CN112763248B - Detection device and method for directly measuring spraying physical and chemical characteristics of plant protection aircraft - Google Patents
Detection device and method for directly measuring spraying physical and chemical characteristics of plant protection aircraft Download PDFInfo
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- 238000005507 spraying Methods 0.000 title claims abstract description 85
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- 238000004140 cleaning Methods 0.000 claims description 7
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 6
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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Abstract
The invention discloses a detection device and a detection method for directly measuring spraying physical and chemical characteristics of a plant protection aircraft, wherein the detection device for directly measuring the spraying physical and chemical characteristics of the plant protection aircraft comprises a plurality of measuring rods and a driving mechanism, the driving mechanism comprises a telescopic driving mechanism and a rotary driving mechanism, the rotary driving mechanism comprises a turntable, and the upper end of the rotary driving mechanism is arranged on a hanging frame of the plant protection aircraft; the telescopic driving mechanism comprises a horizontal telescopic driving mechanism and a vertical telescopic driving mechanism, the horizontal telescopic driving mechanism comprises a horizontal telescopic rod, and the vertical telescopic driving mechanism comprises a vertical telescopic rod; the upper end of the vertical telescopic rod is connected with the rotary table, and the lower end of the vertical telescopic rod is connected with the horizontal telescopic driving mechanism; the measuring rod is arranged on the horizontal telescopic rod. The device can directly measure the physicochemical data of the aerial plant protection spraying object, evaluate the quality of the aerial plant protection spraying operation and provide a basis for optimizing the aerial plant protection spraying operation in the process of the aerial plant protection spraying.
Description
Technical Field
The invention relates to the technical field of agricultural aviation plant protection, in particular to a detection device and a detection method for directly measuring spraying physical and chemical characteristics of a plant protection aircraft.
Background
In recent years, with the progress of agricultural modernization, the level of agricultural mechanization is remarkably improved, and the agricultural aviation plant protection technology is more and more widely applied with higher action efficiency and pesticide utilization rate. In the process of aviation plant protection spraying action, a spraying object is mainly a drop type medicine, and physicochemical property parameters such as the distribution range, the distribution density and the like of the spraying object are important indexes for evaluating the aviation spraying operation quality. At present, often through at the corresponding measuring device of ground installation, measure the relevant parameter of aviation plant protection spraying thing, this kind of measuring method is indirect measurement, can't directly acquire the physicochemical data of plant protection aircraft spraying thing, produces adverse effect to optimizing aviation plant protection spraying operation.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a detection device for directly measuring the physical and chemical characteristics of a spraying object of a plant protection aircraft, and the device can directly measure the physical and chemical data of the spraying object of the aviation plant protection in the process of spraying the aviation plant protection, thereby verifying the performance of aviation plant protection spraying equipment, evaluating the quality of aviation plant protection spraying operation and providing a basis for optimizing the aviation plant protection spraying operation.
The invention also aims to provide a detection method for directly measuring the spraying physical and chemical properties of the plant protection aircraft.
The technical scheme for solving the technical problems is as follows:
a detection device for directly measuring spraying physical and chemical characteristics of a plant protection aircraft comprises a plurality of measuring rods for mounting sensors and a driving mechanism for driving the measuring rods to move, wherein the driving mechanism comprises a telescopic driving mechanism and a rotary driving mechanism, the rotary driving mechanism comprises a turntable, and the upper end of the rotary driving mechanism is mounted on a hanging frame of the plant protection aircraft; the telescopic driving mechanism comprises a horizontal telescopic driving mechanism and a vertical telescopic driving mechanism, the horizontal telescopic driving mechanism is used for driving the measuring rod to do telescopic motion in a horizontal plane, the vertical telescopic driving mechanism is used for driving the measuring rod to do telescopic motion in a vertical plane, the horizontal telescopic driving mechanism comprises a horizontal telescopic rod, and the vertical telescopic driving mechanism comprises a vertical telescopic rod; the upper end of the vertical telescopic rod is connected with the rotary table, and the lower end of the vertical telescopic rod is connected with the horizontal telescopic driving mechanism; the measuring rod is installed on the horizontal telescopic rod.
