CN106628245B - Indoor agricultural unmanned aerial vehicle test platform - Google Patents

Abstract

The invention relates to an indoor agricultural unmanned aerial vehicle test platform, which includes an unmanned aerial vehicle, a parallel four-bar linkage mechanism, a mobile vehicle, a guide rail, and a loading platform; On the linkage mechanism, the parallel four-bar linkage mechanism is installed on the mobile vehicle, and the mobile vehicle is movably installed on the guide rail. The described parallel four-bar linkage mechanism comprises an upper rotating rod, a lower rotating rod, a vertically arranged fixed rod, and a vertically arranged elevating rod; the upper rotating rod is rotatably installed on the fixed rod and the elevating rod, and the lower rotating rod One end is rotatably installed on the fixed rod, and the other end of the lower rotating rod is rotatably installed on the elevating rod, and the fixed rod is installed on the mobile vehicle. The invention can reliably and accurately test the drone, and belongs to the technical field of agricultural aviation.

Description

An indoor agricultural drone test platform

technical field

The invention relates to the technical field of agricultural aviation, in particular to an indoor agricultural unmanned aerial vehicle testing platform.

Background technique

At present, the shortage and outflow of agricultural labor force, the rising cost of agricultural labor force, the feminization and aging characteristics of agricultural labor force are obvious. In addition, the increase of agricultural machinery subsidies is conducive to the application and development of agricultural drones. Agricultural UAVs have attracted widespread attention due to their unique operational advantages in agricultural and forestry plant protection spraying, wind pollination, and remote sensing of farmland. They are especially suitable for cultivated land terrain where there are many hills in the south, and there are a large number of small plots and terraces that are not suitable for large-scale aviation machinery operations. . The advantages of agricultural drones include high operating efficiency and quality, labor saving, reduced pesticide use and pesticide residues, and reduced risk of pesticide poisoning for operators.

The 21st Century Economic Research Institute believes that 2016 is expected to usher in the first year of the "explosion" of plant protection drones. According to rough calculations, the market capacity in this field is expected to exceed 100 billion in the future.

UAV plant protection operations have been widely demonstrated in various places, but there are many problems: lack of suitable low-volume sprays, aerial spray preparations and auxiliaries; lack of autonomous navigation and precise spraying control systems, resulting in uneven spraying, etc. In addition, my country currently has 52 national and industry standards related to plant protection, including 7 agricultural aviation standards, and there are no standards related to agricultural drones. In addition, there are currently more than 400 agricultural drone companies, but the quality of drones from different companies varies, and some even have no drone products. Therefore, the formulation of agricultural drone product quality standards, the design of testing methods, and testing platforms Construction is imminent.

According to the investigation and research of UAV detection platforms at home and abroad, the operations of agricultural UAVs are different from those of general light UAVs for entertainment, aerial photography, and reconnaissance. General UAV detection technologies and test platforms are not suitable for agricultural UAVs. Human-machine performance testing, especially the application of pesticide spraying under the action of the rotor wind field in agriculture. The research shows that the rotor wind field can help increase the deposition of pesticides on the back of the leaves and improve the penetration of the crop canopy , making it easier for pesticides to reach the middle and lower parts of plants. However, there are few domestic agricultural drone detection platforms with single functions. Therefore, it is of great significance to systematically study the detection methods of agricultural UAVs and the construction of detection platforms to improve the quality of agricultural UAVs.

Contents of the invention

In view of the technical problems existing in the prior art, the purpose of the present invention is to provide an indoor agricultural drone testing platform, which can reliably and accurately test the drone.

In order to achieve the above object, the present invention adopts following technical scheme:

An indoor agricultural UAV test platform, including a UAV, a parallel four-bar linkage mechanism, a mobile vehicle, a guide rail, and a loading platform; the horizontally flying UAV is installed on the loading platform, and the loading platform is installed on the parallel four-bar linkage mechanism Above, the parallel four-bar linkage mechanism is installed on the mobile car, and the mobile car is installed on the guide rail in a mobile manner. The test platform is used to test small agricultural drones, including single-rotor unmanned helicopters and multi-rotor drones. The load platform is used to carry agricultural drones.

Further, the parallel four-bar linkage mechanism includes an upper rotating rod, a lower rotating rod, a vertically arranged fixed rod, and a vertically arranged elevating rod; the upper rotating rod is rotatably installed on the fixed rod and the elevating rod, One end of the lower rotating rod is rotatably installed on the fixed rod, and the other end of the lower rotating rod is rotatably installed on the elevating rod, and the fixed rod is installed on the mobile vehicle. The parallel four-bar linkage mechanism can keep the UAV in the state of level flight and keep the flight attitude unchanged.

