CN116902220B - Agricultural unmanned plane ground-imitating flight detection method and detection equipment - Google Patents
Agricultural unmanned plane ground-imitating flight detection method and detection equipment Download PDFInfo
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- CN116902220B CN116902220B CN202311162946.3A CN202311162946A CN116902220B CN 116902220 B CN116902220 B CN 116902220B CN 202311162946 A CN202311162946 A CN 202311162946A CN 116902220 B CN116902220 B CN 116902220B
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- 238000001514 detection method Methods 0.000 title claims abstract description 45
- 238000012360 testing method Methods 0.000 claims abstract description 139
- 238000004088 simulation Methods 0.000 claims abstract description 3
- 230000033001 locomotion Effects 0.000 claims description 49
- 230000000087 stabilizing effect Effects 0.000 claims description 27
- 230000002457 bidirectional effect Effects 0.000 claims description 17
- 230000004044 response Effects 0.000 claims description 13
- 238000000034 method Methods 0.000 claims description 10
- 230000007246 mechanism Effects 0.000 claims description 7
- 238000001179 sorption measurement Methods 0.000 claims description 7
- 230000000149 penetrating effect Effects 0.000 claims description 6
- 230000033228 biological regulation Effects 0.000 claims description 5
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 238000002360 preparation method Methods 0.000 abstract description 3
- 230000006641 stabilisation Effects 0.000 abstract description 2
- 238000011105 stabilization Methods 0.000 abstract description 2
- 239000007769 metal material Substances 0.000 description 20
- 239000000463 material Substances 0.000 description 17
- 238000010586 diagram Methods 0.000 description 10
- 238000003780 insertion Methods 0.000 description 10
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- 230000009471 action Effects 0.000 description 3
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- 238000011156 evaluation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 239000003381 stabilizer Substances 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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- 230000003628 erosive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000003825 pressing Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
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- 239000002699 waste material Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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Abstract
The invention relates to the technical field of ground-imitation flight detection, and discloses a ground-imitation flight detection method and detection equipment for an agricultural unmanned plane, which can simulate the ring diameter of the terrain of a farmland, simulate the environments of a flat flight preparation section, a ramp section and a flat flight stabilization section by using three test platens, and realize ground-imitation flight detection on different ramp angles by adjusting the angles of the test platens of the ramp section, and the whole detection equipment is convenient to move, can move to different positions for ground-imitation flight simulation detection, has high detection efficiency and reduces the difficulty of ground-imitation flight detection; the device provided by the invention can realize the adjustment of the direction and angle of the carried signal emitter and vision sensor, is convenient for better performing ground imitation detection flight, emits signals to obtain a flight curve, and can clamp, fix and limit the position after the angle adjustment is completed, so that shaking is prevented from occurring and the detection is influenced.
Description
Technical Field
The invention belongs to the technical field of ground-imitating flight detection, and particularly relates to a ground-imitating flight detection method and detection equipment for an agricultural unmanned plane.
Background
When the agricultural unmanned aerial vehicle performs ground-imitating flight detection, the flying height and the flying path channel of the agricultural unmanned aerial vehicle are required to be detected, the unmanned aerial vehicle is required to be brought into the field to be detected during detection, the detection is difficult, the determination and the change of the flying line channel are inconvenient, the detection of different slopes is inconvenient for some slope positions, the detection of different slopes is required, the test is required to be performed on different slope zones, in the existing test detection survey, the equipment for simulating the ring diameter of the farmland is less during the test detection, the field is required to be driven to be detected during the detection, the time waste is caused in the detection process, and the efficiency is low.
Disclosure of Invention
Aiming at the situation, in order to overcome the defects of the prior art, the invention provides an agricultural unmanned plane ground-imitating flight detection method and detection equipment, which effectively solve the problems in the background art.
In order to achieve the above purpose, the present invention provides the following technical solutions: an agricultural unmanned plane ground-imitating flight detection method, which comprises the following steps of;
step one: building a standard test platform, and adjusting the position height of the standard test platform to a proper position;
step two: determining the center line of a standard test platform;
step three: determining a start point and an end point of the aircraft flight on a central line, and determining the start point and the end point as a reference for testing;
step four: determining the height between the actual flight curve and the gradient of the aircraft as the ground-preventing height, and determining the theoretical height of the aircraft flight;
step five: measuring the height deviation;
step six: measuring response time;
step seven: displaying a tool speed curve on software;
step eight: and writing the target height and speed information of the measured machine tool into the medium software.
Preferably, in the fifth step, the method further includes: the distance between the actual flight altitude and the theoretical flight altitude of the aircraft is defined as positive above the theoretical flight curve and negative below the theoretical flight curve; calculating a standard maximum value, an average value and a standard deviation; judging by taking the maximum value as a result;
preferably, in the sixth step, the method further includes:
the response time of the terrain from flat land to sloping land and the response time of the sloping land to flat land; the response time should be less than or equal to 3s.
