CN116902220B - Agricultural unmanned plane ground-imitating flight detection method and detection equipment - Google Patents

Abstract

The invention relates to the field of ground-imitating flight detection technology, and discloses a ground-imitating flight detection method and detection equipment for an agricultural unmanned aircraft, which can simulate the terrain circumference of farmland, and can realize leveling using three test benches. The environment of the flight preparation section, ramp section, and level flight stable section can be simulated, and by adjusting the angle of the test platform in the ramp section, ground-like flight detection can be realized at different ramp angles, and the entire testing equipment is convenient Mobile, it can be moved to different positions for ground-like flight simulation detection. The detection efficiency is high and reduces the difficulty of ground-like flight detection. The equipment proposed by the invention can realize the direction and angle of the mounted signal transmitter and visual sensor. Adjustment facilitates better ground-based detection of flight, and transmits signals to obtain the flight curve. After the angle adjustment is completed, the position can be clamped and fixed to prevent shaking and affecting detection.

Description

An agricultural unmanned aircraft ground-imitating flight detection method and detection equipment

Technical field

The invention belongs to the field of ground-imitating flight detection technology, and is specifically a ground-imitating flight detection method and detection equipment for agricultural unmanned aircraft.

Background technique

When an agricultural drone performs ground-like flight inspection, it is necessary to detect the flight height and flight path of the agricultural drone, and the drone needs to be brought to the field for inspection. During the inspection, it is necessary to compare It is difficult to determine and change the flight route and channel, and it is inconvenient to detect some slope locations. When different slopes need to be tested, different slope zones need to be tested, and it is found in the existing test and inspection surveys. , There are few equipments for simulating the farmland ring diameter during testing, so it is necessary to drive the field to conduct testing during testing, which causes a waste of time and low efficiency during the testing process.

Contents of the invention

In view of the above situation, in order to overcome the shortcomings of the prior art, the present invention provides an agricultural unmanned aircraft ground-imitating flight detection method and detection equipment, which effectively solves the problems mentioned in the above background technology.

In order to achieve the above object, the present invention provides the following technical solution: an agricultural unmanned aircraft ground-imitating flight detection method, the method steps include;

Step 1: Build the standard test platform, and adjust the position and height of the standard test platform to the appropriate position;

Step 2: Determine the centerline of the standard test platform;

Step 3: Determine the starting point and end point of the aircraft flight on the center line and determine it as the benchmark for testing;

Step 4: Determine the height between the aircraft's actual flight curve and the slope as the ground defense altitude, and determine the theoretical altitude of the aircraft's flight;

Step 5: Measure the height deviation;

Step 6: Measure response time;

Step 7: Display the machine speed curve on the software;

Step 8: Write the target height and speed information of the machine under test into the software.

Preferably, the step five also includes: defining the distance between the actual flight altitude of the aircraft and the theoretical flight altitude, defining the upper part of the theoretical flight curve as positive and the lower part as negative; calculating the standard maximum value, average value and quasi-deviation; using the maximum The value is judged as the result;

Preferably, step six also includes:

The response time of the terrain from flat land to sloped land, and the response time from sloped land to flat land; the response time should be ≤3s.

An agricultural unmanned aircraft ground-imitating flight detection equipment, based on the above-mentioned ground-imitating flight detection method of an agricultural unmanned aircraft, includes a base plate and a UAV body, the base plate is provided with a test platform, and the UAV body The bottom is rotatably connected to a rotating shaft, and the lower end of the rotating shaft is fixedly connected to a groove connecting frame. The end wall of the grooved connecting frame is symmetrically connected to an adjusting rotating shaft, and the adjusting rotating shafts are fixedly connected to a connecting block. The outer surface of the adjusting rotating shaft is spline-connected to a brake gear plate, and the outer surface of the groove connecting frame on the upper side of the adjusting rotating shaft is fixedly connected to a braking plate. The braking plate is slidably connected to a braking plate. Slide rod, the outer surface of the brake slide rod is nested with a brake spring, and the lower end of the brake slide rod is fixedly connected with a brake cone, and the brake cone is stuck into the brake tooth In the tray, a signal transmitter is connected to the connecting block, a fixed ring is fixedly connected to the lower surface of the drone body, and a clamping screw threaded through a circumferential array is connected to the fixed ring. The clamping screw A clamping pad is rotatably connected to the inner end of the rod, and the clamping pad is in contact with the rotating shaft.