Further, the fixed rod includes a first fixed rod and a second fixed rod fixed on the mobile vehicle, the elevating rod includes a first elevating rod and a second elevating rod, and the lower rotating rod includes a first lower rotating rod and a second elevating rod. Two lower rotating rods; one end of the first lower rotating rod is rotatably installed on the first fixed rod, the other end of the first lower rotating rod is rotatably installed on the first elevating rod, and one end of the second lower rotating rod rotates The other end of the second lower rotating rod is mounted on the second elevating rod in a rotating manner; the upper part of the first elevating rod and the upper part of the second elevating rod are respectively provided with a first connecting rod and a The second connecting rod, the first connecting rod and the second connecting rod are respectively provided with a first supporting rod and a second supporting rod; the first supporting rod, the second supporting rod, the first elevating rod and the second elevating rod jointly support the loading platform The upper rotating rod is installed on the first fixed rod and the second fixed rod through the first rotating assembly, and the upper rotating rod is installed on the first connecting rod and the second connecting rod through the second rotating assembly. When the test platform accelerates or decelerates, due to the inertia of the drone, a large moment will be generated on the loading platform. If the drone is fixed on the loading platform at multiple points, the stability of the test platform is better; the fixed rod There are two , lifting rods, and lower rotating rods, so that four points on the loading platform are fixed with the parallel four-bar linkage mechanism, which can better support the UAV and ensure the stability of the UAV fixed on the loading platform. Even better, the stability of the test platform has also been greatly improved.

Further, the first rotating assembly includes a first bearing and a first shaft, the first fixed rod and the second fixed rod are provided with first bearings, the first shaft is installed on the first bearing, and the upper rotating rod The lower end of the lower end is fixed with a first rotating sleeve, and the first rotating sleeve is fitted on the first shaft; the second rotating assembly includes a second bearing and a second shaft, and the first connecting rod and the second connecting rod are provided with The second bearing, the second shaft is installed on the second bearing, the lower end of the upper rotating rod is fixedly provided with a second rotating sleeve, and the second rotating sleeve is sleeved on the second shaft. Realize the purpose that the upper rotating rod rotates relative to the fixed rod and the lifting rod.

Further, the loading platform is provided with a rope through hole, and the drone is fixed on the loading platform through the rope.

Further, the test platform also includes a height-adjusting rod set, and the height-adjusting rod group is rotatably installed on the mobile vehicle. The height-adjusting rod of the height-adjusting rod group is provided with a plurality of through holes, and the upper rotating rod passes through the pin. The shaft is mounted on the height adjustment rod. The height at which the drone flies can be adjusted. The height-adjusting rod set is used to control the lifting of the loading platform. The drone is installed on the loading platform, so it can also achieve the purpose of controlling the lifting of the drone, and is used to set the height of the drone's fixed-altitude flight during the experiment.

Further, there are multiple sets of height-adjusting rods, which are arranged at different positions of the mobile vehicle. It can be seen from the principle of levers that a set of height adjustment rods has certain limitations in adjusting the height of the drone. The height of the man-machine; at this time, if another set of height-adjusting rods is used, it is equivalent to changing the direction of the force acting on the upper rotating rod, so that the height of the drone can be adjusted with a small force.

Further, the lower end surface of the mobile vehicle is provided with a linear slider, and the linear slider is installed on the guide rail in a rolling manner. The mobile vehicle needs to bear the weight of all mechanisms such as the entire test platform and the drone, as well as the torsional moment generated. Generally, the mobile vehicle with wheels will roll over under the action of the lever torque. The matching guide rail and linear slider are selected here, the mobile car is connected with the linear slider, and the square linear slider with balls moves on two guide rails fixed on the ground. The balls can ensure the friction of the linear slider when it moves along the guide rails. The coefficient is small, and the linear slider is embedded on the guide rail, which can prevent the mobile car from rolling over under the action of the lever moment.

Further, the lower end surface of the mobile vehicle is provided with rollers, and the mobile vehicle is provided with a motor for driving the rollers.

Further, a counterweight is provided at the lower end of the upper rotating rod, and the counterweight, the fixed rod, and the lifting rod are arranged in sequence along the upper rotating rod. The counterweight is used to balance the weight of the UAV, which is convenient for manual adjustment and control of the experimental height of the UAV.

Generally speaking, the present invention has following advantages:

1. The indoor test platform of the present invention can effectively isolate the interference of many outdoor complex factors such as wind, temperature and humidity, ground vegetation and obstacles to flight parameters such as flight height, speed, attitude, and linear motion accuracy.