The ground-imitating flight detection equipment for the agricultural unmanned aerial vehicle comprises a bottom plate and an unmanned aerial vehicle body, wherein a test platform is arranged on the bottom plate, a rotating shaft is rotatably connected to the bottom of the unmanned aerial vehicle body, a groove connecting frame is fixedly connected to the tail end of the lower side of the rotating shaft, an adjusting rotating shaft is symmetrically and rotatably connected to the end wall of the groove connecting frame in a penetrating mode, a connecting block is fixedly connected between the adjusting rotating shafts, a brake fluted disc is connected to the outer surface spline of the adjusting rotating shaft, a brake plate is fixedly connected to the outer surface of the groove connecting frame on the upper side of the adjusting rotating shaft, a brake slide rod is connected to the brake plate in a penetrating and sliding mode, a brake spring is connected to the outer surface nesting mode of the brake slide rod, a brake cone is fixedly connected to the tail end of the lower side of the brake slide rod, the brake cone is clamped into the brake fluted disc, a signal transmitter is connected to the connecting block, a fixing ring is fixedly connected to the lower surface of the unmanned aerial vehicle body, a clamping screw rod is connected to the fixing ring in a penetrating mode through circumferential array in a threaded mode, and a clamping pad is connected to the tail end of the inner side of the clamping screw.
Preferably, the test platform comprises a first test platen inserted on the upper surface of the bottom plate, the first test platen is hinged with a second test platen, a supporting component is connected between the second test platen and the bottom plate, a third test platen is hinged on one side surface of the second test platen away from the first test platen, the third test platen is connected with the bottom plate through a stabilizing component, an insertion groove is processed on the upper surface of the first test platen, an insertion column is inserted in the insertion groove, the insertion column is uniformly and fixedly connected to the bottom of the flexible test pad, and color steel and a simulation lawn are arranged on the upper surface of the flexible test pad.
Preferably, the supporting component comprises supporting blocks uniformly machined on the lower portion of the second test bedplate, supporting nut blocks are hinged between the adjacent supporting blocks, the supporting nut blocks are in threaded connection with the tail ends of the upper sides of the supporting rods, the tail ends of the lower sides of the supporting rods are in threaded connection with the bottom plate, and threaded holes matched with the supporting rods are machined on the upper surface of the bottom plate.
Preferably, the stabilizing assembly comprises a bidirectional adjusting screw rod which is uniformly and threadedly connected with the lower surface of the third test bedplate, the tail end of the lower side of the bidirectional adjusting screw rod is in threaded connection with the upper surface of the bottom plate, threaded holes which are mutually matched with the bidirectional adjusting screw rod are formed in the bottom plate and the third test bedplate, the outer surface of the bidirectional adjusting screw rod is rotationally connected with a rotating ring, stabilizing threaded holes are uniformly formed in the outer surface of the rotating ring, and stabilizing rods are similarly in threaded connection between the stabilizing threaded holes between the rotating rings.
Preferably, the bottom plate bottom is provided with movement mechanism, movement mechanism includes the even processing of bottom plate bottom has the motion groove, motion groove upper portion fixedly connected with electric putter, electric putter passes through a wire and connects, the downside end fixedly connected with motion frame of electric putter, motion frame sliding connection is in between the motion groove end wall, articulated on the motion frame have the motion wheel.
Preferably, the side surface of the bottom plate is connected with a fixing assembly, the fixing assembly comprises a fixing frame which is symmetrically and fixedly installed around the side surface of the bottom plate, a fixing screw rod is connected to the fixing frame in a penetrating threaded mode, the tail end of the lower side of the fixing screw rod is rotationally connected with an adsorption disc, and the tail end of the upper side of the fixing screw rod is fixedly connected with a handle.
Preferably, the connecting block bottom processing has the connecting screw hole, connecting screw hole internal thread has the screw thread post, screw thread post fixed mounting is in signal transmitter's upper surface.
Compared with the prior art, the invention has the beneficial effects that:
1. the method provided by the invention can realize the calculation of the height of the unmanned aerial vehicle, can realize the determination of the height deviation, and can realize the display of the flight curve of the unmanned aerial vehicle by using software.
2. The invention provides the ground-imitating flight detection equipment for the agricultural unmanned plane, which can simulate the ring diameter of the topography of a farmland, simulate the environments of a flat flight preparation section, a ramp section and a flat flight stabilization section by using three test platens, and realize the ground-imitating flight detection on different ramp angles by adjusting the angles of the test platens of the ramp section.
3. The device provided by the invention can realize the adjustment of the direction and angle of the carried signal emitter and vision sensor, is convenient for better performing ground imitation detection flight, emits signals to obtain a flight curve, and can clamp, fix and limit the position after the angle adjustment is completed, so that shaking is prevented from occurring and the detection is influenced.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention.