Preferably, the test platform includes a first test platform plugged into the upper surface of the base plate, the first test platform and the second test platform are hinged, and there is a gap between the second test platform and the base plate. Connect the support component, the second test bench is hinged with a third test bench on the side surface away from the first test bench, the third test bench is connected to the bottom plate through a stabilizing component, the The first test bench, the second test bench and the third test bench are provided with insertion slots on their surfaces, and insertion columns are inserted into the insertion slots. The insertion columns are uniformly and fixedly connected to the flexible test pad. At the bottom of the board, the upper surface of the flexible test pad is provided with colored steel and simulated lawn.

Preferably, the support assembly includes support blocks evenly processed on the lower part of the second test bench, and support nut blocks are hingedly connected between the adjacent support blocks, and the support nut blocks are threadedly connected to the upper end of the support rod. The lower end of the support rod is threadedly connected to the base plate, and a threaded hole matching the support rod is processed on the upper surface of the base plate.

Preferably, the stabilizing component includes a bidirectional adjusting screw rod uniformly threaded on the lower surface of the third test platform, the lower end of the bidirectional adjusting screw rod is threadedly connected to the upper surface of the base plate, and the base plate is connected to the upper surface of the base plate. The third test platform is processed with threaded holes that cooperate with the two-way adjustment screw. The outer surface of the two-way adjustment screw is rotationally connected with a rotating ring. The outer surface of the rotating ring is evenly processed with stable threaded holes. Stabilizing rods are threadedly connected between the stabilizing threaded holes between adjacent rotating rings.

Preferably, the bottom of the base plate is provided with a motion mechanism, and the motion mechanism includes a motion groove evenly processed on the bottom of the base plate, and an electric push rod is fixedly connected to the upper part of the motion groove, and the electric push rod is connected through a wire. A moving frame is fixedly connected to the lower end of the electric push rod. The moving frame is slidingly connected between the end walls of the moving groove. A moving wheel is hingedly connected to the moving frame.

Preferably, a fixing component is connected to the side surface of the bottom plate, and the fixing component includes a fixing frame that is fixed and installed symmetrically on the left and right sides of the bottom plate, and a fixing screw is threadedly connected to the fixing frame, and the fixing screw is The lower end of the fixed screw is rotatably connected to an adsorption disk, and the upper end of the fixed screw is fixedly connected to a handle.

Preferably, a connection threaded hole is processed at the bottom of the connection block, a threaded post is threadedly connected in the connection threaded hole, and the threaded post is fixedly installed on the upper surface of the signal transmitter.

Compared with the prior art, the beneficial effects of the present invention are:

1. The method proposed by the present invention can calculate the height of the UAV, determine the height deviation, and display the flight curve of the UAV using software.

2. The present invention proposes a ground-imitating flight detection equipment for agricultural unmanned aircraft, which can simulate the terrain ring of farmland, and can use three test benches to test the level flight preparation section, ramp section, and level flight stability. The environment of the section can be simulated, and the angle of the test platform of the ramp section can be adjusted to achieve ground-like flight detection at different ramp angles. The entire testing equipment is easy to move and can be moved to different positions for ground-like flight testing. Flight simulation detection has high detection efficiency and reduces the difficulty of ground-based flight detection.

3. The equipment proposed by the present invention can adjust the direction and angle of the mounted signal transmitter and visual sensor to facilitate better ground-based detection of flight, emit signals, and obtain the flight curve, and can After the angle adjustment is completed, the position is clamped and fixed to prevent shaking and affecting detection.

Description of the drawings

The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

In the attached picture:

Figure 1 is a schematic flow chart of an agricultural unmanned aircraft ground-imitating flight detection method provided by an embodiment of the present invention;

Figure 2 is a schematic structural diagram of the first direction of an agricultural unmanned aircraft ground-imitating flight detection device provided by an embodiment of the present invention;

Figure 3 is a schematic structural diagram of an agricultural unmanned aircraft ground-imitating flight detection device in the second direction according to an embodiment of the present invention;

Figure 4 is a schematic structural diagram of an agricultural unmanned aircraft ground-imitating flight detection device in the third direction according to an embodiment of the present invention.

Figure 5 is a schematic structural diagram of the test platform provided in the first direction according to the embodiment of the present invention;

Figure 6 is a schematic structural diagram of the second direction of the test platform provided by the embodiment of the present invention;

Figure 7 is a schematic structural diagram of the test platform provided in the third direction according to the embodiment of the present invention;

Figure 8 is a schematic structural diagram of the UAV body in the first direction according to the embodiment of the present invention;

Figure 9 is a schematic structural diagram of the UAV body in the second direction according to the embodiment of the present invention;

Figure 10 is a schematic structural diagram of the UAV body in the third direction according to the embodiment of the present invention;

Figure 11 is a schematic structural diagram of the second test bench in the first direction according to the embodiment of the present invention;

Figure 12 is a schematic structural diagram of the second test bench in the second direction according to the embodiment of the present invention;