The working principle of the detection device for directly measuring the spraying physical characteristic of the plant protection aircraft is as follows:
loading spraying liquid medicine on the plant protection aircraft, controlling the plant protection aircraft to fly to the crops top, the measuring stick is installed on the horizontal telescopic link, because the upper end of rotating actuating mechanism installs on the string carrier of plant protection aircraft, just the upper end of vertical telescopic link with the carousel is connected, the lower extreme with the flexible actuating mechanism of level connects, therefore the measuring stick and install the sensor on it and follow the flight of plant protection aircraft all the time. Set up the plant protection aircraft and fly according to certain flight mode, start spraying device and sensor, carry out aviation plant protection spraying operation, the liquid medicine of spraying is in the air and is wafted to the rear below. In the process, the plant protection aircraft transmits the relevant flight control data to the driving mechanism, so that the driving mechanism starts to work. Firstly, a horizontal telescopic driving mechanism is started to drive a horizontal telescopic rod to do stretching movement, so that a measuring rod arranged on the horizontal telescopic rod stretches along with the horizontal telescopic rod, when the data of a fog drop sensor arranged on the measuring rod becomes zero, the fact that no spraying object exists beyond the stretching distance is indicated, at the moment, the horizontal telescopic rod stops doing stretching movement, and therefore the horizontal distribution range of the spraying object in the stretching direction of the horizontal telescopic rod in the height plane can be measured; then, the rotation driving mechanism is started to drive the rotary table to rotate, the upper end of the vertical telescopic rod is connected with the rotary table, and the lower end of the vertical telescopic rod is connected with the horizontal telescopic driving mechanism, so that the rotary table rotates to enable the horizontal telescopic rod to rotate; then, the vertical telescopic driving mechanism is started, the horizontal telescopic driving mechanism is continuously started after the vertical telescopic rod is driven to extend downwards for a certain distance, and the measuring process of the spraying object range is repeated, so that the horizontal distribution range of the spraying objects in the height plane after the spraying objects fall for a certain distance is measured; and finally, repeating the steps, thereby measuring the three-dimensional distribution range of the spray in the air when the plant protection aircraft is in spraying operation. In the process of measuring the spraying object, the measuring sensor always flies along with the plant protection aircraft, so that the sensor directly obtains the physical and chemical data of the spraying object of the plant protection aircraft, and data support is provided for optimizing aviation plant protection spraying operation; the flight mode of the plant protection aircraft comprises hovering flight, uniform-speed flight and variable-speed flight, and the detection device can make corresponding telescopic adjustment according to different flight modes, so that the physical and chemical characteristics of the sprayed object are detected.
In a preferred embodiment of the present invention, the rotation driving mechanism further includes a rotation driving motor and a driving motor base, the rotation driving motor is mounted on the driving motor base, the driving motor base is mounted on a suspension frame of the plant protection aircraft, and the turntable is mounted on a rotation shaft of the rotation driving motor.
In a preferred embodiment of the present invention, the horizontal telescopic driving mechanism further comprises a horizontal driving seat formed by a sleeve, a horizontal driving motor mounted on the horizontal driving seat, and a horizontal driving transmission member; the horizontal telescopic rods are of tubular structures and comprise horizontal driving sections sleeved in the horizontal driving seats and horizontal acting sections positioned outside the horizontal driving seats, and the horizontal driving sections are arc-shaped plates; the horizontal driving transmission part comprises a horizontal driving gear and a horizontal rack arranged on the inner wall of the horizontal driving section and meshed with the horizontal driving gear, and the horizontal driving gear is arranged on the rotating shaft of the horizontal driving motor.
According to a preferable scheme of the invention, the number of the measuring rods is two, and the two measuring rods are respectively arranged at the end parts of the horizontal action section; the measuring rod is of a tubular structure with a hollow interior.
In a preferred scheme of the invention, the vertical telescopic driving mechanism further comprises a vertical driving seat formed by a sleeve, a vertical driving motor arranged on the vertical driving seat and a vertical driving transmission part; the two vertical telescopic rods are tubular structures, each vertical telescopic rod comprises a vertical driving section sleeved in the vertical driving seat and a vertical acting section positioned outside the vertical driving seat, and each vertical driving section is an arc-shaped plate; the vertical driving transmission part comprises a vertical driving gear and a vertical rack which is arranged on the inner wall of the vertical driving section and meshed with the vertical driving gear, and the vertical driving gear is installed on the rotating shaft of the vertical driving motor.
Preferably, in the two vertical telescopic rods, the vertical acting section of one of the two vertical telescopic rods is connected with the turntable, and the vertical acting section of the other vertical acting section is connected with the horizontal driving seat.
In a preferred embodiment of the present invention, the sensor includes a plurality of droplet sensors for measuring the deposition amount and the distribution density of droplets, and the plurality of droplet sensors are uniformly mounted on the measuring rod.
The cleaning assembly comprises a vibrating device for vibrating off the accumulation on the sensor, a heating and evaporating device for heating and evaporating the accumulation on the sensor and an erasing device; the vibration device comprises a vibration motor arranged in the measuring rod; the heating evaporation device comprises a heating wire, and the heating wire is arranged below the sensor; the erasing device comprises an erasing head for erasing the accumulated matters on the sensor and an erasing driving mechanism for driving the erasing head to reciprocate back and forth.
Preferably, the erasing driving mechanism is an electric push rod, and the erasing head is mounted on an action rod of the electric push rod.