In the drawings:
fig. 1 is a schematic flow chart of a ground-imitating flight detection method of an agricultural unmanned plane provided by an embodiment of the invention;
fig. 2 is a schematic structural diagram of a first direction of an agricultural unmanned plane ground-imitating flight detection device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a second direction of an agricultural unmanned plane ground-imitating flight detection device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a third direction of an agricultural unmanned plane ground-imitating flight detection device according to an embodiment of the present invention
FIG. 5 is a schematic diagram of a first direction of a test platform according to an embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating a second direction of the test platform according to the embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a third direction of the test platform according to the embodiment of the present invention;
fig. 8 is a schematic structural diagram of a first direction of an unmanned aerial vehicle body according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a second direction of the unmanned aerial vehicle body according to the embodiment of the present invention;
fig. 10 is a schematic structural diagram of a third direction of the unmanned aerial vehicle body according to the embodiment of the present invention;
FIG. 11 is a schematic view illustrating a first direction of a second test platen according to an embodiment of the present invention;
FIG. 12 is a schematic view of a second direction of a second test platen according to an embodiment of the present invention;
FIG. 13 is a schematic view illustrating a first direction of a stabilizing assembly according to an embodiment of the present invention;
FIG. 14 is a schematic view illustrating a second direction of a stabilizing assembly according to an embodiment of the present invention;
FIG. 15 is a schematic view of a movement mechanism according to an embodiment of the present invention;
FIG. 16 is a schematic view of a flexible test pad according to an embodiment of the present invention;
FIG. 17 is a schematic cross-sectional view of the structure at A-A in FIG. 7;
FIG. 18 is a schematic cross-sectional view of the structure at B-B in FIG. 8;
FIG. 19 is an enlarged schematic view of FIG. 9C;
FIG. 20 is a schematic elevation view between a flight curve and grade;
FIG. 21 is a response time diagram.
In the figure: 1-bottom plate, 2-first test platen, 3-adsorption disk, 4-mount, 5-handle, 6-second test platen, 7-unmanned aerial vehicle body, 8-fixed lead screw, 9-bi-directional adjustment lead screw, 10-insert slot, 11-third test platen, 13-support bar, 14-rotating ring, 15-moving slot, 16-fixed ring, 17-clamping lead screw, 18-clamping pad, 19-spindle, 20-groove connection rack, 21-connection block, 22-signal emitter, 24-support block, 25-support nut block, 26-stabilizing threaded hole, 27-stabilizer bar, 29-moving rack, 30-moving wheel, 31-brake plate, 32-brake spring, 33-brake slide bar, 34-brake cone, 35-brake fluted disc, 36-adjusting spindle, 37-electric push rod, 38-flexible test pad, 39-insert column, 40-threaded column, 41-connecting threaded hole.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention; all other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As can be seen from fig. 1, the present invention provides the following technical solutions for achieving the above-mentioned objects by an agricultural unmanned plane ground-imitating flight detection method: an agricultural unmanned plane ground-imitating flight detection method, which comprises the following steps of;
step one: building a standard test platform, and adjusting the position height of the standard test platform to a proper position;
step two: determining the center line of a standard test platform;
step three: determining a starting point and an ending point of the airplane flight on a central line, determining a reference for testing, wherein the two AB points are respectively the starting point and the ending point of the airplane flight on the central line of a standard test platform, and are also the reference for testing; the ground-imitating height is the height between the actual flight curve and the slope of the aircraft, as in fig. 20, H1, H2, H3.. The theoretical flying height of the aircraft is H;
step four: determining the height between the actual flight curve and the gradient of the aircraft as the ground-preventing height, and determining the theoretical height of the aircraft flight;
step five: measuring the height deviation, namely defining the distance between the actual flight height and the theoretical flight height of the aircraft, wherein the upper part of the theoretical flight curve is positive, and the lower part of the theoretical flight curve is negative; calculating a standard maximum value, an average value and a standard deviation; and judging by taking the maximum value as a result, namely that the Max|H2| is less than or equal to 60 cm.
Hδi=Hi-H
Maximum value: max|H2| is less than or equal to 60cm
Average value:
standard deviation:；
step six: measuring response time;
step seven: displaying a tool speed curve on software;
step eight: and writing the target height and speed information of the measured machine tool into the medium software.
Advantageously, in said step five, further comprises: the distance between the actual flight altitude and the theoretical flight altitude of the aircraft is defined as positive above the theoretical flight curve and negative below the theoretical flight curve; calculating a standard maximum value, an average value and a standard deviation; judging by taking the maximum value as a result;
advantageously, in the sixth step, the method further comprises:
the response time of the terrain from flat land to sloping land and the response time of the sloping land to flat land; response time should be less than or equal to 3s, T1=t1-t 0
T2=t3-t2
As shown in fig. 21.