Figure 13 is a schematic structural diagram of the stabilizing component provided in the first direction according to the embodiment of the present invention;

Figure 14 is a schematic structural diagram of the stabilizing assembly in the second direction according to the embodiment of the present invention;

Figure 15 is a schematic structural diagram of a motion mechanism provided by an embodiment of the present invention;

Figure 16 is a schematic structural diagram of a flexible test pad provided by an embodiment of the present invention;

Figure 17 is a schematic cross-sectional structural diagram at A-A in Figure 7;

Figure 18 is a schematic cross-sectional structural diagram at B-B in Figure 8;

Figure 19 is an enlarged structural schematic diagram of C in Figure 9;

Figure 20 is a schematic diagram of the height between the flight curve and the slope;

Figure 21 is a schematic diagram of response time.

In the picture: 1-base plate, 2-first test platform, 3-adsorption plate, 4-fixing frame, 5-handle, 6-second test platform, 7-drone body, 8-fixed screw rod , 9-two-way adjustment screw, 10-insertion slot, 11-third test platform, 13-support rod, 14-rotating ring, 15-motion groove, 16-fixed ring, 17-clamping screw, 18- Clamping pad, 19-rotating shaft, 20-grooved connection frame, 21-connecting block, 22-signal transmitter, 24-support block, 25-support nut block, 26-stabilizing threaded hole, 27-stabilizing rod, 29- Movement frame, 30-motion wheel, 31-brake plate, 32-brake spring, 33-brake slide rod, 34-brake cone, 35-brake gear plate, 36-adjusting shaft, 37-electric push rod , 38-Flexible test pad, 39-Insertion column, 40-Threaded column, 41-Connecting threaded hole.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them; based on The embodiments of the present invention and all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

As can be seen from Figure 1, a ground-imitating flight detection method for agricultural unmanned aircraft is provided. In order to achieve the above objectives, the present invention provides the following technical solution: a ground-imitating flight detection method for agricultural unmanned aircraft. The method steps include;

Step 1: Build the standard test platform, and adjust the position and height of the standard test platform to the appropriate position;

Step 2: Determine the centerline of the standard test platform;

Step 3: Determine the starting point and end point of the aircraft flight on the center line, and determine it as the benchmark for testing. The two points AB are the starting point and end point of the aircraft flight on the center line of the standard test platform, and are also the benchmark for testing; imitation The ground height is the height between the actual flight curve of the aircraft and the slope, such as H1, H2, H3...Hi in Figure 20; the theoretical altitude of the aircraft flight is H;

Step 4: Determine the height between the aircraft's actual flight curve and the slope as the ground defense altitude, and determine the theoretical altitude of the aircraft's flight;

Step 5: Measure the height deviation, the distance between the actual flying height of the aircraft and the theoretical flying height. Define the upper part of the theoretical flight curve as positive and the lower part as negative; calculate the standard maximum value, average value and quasi-deviation; use the maximum value as the result to make a judgment. , that is, Max|Hδi|≤60cm is qualified.

Hδi=Hi-H

Maximum value: Max|Hδi|≤60cm

average value:

Standard deviation: ;

Step 6: Measure response time;

Step 7: Display the machine speed curve on the software;

Step 8: Write the target height and speed information of the machine under test into the software.

Advantageously, the fifth step also includes: defining the distance between the actual flying height of the aircraft and the theoretical flying height, defining the upper part of the theoretical flight curve as positive and the lower part as negative; calculating the standard maximum value, average value and quasi-deviation; using the maximum The value is judged as the result;

Advantageously, step six also includes:

The response time of the terrain from flat land to sloped land, and the response time from sloped land to flat land; the response time should be ≤3s, T1=t1-t0

T2=t3-t2

As shown in Figure 21.

