CN107860690B - Device and method for detecting deposition uniformity of spray droplets of agricultural unmanned aerial vehicle - Google Patents
Device and method for detecting deposition uniformity of spray droplets of agricultural unmanned aerial vehicle Download PDFInfo
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- 239000007921 spray Substances 0.000 title claims abstract description 20
- 230000008021 deposition Effects 0.000 title claims abstract description 19
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000001514 detection method Methods 0.000 claims abstract description 25
- 238000005507 spraying Methods 0.000 claims abstract description 15
- 230000001360 synchronised effect Effects 0.000 claims description 54
- 239000007788 liquid Substances 0.000 claims description 21
- 239000003814 drug Substances 0.000 claims description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 8
- 229910000838 Al alloy Inorganic materials 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 2
- 238000005259 measurement Methods 0.000 claims 1
- 239000000575 pesticide Substances 0.000 abstract description 4
- 239000011521 glass Substances 0.000 description 5
- 230000000361 pesticidal effect Effects 0.000 description 2
- 206010008428 Chemical poisoning Diseases 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000000844 anti-bacterial effect Effects 0.000 description 1
- 239000003899 bactericide agent Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume or surface-area of porous materials
- G01N15/04—Investigating sedimentation of particle suspensions
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Abstract
The invention relates to a device and a method for detecting the deposition uniformity of spray droplets of an agricultural unmanned aerial vehicle, wherein the device comprises a rack, an X-direction movement mechanism, a Y-direction movement mechanism, a Z-direction movement mechanism, an objective table, a laser ranging module, an array plug container and a rack; in the field of pesticide spraying, by adopting the detection device and the method for detecting the fog drop deposition uniformity, the influence of the flying height and speed of the unmanned aerial vehicle and the wind field of the rotor wing on the drifting and deposition of the fog drops in the air can be studied indoors, the test space can be saved, and the method has the characteristics of quickness and intuition.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicle spraying, and particularly relates to a device and a method for detecting the deposition uniformity of spray droplets of an agricultural unmanned aerial vehicle.
Background
Agricultural unmanned aerial vehicle does not receive geographical factor restriction, can accomplish the operation task smoothly high-efficiently, and unmanned aerial vehicle medicine, fertile spraying operation are effectual, the security is high, and can reduce the risk of operation personnel pesticide poisoning, and degree of automation is high, and operation unit personnel are less relatively, low in labor strength, so unmanned aerial vehicle has obtained extensive application in the agricultural.
In the process of spraying the pesticide on the unmanned aerial vehicle, the grain size and the coverage density of the pesticide fog drops have obvious influence on pesticide effects such as pesticides and bactericides, the pesticide effect is influenced by the deposition uniformity of the fog drops, the ideal prevention and treatment effect can be achieved by the coverage density of the fog drops, and a large-capacity spraying mode is not needed, so that the monitoring on the deposition uniformity of the fog drops is very important in the spraying process of the unmanned aerial vehicle.
At present, in the field of agricultural unmanned aerial vehicle spraying, a water-sensitive paper detection method is mainly adopted to detect fog drop density and fog drop coverage rate, the method is that water-sensitive paper is pasted on a glass slide, the glass slide is placed in crops according to a certain distance, the glass slide is collected and sealed and stored in a glass slide box filled with silica gel particles after spraying for a period of time, and after the fog drops are fixed, the glass slide is scanned and input into a computer.
