CN118376401B - Unmanned aerial vehicle end effector test platform - Google Patents

Abstract

The invention discloses an unmanned aerial vehicle end effector test platform which comprises a mobile chassis, a test lifting table, a test data detection device, a test sample/waste recovery device, a voltage stabilizing power supply device and a test control system, wherein the test lifting table is arranged on the mobile chassis; the test lifting platform is arranged at the head position of the movable chassis and is used for hanging, fixing and adjusting the space position of the end effector of the unmanned aerial vehicle; the test data detection device is a combination of various detection instruments and sensors and is used for collecting performance parameters and test data of the unmanned aerial vehicle end effector; the test sample/waste recycling device is arranged at two sides above the movable chassis and is used for recycling agricultural crop samples or agricultural crop waste picked/cut by the detected end effector; the voltage-stabilizing power supply device provides alternating current/direct current power for all components except the movable chassis of the platform; the test control system is arranged in the movable chassis, and is used for controlling each component part of the test platform and is electrically connected with the controlled component part.

Description

A UAV end effector test platform

Technical Field

The invention belongs to the technical field of agricultural and forestry UAVs, and in particular relates to a UAV end effector test platform.

Background Art

Corn is the main food crop in my country and even in the world, and is also an important feed and industrial raw material. Currently, more than 98% of corn varieties planted in China are hybrid corn varieties, but the advantages of hybrid varieties (high yield, disease resistance, lodging resistance, etc.) are only manifested in the first generation of seeds, and the hybrid advantages of their varieties will decrease from generation to generation. Therefore, hybrid corn seed production companies need to produce seeds every year. my country's hybrid corn seed production bases are mainly concentrated in Xinjiang, Gansu and other northwestern regions. The scale of hybrid corn seed production is huge. From 2017 to 2021, my country's hybrid corn seed production area has been more than 150,000 hectares for five consecutive years. In 2022, the seed production area will increase to more than 200,000 hectares. Therefore, the mechanization of the entire process of hybrid corn seed production is of great significance.

Seed purity is the most important indicator for evaluating the quality of hybrid corn seeds. In order to ensure the purity of hybrid corn seeds, the most difficult link to control in the seed production process that affects the purity of corn seeds is "female corn tassel removal", which is also the link with the lowest degree of mechanization and the weakest. At present, the tassel removal operation in my country is mainly based on manual tassel removal, and a small amount of ground tassel removal machine is used. The cost of manual tassel removal increases year by year, and its labor intensity is high, the operation efficiency is low, and it is easily affected by weather conditions; the ground tassel removal machine has strong mobility and high operation efficiency, but the existing ground tassel removal machine has problems such as mechanical transmission response delay and fuzzy control of tassel removal parts, and cannot remove 100% of the female tassels. The omission rate is between 10% and 30%, and some even miss more. Therefore, whether it is manual or mechanical tassel removal, it is necessary to manually inspect and fill in the tassel removal operation many times, but the inspection and filling in the tassel removal operation is huge and the labor cost is high, which seriously affects the overall tassel removal efficiency. At present, there is no intelligent and mechanized equipment for this industry problem.

In recent years, with the development of agricultural UAV technology, the research on agricultural UAV technology for inspection and removal of seed corn has gradually become a research hotspot due to its advantages such as not being restricted by terrain, aerial operation, and fast flight speed. The end effector is the core component of agricultural UAV for removal of tassels. Its actual removal performance detection of corn tassels in the field is often limited by the complex field planting environment, changeable meteorological environment, experimental instrument transportation and power supply, etc., making field test experiments difficult to carry out, which seriously restricts the research and development of related technologies and equipment for agricultural and forestry UAVs such as removal UAVs and harvesting UAVs.

Therefore, a UAV end-effector test platform and its test method are proposed, which can be used for field performance test of agricultural emasculation UAV end-effector. It can also be used for performance test of other agricultural and forestry UAV end-effectors, so as to improve the research and development efficiency of related agricultural and forestry UAVs.

Summary of the invention

In view of the above problems, the present invention provides a UAV end effector test platform, which is used for field performance testing of agricultural detasseling UAV end effectors. It also has the function of real application scenario performance testing of other types of agricultural and forestry UAV end effectors such as picking and cutting.

A test platform for an unmanned aerial vehicle end effector comprises a mobile chassis, a test lifting platform, a test data detection device, a test sample/waste recovery device, a voltage-stabilizing power supply device and a test control system; the test lifting platform is installed on the mobile chassis, and is used to suspend and fix the tested unmanned aerial vehicle end effector, and adjust the spatial position of the unmanned aerial vehicle end effector; the test data detection device is a combination of multiple detection instruments and sensors, and is used to collect performance parameters and test data of the unmanned aerial vehicle end effector; the test sample/waste recovery device is arranged on both sides above the mobile chassis, and is used to recover agricultural and forestry crop samples or agricultural and forestry crop waste picked/cut by the tested unmanned aerial vehicle end effector; the voltage-stabilizing power supply device is arranged on the mobile chassis, and provides AC/DC power to various components of the test platform except the mobile chassis; the test control system is arranged in the mobile chassis, and is used to control various components of the test platform, and is electrically connected to the controlled components.