As shown in Figure 2-19, the present invention also provides an agricultural unmanned aircraft ground-imitating flight detection device, based on the above-mentioned agricultural unmanned aircraft ground-imitating flight detection method, including a base plate 1 and a drone body 7, The base plate 1 is made of lightweight metal material to increase the stability and reliability of the entire evaluation platform. The outer surface of the base plate 1 is coated with anti-corrosion material to protect the base plate 1 and extend the base plate 1 The service life of the drone is 1, and a test platform is provided on the base plate 1. The evaluation platform is convenient for testing the ground-like flight of the drone. The drone body 7 adopts an existing four-axis agricultural drone. A rotating shaft 19 is rotatably connected to the bottom of the UAV body 7. The rotating shaft 19 is made of lightweight metal material. The rotating shaft 19 is used to connect the groove connecting frame 20. The lower end of the rotating shaft 19 is fixed. A groove connecting frame 20 is connected. The groove connecting frame 20 is made of lightweight metal material. The groove connecting frame 20 has a concave shape in cross section and facilitates the installation of the adjusting shaft 36. The end wall of the groove connecting frame 20 is symmetrically connected with an adjusting rotating shaft 36 through rotation. The adjusting rotating shaft 36 is made of lightweight material. A connecting block 21 is fixedly connected between the adjusting rotating shafts 36. The connecting blocks 21 It is used to install the signal transmitter 22, and the connecting block 21 is made of lightweight metal material. The outer surface of the adjusting shaft 36 is spline-connected to a brake gear plate 35. The brake gear The spline connection between the disc 35 and the adjusting rotating shaft 36 facilitates disassembly. The brake toothed disc 35 is made of lightweight metal material. The shape of the brake toothed disc 35 is similar to the shape of a gear. The moving tooth plate 35 is used to brake the adjusting rotating shaft 36 to prevent the adjusting rotating shaft 36 from rotating. The outer surface of the groove connecting frame 20 on the upper side of the adjusting rotating shaft 36 is fixedly connected with a braking plate 31. The brake plate 31 is made of lightweight metal material. The brake plate 31 is convenient for installing the brake slide rod 33. The brake plate 31 is processed with a sliding surface for the brake slide rod 33. Through holes, and through smooth surfaces, the outer surface of the brake slide rod 33 is smooth, and a cross bar is fixedly connected to the upper end of the brake slide rod 33 to facilitate the control of the brake slide rod 33 with the brake plate 31. The dynamic spring 32 is engaged, and the brake plate 31 is slidably connected with a brake slide rod 33. The brake slide rod 33 is made of lightweight metal material, and the brake slide rod 33 is convenient for The braking cone 34 is fixedly connected, a braking spring 32 is nested on the outer surface of the braking sliding rod 33, and the braking plate 31 is clamped between the braking plate 31 and the cross bar. The brake spring 32 is made of metal material. The brake spring 32 is used to reset the brake slide rod 33. A brake cone is fixedly connected to the lower end of the brake slide rod 33. 34. The braking cone 34 is made of the same metal material as the braking toothed disc 35. The braking cone 34 brakes the braking toothed disc 35. The braking cone 34 is stuck. into the brake toothed disc 35. In the initial position, the braking cone 34 snaps into the brake toothed disc 35 for braking. A signal transmitter 22 is connected to the connecting block 21, so The signal transmitter 22 is used to transmit signals to facilitate the transmission of signals to form a motion trajectory signal line. The transmitted signals are received by the remote signal receiver, and the received signal trajectory is displayed on the display, thereby achieving a high degree of accuracy. The flight trajectory is displayed. A visual sensor is installed at the bottom of the signal transmitter 22 to facilitate detection of the flight path and ensure that there will be no deviation in the flight path. A fixed ring 16 is fixedly connected to the lower surface of the drone body 7 , the fixed ring 16 is made of lightweight metal material, the fixed ring 16 is convenient for installing the clamping screw 17, the rotating shaft 19 is located in the middle of the fixed ring 16, the fixed ring 16 A clamping screw 17 is threaded through the circumferential array. The clamping screw 17 is made of lightweight metal material. The clamping screw 17 is convenient for driving the clamping pad 18 to move. A clamping pad 18 is rotatably connected to the inner end of the screw rod 17. The clamping pad 18 is made of non-slip material. The clamping pad 18 contacts the rotating shaft 19 to brake the rotating shaft 19 to prevent the rotating shaft from being damaged. 19 rotates, and the clamping pad 18 is in contact with the rotating shaft 19;

Thereby, the signal transmitter 22 is connected to the lower surface of the connecting block 21, and the rotating shaft 19 is rotated to drive the groove connecting frame 20 to rotate to the corresponding position, thereby realizing the direction of the signal transmitter 22. Adjust to the appropriate position. After adjusting to the appropriate position, rotate the clamping screw 17 to drive the clamping pad 18 to move closer to the rotating shaft 19, thereby clamping the rotating shaft 19 and preventing the rotating shaft 19 from being clamped. The rotating shaft 19 rotates, and the groove connecting frame 20 rotates to the corresponding position, and then the braking slide rod 33 is manually pulled, so that the braking slide rod 33 moves upward, so that the braking cone 34 After being out of contact with the brake tooth plate 35, the brake spring 32 is compressed, and the adjustment shaft 36 is manually rotated, thereby driving the connecting block 21 to rotate, thereby driving the signal transmitter 22 to rotate to the corresponding position. After the angle, the brake slide rod 33 is released. Due to the return movement of the brake spring 32, the brake slide rod 33 is driven to return movement, thereby driving the brake cone 34 to move and snap into the In the braking gear plate 35, the adjustment shaft 36 is braked, thereby the signal transmitter 22 is fixed, and the movement of the UAV body 7 is started, thereby driving the signal transmitter 22 to move. , the signal transmitter 22 transmits signals, and the visual sensor detects the flight route to prevent deviation.