The invention discloses a detection method for directly measuring spraying physical and chemical characteristics of a plant protection aircraft, which is characterized by comprising the following steps of:
(1) loading spraying liquid medicine on the plant protection aircraft, and controlling the plant protection aircraft to fly above crops;
(2) setting a plant protection aircraft to fly according to a certain flying mode, starting the spraying device and the sensor, and performing aviation plant protection spraying operation;
(3) the plant protection aircraft transmits the relevant flight control data to the driving mechanism, and the driving mechanism is started;
(4) the horizontal telescopic driving mechanism is started to drive the horizontal telescopic rod to do stretching movement, so that the measuring rod arranged on the horizontal telescopic rod stretches along with the horizontal telescopic rod, when the data of the fog drop sensor arranged on the measuring rod becomes zero, the horizontal telescopic driving mechanism stops, and the horizontal distribution range of the spraying object in the stretching direction of the horizontal telescopic rod in the height plane is measured;
(5) the rotation driving mechanism is started to drive the turntable to rotate, after the turntable rotates for a certain angle, the horizontal telescopic driving mechanism is continuously started, the step (4) is repeated, and the horizontal distribution range of the sprayed objects in the height plane is measured;
(6) starting the vertical telescopic driving mechanism to drive the vertical telescopic rod to extend downwards for a certain distance, continuously starting the horizontal telescopic driving mechanism, repeating the steps (4) and (5), and measuring the horizontal distribution range of the sprayed objects in the height plane after the sprayed objects fall for a certain distance;
(7) and (5) repeating the steps (4), (5) and (6), and measuring the three-dimensional distribution range of the spray in the air when the plant protection aircraft is in spraying operation.
(8) The method comprises the steps of outputting measurement data, outputting a data matrix changing along with time, recording data changes of all sensors in the measurement data by the telescopic structure, and carrying out data statistics according to specified time or time periods to form a sensor data matrix.
Compared with the prior art, the invention has the following beneficial effects:
1. the detection device for directly measuring the physical and chemical properties of the spraying substance of the plant protection aircraft comprises a plurality of measuring rods for mounting sensors and a driving mechanism for driving the measuring rods to move, wherein the measuring rods are mounted on the driving mechanism, and the upper end of the driving mechanism is connected with the plant protection aircraft, so that the sensors are positioned at the lower end of the plant protection aircraft and can fly and move along with the plant protection aircraft at any time, the physical and chemical data of the spraying substance of the plant protection aircraft can be dynamically and directly acquired, the performance of aviation plant protection spraying equipment is verified, the quality of aviation plant protection spraying operation is evaluated, and a basis is provided for optimizing the aviation plant protection spraying operation.
2. The detection device for directly measuring the physical and chemical properties of the sprayed substance of the plant protection aircraft comprises a plurality of measuring rods for mounting sensors and a driving mechanism for driving the measuring rods to move, wherein the driving mechanism comprises a telescopic driving mechanism and a rotary driving mechanism, and the telescopic driving mechanism and the rotary driving mechanism enable the measuring rods to move in a certain three-dimensional space in the air, so that the three-dimensional distribution range of the sprayed substance in the air can be measured, and the physical and chemical data of the sprayed substance of the plant protection aircraft during spraying operation can be obtained.
Drawings
Fig. 1-7 are diagrams illustrating a first embodiment of a device for directly measuring the physical and chemical properties of a spray applied to a plant protection vehicle according to the present invention, wherein fig. 1 is a front view; FIG. 2 is a perspective view; FIG. 3 is a schematic view of an aerial plant protection spray application operation; fig. 4-5 are schematic views of the cleaning assembly, wherein fig. 4 is a schematic view of the vibration motor and the heating wire mounted on the measuring rod, and fig. 5 is a schematic view of the structure of the erasing device; FIG. 6 is a schematic view of the construction of the horizontal drive transmission; FIG. 7 is a schematic view of the construction of the vertical drive transmission.
Fig. 8 is a schematic diagram of a second embodiment of a detection device for directly measuring spraying physical characteristics of a plant protection aircraft according to the invention.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
Example 1
Referring to fig. 1 to 5, the detection device for directly measuring the physical and chemical properties of the sprayed product of the plant protection aircraft comprises a plurality of measuring rods 9 for mounting sensors and a driving mechanism for driving the measuring rods 9 to move, wherein the driving mechanism comprises a telescopic driving mechanism and a rotary driving mechanism, the rotary driving mechanism comprises a turntable 2, and the upper end of the rotary driving mechanism is mounted on a hanging frame 1 of the plant protection aircraft; the telescopic driving mechanism comprises a horizontal telescopic driving mechanism and a vertical telescopic driving mechanism, the horizontal telescopic driving mechanism is used for driving the measuring rod 9 to do telescopic motion in a horizontal plane, the vertical telescopic driving mechanism is used for driving the measuring rod 9 to do telescopic motion in a vertical plane, the horizontal telescopic driving mechanism comprises a horizontal telescopic rod 6, and the vertical telescopic driving mechanism comprises a vertical telescopic rod 3; the upper end of the vertical telescopic rod 3 is connected with the rotary table 2, and the lower end of the vertical telescopic rod is connected with the horizontal telescopic driving mechanism; the measuring rod 9 is arranged on the horizontal telescopic rod 6.