2. The present invention can better simulate the flight state of the light agricultural drone in an ideal state, and can adjust and lock the altitude accuracy of the agricultural drone's fixed-altitude flight.

3. The present invention uses a motor to drive the entire test platform to move, and can accurately control the movement speed of the agricultural drone.

4. The present invention has strong versatility, and is applicable to small-scale agricultural single-rotor unmanned helicopters and multi-rotor UAVs of multiple models.

5. The test platform has the function of protecting and restricting the UAV. The protection function means that it can prevent accidents such as collision, rollover and falling of the UAV; the restriction function means that the UAV can only move along the guide rail at a specified height. The remaining degrees of freedom are limited by the platform, which can ensure the high precision of the linear motion trajectory.

Description of drawings

Fig. 1 is a perspective view of the present invention.

Fig. 2 is a structural schematic diagram of the first direction of the assembly of the parallel four-bar linkage mechanism and the drone.

Fig. 3 is a structural schematic view of the second direction of the assembly of the parallel four-bar linkage mechanism and the drone.

Fig. 4 is a structural schematic diagram of the third direction of the assembly of the parallel four-bar linkage mechanism and the drone.

Fig. 5 is a structural schematic diagram of the first direction of assembly of the parallel four-bar linkage mechanism and the height adjustment rod group.

Fig. 6 is a structural schematic diagram of the second direction in which the parallel four-bar linkage mechanism is assembled with the height adjustment rod group.

Fig. 7 is a schematic diagram of the structure of the moving vehicle.

Among them, 1 is the drone, 2 is the loading platform, 3 is the parallel four-bar linkage mechanism, 4 is the height adjustment rod group, 5 is the mobile vehicle, 6 is the guide rail, 7 is the motor, 8 is the first elevating rod, 9 is the The first connecting rod, 10 is the first supporting rod, 11 is the second elevating rod, 12 is the second connecting rod, 13 is the second supporting rod, 14 is the first lower rotating rod, 15 is the second lower rotating rod, 16 17 is the second rotating sleeve, 18 is the second shaft, 19 is the second bearing, 20 is the first fixed rod, 21 is the second fixed rod, 22 is the first rotating sleeve, 23 is the first bearing , 24 is the first shaft, 25 is the height adjustment rod, 26 is the counterweight, 27 is the linear slider, and 28 is the roller.

Detailed ways

The present invention will be further described in detail in conjunction with the accompanying drawings and specific embodiments.

As shown in Figure 1, an indoor agricultural UAV test platform includes a UAV, a parallel four-bar linkage mechanism, a mobile vehicle, a guide rail, and a loading platform; the horizontally flying UAV is installed on the loading platform, and the loading platform is installed On the parallel four-bar linkage mechanism, the parallel four-bar linkage mechanism is installed on a mobile vehicle, and the mobile vehicle is movably installed on the guide rail.

As shown in FIG. 2 to FIG. 4 , the parallel four-bar linkage mechanism includes an upper rotating rod, a lower rotating rod, a vertically arranged fixing rod, and a vertically arranged elevating rod. The upper rotating rod is rotatably installed on the fixed rod and the elevating rod, the elevating rod is arranged on the front end of the upper rotating rod, the fixed rod is arranged on the middle rear part of the upper rotating rod, and one end of the lower rotating rod is rotatably installed on the fixed rod , the other end of the lower rotating rod is rotatably installed on the lifting rod, the lower rotating rod and the lifting rod can be connected in a hinged manner, and the lower rotating rod and the fixed rod can also be connected in a hinged manner, and the fixed rod is mounted on on the mobile car. One end where the elevating rod is located is the front end of the upper rotating rod, and one end where the height-adjusting rod group is located is the rear end of the upper rotating rod.