As shown in fig. 2-19, the invention further provides an agricultural unmanned aerial vehicle ground-simulating flight detection device, based on the above-mentioned agricultural unmanned aerial vehicle ground-simulating flight detection method, which comprises a base plate 1 and an unmanned aerial vehicle body 7, wherein the base plate 1 is made of a light metal material for increasing the stability reliability of the whole evaluation platform, the outer surface of the base plate 1 is coated with an anti-erosion material for protecting the base plate 1, the service life of the base plate 1 is prolonged, a test platform is arranged on the base plate 1, the evaluation platform is convenient for testing the unmanned aerial vehicle ground-simulating flight, the unmanned aerial vehicle body 7 adopts the existing four-axis agricultural unmanned aerial vehicle, the bottom of the unmanned aerial vehicle body 7 is rotationally connected with a rotating shaft 19, the rotating shaft 19 is made of a light metal material, the rotating shaft 19 is used for connecting the groove connecting frame 20, the lower end of the rotating shaft 19 is fixedly connected with a groove connecting frame 20, the groove connecting frame 20 is made of light metal materials, the cross section of the groove connecting frame 20 is in a concave shape and is convenient for installing the adjusting rotating shaft 36, the end wall of the groove connecting frame 20 is symmetrically and rotatably connected with the adjusting rotating shaft 36 in a penetrating way, the adjusting rotating shaft 36 is made of light metal materials, a connecting block 21 is fixedly connected between the adjusting rotating shafts 36, the connecting block 21 is used for installing the signal emitter 22, the connecting block 21 is made of light metal materials, the outer surface spline of the adjusting rotating shaft 36 is connected with a brake fluted disc 35, spline connection between the brake fluted disc 35 and the adjusting rotating shaft 36 is convenient for disassembling, the brake fluted disc 35 is made of light metal materials, the shape of the brake fluted disc 35 is similar to the shape of a gear, the brake fluted disc 35 is used for braking the adjusting rotating shaft 36 to prevent the adjusting rotating shaft 36 from rotating, the outer surface of the groove connecting frame 20 at the upper side of the adjusting rotating shaft 36 is fixedly connected with a brake plate 31, the brake plate 31 is made of a light metal material, the brake plate 31 is convenient for installing the brake slide rod 33, a through hole for sliding the brake slide rod 33 is processed on the brake plate 31, the outer surface of the brake slide rod 33 is smooth through the surface, the tail end of the upper side of the brake slide rod 33 is fixedly connected with a cross rod, so as to be convenient for clamping the brake spring 32 between the brake slide rod 31, the brake slide rod 33 is penetratingly and slidably connected with the brake slide rod 31, the brake slide rod 33 is made of a light metal material, the brake slide rod 33 is convenient for fixedly connecting the brake cone 34, the outer surface of the brake slide bar 33 is connected with a brake spring 32 in a nested way, the brake plate 31 is clamped between the brake plate 31 and the cross bar, the brake spring 32 is made of metal materials, the brake spring 32 is used for resetting the brake slide bar 33, the tail end of the lower side of the brake slide bar 33 is fixedly connected with a brake cone 34, the brake cone 34 is made of metal materials which are the same as those of the brake fluted disc 35, the brake cone 34 brakes the brake fluted disc 35, the brake cone 34 is clamped into the brake fluted disc 35, in the initial position, the brake cone 34 is clamped into the brake fluted disc 35 for braking, the connecting block 21 is connected with a signal emitter 22, the signal emitter 22 is used for emitting signals, the signals are conveniently emitted to form a motion track signal wire, the emitted signals are received by a signal receiver at the far end, the received signal track is displayed on the display, so that the degree flight track is displayed, a visual sensor is mounted at the bottom of the signal transmitter 22, the flight path is convenient to detect, deviation of the flight path is avoided, the lower surface of the unmanned aerial vehicle body 7 is fixedly connected with a fixed ring 16, the fixed ring 16 is made of a light metal material, the fixed ring 16 is convenient for mounting the clamping screw rod 17, the rotating shaft 19 is positioned in the middle of the fixed ring 16, the clamping screw rod 17 is connected with the fixed ring 16 through a circumferential array thread, the clamping screw rod 17 is made of a light metal material, the clamping screw rod 17 is convenient to drive the clamping pad 18 to move, the clamping pad 18 is connected with the tail end of the inner side of the clamping screw rod 17 in a rotating manner, the clamping pad 18 is made of an anti-slip material, the clamping pad 18 is contacted with the rotating shaft 19 to brake the rotating shaft 19, the rotating shaft 19 is prevented from rotating, and the clamping pad 18 is contacted with the rotating shaft 19;
thereby will signal transmitter 22 connects the connecting block 21 lower surface, rotates pivot 19, thereby drives recess link 20 rotates to corresponding position, thereby realizes to signal transmitter 22's direction adjustment is to suitable position back, rotates clamping screw 17, thereby drives press from both sides tight pad 18 motion towards pivot 19 is close to, thereby realizes pressing from both sides tightly pivot 19, prevents pivot 19 rotates, recess link 20 rotates to corresponding position back, then manual pulling braking slide bar 33, thereby makes braking slide bar 33 upward movement, thereby makes braking awl 34 break away from with behind the braking fluted disc 35 contact, braking spring 32 compresses back, manual rotation adjusting spindle 36, thereby drives connecting block 21 rotates, thereby drives signal transmitter 22 rotates to corresponding angle back, owing to braking spring 32's reset motion, thereby drive braking 33 reset motion, thereby drives braking awl 34 motion card is gone into in the corresponding position, thereby realizes that braking awl 34 moves into in the braking fluted disc 35, thereby realizes that the actuator 22 carries out the motion sensor signal transmission line of the sensor 22 is realized, thereby the sensor signal transmitter 22 is launched to the sensor.