Furthermore, the mobile chassis includes a high ground clearance vehicle body, a driving operation cabin, a chassis height adjustment component and wheels; a power supply battery pack is built-in at the bottom of the high ground clearance vehicle body, the driving operation cabin is arranged on the upper part of the high ground clearance vehicle body, and the chassis height adjustment component is installed between the bottom of the high ground clearance vehicle body and the four wheels; the test control system is arranged in the driving operation cabin, and the movement of the mobile chassis is controlled by the test control system, and the chassis height adjustment component is driven to adjust the height.

Furthermore, the test lifting platform includes a telescopic device, a parallel suspended rotating component, a recyclable support frame, a horizontal moving component and a vertical moving component; the vertical moving component is fixed on the upper part of the mobile chassis; the telescopic device is slidably connected to the vertical moving component, and can move up and down in the vertical direction along the vertical moving component; the horizontal moving component is installed at the lower part of the telescopic device, and moves horizontally driven by the telescopic device; the parallel suspended rotating component is fixed under the horizontal moving component, and is used to suspend and fix the end effector of the drone being tested; the recyclable support frame is rotatably connected to the end of the horizontal moving component to realize the recovery and deployment relative to the horizontal moving component.

Furthermore, the telescopic device includes a telescopic device base and a telescopic device travel beam; the horizontal moving component includes a horizontal slide and a moving platform; the telescopic device base is slidably connected to the vertical moving component, the main body of the telescopic device travel beam is embedded in the telescopic device base and slidably connected thereto, and the telescopic device travel beam can be extended and retracted in the horizontal direction along the telescopic device base; a sliding track is built into the lower part of the telescopic device base, the horizontal slide of the horizontal moving component is slidably connected to the sliding track of the telescopic device base, and at the same time, the protruding end of the telescopic device travel beam is fixedly connected to the horizontal slide, and when the telescopic device travel beam is extended and retracted, the horizontal slide is driven to extend and retract together; the moving platform is fixed at the bottom of the horizontal slide, and the parallel suspended rotating component is arranged below the moving platform.

Furthermore, the recyclable support frame includes a rotating motor, a first supporting leg, a second supporting leg, a first folding shockproof base and a second folding shockproof base; the first supporting leg and the second supporting leg are coaxially connected to the end of the horizontal slide, and the first supporting leg and the second supporting leg are driven by the rotating motor to rotate coaxially relative to the horizontal slide; the length of the first supporting leg and the second supporting leg are automatically adjusted with the horizontal height of the base of the telescopic device; the first folding shockproof base and the second folding shockproof base are respectively arranged at the ends of the first supporting leg and the second supporting leg, and when the telescopic device is retracted and unfolded, the first folding shockproof base and the second folding shockproof base follow it to shrink and unfold.

Furthermore, the first supporting leg has the same structure as the second supporting leg, the first supporting leg includes a main body component and a length adjustment component, the main body component is fixed in length, the length adjustment component is arranged at the end of the main body component and embedded therein, and the length of the first supporting leg is adjusted by controlling the extension and retraction of the length adjustment component; the first folding shockproof base has the same structure as the second folding shockproof base, the first folding shockproof base includes a shock-absorbing and buffering component, a folding component, and a folding bottom plate, the shock-absorbing and buffering component is located between the folding component and the folding bottom plate, the end of the folding component is fixedly connected to the folding bottom plate, and the folding bottom plate is driven to fold or unfold through the folding component.

Furthermore, the folding bottom plate is a cross-shaped bottom plate composed of 5 square folding plates or a square bottom plate composed of 9 square folding plates; each square folding plate of the folding bottom plate is respectively equipped with a built-in pressure detection sensor for detecting the sinking pressure borne by the square folding plate, and calculating the sinking depth of the folding shockproof base into the soil in real time based on the sinking pressure; the test control system calculates the sinking depth of the first folding shockproof base and the second folding shockproof base respectively based on the sinking depth calculation model, and adjusts the length of the first supporting leg and the second supporting leg in real time, so as to adjust the overall horizontal height of the test lifting platform to remain stable; the sinking depth calculation model is d = f (pi _, k, n), where d is the sinking depth of the point, pi _is the pressure detected by the pressure sensor of each square folding plate, k is the soil deformation modulus, and n is the soil deformation index.