Advantageously, the test platform includes a first test bench 2 plugged into the upper surface of the base plate 1. The first test bench 2 is made of lightweight metal material. The first test bench 2 is The length of the level flight preparation section is about ten meters. The first test platform 2 and the second test platform 6 are hinged to facilitate the adjustment of the angle of the second test platform 6, thereby achieving the slope of the ramp section. Adjustment is made. The second test bench 6 is a ramp section with a length of about 16.5 meters. The second test bench 6 is made of the same metal material as the first test bench 2. In this way, a support component is connected between the second test bench 6 and the bottom plate 1, the fixed ring 16 support component supports the second test bench 6, and multiple support components are used for support, so A third test bench 11 is hinged on the surface of the second test bench 6 away from the first test bench 2. The third test bench 11 is made of metal made of the same material as the second test bench 6. The length of the third test bench 11 is about twenty-five meters. The third test bench 11 and the bottom plate 1 are connected through a stabilizing component. The stabilizing component is used to The third test bench 11 is made to be stable. The outer surfaces of the first test bench 2, the second test bench 6, and the third test bench 11 are coated with anti-corrosion materials. An insertion slot 10 is processed on the upper surface of a test bench 2, the second test bench 6 and the third test bench 11. The insertion slot 10 facilitates the insertion of the insertion column 39 of the hand. An insertion column 39 is inserted into the slot 10, and the insertion column 39 is uniformly and fixedly connected to the bottom of the flexible test pad 38. The flexible test pad 38 is made of flexible and bendable material to prevent the angle of the ramp section from being adjusted. When causing damage to the electric push rod 37, the upper surface of the flexible test pad 38 is provided with colored steel and simulated lawn to facilitate simulating field operating conditions;

Thereby, the first test bench 2 is plugged into the upper surface of the bottom plate 1, the second test bench 6 is supported by making components, and the height of each support component is adjusted, thereby achieving all the requirements. The slope of the second test platform 6 is adjusted to facilitate ground-like flying at different slopes. The third test platform 11 is provided with corresponding stable support through the stabilizing component, and the insertion column 39 is inserted into the insertion slot 10 , thereby laying the flexible test pad 38 on the upper surfaces of the first test bench 2 , the second test bench 6 and the third test bench 11 .

Advantageously, the support assembly includes a support block 24 evenly processed on the lower part of the second test bench 6. The support block 24 is made of lightweight metal material. The support block 24 facilitates the second test. The platform 6 provides support. Four groups of the support blocks 24 are provided on the lower surface of the second test platform 6. Each group has two support blocks 24. The outer surface of the support blocks 24 is coated with anti-corrosion material. , a support nut block 25 is hingedly connected between the adjacent support blocks 24. The surface of the support nut block 25 is coated with anti-corrosion material. The support nut block 25 is made of lightweight metal material. The support nut block 25 is made of lightweight metal. 25 is threadedly connected to the upper end of the support rod 13. The ends of both sides of the support rod 13 are threaded. The outer surface of the support rod 13 is coated with anti-erosion material. The support is adjusted according to the slope of the second test bench 6. The slope of the support rod 13 is selected with different lengths. The lower end of the support rod 13 is threadedly connected to the base plate 1. The upper surface of the base plate 1 is processed with threaded holes that match the support rod 13;

Thereby adjusting the angle of the second test bench 6 to a suitable position, the threaded holes on the bottom plate 1 and the support nut block 25 are connected by selecting the support rods 13 of different lengths. The connection between them is achieved to support the second test bench 6. The support nut block 25 and the support block 24 are hinged, so that the support nut block 25 is easy to rotate and facilitates better support. .

Advantageously, the stabilizing assembly includes a bidirectional adjustment screw 9 uniformly threaded on the lower surface of the third test platform 11. The two-way adjustment screw 9 is composed of two screws and a threaded barrel. The two screws are The rod is threadedly connected to the threaded barrel. The outer surface of the two-way adjusting screw rod 9 is coated with anti-corrosion material. The lower end of the two-way adjusting screw rod 9 is threadedly connected to the upper surface of the base plate 1. The base plate 1. The third test platform 11 is processed with threaded holes that cooperate with the two-way adjustment screw 9. The outer surface of the two-way adjustment screw 9 is rotatably connected with a rotating ring 14. The rotating ring 14 adopts Made of lightweight metal material, the outer surface of the rotating ring 14 is coated with anti-corrosion material. The outer surface of the rotating ring 14 is evenly processed with four stable threaded holes 26, and the stable threaded holes 26 are 90% The stabilizing threaded holes 26 between the adjacent rotating rings 14 are threadedly connected with stabilizing rods 27 , the ends of both sides of the stabilizing rods 27 are threaded, and the outer surface of the stabilizing rods 27 is coated with Anti-erosion materials;

