the inner sucker (232) is used for adsorbing a top cover of a machine body of the emasculation unmanned aerial vehicle (14); the mechanical clamping arms (233) are all arranged on the side face of the clamping seat (231), one end of each mechanical clamping arm is fixed on the clamping seat (231), and the other end of each mechanical clamping arm is a movable U-shaped buckle for fixing the arm of the emasculation unmanned aerial vehicle (14); the mechanical arm fixing clamp (24) comprises a clamp main body (241), a locking piece (242) and a locking stud (243), the locking piece (242) is adjusted to advance or retreat through rotating the locking stud (243), and the locking piece (242) is used for fixing the emasculation mechanical arm (15).
5. The comprehensive detection platform for the seed production corn emasculation unmanned aerial vehicle according to claim 1, wherein the microclimate environment simulation device (3) comprises an air temperature and humidity adjustment module (31) and a side wind simulation adjustment module (32) which are used for simulating and adjusting the environmental side wind and the air temperature and humidity required by the test.
6. The comprehensive detection platform for the emasculation unmanned aerial vehicle for seed production corns according to claim 1, wherein the crop planting simulation device (4) comprises a lifting module (41), a simulation ground (42), a crop plant clamp array (43), a transverse guide rail sliding block assembly (44) and a longitudinal guide rail sliding block assembly (45); the lifting module (41) is arranged at the bottom of the simulated ground (42) and is used for adjusting the ground clearance of the simulated ground (42); the crop plant clamp array (43) is composed of a plurality of crop plant clamps, and the plurality of crop plant clamps are respectively arranged on rail crossing nodes of the transverse guide rail sliding block assembly (44) and the longitudinal guide rail sliding block assembly (45).
7. The comprehensive detection platform for the emasculation unmanned aerial vehicle for seed production corns according to claim 6, wherein the crop plant clamp comprises a potting fixed clamp (431), a stalk fixed clamp (432) and a load bearing base (433), the potting fixed clamp (431) is used for fixing crop plants (16) planted in a flowerpot, and the stalk fixed clamp (432) is used for directly fixing crop plants (16) in a bare root state; the potted plant fixed clamp (431) or the stalk fixed clamp (432) is fixedly connected with the load base (433) through a stud; the weight-bearing base (433) is provided with a weight, and the weight-bearing base (433) is provided with a weight m Dead weight =F Pulling force /g –m Basin soil -m Plants and methods of making the same Wherein, m is Basin soil Is the weight of the flowerpot and the soil, m Plants and methods of making the same Is the bare weight of the crop plants, g is the gravity coefficient, F Pulling force The average pulling force for pulling the true crop plants out of the soil.
8. The comprehensive detection platform for the seed production corn emasculation unmanned aerial vehicle according to claim 1, wherein the test data detection device (5) comprises a rotor wind field sensor, a tassel cutting force measurement sensor, a tassel grabbing force measurement sensor, a crop height measurement sensor, a crop image acquisition sensor and a gesture detection sensor.
9. The comprehensive detection platform for the seed production corn emasculation unmanned plane according to claim 1, wherein the background command control system (6) comprises a main control platform (61), an electrical control cabinet (62) and a test monitoring module (63), the main control platform (61) is electrically connected with the electrical control cabinet (62), and the electrical control cabinet (62) is electrically connected with the support bench (1), the overhead suspension moving device (2), the microclimate environment simulating device (3), the crop planting simulating device (4), the test data detecting device (5) and the test monitoring module (63) respectively; the test monitoring module (63) comprises a global video monitoring unit (631), a near-field video monitoring unit (632) and a micro-environment monitoring unit (633), wherein the global video monitoring unit (631) is arranged around the main body frame of the support bench (1) and is used for monitoring and recording global test images; the near-field video monitoring unit (632) is arranged at the front position of the detection object and is used for monitoring and recording the close-range test images; the microenvironment monitoring unit (633) is a combination of air temperature and humidity, three-dimensional wind speed and direction and illumination sensors.
10. The detection method of the comprehensive detection platform of the seed production corn emasculation unmanned aerial vehicle as claimed in claim 1, which is characterized by comprising the following steps:
s1: hanging and fixing a detection object: selecting a corresponding detection object fixing clamping piece according to the detection object being a castration unmanned aerial vehicle or a castration mechanical arm, and hanging and installing the detection object on the aerial hanging moving device by means of the crop planting simulation device;
s2: arranging crops for fixing and detecting: simulating and detecting a planting agronomic scene of crops by using a crop planting simulation device, selecting a corresponding crop plant clamp, and adjusting the crop planting simulation device by using the background command control system so as to adjust the crop planting row spacing and the plant spacing; fixing crop plants on the crop plant simulation device through a crop plant clamp;
s3: arranging each detection sensor of the test data detection device on a comprehensive detection platform;
s4: setting and adjusting parameters of a test bed: setting the displacement speed, the displacement direction and the displacement distance of the suspended detection object through the background command control system, adjusting the relative height between the crop plants on the crop planting simulation device and the suspended detection object, and setting the environmental parameters simulated by the microclimate environmental simulation device;
s5: after the steps are finished, starting a detection object, controlling the action of the detection object through the background command control system, and simultaneously controlling the test data detection device to collect test data of the detection object;
s6: and after the current test data acquisition is completed, closing the detection object in time, if the test is not completed, repeating the steps S2-S5, and continuously acquiring the test data until the detection is completed.
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