Furthermore, the test data detection device includes an operation power consumption measurement module, a gripping force measurement module, a cutting force measurement module, a cutting speed measurement module, a grasping force measurement module, an operation height measurement module, an operation process vibration measurement module, an operation posture measurement module and a test process recording module; the test data detection device is electrically connected to the test control system, and data is transmitted bidirectionally. The test control system starts and stops the test data detection device and obtains the test data collected by its various measurement modules.

Furthermore, the test sample/waste recovery device is installed on both sides of the upper part of the mobile chassis, one side is a test sample recovery bin, and the other side is a test waste recovery bin.

Furthermore, the voltage-stabilized power supply device includes a battery pack, an AC output module, a DC output module, a circuit protection module, a solar charging module and a digital display module; the digital display module is electrically connected to the battery pack, the AC output module, the DC output module and the solar charging module, and displays the real-time parameters of the above modules; the battery pack is also electrically connected to the circuit protection module and the solar charging module, and is used to store solar electricity or municipal electricity and output electricity; the solar charging module is used to convert solar energy into electrical energy and store it in the battery pack; the circuit protection module is electrically connected to the battery pack, the AC output module and the DC output module; the AC output module and the DC output module are respectively used to convert and output the alternating current and direct current required by the test platform.

Furthermore, the test control system has the following functions:

When conducting the field emasculation effect test of the end effector, the spatial position of the end effector is adjusted according to the crop plant information provided by the test data detection device, the target part of the crop plant is accurately removed, and the performance parameters such as the working voltage, current, power consumption, component fatigue and life of the end effector are measured; the cutting force, gripping force, vibration intensity, working posture and other operation process parameters of the end effector are measured;

Carry out the collection of target test crop images and spectral data, and calculate the operation quality parameters such as operation success rate and crop damage rate by detecting the images of the end effector before and after the test;

Carry out target test crop sample collection, and can detect and adjust the temperature and humidity in the test sample recovery device in real time to maintain the freshness of the samples and prevent them from drying out.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

FIG1 is a schematic diagram of the overall structure of a UAV end-effector test platform provided by an embodiment of the present invention;

FIG2 is a rear view of a mobile chassis provided by an embodiment of the present invention;

FIG3 is a schematic diagram of the structure of a test lifting platform provided in an embodiment of the present invention;

FIG4 is a schematic diagram of a test lifting platform in an unfolded state provided by an embodiment of the present invention;

FIG5 is a schematic diagram of a test lifting platform in a retracted state provided by an embodiment of the present invention;

FIG6 is a schematic diagram of the extension process of the test lifting platform provided in an embodiment of the present invention;

FIG. 7 is a schematic diagram of folding (a) and unfolding (b) of a foldable shockproof base provided by an embodiment of the present invention;

FIG8 is a schematic diagram of two structures of a foldable bottom plate provided by an embodiment of the present invention;

FIG9 is a schematic diagram of a test data detection device provided by an embodiment of the present invention;

FIG10 is a schematic diagram of a voltage-stabilized power supply device provided in an embodiment of the present invention;

in:

A-target test crop; B-UAV end effector; 1-mobile chassis; 2-test lifting platform; 3-test data detection device; 4-test sample/waste recovery device; 5-voltage stabilizing power supply device; 6-test control system; 11-high ground clearance vehicle body; 12-power supply battery pack; 13-driving operation cabin; 14-chassis height adjustment component; 21-telescopic device; 22-parallel suspension rotating component; 23-recyclable support frame; 24-horizontal moving component; 25-vertical moving component; 211-telescopic device base; 212-telescopic device travel beam; 231-rotating motor; 232-first support leg; 233-second support leg; 234-first folding shockproof base; 235-second folding shockproof base; 232-1-main assembly ;232-2-length adjustment component;234-1-shock absorption and buffer component;234-2-folding component;234-3-folding bottom plate;241-horizontal slide;242-mobile platform;31-operation power consumption measurement module;32-grip force measurement module;33-cutting force measurement module;34-cutting speed measurement module;35-grasping force measurement module;36-operation height measurement module;37-operation process vibration measurement module;38-operation posture measurement module;39-test process recording module;41-test sample recovery bin;42-test waste recovery bin;51-battery pack;52-AC output module;53-DC output module;54-circuit protection module;55-solar charging module;56-digital display module.