Referring to fig. 1-3, the rotation driving mechanism further comprises a rotation driving motor and a driving motor base, the rotation driving motor is installed on the driving motor base, the driving motor base is installed on a hanging frame 1 of the plant protection aircraft, and the turntable 2 is installed on a rotating shaft of the rotation driving motor. Through the rotation actuating mechanism who sets up above-mentioned structure, after receiving the start instruction, rotate driving motor and start to drive carousel 2 rotates, because flexible drive structure installs on carousel 2, consequently 2 rotation of carousel makes flexible drive structure rotate, thereby makes and installs the measuring stick 9 on flexible drive structure and rotates, installs the distribution that the sensor on flexible actuating mechanism can measure spraying thing in the circumference range like this.
Referring to fig. 1 and 6, the horizontal telescopic driving mechanism further includes a horizontal driving seat 7 formed by a sleeve, a horizontal driving motor 8 mounted on the horizontal driving seat 7, and a horizontal driving transmission member; the horizontal telescopic rods 6 are of a tubular structure, each horizontal telescopic rod 6 comprises a horizontal driving section 6-1 sleeved in the horizontal driving seat 7 and a horizontal acting section 6-2 positioned outside the horizontal driving seat 7, and each horizontal driving section 6-1 is an arc-shaped plate; the horizontal driving transmission part comprises a horizontal driving gear 15 and a horizontal rack 16 which is arranged on the inner wall of the horizontal driving section 6-1 and meshed with the horizontal driving gear 15, and the horizontal driving gear 15 is installed on the rotating shaft of the horizontal driving motor 8. The horizontal telescopic driving mechanism with the structure is arranged, the horizontal driving motor 8 is arranged in the middle of the horizontal driving seat 7, the horizontal driving gear 15 is arranged on the rotating shaft of the horizontal driving motor 8, so that the horizontal driving gear 15 is positioned in the middle of the horizontal driving seat 7, the horizontal driving section 6-1 is positioned on two sides of the horizontal driving gear 15, the horizontal racks 16 on the inner wall of the horizontal driving section 6-1 are all meshed with the horizontal driving gear 15, and when the horizontal driving gear 15 rotates clockwise, the horizontal racks 16 are driven to move outwards along the axial direction of the horizontal driving seat 7, so that the horizontal telescopic rod 6 can be extended; when the horizontal driving gear 15 rotates anticlockwise, the horizontal rack 16 is driven to move inwards along the axial direction of the horizontal driving seat 7, so that the horizontal telescopic rod 6 makes a contraction motion.
Referring to fig. 1-3 and 6, there are two measuring rods 9, and the two measuring rods 9 are respectively installed at the end parts of the horizontal acting section 6-2; the measuring rod 9 is a tubular structure with a hollow inner part. The measuring rod 9 is arranged at the end part of the horizontal action section 6-2, so that when the horizontal telescopic rod 6 extends outwards, the measuring rod 9 can move outwards for a larger distance, and the detection range of a sensor arranged on the measuring rod 9 on the sprayed object is larger; set measuring stick 9 to hollow tubular structure, on the one hand, measuring stick 9's weight reduction is more nimble at measuring stick 9 in the in-process of motion, and on the other hand, other devices can also be installed to hollow measuring stick 9 the inside, powerful.
Referring to fig. 1 and 7, the vertical telescopic driving mechanism further comprises a vertical driving seat 4 formed by a sleeve, a vertical driving motor 5 mounted on the vertical driving seat 4, and a vertical driving transmission member; the two vertical telescopic rods 3 are tubular structures, each vertical telescopic rod 3 comprises a vertical driving section 3-1 sleeved in the corresponding vertical driving seat 4 and a vertical acting section 3-2 positioned outside the corresponding vertical driving seat 4, and each vertical driving section 3-1 is an arc-shaped plate; the vertical driving transmission part comprises a vertical driving gear 17 and a vertical rack 18 which is arranged on the inner wall of the vertical driving section 3-1 and meshed with the vertical driving gear 17, and the vertical driving gear 17 is installed on the rotating shaft of the vertical driving motor 5. The vertical telescopic driving mechanism with the structure is arranged, the vertical driving motor 5 is arranged at the middle position of the vertical driving seat 4, the vertical driving gear 17 is arranged on the rotating shaft of the vertical driving motor 5, so that the vertical driving gear 17 is positioned at the middle position of the vertical driving seat 4, the vertical driving section 3-1 is positioned at two sides of the vertical driving gear 17, the vertical racks 18 on the inner wall of the vertical driving section 3-1 are all meshed with the vertical driving gear 17, and when the vertical driving gear 17 rotates clockwise, the vertical racks 18 are driven to move outwards along the axial direction of the vertical driving seat 4, so that the vertical telescopic rod 3 is enabled to do extension movement; when the vertical driving gear 17 rotates anticlockwise, the vertical rack 18 is driven to move inwards along the axial direction of the vertical driving seat 4, so that the vertical telescopic rod 3 does contraction movement.