Therefore, the third test platform 11 is connected to the base plate 1 through the two-way adjustment screw 9, and the length of the two-way adjustment screw 9 is adjusted by rotation, thereby adjusting the third test platform 11. The height is adjusted to support the third test platform 11, and the connection between the rotating rings 14 is achieved through the threaded connection between the stabilizing rod 27 and the stabilizing threaded hole 26, so that Increase the stability between the rotating rings 14, thereby increasing the stability between the two-way adjustment screws 9, thereby increasing the stability of the third test bench 11, and preventing the third test bench 11 from shaking. .

Advantageously, a movement mechanism is provided at the bottom of the bottom plate 1. The movement mechanism facilitates the movement of the bottom plate 1 and facilitates movement to different positions for detection and testing. The movement mechanism includes four evenly processed bottom plates on the bottom of the bottom plate 1. Movement groove 15, the upper part of the movement groove 15 is fixedly connected with an electric push rod 37, the electric push rod 37 is connected through a wire, the electric push rod 37 is made of rigid material, and the surface of the electric push rod 37 is coated with There are dormitory materials, and the electric push rod 37 is used to push the movement frame 29 up and down. The movement frame 29 is fixedly connected to the lower end of the electric push rod 37, and the outer surface of the movement frame 29 is coated with anti- Eroding materials, the cross section of the moving frame 29 is concave, the moving frame 29 is slidingly connected between the end walls of the moving groove 15, the moving frame 29 is hinged with a moving wheel 30, and the moving wheel 30 facilitates movement. The surface of the moving wheel 30 is coated with anti-erosion material, and the moving wheel 30 is made of anti-wear material;

Therefore, when it is necessary to move the position, the electric push rod 37 is energized through the wire, so that the electric push rod 37 is electrically moved, thereby pushing the moving frame 29 to move downward, so that the moving wheel 30 is in contact with the ground. , thereby supporting the base plate 1 and pushing the base plate 1 to move, thereby causing the movement wheel 30 to rotate, thereby moving the position of the base plate 1 .

Advantageously, a fixing component is connected to the side surface of the base plate 1. The fixing component is used to fix the base plate 1 and prevent the base plate 1 from moving. The fixing component includes the left and right surfaces of the base plate 1 that are symmetrical from front to back. The fixing bracket 4 is fixedly installed. The fixing bracket 4 is made of metal material. The outer surface of the fixing bracket 4 is coated with anti-corrosion material. The fixing bracket 4 is used to install the fixing screw 8, so The fixed screw 8 is threadedly connected to the fixed frame 4. The fixed screw 8 is made of metal material. The surface of the fixed screw 8 is coated with anti-corrosion material. The lower end of the fixed screw 8 rotates. An adsorption disc 3 is connected to the adsorption disc 3. The adsorption disc 3 is made of elastic material and is easy to be adsorbed on the ground. The upper end of the fixed screw rod 8 is fixedly connected with a handle 5. The handle 5 facilitates the fixation of the fixing screw. Rod 8 rotates;

Thereby, the handle 5 is manually rotated, thereby driving the fixed screw rod 8 to rotate and move downward, thereby driving the adsorption disc 3 to move downward and be adsorbed on the ground, thereby fixing the bottom plate 1 and preventing movement. .

Advantageously, the bottom of the connecting block 21 is processed with a connecting threaded hole 41, and the connecting threaded hole 41 is internally threaded with a threaded post 40. The threaded post 40 facilitates the connection between the connecting block 21 and the signal transmitter 22. Connection, the threaded column 40 is fixedly installed on the upper surface of the signal transmitter 22;

Thereby, the threaded column 40 is screwed into the threaded column 40 , thereby realizing the connection between the connecting block 21 and the signal transmitter 22 .