As shown in FIGS. 2 to 6, the fixed rod includes a first fixed rod and a second fixed rod fixed on the mobile vehicle, and the first fixed rod and the second fixed rod are placed vertically; the elevating rod includes a first fixed rod The elevating rod and the second elevating rod, the first elevating rod and the second elevating rod are placed vertically; the lower rotating rod comprises a first lower rotating rod and a second lower rotating rod parallel to each other. One end of the first lower rotating rod is rotatably installed on the first fixed rod, the other end of the first lower rotating rod is rotatably installed on the first elevating rod, and one end of the second lower rotating rod is rotatably installed on the second lower rotating rod. On the two fixed rods, the other end of the second lower rotating rod is rotatably installed on the second elevating rod. The top of the first lifting rod and the top of the second lifting rod are respectively provided with a first connecting rod and a second connecting rod, and the first connecting rod and the second connecting rod are respectively provided with a first supporting rod and a second supporting rod, that is, the first connecting rod A connecting rod connects the first supporting rod and the first elevating rod, and the second connecting rod connects the second supporting rod and the second elevating rod; the upper ends of the first supporting rod, the second supporting rod, the first elevating rod and the second elevating rod The load-bearing platform is flush and supported together and fixed together with the load-bearing platform by screws. The first support rod, the second support rod, the first lifting rod and the second lifting rod that are parallel to each other form the edge of the cube and are located around the load-bearing platform. . The upper rotating rod is installed on the first fixed rod and the second fixed rod through the first rotating assembly, that is, the first rotating assembly is installed on the first fixed rod and the second fixed rod, and the upper rotating rod is installed on the first rotating assembly; The upper rotating rod is installed on the first connecting rod and the second connecting rod through the second rotating assembly, that is, the second rotating assembly is installed on the first connecting rod and the second connecting rod, and the upper rotating rod is installed on the second rotating assembly.

The first rotating assembly includes a first bearing and a first shaft, first bearings are provided on the first fixed rod and the second fixed rod, the first shaft is installed on the first bearing, and the lower end of the upper rotating rod is fixed There is a first rotating sleeve, and the first rotating sleeve is set on the first shaft; the second rotating assembly includes a second bearing and a second shaft, and the first connecting rod and the second connecting rod are provided with second bearings, The second shaft is installed on the second bearing, and the lower end of the upper rotating rod is fixedly provided with a second rotating sleeve, and the second rotating sleeve is sleeved on the second shaft.

The loading platform is provided with a rope through hole, and the drone is fixed on the loading platform through the rope. The rope passes through the rope through hole, thereby the UAV is fixed on the loading platform. In the present invention, the surrounding of the loading platform is provided with a rope through hole.

As shown in Figures 5 and 6, the test platform also includes a height-adjusting rod set, which is rotatably mounted on the mobile vehicle, and a set of height-adjusting rods includes two height-adjusting rods, the height-adjusting rods It is installed on the mobile vehicle in a hinged way. There are multiple through holes on the height adjustment rod of the height adjustment rod group. The upper rotating rod is installed on the height adjustment rod through the pin shaft. On the hole, you can adjust the flying height of the drone, and the height adjustment rod set is located at the rear of the upper rotating rod. There are multiple sets of height-adjusting rods, which are arranged on different positions of the mobile vehicle. In the present invention, there are two sets of height-adjusting rods. It can be seen from the principle of levers that one set of height-adjusting rods can adjust the height of the drone. It has certain limitations. When the UAV is at a certain height, if the same set of height adjustment rods is used, a very large force is required to adjust the height of the UAV; at this time, if another set of height adjustment rods is used, Then it is equivalent to changing the direction of the force acting on the upper rotating rod, so that the height of the drone can be adjusted with less force. The lower end of the upper rotating rod is provided with a counterweight, the counterweight, the fixed rod, and the lifting rod are arranged in sequence along the upper rotating rod, and the counterweight is arranged at the middle and rear part of the upper rotating rod, and the counterweight can pass through the rope Or the hook is fixed on the upper swivel bar. The upper rotating rod rotates relative to the fixed rod, and the fixed rod constitutes the fulcrum of the upper rotating rod, and the lever principle is used on the counterweight to easily control the flying height of the drone.

As shown in FIG. 7 , the lower end surface of the mobile vehicle is provided with a linear slider, and the linear slider is rollingly installed on the guide rail. There are balls on the linear slider, so the friction between the linear slider and the guide rail is rolling friction. The mobile vehicle needs to bear the weight of all mechanisms such as the entire test platform and the drone, as well as the torsional moment generated. Generally, the mobile vehicle with wheels will roll over under the action of the lever torque. The matching guide rail and linear slider are selected here, the mobile car is connected with the linear slider, and the square linear slider with balls moves on two guide rails fixed on the ground. The balls can ensure the friction of the linear slider when it moves along the guide rails. The coefficient is small, and the linear slider is embedded on the guide rail, which can prevent the mobile car from rolling over under the action of the lever moment.

Rollers are arranged on the lower end surface of the mobile car, and a motor for driving the rollers is provided on the mobile car. The rollers are installed on the bottom of the moving vehicle and are in contact with the ground. The speed of the motor is controlled by the controller (not shown in the figure), which is used to drive the rollers to rotate, and finally drive the entire platform to move linearly along the guide rails. The driving method of the motor can Guarantee the high precision of constant speed flight.