Disclosure of Invention
In order to solve the technical problems, the invention provides a method for rapidly and accurately detecting the deposition condition of the spray droplets of the unmanned aerial vehicle in a room with controllable test environment, and a detection device suitable for the method, and the specific technical scheme is as follows:
a device for detecting the deposition uniformity of spray droplets of an agricultural unmanned aerial vehicle comprises a rack, an X-direction movement mechanism, a Y-direction movement mechanism, a Z-direction movement mechanism, an objective table, a laser ranging module, an array plug container and the rack; the X-direction movement mechanism consists of a motor, a synchronous wheel set, a synchronous wheel V, a synchronous wheel VI and a rubber synchronous belt III; the Z-direction movement mechanism consists of a hand wheel, a slide block, a polished rod, a bearing block, a transmission slide block, a screw rod and a bearing with a seat; the Y-direction movement mechanism comprises a bearing with a bearing seat, a polish rod group, a polish rod III, a polish rod V, a polish rod I, a polish rod II, a polish rod IV, a slide block group, a slide block I, a slide block II, a rubber synchronous belt group, a rubber synchronous belt I, a rubber synchronous belt II, a synchronous wheel group, a synchronous wheel III, a synchronous wheel I, a synchronous wheel II, a synchronous wheel IV and a motor; a Y-direction movement mechanism and a Z-direction movement mechanism are arranged on the rack, the Y-direction movement mechanism is connected with the X-direction movement mechanism in a threaded connection mode, a laser ranging module is installed on the X-direction movement mechanism, an objective table is arranged below the laser ranging module, the array plug container is arranged on the objective table, and two sides of the objective table are connected with the Z-direction movement mechanism; the X-direction movement mechanism and the Y-direction movement mechanism both adopt a synchronous wheel + synchronous belt and motor driving mode to perform linear movement, the Z-direction movement mechanism adopts a screw rod mode to perform linear movement, and one end of the Z-direction movement mechanism is fixedly connected with a hand wheel.
Preferably, the frame is built by adopting aluminum alloy sectional materials and is connected through bolts;
preferably, the array plug tray container is in a cuboid shape, water tanks are fully distributed in the container, each water tank is in a cuboid structure of 1cm × 1cm × 10cm, the distance between every two adjacent water tanks is 0.5-1 mm, and small wheels are arranged at the bottom of the array plug tray container;
preferably, the bottom of the frame is provided with universal wheels;
preferably, the objective table is provided with a guide rail, and the guide rail is matched with a small wheel at the bottom of the array plug tray container;
more preferably, the objective table is provided with a baffle plate, the guide rail is provided with two clamping grooves, the grooves are provided with thrust blocks, and the track, the baffle plate and the thrust blocks define the position of the array plug container together;
more preferably, the stage is provided with a height sensor at the bottom.
The invention also provides a method for detecting the deposition uniformity of the spray droplets of the agricultural unmanned aerial vehicle, which comprises the following steps:
(1) fixing a spraying unmanned aerial vehicle on a device 0.5-2 m away from the ground; placing 2-100 array plug containers on the ground according to the positions of the unmanned aerial vehicle nozzles and the distribution condition of the spray width, and carrying out coordinate marking on each array plug container;
(2) filling a medicine box, starting the unmanned aerial vehicle, opening a spray head, spraying liquid medicine, and collecting deposited fog drops by an array plug tray container; after the liquid medicine is sprayed, closing the spray head and then closing the unmanned aerial vehicle;
(3) manually putting down an objective table of the liquid volume detection device, and putting the array plug tray container into the liquid volume detection device;
(4) automatically calibrating the X, Y direction of the liquid volume detection device, and determining the detection starting point of the laser ranging module; manually calibrating the Z direction of the device to determine the height of the objective table;
(5) and (3) starting detection: the laser ranging module is used for detecting a line along the positive direction of X, then the laser ranging module detects a groove from the tail end of the line to the positive direction of Y, then the laser ranging module detects the groove from the negative direction of X, and detection is carried out in a zigzag mode in sequence. Meanwhile, the laser ranging module transmits the detected data to the microprocessor, and the volume of the liquid is obtained through resolving by the microprocessor;
(6) after the detection is finished, the laser ranging module automatically returns to the starting point, other array plug containers are detected, and the step 5 is repeated;
(7) and analyzing the data, and displaying the fog drop deposition distribution in a three-dimensional graph.
The technical advantages of the invention are as follows: can be in the influence condition of indoor research unmanned aerial vehicle flying height, speed and rotor wind field to the drift and the deposit of droplet in the air to can save experimental space, have quick, audio-visual characteristics. Meanwhile, the method can quantitatively judge the uniformity of the droplets sprayed by the unmanned aerial vehicle in a static state (without rotor wind) and a dynamic state (with the rotor wind).