Referring to fig. 1 and 7, one of the two vertical telescopic rods 3 has a vertical acting section 3-2 connected with the turntable 2, and the other vertical acting section 3-2 is connected with the horizontal driving seat 7. When the turntable 2 rotates, the vertical telescopic rod 3 connected to the turntable 2 is driven to rotate, so that the vertical telescopic driving mechanism rotates; the horizontal driving seat 7 is connected with another vertical telescopic rod 3, so that the rotation of the vertical telescopic driving mechanism drives the horizontal telescopic driving mechanism to rotate, the measuring rod 9 installed on the horizontal telescopic rod 6 rotates, and the physical and chemical characteristics of the sprayed object in the circumferential range on a certain height plane can be measured in the process that the sensor follows the rotation of the measuring rod 9.
Referring to fig. 2 and 4, the sensor comprises a plurality of droplet sensors 10 for measuring the size and distribution density of the deposited droplets, and the plurality of droplet sensors 10 are uniformly arranged on the measuring rod 9. A plurality of sensors are arranged on the measuring rod 9, so that a plurality of groups of measuring data can be obtained in the same measuring range, and the measuring result is more accurate. In this embodiment, the mounting means of sensor can be fixed connection on measuring stick 9, also can rotate as required and connect on measuring stick 9, and the sensor can encircle measuring stick 9 and set up promptly to the spraying physics and chemistry data of a certain direction is gathered as required.
In this embodiment, besides the fog drop sensor 10, a particle size sensor for measuring particle size, a pressure-sensitive sensor for measuring stress intensity, a temperature sensor for measuring temperature change, a wind sensor for measuring wind force change, and a laser distance measuring sensor for measuring end-to-end distance change may be installed as needed, and the above sensors may be separately installed or installed in a mixed manner as needed to measure, so as to collect corresponding data according to actual conditions.
In the embodiment, the sensor data transmission mode is divided into wireless transmission and wired transmission; the wired transmission means that the sensor data are transmitted to the aircraft through a wire and stored, and the wireless transmission means that the sensor data are directly transmitted to the ground station in a wireless transmission mode and stored.
4-5, the cleaning assembly comprises a vibration device for vibrating and falling off the accumulation on the sensor, a heating and evaporating device for heating and evaporating the accumulation on the sensor and an erasing device; the vibration device comprises a vibration motor 11 arranged in the measuring rod 9; the heating and evaporating device comprises a heating wire 12, and the heating wire 12 is arranged below the sensor; the erasing device includes an erasing head 14 for erasing the accumulated materials on the sensor and an erasing driving mechanism 13 for driving the erasing head 14 to reciprocate back and forth. Setting the cleaning component, starting a vibration device, and starting vibration of a vibration motor 11 to vibrate a measuring rod 9 so as to vibrate the cumulant on the sensor; electrifying the heating wire 12, and generating heat by the heating wire 12 so as to heat and evaporate the accumulated matters on the sensor; the erasing driving mechanism 13 is started, the erasing driving mechanism 13 drives the erasing head 14 to reciprocate back and forth, so that the accumulated objects on the sensor are erased, the accumulated objects on the surface of the sensor can be removed through the work of the cleaning assembly, and the sensor is ensured to keep good detection capability.
Referring to fig. 5, the erasing driving mechanism 13 is an electric push rod, and the erasing head 14 is mounted on an action rod of the electric push rod. The electric push rod is started, and the erasing head 14 is driven to move by utilizing the back-and-forth expansion principle of the action rod, so that the accumulated matters on the surface of the sensor are erased.