When using the indoor agricultural UAV test platform, the guide rails are fixed on the indoor ground, the UAV is fixed on the loading platform with ropes, and the flight height of the UAV is adjusted by adjusting the rod group. The planar four-bar linkage makes The UAV keeps the state of horizontal flight, and then makes the motor work, and the motor drives the roller to roll on the ground, thereby driving the mobile vehicle to roll along the guide rail, start the UAV, and use the UAV to conduct related indoor tests and record related tests After completing the flight, sort out and analyze the collected data and complete the test. The test platform is used to test small agricultural drones, including single-rotor unmanned helicopters and multi-rotor drones.

The above-mentioned embodiment is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited by the above-mentioned embodiment, and any other changes, modifications, substitutions, combinations, Simplifications should be equivalent replacement methods, and all are included in the protection scope of the present invention.

Claims (6)

1. An indoor agricultural unmanned aerial vehicle testing platform is characterized in that: comprise unmanned aerial vehicle, parallel four-bar linkage mechanism, mobile vehicle, guide rail, loading platform; The unmanned aerial vehicle of horizontal flight is installed on the loading platform, and loading platform is installed On the parallel four-bar linkage mechanism, the parallel four-bar linkage mechanism is installed on the mobile car, and the mobile car is installed on the guide rail in a movable manner; the parallel four-bar linkage mechanism includes an upper rotating rod, a lower rotating rod, a vertically arranged Fixed rod, vertically arranged elevating rod; the upper rotating rod is rotatably installed on the fixed rod and the elevating rod, one end of the lower rotating rod is rotatably installed on the fixed rod, and the other end of the lower rotating rod is rotatably installed on the On the lifting rod, the fixed rod is installed on the mobile car; the fixed rod includes a first fixed rod and a second fixed rod fixed on the mobile car, and the lifting rod includes a first lifting rod and a second lifting rod, The lower rotating rod includes a first lower rotating rod and a second lower rotating rod; one end of the first lower rotating rod is rotatably mounted on the first fixed rod, and the other end of the first lower rotating rod is rotatably mounted on the first lifting rod. On the rod, one end of the second lower rotating rod is rotatably installed on the second fixed rod, and the other end of the second lower rotating rod is rotatably installed on the second elevating rod; the upper part of the first elevating rod and the second elevating rod The upper part of the bar is respectively provided with a first connecting rod and a second connecting rod, and the first connecting rod and the second connecting rod are respectively provided with a first supporting rod and a second supporting rod; the first supporting rod, the second supporting rod, the first The lifting rod and the second lifting rod jointly support the loading platform; the upper rotating rod is installed on the first fixed rod and the second fixed rod through the first rotating assembly, and the upper rotating rod is installed on the first connecting rod and the second connecting rod through the second rotating assembly. On the connecting rod; the first rotating assembly includes a first bearing and a first shaft, the first fixed rod and the second fixed rod are provided with first bearings, the first shaft is installed on the first bearing, and the upper rotating rod The lower end of the lower end is fixed with a first rotating sleeve, and the first rotating sleeve is fitted on the first shaft; the second rotating assembly includes a second bearing and a second shaft, and the first connecting rod and the second connecting rod are provided with The second bearing, the second shaft is installed on the second bearing, the lower end of the upper rotating rod is fixed with a second rotating sleeve, and the second rotating sleeve is set on the second shaft; the load platform is provided with a rope through hole, The UAV is fixed on the loading platform by ropes. 2. A kind of indoor agricultural unmanned aerial vehicle testing platform according to claim 1, characterized in that: the testing platform also includes a height-adjusting rod group, and the described height-adjusting rod group is rotatably installed on the mobile vehicle, and the height is adjusted The height-adjusting rod of the rod group is provided with a plurality of through holes, and the upper rotating rod is installed on the height-adjusting rod through a pin shaft. 3. The indoor agricultural drone test platform according to claim 2, characterized in that: there are a plurality of height-adjusting rod groups, which are arranged at different positions of the mobile vehicle. 4. The indoor agricultural UAV test platform according to claim 1, characterized in that: the lower end surface of the mobile vehicle is provided with a linear slider, and the linear slider is rollingly installed on the guide rail. 5. The indoor agricultural unmanned aerial vehicle test platform according to claim 1, characterized in that: the lower end surface of the mobile vehicle is provided with rollers, and the mobile vehicle is provided with a motor for driving the rollers. 6. The indoor agricultural UAV test platform according to claim 2, characterized in that: the lower end of the upper rotating rod is provided with a counterweight, and the counterweight, the fixed rod, and the lifting rod rotate along the upper The rods are arranged sequentially.

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