Drawings
FIG. 1 is a schematic view of the structure of the detecting device of the present invention
FIG. 2 is a three-dimensional view of the stage of the detecting device of the present invention
FIG. 3 is a three-dimensional view of an array tray container of the detecting device of the present invention
FIG. 4 is a connection diagram of 4 array plug containers of the detection device of the present invention
Wherein, the specific code is: 100. the device comprises an X-direction movement mechanism, a 110 motor, a 120 synchronous wheel set, a 121 synchronous wheel V, a 122 synchronous wheel VI, a 130 rubber synchronous belt III, a 200Z-direction movement mechanism, a 210 hand wheel, a 220 sliding block, a 230 polished rod, a 240 bearing seat, a 250 transmission sliding block, a 260 screw rod, a 270 belt seat bearing, a 300Y-direction movement mechanism, a 310 belt seat bearing, a 320 bearing seat, a 330 polished rod set, a 331 polished rod III, a 332 polished rod V, a 333 polished rod I, a 334 polished rod II, a 335 polished rod IV, a 340 slider set, a 341, a slider I, a 342 slider II, a 350 rubber synchronous belt set, a 351 rubber synchronous belt I, a 352 rubber synchronous belt II, a 360 synchronous wheel set; 361. the device comprises a synchronizing wheel III, a synchronizing wheel 362, a synchronizing wheel I, 363, a synchronizing wheel II, 364, a synchronizing wheel IV, 370, a motor, 400, a laser ranging module, 500, an array plug tray container, 600, a small wheel, 700, an objective table, 800, a rack, 900, a universal wheel, 1000, a thrust block, 1100 and a bolt.
Detailed Description
The present invention is described in further detail below with reference to fig. 1 to 4.
The invention provides a device for detecting the deposition uniformity of spray droplets of an agricultural unmanned aerial vehicle, which comprises a rack 900, an X-direction movement mechanism 100, a Y-direction movement mechanism 300, a Z-direction movement mechanism 200, an object stage 700, a laser ranging module 400, an array plug container 500 and a rack 800; the X-direction movement mechanism 100 consists of a motor 110, a synchronous wheel set 120, a synchronous wheel set 121, a synchronous wheel V, a synchronous wheel VI 122 and a rubber synchronous belt III 130; the Z-direction movement mechanism consists of a hand wheel 210, a slide block 220, a polished rod 230, a bearing seat 240, a transmission slide block 250, a screw rod 260 and a bearing with a seat 270; the Y-direction movement mechanism 300 comprises a belt seat bearing 310, a bearing seat 320, a polished rod group 330, a polished rod III 331, a polished rod V332, a polished rod I333, a polished rod II 334, a polished rod IV 335, a sliding block group 340, a sliding block I341, a sliding block II 342, a rubber synchronous belt group 350, a rubber synchronous belt I351, a rubber synchronous belt II 352, a synchronous wheel group 360, a synchronous wheel III 361, a synchronous wheel I362, a synchronous wheel II 363, a synchronous wheel IV 364 and a motor 370; the rack 800 is provided with a Y-direction movement mechanism 300 and a Z-direction movement mechanism 200, the Y-direction movement mechanism 300 is connected with the X-direction movement mechanism 100 in a threaded connection mode, the X-direction movement mechanism 100 is provided with a laser ranging module 400, an objective table 700 is arranged below the laser ranging module 400, the array plug container 500 is arranged on the objective table 700, and two sides of the objective table 700 are connected with the Z-direction movement mechanism 200; the X-direction movement mechanism 100 and the Y-direction movement mechanism 300 both adopt a synchronous wheel + synchronous belt and motor driving mode to perform linear movement, the Z-direction movement mechanism 200 adopts a screw rod mode to perform linear movement, and one end of the Z-direction movement mechanism is fixedly connected with a hand wheel.
In the present invention, the frame 800 of the liquid volume detecting device is constructed by aluminum alloy sections, and the aluminum alloy sections are connected by bolts.