DETAILED DESCRIPTION

In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

Embodiment 1 provides a UAV end effector test platform, as shown in FIG1 , comprising a mobile chassis 1, a test lifting platform 2, a test data detection device 3, a test sample/waste recovery device 4, a voltage-stabilizing power supply device 5, and a test control system 6; wherein the mobile chassis 1 is the main carrier of the test platform and can be moved arbitrarily on the ground, the test lifting platform 2 is arranged at the head position of the mobile chassis 1, and is used to suspend and fix the UAV end effector B to be tested, and adjust the spatial position of the UAV end effector B; the test data detection device 3 is a combination of a plurality of detection instruments and sensors, and is used to collect the UAV end effector data. The performance parameters and test data of the actuator B are arranged around the test lifting platform 2; the test sample/waste recovery device 4 is arranged on both sides above the mobile chassis 1, and is used to recover the agricultural and forestry crop samples or agricultural and forestry crop waste picked/cut by the detected end effector; the voltage-stabilizing power supply device 5 is arranged at the tail position above the mobile chassis 1, and provides a stable and controllable AC/DC power supply for each component of the platform except the mobile chassis 1; the test control system 6 is used to control the various components of the test platform, and is arranged in the driving operation cabin of the mobile chassis 1, and is electrically connected to the above-mentioned controlled components.

As shown in Figure 2, in this embodiment, the mobile chassis 1 adopts a four-wheel high ground clearance electric drive vehicle chassis, including a high ground clearance vehicle body 11, a power supply battery pack 12, a driving operation cabin 13, and a chassis height adjustment component 14. The power supply battery pack 12 is built-in at the bottom of the high ground clearance vehicle body 11, and the driving operation cabin 13 is arranged on the upper part of the high ground clearance vehicle body 11. The chassis height adjustment component 14 is installed between the bottom of the high ground clearance vehicle body 11 and the four wheels. The test personnel can control the movement of the mobile chassis 1 through the test control system 6 arranged in the driving operation cabin 13, and use the chassis height adjustment component 14 to control the chassis height to rise and fall within a certain range, so as to facilitate the test platform to enter and exit the field.

As shown in FIGS. 3-6, the test lifting platform 2 includes a telescopic device 21, a parallel suspension rotating component 22, a recyclable support frame 23, a horizontal moving component 24 and a vertical moving component 25; the test lifting platform 2 is used to suspend and fix the end effector to be tested, and the spatial position of the end effector can be adjusted through the coordinated movement of the parallel suspension rotating component 22, the horizontal moving component 24 and the vertical moving component 25; the vertical moving component 25 is fixed to the upper part of the high ground clearance vehicle body 11 of the mobile chassis, and the telescopic device 21 is slidably connected to the vertical moving component 25, and the telescopic device 21 is preferably controlled by hydraulic drive to move vertically along the vertical moving component 25. Moving up and down, the protruding end of the telescopic device 21 can extend to the field; the horizontal moving component 24 is arranged at the lower part of the telescopic device base 211 of the telescopic device 21, and can move together with the telescopic device travel beam 212 under the drive of the telescopic device travel beam 212; the parallel suspension rotating component 22 is arranged below the horizontal moving component 24, and is used to suspend and fix the detected end effector, and can move in the horizontal direction with the assistance of the horizontal moving component 24; the recyclable support frame 23 is connected to the end of the horizontal moving component 24 through a rotating shaft, and rotates relative to the horizontal moving component 24 under the drive of the rotating motor 231 to achieve recovery and unfolding.

The telescopic device 21 includes a telescopic device base 211 and a telescopic device travel beam 212; the horizontal moving component 24 includes a horizontal slide 241 and a moving platform 242; the telescopic device base 211 is the main beam of the telescopic device 21, and the telescopic device base 211 is installed on the three vertical sliding columns of the vertical moving component 25, and the gear chain of the three columns of the vertical moving component 25 is controlled by hydraulic drive to drive the telescopic device base 211 to move up and down in the vertical direction, thereby driving the telescopic device 21 as a whole to move up and down in the vertical direction; the telescopic device travel beam 212 is slidably connected in the telescopic device base 211, and the main part of the telescopic device travel beam 212 is embedded in the telescopic device base 211 and slidably connected thereto, and the telescopic device travel beam 212 can move along the telescopic device base The seat 211 is telescopic in the horizontal direction; the horizontal slide 241 of the horizontal moving component 24 is slidably connected to the bottom of the telescopic device base 211, and a sliding track is built-in at the bottom of the telescopic device base 211. The left end of the horizontal slide 241 is fixed to the sliding track at the bottom of the telescopic device base 211, and the protruding end of the telescopic device travel beam 212 is fixedly connected to the horizontal slide 241. When the telescopic device travel beam 212 is extended or contracted, it can drive the horizontal slide 241 to move telescopically in the horizontal direction; the moving platform 242 is fixed at the bottom of the horizontal slide 241, and the parallel suspension rotating component 22 is arranged below the moving platform 242 of the horizontal moving component 24, which is used to suspend and fix the detected end actuator, and can move horizontally with the assistance of the horizontal moving component 24.