The test platform comprises a first test bedplate 2 inserted on the upper surface of a bottom plate 1, wherein the first test bedplate 2 is made of a light metal material, the first test bedplate 2 is a flat flight preparation section, the length of the first test bedplate is about ten meters, the first test bedplate 2 is hinged with a second test bedplate 6, the angle of the second test bedplate 6 is convenient to adjust, the gradient of a ramp section is adjusted, the second test bedplate 6 is a ramp section, the length of the second test bedplate 6 is about sixteen points and five meters, the second test bedplate 6 is made of a metal material which is the same as that of the first test bedplate 2, a support component is connected between the second test bedplate 6 and the bottom plate 1, the fixed ring 16 support component supports the second test bedplate 6 and adopts a plurality of support components to support, a third test table plate 11 is hinged to the surface of one side, far away from the first test table plate 2, of the second test table plate 6, the third test table plate 11 is made of a metal material which is the same as the second test table plate 6, the length of the third test table plate 11 is about twenty-five meters, the third test table plate 11 is connected with the bottom plate 1 through a stabilizing component, the stabilizing component is used for stabilizing the third test table plate 11, erosion-resistant materials are smeared on the outer surfaces of the first test table plate 2, the second test table plate 6 and the third test table plate 11, an insertion groove 10 is processed on the upper surfaces of the first test table plate 2, the second test table plate 6 and the third test table plate 11, the insertion groove 10 is convenient for inserting the insertion column 39, the insertion groove 10 is inserted with the insertion column 39, the insertion columns 39 are uniformly and fixedly connected to the bottom of the flexible test base plate 38, the flexible test base plate 38 is made of flexible bendable materials, damage to the electric push rod 37 during adjustment of the angle of the ramp section is prevented, and color steel and a simulated lawn are arranged on the upper surface of the flexible test base plate 38, so that field operation conditions can be conveniently simulated;
the first test bedplate 2 is inserted into the upper surface of the bottom plate 1, the second test bedplate 6 is supported by the manufacturing assembly, the gradient of the second test bedplate 6 is adjusted by adjusting the height of each supporting assembly, the ground-imitating flying is convenient to carry out when different gradients are met, the third test bedplate 11 is correspondingly and stably supported by the stabilizing assembly, the inserting columns 39 are inserted into the inserting grooves 10, and the flexible test base plate 38 is paved on the upper surfaces of the first test bedplate 2, the second test bedplate 6 and the third test bedplate 11.
The supporting assembly comprises a supporting block 24 uniformly machined on the lower portion of a second test bedplate 6, the supporting block 24 is made of a light metal material, the supporting block 24 is convenient for supporting the second test bedplate 6, four groups of supporting blocks 24 are arranged on the lower surface of the second test bedplate 6, two supporting blocks 24 are arranged on each group, anti-corrosion materials are smeared on the outer surfaces of the supporting blocks 24, supporting nut blocks 25 are hinged between the adjacent supporting blocks 24, anti-corrosion materials are smeared on the surfaces of the supporting nut blocks 25, the supporting nut blocks 25 are made of the light metal material, the supporting nut blocks 25 are in threaded connection with the upper ends of supporting rods 13, threads are machined on the two side ends of the supporting rods 13, the anti-corrosion materials are smeared on the outer surfaces of the supporting rods 13, different lengths of the supporting rods 13 are selected according to gradient supporting adjustment of the second test bedplate 6, the lower ends of the supporting rods 13 are in threaded connection with the bottom plate 1, and threaded holes matched with the supporting rods 13 are machined on the upper surfaces of the bottom plate 1;
therefore, after the angle of the second test platen 6 is adjusted to a proper position, the threaded holes on the bottom plate 1 and the support nut blocks 25 are connected through the support rods 13 with different lengths, so that the second test platen 6 is supported, and the support nut blocks 25 are hinged with the support blocks 24, so that the support nut blocks 25 are convenient to rotate and support better.
