高效自适应喷雾植保无人机设计与研究
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摘要
农作物植保无人机对植株进行喷雾作业时,多由操作手进行目测无人机与植株的垂直距离进行喷雾高度的调节完成施药,而采用人眼目测法易造成喷雾沉积量、沉积密度误差的问题。为了提高对药物充分利用及植保无人机的喷雾效率,设计了一种高效自适应喷雾植保无人机,使用超声波完成无人机至植株竖直距离的数据采集,并实时检测植株密度,自动调节植保无人机飞行姿态及喷头的施药速率。试验结果表明:设计的高效自适应喷雾植保无人机喷雾姿态自适应调节响应速率快,喷雾位置精确,药物流失少。
When the crop plant protection UAV is spraying on plants,the vertical distance between UAV and the plant is widely observed by operators to adjust the spray height to finish spraying. The use of human eye test is easy to cause the error of spray deposition and deposition density. In order to improve to make full use of medicine and protection of the UAV spray efficiency,design a high efficient adaptive spray plant protection UAV,the use of ultrasonic data acquisition of UAV to plant the vertical distance,and real-time detection of plant density,plant protection automatic control of UAV flight attitude and sprinkler application rate. The experimental results show that the design of highly effective adaptive spray plant protection UAV spray attitude adaptive adjustment has fast response speed,precise spray location and less drug loss.
When the crop plant protection UAV is spraying on plants,the vertical distance between UAV and the plant is widely observed by operators to adjust the spray height to finish spraying. The use of human eye test is easy to cause the error of spray deposition and deposition density. In order to improve to make full use of medicine and protection of the UAV spray efficiency,design a high efficient adaptive spray plant protection UAV,the use of ultrasonic data acquisition of UAV to plant the vertical distance,and real-time detection of plant density,plant protection automatic control of UAV flight attitude and sprinkler application rate. The experimental results show that the design of highly effective adaptive spray plant protection UAV spray attitude adaptive adjustment has fast response speed,precise spray location and less drug loss.
引文
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[4]周莉萍.无人机机载喷雾系统喷雾特性及影响因素的研究[D].杭州:浙江大学,2017.
[5]姜锐,周志艳,徐岩,等.植保无人机药箱液量监测装置的设计与试验[J].农业工程学报,2017,33(12):107-115.
[6]杨秋菊.高精度超声波测距系统的研究与设计[D].成都:西南石油大学,2014.
[7]王潇楠.农药雾滴飘移及减飘方法研究[D].北京:中国农业大学,2017.
[8]潘灼坤.耦合遥感信息与作物生长模型的区域低温影响监测、预警与估产[D].杭州:浙江大学,2016.
[9]秦维彩.单旋翼植保无人机喷雾参数优化研究[D].镇江:江苏大学,2017.
[10]谭广超.四旋翼飞行器姿态控制系统的设计与实现[D].大连:大连理工大学,2013.
[11]国倩倩.微型四旋翼飞行器控制系统设计及控制方法研究[D].长春:吉林大学,2013.
[12] P. Pounds,Mahony. Modelling and control of a large quad rotor robot[J]. Control Engineering Practice,2018(18):691-699.
[13] Ricardo,Javier Moreno. A robust approach for trajectory tracking control of aquad rotor with experiment validation[J].Transactions,2016(65):262-274.
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