The movement process of this equipment: insert the first test bench 2 on the upper surface of the base plate 1, support the second test bench 6 by making components, and adjust the height of each support component , thereby realizing the adjustment of the slope of the second test platform 6 to facilitate ground-imitating flight at different slopes, and providing corresponding stable support to the third test platform 11 through the stabilizing component, so that the The insertion post 39 is inserted into the insertion groove 10, thereby enabling the flexible test pad 38 to be laid on the first test bench 2, the second test bench 6 and the third test bench. 11, adjust the angle of the second test platform 6 to a suitable position, and then select the support rods 13 of different lengths to connect the threaded holes on the bottom plate 1 with the The connection between the support nut blocks 25 enables the second test bench 6 to be supported. The support nut blocks 25 and the support block 24 are hingedly connected, so that the support nut blocks 25 are easy to rotate and facilitate For better support, the third test bench 11 is connected to the base plate 1 through the two-way adjustment screw 9, and the length of the two-way adjustment screw 9 is adjusted by rotation, thereby adjusting the third test bench. The height of the plate 11 is adjusted to support the third test platform 11, and the threaded connection between the stabilizing rod 27 and the stabilizing threaded hole 26 is used to realize the rotation between the rotating rings 14. connection, thereby increasing the stability between the rotating rings 14, thereby increasing the stability between the two-way adjustment screws 9, thereby increasing the stability of the third test bench 11, and preventing the third test bench from 11 shakes and needs to move, the electric push rod 37 is energized through the wire, so that the electric push rod 37 can move electrically, thereby pushing the moving frame 29 to move downward, so that the moving wheel 30 Contact with the ground, thereby supporting the base plate 1 and pushing the base plate 1 to move, thereby causing the movement wheel 30 to rotate, thereby moving the position of the base plate 1. After moving to the corresponding position, manually rotate The handle 5 drives the fixed screw 8 to rotate and move downward, thereby driving the adsorption disc 3 to move downward and be adsorbed on the ground, thereby fixing the base plate 1 to prevent movement and move the base plate 1 to the ground. The threaded column 40 is screwed into the threaded column 40 to realize the connection between the connecting block 21 and the signal transmitter 22, and the signal transmitter 22 is connected to the lower surface of the connecting block 21, Rotate the rotating shaft 19 to drive the groove connecting frame 20 to rotate to the corresponding position, thereby adjusting the direction of the signal transmitter 22 to the appropriate position. After adjusting to the appropriate position, rotate the clamping The screw rod 17 drives the clamping pad 18 to move closer to the rotating shaft 19, thereby clamping the rotating shaft 19 and preventing the rotating shaft 19 from rotating. After the groove connector 20 rotates to the corresponding position , and then manually pull the brake slide rod 33, so that the brake slide rod 33 moves upward, so that the brake cone 34 is out of contact with the brake tooth plate 35, the brake spring 32 After compression, manually rotate the adjusting shaft 36 to drive the connecting block 21 to rotate, thereby driving the signal transmitter 22 to rotate to a corresponding angle, and then release the brake slide rod 33. Due to the braking The return movement of the spring 32 drives the return movement of the brake slide rod 33, thereby driving the brake cone 34 to move and snap into the brake gear plate 35, thereby braking the adjustment shaft 36. , thereby achieving the fixation of the signal transmitter 22, and starting the movement of the UAV body 7, so that the UAV body 7 moves on the flexible test pad, thus driving the movement of the signal transmitter 22, The signal transmitter 22 transmits signals, and the visual sensor detects the flight route to prevent deviation. The signals from the signal transmitter and the visual sensor are contacted through the signal receiver and displayed through the corresponding software. Curves etc.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations are mutually exclusive. any such actual relationship or sequence exists between them. Furthermore, the terms "comprises," "comprises," or any other variation thereof are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also those not expressly listed other elements, or elements inherent to the process, method, article or equipment.

Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art will understand that various changes, modifications, and substitutions can be made to these embodiments without departing from the principles and spirit of the invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims (2)