The stabilizing assembly comprises a bidirectional adjusting screw rod 9 which is uniformly and threadedly connected with the lower surface of the third test bedplate 11, the bidirectional adjusting screw rod 9 consists of two screw rods and a threaded cylinder, four stabilizing threaded holes 26 are uniformly formed in the outer surface of the two screw rods and the threaded cylinder, anti-corrosion materials are coated on the outer surface of the bidirectional adjusting screw rod 9, the tail end of the lower side of the bidirectional adjusting screw rod 9 is in threaded connection with the upper surface of the bottom plate 1, threaded holes which are mutually matched with the bidirectional adjusting screw rod 9 are formed in the bottom plate 1 and the third test bedplate 11, a rotating ring 14 is rotationally connected to the outer surface of the bidirectional adjusting screw rod 9, the rotating ring 14 is made of light metal materials, anti-corrosion materials are coated on the outer surface of the rotating ring 14, four stabilizing threaded holes 26 are uniformly formed in the outer surface of the rotating ring 14, stabilizing threaded holes 26 are arranged at ninety degrees, stabilizing rods 27 are threadedly connected between the stabilizing threaded holes 26 between the adjacent rotating rings 14, threads are formed in the tail ends of the stabilizing rods 27, and anti-corrosion materials are coated on the outer surfaces of the stabilizing rods 27;
thereby will pass through bi-directional adjustment lead screw 9 will third test platen 11 with bottom plate 1 is connected, through the rotation regulation bi-directional adjustment lead screw 9's length, thereby is adjusted to the height of third test platen 11, thereby realizes supporting third test platen 11, through stabilizer bar 27 with stabilizator screw hole 26 between threaded connection, thereby realize the connection between the swivel ring 14, thereby increase swivel ring 14 between stability, thereby increase bi-directional adjustment lead screw 9 between stability, thereby increase third test platen 11's stability prevents third test platen 11 from appearing rocking.
The bottom of the bottom plate 1 is provided with a movement mechanism, the bottom plate 1 is convenient to move, the bottom plate is convenient to move to different positions for detection and test, the movement mechanism comprises four movement grooves 15 which are uniformly processed at the bottom of the bottom plate 1, the upper part of each movement groove 15 is fixedly connected with an electric push rod 37, the electric push rods 37 are connected through a wire, each electric push rod 37 is made of a rigid material, a bedroom material is smeared on the surface of each electric push rod 37, each electric push rod 37 is used for pushing the corresponding movement frame 29 to move and lift, the lower end of each electric push rod 37 is fixedly connected with a movement frame 29, the outer surface of each movement frame 29 is smeared with an anti-erosion material, the section of each movement frame 29 is in a concave shape, each movement frame 29 is slidably connected between the end walls of each movement groove 15, each movement frame 29 is hinged with a movement wheel 30, each movement wheel 30 is convenient to move, each movement wheel 30 is smeared with an anti-erosion material, and each movement wheel 30 is made of an anti-wear material;
when the position needs to be moved, the electric push rod 37 is electrified through a wire, so that the electric push rod 37 moves electrically, the moving frame 29 is pushed to move downwards, the moving wheel 30 is contacted with the ground, the bottom plate 1 is supported, the bottom plate 1 is pushed to move, the moving wheel 30 is rotated, and the position of the bottom plate 1 is moved.
The fixing assembly is used for fixing the bottom plate 1 and preventing the bottom plate 1 from moving, the fixing assembly comprises fixing frames 4 symmetrically and fixedly installed on the left side surface and the right side surface of the bottom plate 1, the fixing frames 4 are made of metal materials, anti-corrosion materials are smeared on the outer surfaces of the fixing frames 4, the fixing frames 4 are used for installing the fixing screws 8, the fixing screws 8 penetrate through the fixing frames 4 and are connected with the fixing screws 8 in a threaded mode, the fixing screws 8 are made of metal materials, anti-corrosion materials are smeared on the surfaces of the fixing screws 8, the lower ends of the fixing screws 8 are rotationally connected with adsorption discs 3, the adsorption discs 3 are made of elastic materials and are convenient to adsorb on the ground, handles 5 are fixedly connected to the upper ends of the fixing screws 8, and the handles 5 are convenient for the fixing screws 8 to rotate.
Thereby manual rotation handle 5, thereby drive fixed lead screw 8 rotates the downward movement, thereby drives the downward movement of adsorption disc 3 adsorbs subaerial, thereby realizes fixing bottom plate 1, prevents to appear moving.
The bottom of the connecting block 21 is provided with a connecting threaded hole 41, the connecting threaded hole 41 is internally and in threaded connection with a threaded column 40, the threaded column 40 is convenient for connecting the connecting block 21 and the signal emitter 22, and the threaded column 40 is fixedly arranged on the upper surface of the signal emitter 22;
thereby screwing the screw-threaded post 40 into the screw-threaded post 40, thereby achieving the connection between the connection block 21 and the signal transmitter 22.