Referring to fig. 1-5, the working principle of the device for directly measuring the aerial plant protection spray is as follows:
loading spraying liquid medicine on the plant protection aircraft, controlling the plant protection aircraft to fly to the crops top, the measuring stick 9 is installed on the horizontal telescopic link 6, because the upper end of rotating actuating mechanism is installed on the string carrier 1 of plant protection aircraft, just the upper end of vertical telescopic link 3 with carousel 2 is connected, the lower extreme with the horizontal telescopic actuating mechanism connects, therefore measuring stick 9 and the sensor of installing above that follow the flight of plant protection aircraft all the time. Set up the plant protection aircraft and fly according to certain flight mode, start spraying device and sensor, carry out aviation plant protection spraying operation, the liquid medicine of spraying is in the air and is wafted to the rear below. In the process, the plant protection aircraft transmits relevant flight control data to the driving mechanism, so that the driving mechanism starts to work. Firstly, a horizontal telescopic driving mechanism is started to drive a horizontal telescopic rod 6 to do stretching movement, so that a measuring rod 9 arranged on the horizontal telescopic rod 6 stretches along with the horizontal telescopic rod, when data of a fog drop sensor 10 arranged on the measuring rod 9 become zero, the fact that no spraying object exists beyond the stretching distance range is indicated, at the moment, the horizontal telescopic rod 6 stops doing stretching movement, and therefore the horizontal distribution range of the spraying object in the stretching direction of the horizontal telescopic rod 6 in the height plane can be measured; then, the rotation driving mechanism is started to drive the rotary table 2 to rotate, because the upper end of the vertical telescopic rod 3 is connected with the rotary table 2, and the lower end of the vertical telescopic rod is connected with the horizontal telescopic driving mechanism, the rotation of the rotary table 2 enables the horizontal telescopic rod 6 to rotate, after the rotary table 2 rotates for a certain angle, the horizontal telescopic driving mechanism is continuously started, the measuring process of measuring the range of the sprayed object is repeated, and the horizontal distribution range of the sprayed object in the height plane is measured; then, the vertical telescopic driving mechanism is started to drive the vertical telescopic rod 3 to extend downwards for a certain distance, the horizontal telescopic driving mechanism is continuously started, and the measuring process of measuring the range of the sprayed objects is repeated, so that the horizontal distribution range of the sprayed objects in the height plane after the sprayed objects fall for a certain distance is measured; and finally, repeating the steps, thereby measuring the three-dimensional distribution range of the spray in the air when the plant protection aircraft is in spraying operation. In the process of measuring the spraying object, the measuring sensor always flies along with the plant protection aircraft, so that the sensor directly obtains the physical and chemical data of the spraying object of the plant protection aircraft, and data support is provided for optimizing aviation plant protection spraying operation; the flight mode of the plant protection aircraft comprises hovering flight, uniform-speed flight and variable-speed flight, and the detection device can make corresponding telescopic adjustment according to different flight modes, so that the physical and chemical characteristics of the sprayed object are detected. .
A detection method for directly measuring spraying physical and chemical characteristics of a plant protection aircraft is characterized by comprising the following steps:
(1) loading spraying liquid medicine on the plant protection aircraft, and controlling the plant protection aircraft to fly above crops;
(2) setting a plant protection aircraft to fly according to a certain flying mode, starting the spraying device and the sensor, and performing aviation plant protection spraying operation;
(3) the plant protection aircraft transmits the relevant flight control data to the driving mechanism, and the driving mechanism is started;
(4) the horizontal telescopic driving mechanism is started to drive the horizontal telescopic rod 6 to do stretching movement, so that the measuring rod 9 arranged on the horizontal telescopic rod 6 stretches along with the horizontal telescopic rod, when the data of the fog drop sensor 10 arranged on the measuring rod 9 becomes zero, the horizontal telescopic driving mechanism stops, and the horizontal distribution range of the spraying object in the stretching direction of the horizontal telescopic rod 6 in the height plane is measured;
(5) the rotation driving mechanism is started to drive the rotary table 2 to rotate, after the rotary table 2 rotates for a certain angle, the horizontal telescopic driving mechanism is continuously started, the step (4) is repeated, and the horizontal distribution range of the sprayed objects in the height plane is measured;
(6) starting the vertical telescopic driving mechanism to drive the vertical telescopic rod 3 to extend downwards for a certain distance, continuously starting the horizontal telescopic driving mechanism, repeating the steps (4) and (5), and measuring the horizontal distribution range of the sprayed objects in the height plane after the sprayed objects fall for a certain distance;
(7) and (5) repeating the steps (4), (5) and (6), and measuring the three-dimensional distribution range of the spray in the air when the plant protection aircraft is in spraying operation.
(8) The method comprises the steps of outputting measurement data, outputting a data matrix changing along with time, recording data changes of all sensors in the measurement data by the telescopic structure, and carrying out data statistics according to specified time or time periods to form a sensor data matrix.
Example 2
Referring to fig. 8, the detection device for directly measuring the physical and chemical properties of the sprayed product of the plant protection aircraft comprises a measuring rod for mounting a sensor and a driving mechanism for driving the measuring rod to move, wherein the driving mechanism comprises a swing driving mechanism for driving the measuring rod to swing and a rotation driving mechanism for driving the measuring rod to rotate; the swing driving mechanism comprises an upper connecting plate 19 connected with a mounting frame of the plant protection aircraft, two vertical telescopic driving mechanisms and a lower connecting plate 20; along the advancing direction of the aircraft, the upper ends of the two vertical telescopic driving mechanisms are hinged to the front side and the rear side of the upper connecting plate 19, and the lower ends of the two vertical telescopic driving mechanisms are hinged to the front side and the rear side of the lower connecting plate 20; the rotation driving mechanism comprises a rotation driving motor, the rotation driving motor is arranged on the measuring rod, and a rotating shaft of the rotation driving motor is connected with the lower connecting plate 20; the measuring rods comprise a first measuring rod 21 and a second measuring rod 22, and the upper end of the first measuring rod 21 is connected with the rotation driving motor; the second measuring rod 22 is connected to the first measuring rod 21 through an up-down swinging mechanism; the up-down swinging mechanism comprises a swinging motor, the swinging motor is arranged on the second measuring rod 22, and a rotating shaft of the swinging motor is connected with the lower end of the first measuring rod 21; the vertical telescopic driving mechanism is the same as that in embodiment 1.