The recyclable support frame 23 includes a rotating motor 231, a first supporting leg 232, a second supporting leg 233, a first folding shockproof base 234, and a second folding shockproof base 235; the first supporting leg 232 and the second supporting leg 233 are coaxially connected at the end of the horizontal slide 241, and the rotating motor 231 is arranged at the end of the horizontal slide 241, which can drive the first supporting leg 232 and the second supporting leg 233 to rotate coaxially clockwise by β°. In this embodiment, β°=270° is preferably selected.

The lengths of the first supporting leg 232 and the second supporting leg 233 can be automatically adjusted with the horizontal height of the telescopic device base 211; the first folding shock-proof base 234 and the second folding shock-proof base 235 are respectively arranged at the ends of the first supporting leg 232 and the second supporting leg 233. When the telescopic device 21 is retracted and unfolded, the first folding shock-proof base 234 and the second folding shock-proof base 235 follow its contraction and unfolding.

As shown in Figure 7, the first supporting leg 232 and the second supporting leg 233 have the same structure; the first supporting leg 232 includes a main body component 232-1 and a length adjustment component 232-2; the main body component 232-1 is the main body of the first supporting leg 232, and its length is fixed, and the length adjustment component 232-2 is arranged at the end of the main body component 232-1 and embedded therein; the length adjustment component 232-2 is preferably a combination of a telescopic motor and a fixed connecting part, and the length of the first supporting leg 232 is adjusted by controlling the telescopic movement of the length adjustment component 232-2.

The first folding shockproof base 234 and the second folding shockproof base 235 have the same structure. The first folding shockproof base 234 includes a shock-absorbing and buffering component 234-1, a folding component 234-2, and a folding bottom plate 234-3, wherein the shock-absorbing and buffering component 234-1 is located between the folding component 234-2 and the folding bottom plate 234-3, and is used to absorb and reduce the vibration of the test lifting platform 2 during the test; the end of the folding component 234-2 is fixedly connected to the folding bottom plate 234-3, and is used to drive it to fold or unfold; the folding bottom plate 234-3 is in direct contact with the field soil, and is used to support the entire test lifting platform, increase the contact area with the soil, and prevent the recyclable support frame from sinking into the soil.

As shown in FIG8 , the folding bottom plate is preferably composed of 5 or 9 square folding plates, specifically: as shown in FIG8 (1), 5 square folding plates are combined into 1 folding bottom plate, and the 4 movable folding plates ②~⑤ are respectively movably connected to the corresponding one of the four sides of the fixed folding plate ①, and when the folding shockproof base is folded or unfolded, ②~⑤ folding plates are folded or unfolded at the same time; as shown in FIG8 (2), 9 square folding plates are combined into 1 folding bottom plate, wherein the 4 movable folding plates ②~⑤ are respectively movably connected to the corresponding one of the four sides of the fixed folding plate ①, the movable folding plates ④-2 and ④-3 are movably connected to the two sides of the movable folding plate ④, and the movable folding plates ⑤-2 and ⑤-3 are movably connected to the two sides of the movable folding plate ⑤; when the folding shockproof base is unfolded, the movable folding plates ②~⑤ are unfolded at the same time first, and then the overlapping movable folding plates ④ (④-2, ④-3) and ⑤ (⑤-2, ⑤-3) begin to unfold. When the foldable shockproof base is folded, the operation of other movable folding plates is opposite to that when unfolded. First, movable folding plates ④-2 and ④-3 are folded onto movable folding plate ④, and movable folding plates ⑤-2 and ⑤-3 are folded onto movable folding plate ⑤. Then, movable folding plates ②~⑤ are folded simultaneously.

Specifically, each square folding plate of the folding bottom plate is respectively equipped with a pressure detection sensor for detecting the sinking pressure borne by each square folding plate, and calculating the sinking depth of the folding shockproof base into the soil in real time based on the detected sinking pressure. The test control system 6 calculates the sinking depth of the first folding shockproof base 234 and the second folding shockproof base 235 respectively based on the sinking depth calculation model, and adjusts the length of the first supporting leg 232 and the second supporting leg 233 in real time, so as to adjust the overall horizontal height of the test lifting platform 2 to maintain stability; in this embodiment, the sinking depth calculation model is d = f (pi _, k, n), where d is the sinking depth of the point, pi _is the pressure detected by the pressure sensor of each square folding plate, k is the soil deformation modulus, and n is the soil deformation index.

