Design And Experimental Research Of Plant Sampling System Based On UAV Platform

Aim at the problems such as low automation and operational safety of contact plant sampling equipment in complex geographic environments,this project designed and developed a plant sampling system integrating contact plant sample sampling and noncontact plant information collection based on drone platform.Based on the requirement analysis and design technical indexes of plant sampling system,the method of plant sampling system based on drone platform is proposed.The overall scheme of the system consists of plant sampling manipulator,plant information acquisition subsystem and safety protection subsystem.The selection design of drone platform and the key technology analysis of the system development.According to the functional requirements of contact plant sampling,the configuration design a manipulator with symmetric double rocker combination of ball screw pair and offset slider is proposed,which realized the design goal of the integration of grasping,cutting and storage.Applying the theory of mechanism kinematics,the optimization design of the design parameters of the manipulator mechanism was carried out,and the dynamics and structural mechanics of the sampling manipulator were checked and analyzed;Based on the super-heterodyne receiving technology with high sensitivity,the remote control device composed of motor control,travel switch and remote control is designed to realize the remote control of sampling manipulator in complex geographical environment.Based on STM32 single-chip microcomputer,a two-level safety protection device is designed for the electronic connection and separation of the manipulator and the drone platform with the feedback of the tension sensor;Through configuration design and multibody dynamics simulation,the adjustable force control mechanical connection separation is designed Device,thus realizing the three-level safety protection of the system.Through selection the DJI Zenmuse X3 type integrated cradle head camera and the D-RTK measuring instrument based on carrier phase difference technology(RTK),the non-contact plant information collection sub-systems such as system plant image information and geographic information are designed,the integration of contact plant sample sampling and non-contact plant information collection is realized.The prototype of plant sampling system was developed.The cutting force test of the manipulator,the test of safety protection device and the sampling of the platform system were carried out.The test and experiment show that the cutting force of the sampling manipulator is 214.3N,which meets the design requirements.The electronic connection separator and the mechanical connection separator realize the preset safety protection function;Through remote control,the system has the functions of designing plant sample contact sampling and collecting image information and geographic position information in one,and can meet the requirements of sample net weight up to 1kg,sample plant stem diameter up to 5mm and other indicators.This paper designed and developed the plant sampling system based on drone platform,which has the functions of remote control,plant sampling and information collection.It solves the practical problems of plant sampling in complex geographical environment,and has important social value and application value.