The X-direction movement mechanism 100 and the Y-direction movement mechanism 300 move linearly in a synchronous wheel + synchronous belt and motor driving mode, the X-direction movement mechanism 100 is installed on the Y-direction movement mechanism 300 through threaded connection, and the laser ranging module 400 can move in the X, Y direction; the Z-direction movement mechanism 200 moves linearly by adopting a screw rod 260 mode, one end of the Z-direction movement mechanism is fixedly connected with a hand wheel, and when the objective table 700 descends, the array plug container 500 is conveniently placed in the objective table 700; the height sensor is installed at the bottom of the object stage 700, and detects the height of the object stage 700 from the ground for manually calibrating the height of the object stage 700.
The array plug container 500 is cuboid, water channels are distributed in the container, the water channels are 1cm × 1cm × 10cm cuboids, the distance between every two adjacent water channels is 0.5-1 mm, small wheels 600 are mounted at the bottom of the array plug container 500 and are convenient to move, grooves are formed in the side face of the array plug container 700 and are convenient to carry, and holes are formed in the side face of the array plug container 700 and are used for connecting the two containers through bolts 1100.
Meanwhile, in order to facilitate the transportation and movement of the liquid volume detecting apparatus of the present invention, universal wheels 900 are installed at the bottom of the frame 800 of the apparatus.
In addition, in order to quickly put the array well tray container 500, a guide rail is arranged on the objective table 700 of the liquid volume detection device, the guide rail is matched with a small wheel 600 at the bottom of the array well tray container 500, and the movement track of the array well tray container 500 on the objective table 700 is controlled so as to be conveniently put in. The objective table 700 is provided with a baffle, two clamping grooves are formed in the guide rail, a thrust block 1000 is placed in each clamping groove, and the guide rail, the baffle and the thrust block 1000 jointly limit the position of the array plug container.
In addition, the invention also provides a method for detecting the deposition uniformity of the spray droplets of the agricultural unmanned aerial vehicle, which comprises the following steps:
(1) fixing a spraying unmanned aerial vehicle on a device 0.5-2 m away from the ground; placing 2-100 array plug containers on the ground according to the positions of the unmanned aerial vehicle nozzles and the distribution condition of the spray width, and carrying out coordinate marking on each array plug container;
(2) filling a medicine box, starting the unmanned aerial vehicle, opening a spray head, spraying liquid medicine, and collecting deposited fog drops by an array plug tray container; after the liquid medicine is sprayed, closing the spray head and then closing the unmanned aerial vehicle;
(3) manually putting down an objective table of the liquid volume detection device, and putting the array plug tray container into the liquid volume detection device;
(4) automatically calibrating the X, Y direction of the liquid volume detection device, and determining the detection starting point of the laser ranging module; manually calibrating the Z direction of the device to determine the height of the objective table;
(5) and (3) starting detection: the laser ranging module is used for detecting a line along the positive direction of X, then the laser ranging module detects a groove from the tail end of the line to the positive direction of Y, then the laser ranging module detects the groove from the negative direction of X, and detection is carried out in a zigzag mode in sequence. Meanwhile, the laser ranging module transmits the detected data to the microprocessor, and the volume of the liquid is obtained through resolving by the microprocessor;
(6) after the detection is finished, the laser ranging module automatically returns to the starting point, other array plug containers are detected, and the step 5 is repeated;
(7) and analyzing the data, and displaying the fog drop deposition distribution in a three-dimensional graph.