1. An agricultural unmanned aircraft ground-like flight detection equipment, characterized by: including a base plate (1) and an unmanned aerial vehicle body (7), a test platform is provided on the base plate (1), and the unmanned aerial vehicle body (7) (7) A rotating shaft (19) is rotatably connected to the bottom. A groove connecting frame (20) is fixedly connected to the lower end of the rotating shaft (19). The end wall of the grooved connecting frame (20) is symmetrically connected with an adjustable rotating shaft. The rotating shaft (36) is fixedly connected with a connecting block (21) between the adjusting rotating shaft (36). The outer surface of the adjusting rotating shaft (36) is spline-connected to a brake gear disc (35). The adjusting rotating shaft (36) 36) A brake plate (31) is fixedly connected to the outer surface of the groove connecting frame (20) on the upper side, and a brake slide rod (33) is slidably connected to the brake plate (31). A brake spring (32) is nestedly connected to the outer surface of the brake slide rod (33), and a brake cone (34) is fixedly connected to the lower end of the brake slide rod (33). The brake cone (34) 34) Snap into the brake gear plate (35), the connecting block (21) is connected with a signal transmitter (22), and the lower surface of the drone body (7) is fixedly connected with a fixing ring (16), the fixed ring (16) is threadedly connected with a clamping screw (17) in a circumferential array, and the inner end of the clamping screw (17) is rotationally connected to a clamping pad (18). The tight pad (18) is in contact with the rotating shaft (19); The test platform includes a first test bench (2) plugged into the upper surface of the base plate (1), the first test bench (2) and the second test bench (6) are hinged, and the second test bench (6) is hinged. A support assembly is connected between the test bench (6) and the base plate (1). A third test bench is hinged on the surface of the second test bench (6) away from the first test bench (2). (11), the third test bench (11) and the base plate (1) are connected through a stabilizing component, and the first test bench (2), the second test bench (6) and An insertion slot (10) is processed on the upper surface of the third test bench (11), and an insertion column (39) is inserted into the insertion slot (10). The insertion column (39) is uniformly and fixedly connected to the flexible test surface. The bottom of the pad (38), the upper surface of the flexible test pad (38) is provided with colored steel and simulated lawn; The support assembly includes support blocks (24) evenly processed on the lower part of the second test bench (6), and support nut blocks (25) are hinged between the adjacent support blocks (24). The support nut blocks (25) is threadedly connected to the upper end of the support rod (13), and the lower end of the support rod (13) is threadedly connected to the bottom plate (1). The upper surface of the bottom plate (1) is processed with the support rod. (13) Matching threaded holes; The stabilizing component includes a bidirectional adjustment screw (9) that is evenly threaded on the lower surface of the third test platform (11). The lower end of the bidirectional adjustment screw (9) is connected to the upper surface of the base plate (1). Threaded connection, the bottom plate (1) and the third test bench (11) are processed with threaded holes that cooperate with the two-way adjustment screw (9), and the outer surface of the two-way adjustment screw (9) A rotating ring (14) is rotatably connected to the surface. The outer surface of the rotating ring (14) is evenly processed with stable threaded holes (26). The stable threaded holes (26) between the adjacent rotating rings (14) A stabilizer bar (27) is threadedly connected between them; The bottom of the bottom plate (1) is provided with a movement mechanism. The movement mechanism includes a movement groove (15) evenly processed on the bottom of the bottom plate (1). An electric push rod (37) is fixedly connected to the upper part of the movement groove (15). , the electric push rod (37) is connected through a wire, the lower end of the electric push rod (37) is fixedly connected with a movement frame (29), and the movement frame (29) is slidingly connected to the movement groove. (15) Between the end walls, the movement frame (29) is hinged with a movement wheel (30); A fixing component is connected to the side surface of the base plate (1). The fixing component includes a fixing frame (4) that is symmetrically fixed and installed on the left and right side surfaces of the base plate (1). The fixing frame (4) is threadedly connected with Fixed screw rod (8), the lower end of the fixed screw rod (8) is rotatably connected to the adsorption disk (3), and the upper end of the fixed screw rod (8) is fixedly connected to a handle (5); The bottom of the connecting block (21) is processed with a connecting threaded hole (41), the connecting threaded hole (41) is internally threaded with a threaded column (40), and the threaded column (40) is fixedly installed on the signal transmitter. (22) on the upper surface. 2. A ground-imitating flight detection method for agricultural unmanned aircraft, based on a ground-imitating flight detection equipment for agricultural unmanned aircraft according to claim 1, characterized in that: the method steps include; Step 1: Build the standard test platform, and adjust the position and height of the standard test platform to the appropriate position; Step 2: Determine the centerline of the standard test platform; Step 3: Determine the starting point and end point of the aircraft flight on the center line, and determine it as the benchmark for testing. The two points AB are the starting point and end point of the aircraft flight on the center line of the standard test platform, and are also the benchmark for testing; imitation The ground altitude is the height between the aircraft's actual flight curve and the slope, and the theoretical altitude of the aircraft's flight is H; Step 4: Determine the height between the aircraft's actual flight curve and the slope as the ground defense altitude, and determine the theoretical altitude of the aircraft's flight; Step 5: Measure the height deviation; Step 6: Measure response time; Step 7: Display the aircraft speed curve on the software; Step 8: Write the target altitude and speed information of the aircraft under test in the software; The fifth step also includes: the distance between the actual flight height of the aircraft and the theoretical flight height, defining the upper part of the theoretical flight curve as positive and the lower part as negative; calculating the standard maximum value, average value and quasi-deviation; taking the maximum value as the result Make a judgment that Max|Hδi|≤60cm is qualified; Hδi=Hi-H Maximum value: Max|Hδi|≤60cm average value: Standard deviation: ; The sixth step also includes: The response time of the terrain from flat land to sloped land, and the response time from sloped land to flat land; the response time should be ≤3s.