The motion flow of the equipment is as follows: the first test bedplate 2 is inserted into the upper surface of the bottom plate 1, the second test bedplate 6 is supported by a manufacturing assembly, the gradient of the second test bedplate 6 is adjusted by adjusting the height of each supporting assembly, the ground-imitating flying is convenient to be carried out when different gradients are adopted, the third test bedplate 11 is correspondingly and stably supported by the stabilizing assembly, the inserting column 39 is inserted into the inserting groove 10, the flexible test base plate 38 is paved on the upper surfaces of the first test bedplate 2, the second test bedplate 6 and the third test bedplate 11, the angle of the second test bedplate 6 is adjusted to a proper position, after the adjustment, the threaded holes on the bottom plate 1 are connected with the supporting nut blocks 25 by the supporting rods 13 with different lengths, thereby realizing the support of the second test bedplate 6, the support nut block 25 is hinged with the support block 24, so that the support nut block 25 is convenient to rotate and is convenient for better support, the third test bedplate 11 is connected with the bottom plate 1 through the bidirectional adjusting screw rod 9, the height of the third test bedplate 11 is adjusted through rotating and adjusting the length of the bidirectional adjusting screw rod 9, thereby realizing the support of the third test bedplate 11, the connection between the rotating rings 14 is realized through the threaded connection between the stabilizing rod 27 and the stabilizing threaded holes 26, the stability between the rotating rings 14 is increased, the stability between the bidirectional adjusting screw rod 9 is increased, the stability of the third test bedplate 11 is increased, the third test bedplate 11 is prevented from shaking, when the position needs to be moved, the electric push rod 37 is electrified through a wire, so that the electric push rod 37 is electrically moved, the moving frame 29 is pushed to move downwards, the moving wheel 30 is in contact with the ground, the bottom plate 1 is supported, the bottom plate 1 is pushed to move, the moving wheel 30 is rotated, the position of the bottom plate 1 is moved, after the position is moved to the corresponding position, the handle 5 is manually rotated, the fixed screw rod 8 is driven to rotate and move downwards, the adsorption disc 3 is driven to move downwards to be adsorbed on the ground, the bottom plate 1 is fixed, the movement is prevented, the threaded column 40 is screwed into the threaded column 40, the connection between the connecting block 21 and the signal emitter 22 is realized, the signal emitter 22 is connected to the lower surface of the connecting block 21, rotating the rotating shaft 19 to drive the groove connecting frame 20 to rotate to a corresponding position, thereby realizing the adjustment of the direction of the signal emitter 22 to a proper position, rotating the clamping screw rod 17 after the adjustment to a proper position, driving the clamping pad 18 to move towards the rotating shaft 19, thereby realizing the clamping of the rotating shaft 19, preventing the rotating shaft 19 from rotating, rotating the groove connecting frame 20 to a corresponding position, then manually pulling the brake slide rod 33 to enable the brake slide rod 33 to move upwards, thereby enabling the brake cone 34 to be separated from the contact with the brake fluted disc 35, compressing the brake spring 32, manually rotating the adjusting rotating shaft 36, driving the connecting block 21 to rotate, driving the signal emitter 22 to rotate to a corresponding angle, loosening the brake slide bar 33, because the reset motion of the brake spring 32 drives the brake slide bar 33 to reset, thereby drive the brake cone 34 motion card is gone into in the brake fluted disc 35, thereby realize to adjust pivot 36 brake, thereby realize to signal transmitter 22 is fixed, starts unmanned aerial vehicle body 7 motion, thereby make unmanned aerial vehicle body 7 move on the flexible test backing plate, thereby drive signal transmitter 22 motion, signal transmitter 22 carries out the transmission of signal, visual sensor detects the route of flight, prevents to appear the skew, and signal transmitter and visual sensor's signal that sends contacts through signal receiver, shows curve etc. through corresponding software.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (2)
1. An agricultural unmanned aerial vehicle imitates ground flight check out test set, its characterized in that: including bottom plate (1) and unmanned aerial vehicle body (7), be provided with test platform on bottom plate (1), unmanned aerial vehicle body (7) bottom rotates and is connected with pivot (19), the terminal fixedly connected with recess link (20) of pivot (19) downside, symmetrical run-through is connected with regulation pivot (36) on recess link (20) end wall, fixedly connected with connecting block (21) between regulation pivot (36), the surface spline connection of regulation pivot (36) has brake fluted disc (35), the surface fixedly connected with brake disc (31) of recess link (20) of regulation pivot (36) upside, run through sliding connection has brake slide bar (33) on brake disc (31), the outside nested brake spring (32) that is connected with of brake slide bar (33), the terminal fixedly connected with brake cone (34) of downside of brake slide bar (33), brake cone (34) card is gone into in brake fluted disc (35), be connected with signal transmitter (22) on connecting block (21), the surface spline connection of machine body (36) has brake disc (16), the screw mandrel (17) of screw thread array (17) are held in the fixed connection of screw thread clamp in a fixed connection, the clamping pad (18) is in contact with the rotating shaft (19);