In this embodiment, the working process of the detection device is as follows: the spraying liquid medicine is loaded on the plant protection aircraft, the plant protection aircraft is controlled to fly to the top of crops, the upper end of the swing driving mechanism is connected with the mounting frame of the plant protection aircraft, the lower end of the swing driving mechanism is connected with the measuring rod through the rotation driving mechanism, and therefore the measuring rod and a sensor installed on the measuring rod always follow the plant protection aircraft to fly. Set up the plant protection aircraft and fly according to certain flight mode, start spraying device and sensor, carry out aviation plant protection spraying operation, the liquid medicine of spraying is in the air and is wafted to the rear below. In the process, the plant protection aircraft transmits the relevant flight control data to the driving mechanism, so that the driving mechanism drives the driving mechanism to work. Firstly, the vertical telescopic driving mechanism arranged at the rear side makes contraction motion, and the vertical telescopic driving mechanism seat at the front side makes extension motion, so that the lower connecting plate 20 swings backwards, and thus, the measuring rod connected to the lower connecting plate 20 through the rotary driving mechanism swings backwards; then, the up-down swinging mechanism is started, the swinging motor starts to rotate, so that the second measuring rod 22 swings within a certain range, when the data of the sensor arranged on the second measuring rod 22 becomes zero, the situation that no object is sprayed beyond the swinging range is indicated, the swinging motor stops swinging, and the physical and chemical properties of the object sprayed in the plane where the backward swinging direction of the swinging driving mechanism is located are measured; then, the rotation driving mechanism is started, the rotation driving motor starts to rotate, the first measuring rod 21 is driven to rotate for a certain angle along the axis of the rotating shaft of the rotation driving motor, so that the second measuring rod 22 rotates for a certain angle along with the rotation, the up-down swinging mechanism is continuously started, and the step of measuring the physical and chemical properties of the sprayed object in the plane where the backward swinging direction of the swinging driving mechanism is located is repeated; and finally, repeating the steps to finally measure the physical and chemical properties of the sprayed object on any designated point at the rear lower part of the plant protection aircraft. In the spraying material measuring process, the measuring sensor always flies along with the plant protection aircraft, so that the sensor directly obtains the physical and chemical data of the spraying material of the plant protection aircraft, and data support is provided for optimizing aviation plant protection spraying operation; the flight mode of the plant protection aircraft comprises hovering flight, uniform-speed flight and variable-speed flight, and the detection device can make corresponding telescopic adjustment according to different flight modes, so that the physical and chemical characteristics of the sprayed object are detected.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and are included in the scope of the present invention.
Claims (10)
1. A detection device for directly measuring spraying physical and chemical characteristics of a plant protection aircraft is characterized by comprising a plurality of measuring rods for mounting sensors and a driving mechanism for driving the measuring rods to move, wherein the driving mechanism comprises a telescopic driving mechanism and a rotary driving mechanism, the rotary driving mechanism comprises a turntable, and the upper end of the rotary driving mechanism is mounted on a hanging frame of the plant protection aircraft; the telescopic driving mechanism comprises a horizontal telescopic driving mechanism and a vertical telescopic driving mechanism, the horizontal telescopic driving mechanism is used for driving the measuring rod to do telescopic motion in a horizontal plane, the vertical telescopic driving mechanism is used for driving the measuring rod to do telescopic motion in a vertical plane, the horizontal telescopic driving mechanism comprises a horizontal telescopic rod, and the vertical telescopic driving mechanism comprises a vertical telescopic rod; the upper end of the vertical telescopic rod is connected with the rotary table, and the lower end of the vertical telescopic rod is connected with the horizontal telescopic driving mechanism; the measuring rod is installed on the horizontal telescopic rod.
2. The device for detecting physical and chemical characteristics of spray application of a plant protection aircraft as claimed in claim 1, wherein said rotation driving mechanism further comprises a rotation driving motor and a driving motor base, said rotation driving motor is installed on said driving motor base, said driving motor base is installed on a hanging frame of said plant protection aircraft, and said rotary disc is installed on said rotation driving motor shaft.