As shown in FIG9 , the test data detection device 3 is a combination of multiple detection instruments and sensors, which is used to collect the performance parameters and test data of the end effector. The combination preferably includes an operation power consumption measurement module 31, a gripping force measurement module 32, a cutting force measurement module 33, a cutting speed measurement module 34, a grasping force measurement module 35, an operation height measurement module 36, an operation process vibration measurement module 37, an operation posture measurement module 38, and a test process recording module 39. The various measurement modules are arranged and installed according to the test requirements of the test object, and are generally arranged around the test lifting platform. The test control system 6 is electrically connected to the test data detection device 3, and data is transmitted bidirectionally. The test control system 6 starts and stops the test data detection device 3 and obtains the test data collected by each of its measurement modules.

The test sample/waste recovery device 4 is used to recover the agricultural and forestry crop samples/agricultural and forestry crop waste picked/cut by the detected end effector according to the test type. In some embodiments, for example, the pulled out corn tassels are recovered to prevent their pollen from spreading and contaminating the seed field; the test sample/waste recovery device 4 is installed on both sides of the upper part of the mobile chassis 1, one side is the test sample recovery bin 41, and the other side is the test waste recovery bin 42, wherein the test sample recovery bin 41 has the function of preserving and moisturizing the test samples to prevent the agricultural and forestry crop samples from dehydration and deformation.

As shown in FIG10 , the voltage-stabilized power supply device 5 includes a battery pack 51, an AC output module 52, a DC output module 53, a circuit protection module 54, a solar charging module 55, and a digital display module 56, which are used to provide stable and controllable AC/DC power for each component of the platform. The digital display module 56 is electrically connected to the battery pack 51, the AC output module 52, the DC output module 53, and the solar charging module 55, and displays the real-time parameters of the above modules; the battery pack 51 is also electrically connected to the circuit protection module 54 and the solar charging module 55, and is used to store solar power or city power and output power; the solar charging module 55 is used to convert solar energy into electrical energy and store it in the battery pack 51; the circuit protection module 54 is electrically connected to the battery pack 51, the AC output module 52, and the DC output module 53, and is used to protect the entire circuit to prevent circuit problems such as short circuits from affecting the entire voltage-stabilized power supply device; the AC output module 52 and the DC output module 53 are used to convert and output the AC and DC power required by the test platform, respectively.

In this embodiment, the test control system 6 also has the following functions:

When conducting a field test of the drone end effector B, the spatial position of the drone end effector B is adjusted according to the target test crop A plant information provided by the test data detection device 3, the target part of the target test crop A is accurately removed, and the performance parameters such as the working voltage, current, power consumption, component fatigue and life of the end effector B are measured; the operation process parameters such as the cutting force, gripping force, vibration intensity, and posture of the drone end effector B are measured;

Carry out image and spectral data collection of target test crop A, and calculate operation quality parameters such as operation success rate and crop damage rate by detecting images of the drone object end effector B before and after the test;

Carry out sample collection of target test crop A, and can detect and adjust the temperature and humidity in the test sample recovery device in real time to maintain the freshness of the sample and prevent the sample from drying out.

Example 2 provides a test method for a UAV end-effector test platform, which is suitable for a field driving test of the test platform in a test field, and the steps are as follows:

S1: Fix the UAV end effector B of the test object, and install the UAV end effector B on the parallel suspension rotating component 22 by means of the vertical lifting function of the vertical moving component 25 of the test lifting platform 2;

S2: Adjust the chassis height to enter the field. The test data detection device 3 collects the maximum canopy height information of the target test crop A, and controls the chassis height adjustment component 14 to adjust the overall ground height of the high-ground clearance vehicle body 11 through the driving operation cabin 13. The test platform enters the field;

S3: Adjust the position of the UAV end effector B. After the test platform reaches the working position, the test data detection device 3 detects and obtains the plant information of the target test crop A in real time, including the position, posture and other information, and feeds it back to the test control system 6, and further controls the test lifting platform 2. With the help of the synergistic effect of the vertical moving part 25, the horizontal moving part 24 and the parallel suspension rotating part 22, the spatial position of the UAV end effector B is adjusted;

S4: Start the test of the drone end effector B, control the test data detection device 3 through the test control system 6 to record the test data such as the voltage, current, power consumption, cutting force or extraction force of the drone end effector B, and collect the test images of the target test crop A before and after the test;

S5: After completing the test at the current working position, the tester collects the test samples or waste materials to the test sample/waste material recovery device 4 according to the test type, and the test control system 6 controls the test lifting platform 2 to reset, and controls the mobile chassis 1 to drive the test platform to the next working position;

S6: Repeat steps S3 to S5, collect test data, complete the test, and analyze and calculate the operation quality parameters such as the operation success rate and crop damage rate of the UAV end effector B based on the images of the target test crop A before and after the test, so as to evaluate the operation effect of the UAV end effector B under test.