Claims (7)
1. The utility model provides a detect device of agricultural unmanned aerial vehicle spraying droplet deposition uniformity which characterized in that: the device comprises a rack, an X-direction movement mechanism, a Y-direction movement mechanism, a Z-direction movement mechanism, an objective table, a laser ranging module and an array plug container; the X-direction movement mechanism consists of a motor, a synchronous wheel set and a rubber synchronous belt III, wherein the synchronous wheel set comprises a synchronous wheel V and a synchronous wheel VI; the Z-direction movement mechanism consists of a hand wheel, a slide block, a polished rod, a bearing block, a transmission slide block, a screw rod and a bearing with a seat; the Y-direction movement mechanism comprises a bearing with a seat, a bearing seat, a polish rod group, a sliding block group, a rubber synchronous belt group, a synchronous wheel group and a motor, wherein the polish rod group comprises a polish rod V, a polish rod I, a polish rod II and a polish rod IV, the sliding block group comprises a sliding block I and a sliding block II, the rubber synchronous belt group comprises a rubber synchronous belt I and a rubber synchronous belt II, and the synchronous wheel group comprises a synchronous wheel III, a synchronous wheel I, a synchronous wheel II and a synchronous wheel IV; a Y-direction movement mechanism and a Z-direction movement mechanism are arranged on the rack, the Y-direction movement mechanism is connected with an X-direction movement mechanism in a threaded connection mode, a laser ranging module is installed on the X-direction movement mechanism, an objective table is arranged below the laser ranging module, the array plug tray containers are arranged on the objective table, small wheels are installed at the bottom of the array plug tray containers, plugs and plug pin holes are formed in the side faces of the array plug tray containers and used for plug pin connection between the two array plug tray containers, and water grooves are fully distributed in the array plug tray containers; the device is characterized in that a guide rail is arranged on the objective table, the guide rail is matched with small wheels at the bottom of the array plug container, two sides of the objective table are connected with a Z-direction movement mechanism, and a height measurement sensor is arranged at the bottom of the objective table.
2. The device of claim 1, wherein the device comprises: the frame is built by aluminum alloy sectional materials and is connected through bolts.
3. The device of claim 1, wherein the device comprises: the shape of the array plug tray container is cuboid.
4. The device for detecting the deposition uniformity of the agricultural unmanned aerial vehicle spray droplets as claimed in claim 1, wherein the water grooves are of a rectangular structure with the length of 1cm × 1 and 1cm × 10cm, and the distance between two adjacent water grooves is 0.5-1 mm.
5. The device of claim 1, wherein the device comprises: the bottom of the frame is provided with universal wheels.
6. The device of claim 1, wherein the device comprises: the object stage is provided with a baffle plate, the guide rail is provided with two clamping grooves, the thrust block is placed on the grooves, and the positions of the array plug container are limited by the track, the baffle plate and the thrust block together.
7. The use method of the device for detecting the spray droplet deposition uniformity of the agricultural unmanned aerial vehicle, according to claim 1, is characterized by comprising the following steps:
(1) fixing a spraying unmanned aerial vehicle on a device 0.5-2 m away from the ground; placing 2-100 array plug containers on the ground according to the positions of the unmanned aerial vehicle nozzles and the distribution condition of the spray width, and carrying out coordinate marking on each array plug container;
(2) filling a medicine box, starting the unmanned aerial vehicle, opening a spray head, spraying liquid medicine, and collecting deposited fog drops by an array plug tray container; after the liquid medicine is sprayed, closing the spray head and then closing the unmanned aerial vehicle;
(3) manually putting down an objective table of the liquid volume detection device, and putting the array plug tray container into the liquid volume detection device;
(4) automatically calibrating the X, Y direction of the liquid volume detection device, and determining the detection starting point of the laser ranging module; manually calibrating the Z direction of the device to determine the height of the objective table;
(5) and (3) starting detection: detecting a line by a laser ranging module along the positive direction of X, then detecting a groove by the laser ranging module from the tail end of the line to the positive direction of Y, detecting the line by the laser ranging module to the negative direction of X, detecting the line in a zigzag mode in sequence, simultaneously transmitting detected data to a microprocessor by the laser ranging module, and resolving the data by the microprocessor to obtain the volume of the liquid;
(6) after the detection is finished, the laser ranging module automatically returns to the starting point, other array plug containers are detected, and the step 5 is repeated;
(7) and analyzing the data, and displaying the fog drop deposition distribution in a three-dimensional graph.
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| CN112763248B (en) * | 2020-12-29 | 2022-05-10 | 华南农业大学 | Detection device and method for directly measuring spraying physical and chemical characteristics of plant protection aircraft |
| CN115683963B (en) * | 2022-09-19 | 2023-10-27 | 兰州空间技术物理研究所 | Device and method for testing deposition uniformity of moon dust |
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