the test platform comprises a first test platen (2) inserted on the upper surface of a base plate (1), the first test platen (2) is hinged with a second test platen (6), a supporting component is connected between the second test platen (6) and the base plate (1), a third test platen (11) is hinged on one side surface of the second test platen (6) away from the first test platen (2), the third test platen (11) is connected with the base plate (1) through a stabilizing component, an inserting groove (10) is formed in the upper surfaces of the first test platen (2), the second test platen (6) and the third test platen (11), an inserting column (39) is inserted in the inserting groove (10), the inserting column (39) is uniformly and fixedly connected to the bottom of a flexible test pad (38), and color steel and a simulation lawn are arranged on the upper surface of the flexible test pad (38);
the support assembly comprises support blocks (24) which are uniformly processed at the lower part of the second test bedplate (6), support nut blocks (25) are hinged between the adjacent support blocks (24), the support nut blocks (25) are in threaded connection with the tail ends of the upper sides of the support rods (13), the tail ends of the lower sides of the support rods (13) are in threaded connection with the bottom plate (1), and threaded holes matched with the support rods (13) are processed on the upper surface of the bottom plate (1);
the stabilizing assembly comprises a bidirectional adjusting screw rod (9) which is uniformly and threadedly connected with the lower surface of the third test bedplate (11), the tail end of the lower side of the bidirectional adjusting screw rod (9) is in threaded connection with the upper surface of the bottom plate (1), threaded holes which are mutually matched with the bidirectional adjusting screw rod (9) are formed in the bottom plate (1) and the third test bedplate (11), a rotating ring (14) is rotationally connected to the outer surface of the bidirectional adjusting screw rod (9), stabilizing threaded holes (26) are uniformly formed in the outer surface of the rotating ring (14), and stabilizing rods (27) are threadedly connected between the stabilizing threaded holes (26) between the adjacent rotating rings (14);
the bottom of the bottom plate (1) is provided with a movement mechanism, the movement mechanism comprises a movement groove (15) uniformly machined in the bottom of the bottom plate (1), an electric push rod (37) is fixedly connected to the upper portion of the movement groove (15), the electric push rod (37) is connected through a wire, a movement frame (29) is fixedly connected to the tail end of the lower side of the electric push rod (37), the movement frame (29) is slidably connected between the end walls of the movement groove (15), and a movement wheel (30) is hinged to the movement frame (29);
the fixing device is characterized in that a fixing assembly is connected to the side surface of the bottom plate (1), the fixing assembly comprises fixing frames (4) symmetrically and fixedly installed on the front and back of the left side surface and the right side surface of the bottom plate (1), a fixing screw rod (8) is connected to the fixing frames (4) in a penetrating threaded mode, an adsorption disc (3) is connected to the tail end of the lower side of the fixing screw rod (8) in a rotating mode, and a handle (5) is fixedly connected to the tail end of the upper side of the fixing screw rod (8);
the bottom of the connecting block (21) is provided with a connecting threaded hole (41), the connecting threaded hole (41) is internally connected with a threaded column (40) in a threaded manner, and the threaded column (40) is fixedly arranged on the upper surface of the signal transmitter (22).
2. An agricultural unmanned aerial vehicle ground-imitating flight detection method based on the agricultural unmanned aerial vehicle ground-imitating flight detection equipment as claimed in claim 1, which is characterized in that: the method comprises the steps of;
step one: building a standard test platform, and adjusting the position height of the standard test platform to a proper position;
step two: determining the center line of a standard test platform;
step three: determining a starting point and an ending point of the airplane flight on a central line, determining a reference for testing, wherein the two AB points are respectively the starting point and the ending point of the airplane flight on the central line of a standard test platform, and are also the reference for testing; the ground-imitating height is the height between the actual flight curve and the gradient of the aircraft, and the theoretical height of the aircraft flight is H;
step four: determining the height between the actual flight curve and the gradient of the aircraft as the ground-preventing height, and determining the theoretical height of the aircraft flight;
step five: measuring the height deviation;
step six: measuring response time;
step seven: displaying an aircraft speed curve on the software;
step eight: writing the information of the altitude and the speed of the detected aircraft in software;
the fifth step further comprises: the distance between the actual flight altitude and the theoretical flight altitude of the aircraft is defined as positive above the theoretical flight curve and negative below the theoretical flight curve; calculating a standard maximum value, an average value and a standard deviation; judging by taking the maximum value as a result, namely, judging that the Max|H2delta i| is less than or equal to 60 cm;
Hδi=Hi-H
maximum value: max|H2| is less than or equal to 60cm
Average value:
standard deviation:；
the sixth step further includes:
the response time of the terrain from flat land to sloping land and the response time of the sloping land to flat land; the response time should be less than or equal to 3s.
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