Example 3 provides a test method for a drone end effector test platform, which is suitable for a test platform moving at the edge of a test field, and the steps are as follows:

S1: Fix the UAV end effector B of the test object, move the test platform to the edge of the test plot, and install the UAV end effector B on the parallel suspension rotating component 22 by means of the vertical lifting function of the vertical moving component 25;

S2: adjusting the height of the test lifting platform 2, the test data detection device 3 collects the maximum canopy height information of the target test crop A plant, and feeds it back to the test control system 6, further controlling the vertical moving component 25 of the test lifting platform 2 to adjust the height of the test lifting platform 2, ensuring that the lower part of the end effector B of the test object drone is located above the canopy of the target test crop A plant;

S3: The test lifting platform 2 is unfolded and fixed, the test data detection device 3 further collects the plant position and posture information of the test target test crop A and uploads it to the test control system 6, the tester controls the telescopic device 21 to extend to the field of the test plot, and uses the recyclable support frame 23 to fix the test platform to the ground;

S4: Adjust the position of the UAV end effector B. After the test lifting platform 2 of the test platform is unfolded and fixed, the test control system 6 further controls the horizontal moving component 24 and the parallel suspension rotating component 22 on the test lifting platform 2 to move in coordination according to the plant position and posture information of the test target crop A, so as to adjust the spatial position of the UAV end effector B.

S5: Start the test of the drone end effector B, control the test data detection device 3 through the test control system 6 to record the test data such as the voltage, current, power consumption, cutting force or extraction force of the drone end effector B, and collect the test images of the target test crop A before and after the test;

S6: After completing the test at the current working position, the tester collects the test samples or waste materials to the test sample/waste material recovery device 4 according to the test type, and the test control system 6 controls the test lifting platform 2 to reset, and controls the mobile chassis 1 to drive the test platform to the next working position;

S7: Repeat steps S3 to S6, collect test data, complete the test, and analyze and calculate the operation quality parameters such as the operation success rate and crop damage rate of the UAV end effector B based on the images of the target test crop A before and after the test, so as to evaluate the operation effect of the UAV end effector B under test.

Claims (5)

1. The unmanned aerial vehicle end effector test platform is characterized by comprising a mobile chassis, a test lifting table, a test data detection device, a test sample/waste recovery device, a voltage stabilizing power supply device and a test control system; the test lifting table is arranged on the movable chassis and is used for hanging and fixing the detected unmanned aerial vehicle end effector and adjusting the spatial position of the unmanned aerial vehicle end effector; the test data detection device is a combination of various detection instruments and sensors and is used for collecting performance parameters and test data of the unmanned aerial vehicle end effector; the test sample/waste recycling device is arranged at two sides above the movable chassis and is used for recycling agricultural and forestry crop samples or agricultural and forestry crop waste picked/cut by the detected unmanned aerial vehicle end effector; the voltage-stabilizing power supply device is arranged on the movable chassis and provides an alternating current/direct current power supply for all components except the movable chassis of the test platform; the test control system is arranged in the movable chassis, and is used for controlling each component part of the test platform and is electrically connected with the controlled component part;

The test lifting platform comprises a telescopic device, a parallel suspension rotating component, a recoverable support frame, a horizontal moving component and a vertical moving component; the vertical moving part is fixed on the upper part of the moving chassis; the telescopic device is connected to the vertical moving part in a sliding manner and can move up and down in the vertical direction along the vertical moving part; the horizontal moving part is arranged at the lower part of the telescopic device and is driven by the telescopic device to move horizontally; the parallel suspension rotating component is fixed below the horizontal moving component and is used for suspending and fixing the detected unmanned aerial vehicle end effector; the recyclable support frame is rotatably connected to the tail end of the horizontal moving component, so that the recyclable support frame can be recycled and unfolded relative to the horizontal moving component;

The telescopic device comprises a telescopic device base and a telescopic device travel beam; the horizontal moving part comprises a horizontal slideway and a moving platform; the telescopic device base is connected to the vertical moving part in a sliding manner, and the main body part of the telescopic device travel beam is embedded in the telescopic device base and is connected with the telescopic device base in a sliding manner, so that the telescopic device travel beam can extend and retract in the horizontal direction along the telescopic device base; the lower part of the telescopic device base is internally provided with a sliding rail, the horizontal slideway of the horizontal moving part is connected onto the sliding rail of the telescopic device base in a sliding way, and meanwhile, the extending end of the telescopic device travel beam is fixedly connected with the horizontal slideway, and when the telescopic device travel beam stretches, the horizontal slideway is driven to stretch and move together; the movable platform is fixed at the bottom of the horizontal slideway, and the parallel suspension rotating component is arranged below the movable platform;