3. The device for detecting the physical and chemical properties of the spray of a plant protection aircraft as claimed in claim 1, wherein the horizontal telescopic driving mechanism further comprises a horizontal driving seat formed by a sleeve, a horizontal driving motor mounted on the horizontal driving seat, and a horizontal driving transmission member; the horizontal telescopic rods are of tubular structures and comprise horizontal driving sections sleeved in the horizontal driving seats and horizontal acting sections positioned outside the horizontal driving seats, and the horizontal driving sections are arc-shaped plates; the horizontal driving transmission part comprises a horizontal driving gear and a horizontal rack arranged on the inner wall of the horizontal driving section and meshed with the horizontal driving gear, and the horizontal driving gear is arranged on the rotating shaft of the horizontal driving motor.
4. The device for detecting the physical and chemical properties of the spray of a plant protection aircraft as claimed in claim 3, wherein there are two measuring rods, and the two measuring rods are respectively installed at the end parts of the horizontal action section; the measuring rod is of a tubular structure with a hollow interior.
5. The device for directly measuring the physical and chemical properties of the spray of a plant protection aircraft as claimed in claim 4, wherein the vertical telescopic driving mechanism further comprises a vertical driving seat consisting of a sleeve, a vertical driving motor mounted on the vertical driving seat, and a vertical driving transmission member; the two vertical telescopic rods are tubular structures, each vertical telescopic rod comprises a vertical driving section sleeved in the vertical driving seat and a vertical acting section positioned outside the vertical driving seat, and each vertical driving section is an arc-shaped plate; the vertical driving transmission part comprises a vertical driving gear and a vertical rack which is arranged on the inner wall of the vertical driving section and meshed with the vertical driving gear, and the vertical driving gear is installed on the rotating shaft of the vertical driving motor.
6. The device for directly measuring spraying physical and chemical characteristics of the plant protection aircraft as claimed in claim 5, wherein one vertical action section of the two vertical telescopic rods is connected with the turntable, and the other vertical action section of the two vertical telescopic rods is connected with the horizontal driving seat.
7. The device for detecting the physical and chemical characteristics of the spray of the plant protection aircraft as claimed in claim 1, wherein the sensors comprise a plurality of droplet sensors for measuring the deposition amount and distribution density of droplets, and the plurality of droplet sensors are uniformly arranged on the measuring rod.
8. The detection device for directly measuring the spraying physical and chemical characteristics of the plant protection aircraft as claimed in claim 1, characterized by further comprising a cleaning assembly for removing the accumulations on the sensor, wherein the cleaning assembly comprises a vibration device for vibrating off the accumulations on the sensor, a heating and evaporating device for heating and evaporating the accumulations on the sensor, and an erasing device; the vibration device comprises a vibration motor arranged in the measuring rod; the heating evaporation device comprises a heating wire, and the heating wire is arranged below the sensor; the erasing device comprises an erasing head for erasing the accumulated matters on the sensor and an erasing driving mechanism for driving the erasing head to reciprocate back and forth.
9. The device for detecting the physical and chemical characteristics of the spray of a plant protection aircraft as claimed in claim 8, wherein the erasing driving mechanism is an electric push rod, and the erasing head is mounted on an action rod of the electric push rod.
10. A detection method for directly measuring spraying physical and chemical characteristics of a plant protection aircraft based on the detection device of any one of claims 1 to 9, which is characterized by comprising the following steps:
(1) loading spraying liquid medicine on the plant protection aircraft, and controlling the plant protection aircraft to fly above crops;
(2) setting a plant protection aircraft to fly according to a certain flying mode, starting the spraying device and the sensor, and performing aviation plant protection spraying operation;
(3) the plant protection aircraft transmits the relevant flight control data to the driving mechanism, and the driving mechanism is started;
(4) the horizontal telescopic driving mechanism is started to drive the horizontal telescopic rod to do stretching movement, so that the measuring rod arranged on the horizontal telescopic rod stretches along with the horizontal telescopic rod, when the data of the fog drop sensor arranged on the measuring rod becomes zero, the horizontal telescopic driving mechanism stops, and the horizontal distribution range of the spraying object in the stretching direction of the horizontal telescopic rod in the height plane is measured;
(5) the rotation driving mechanism is started to drive the turntable to rotate, after the turntable rotates for a certain angle, the horizontal telescopic driving mechanism is continuously started, the step (4) is repeated, and the horizontal distribution range of the sprayed objects in the height plane is measured;
(6) starting the vertical telescopic driving mechanism to drive the vertical telescopic rod to extend downwards for a certain distance, continuously starting the horizontal telescopic driving mechanism, repeating the steps (4) and (5), and measuring the horizontal distribution range of the sprayed objects in the height plane after the sprayed objects fall for a certain distance;
(7) repeating the steps (4), (5) and (6), and measuring the three-dimensional distribution range of the spray in the air when the plant protection aircraft is in spraying operation;
(8) the method comprises the steps of outputting measurement data, outputting a data matrix changing along with time, recording data changes of all sensors in the measurement data by the telescopic structure, and carrying out data statistics according to specified time or time periods to form a sensor data matrix.
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