The recyclable support frame comprises a rotating motor, a first support leg, a second support leg, a first folding shockproof base and a second folding shockproof base; the first support leg and the second support leg are coaxially connected to the tail end of the horizontal slideway, and the first support leg and the second support leg are driven by a rotating motor to coaxially rotate relative to the horizontal slideway; the lengths of the first supporting leg and the second supporting leg are automatically adjusted along with the horizontal height of the telescopic device base; the first folding shockproof base and the second folding shockproof base are respectively arranged at the tail ends of the first supporting leg and the second supporting leg, and when the telescopic device is recovered and unfolded, the first folding shockproof base and the second folding shockproof base shrink and unfold along with the first folding shockproof base and the second folding shockproof base;

The first supporting leg and the second supporting leg are identical in structure, the first supporting leg comprises a main body assembly and a length adjusting assembly, the length of the main body assembly is fixed, the length adjusting assembly is arranged at the tail end of the main body assembly and embedded in the main body assembly, and the length of the first supporting leg is adjusted by controlling the length adjusting assembly to stretch out and draw back; the first folding shockproof base and the second folding shockproof base are identical in structure, the first folding shockproof base comprises a damping buffer assembly, a folding assembly and a folding bottom plate, the damping buffer assembly is positioned between the folding assembly and the folding bottom plate, the tail end of the folding assembly is fixedly connected with the folding bottom plate, and the folding bottom plate is driven to fold or unfold by the folding assembly;

The folding bottom plate is a cross bottom plate formed by 5 square folded plates or a square bottom plate formed by 9 square folded plates; each square folded plate of the folding bottom plate is internally provided with a pressure detection sensor for detecting sinking pressure born by the square folded plate, and the sinking depth of the folding shockproof base to soil is calculated in real time based on the sinking pressure; the test control system calculates the sinking depth of the first folding shockproof base and the second folding shockproof base respectively based on a sinking depth calculation model, and adjusts the lengths of the first supporting leg and the second supporting leg in real time so as to adjust the integral horizontal height of the test lifting platform to keep stable; the subsidence depth calculation model is d=f (pi, k, n), where d is the subsidence depth of the point, pi is the pressure detected by the pressure sensor of each square flap, k is the soil deformation modulus, and n is the soil deformation index.

2. The unmanned aerial vehicle end effector test platform of claim 1, wherein the mobile chassis comprises a high clearance vehicle body, a travel cabin, a chassis height adjustment component, and wheels; the high-clearance vehicle body is characterized in that a power supply battery pack is arranged at the bottom of the high-clearance vehicle body, a running operation cabin is arranged at the upper part of the high-clearance vehicle body, and a chassis height adjusting part is arranged between the bottom of the high-clearance vehicle body and four wheels; the test control system is arranged in the running operation cabin, controls the movable chassis to move through the test control system, and drives the chassis height adjusting component to adjust the height.

3. The unmanned aerial vehicle end effector test platform of claim 1, wherein the test data detection device comprises an operation power consumption measurement module, a grip force measurement module, a cutting rotational speed measurement module, a grip force measurement module, an operation height measurement module, an operation process vibration measurement module, an operation posture measurement module, and a test process recording module; the test data detection device is electrically connected with the test control system, data are transmitted in a two-way mode, and the test control system starts and stops controlling the test data detection device and acquiring test data acquired by each measurement module.

4. The unmanned aerial vehicle end effector test platform of claim 1, wherein the voltage stabilizing power supply device comprises a battery pack, an AC output module, a DC output module, a circuit protection module, a solar charging module and a digital display module; the digital display module is electrically connected with the battery pack, the AC output module, the DC output module and the solar charging module and displays real-time parameters of the modules; the battery pack is also electrically connected with the circuit protection module and the solar charging module and is used for storing solar power or commercial power and outputting electric quantity; the solar charging module is used for converting solar energy into electric energy and storing the electric energy into the battery pack; the circuit protection module is electrically connected with the battery pack, the AC output module and the DC output module; the AC output module and the DC output module are respectively used for converting and outputting alternating current and direct current required by the test platform.

5. The unmanned aerial vehicle end effector test platform of claim 1, wherein the test control system has the following functions:

When a field emasculation effect test of the unmanned aerial vehicle end effector is carried out, the spatial position of the unmanned aerial vehicle end effector is adjusted according to crop plant information provided by a test data detection device, a target part of crop plants is removed, performance parameters of the unmanned aerial vehicle end effector are measured, and operation process parameters of the unmanned aerial vehicle end effector are measured;

Carrying out target test crop images and spectrum data acquisition, and calculating the operation success rate and the crop damage rate through images before and after the test of the end effector of the unmanned aerial vehicle to be detected;

And carrying out sample acquisition of target test crops, and detecting and adjusting the temperature and humidity in the test sample recovery device in real time.