植保无人机航空喷施飞行质量的试验与评价
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摘要
【目的】植保无人机的飞行质量是航空喷施作业效果的重要影响因素。探讨不同类型和不同控制方式的植保无人机航空喷施作业的飞行质量和作业效果,为航空喷施作业机型的选择和植保无人机技术的改进提供数据支持和指导。【方法】采用微轻型机载北斗导航定位系统,获取半自主飞行控制模式下单旋翼油动植保无人机(SoUAV)、单旋翼电动植保无人机(Se-UAV)和半自动四旋翼电动植保无人机(Saqe-UAV)以及全自主控制模式下四旋翼电动植保无人机(Faqe-UAV)的飞行轨迹和飞行参数,并对飞行质量(包括飞行参数均匀性、航线精度和航线长度均匀性)进行了分析和评价。【结果】四旋翼植保无人机飞行质量优于单旋翼植保无人机,且Faqe-UAV飞行质量优于Saqe-UAV;Faqe-UAV在整个作业区域内的飞行参数变化的均匀性最佳,飞行速度和飞行高度参数变化的均匀性分别为3.66%和4.67%;Faqe-UAV的平均飞行航线偏差最小,为0.172 m。飞行方向对Saqe-UAV飞行参数的影响显著,但对Faqe-UAV飞行参数的影响不显著;航线长度对Faqe-UAV飞行参数的影响显著,但对SaqeUAV飞行速度的影响不显著。【结论】在航空喷施作业过程中,全自主控制方式下四旋翼电动植保无人机飞行质量最佳,对药液喷施质量更有保障。
【Objective】Flight quality of plant protection UAV is an important factor affecting the effectiveness of aerial spraying. The objective of this research is to explore flight qualities and operation effects of plant protection UAVs of different types and control models, which can provide data support and guidance for selecting the models and improving the spraying technologies.【Method】Flight paths and parameters of singlerotor oil-powered plant protection UAV(Se-UAV), single-rotor electric plant protection UAV(Se-UAV), semiautomatic-quad-rotor electric plant protection UAV(Saqe-UAV) and full-automatic-quad-rotor electric plant protection UAV(Faqe-UAV) were obtained by micro-light Beidou navigation satellite system, and flight qualities(including path accuracy, variation uniformity of flight parameter and path length) were analyzed and evaluated.【Result】Flight qualities of quad-rotor plant protection UAVs were better than those of single-rotor plant protection UAVs, and flight quality of Faqe-UAVwas better than that of Saqe-UAV. Faqe-UAV had the best uniformity of flight parameters throughout the operating area, and the uniformities of flight speed and flight height were 3.66% and 4.67%, respectively. The average route deviation of Faqe-UAV was the minimum, which was 0.172 m. In addition, the effects of flight direction on flight parameters of plant protection UAVs under fullautonomous and semi-autonomous control modes were insignificant and significant respectively. The effect of route length on flight parameters of plant protection UAV under semi-autonomous control mode was not significant, but route length had a significant effect on flight speed of plant protection UAV under fullautonomous control mode.【Conclusion】In the aerial spraying process, quad-rotor plant protection UAV under full-autonomous control mode has the best flight quality, and gives spraying quality more security.
【Objective】Flight quality of plant protection UAV is an important factor affecting the effectiveness of aerial spraying. The objective of this research is to explore flight qualities and operation effects of plant protection UAVs of different types and control models, which can provide data support and guidance for selecting the models and improving the spraying technologies.【Method】Flight paths and parameters of singlerotor oil-powered plant protection UAV(Se-UAV), single-rotor electric plant protection UAV(Se-UAV), semiautomatic-quad-rotor electric plant protection UAV(Saqe-UAV) and full-automatic-quad-rotor electric plant protection UAV(Faqe-UAV) were obtained by micro-light Beidou navigation satellite system, and flight qualities(including path accuracy, variation uniformity of flight parameter and path length) were analyzed and evaluated.【Result】Flight qualities of quad-rotor plant protection UAVs were better than those of single-rotor plant protection UAVs, and flight quality of Faqe-UAVwas better than that of Saqe-UAV. Faqe-UAV had the best uniformity of flight parameters throughout the operating area, and the uniformities of flight speed and flight height were 3.66% and 4.67%, respectively. The average route deviation of Faqe-UAV was the minimum, which was 0.172 m. In addition, the effects of flight direction on flight parameters of plant protection UAVs under fullautonomous and semi-autonomous control modes were insignificant and significant respectively. The effect of route length on flight parameters of plant protection UAV under semi-autonomous control mode was not significant, but route length had a significant effect on flight speed of plant protection UAV under fullautonomous control mode.【Conclusion】In the aerial spraying process, quad-rotor plant protection UAV under full-autonomous control mode has the best flight quality, and gives spraying quality more security.
引文
[1]LAN Y B,CHEN S D,FRITZ B K.Current status and future trends of precision agricultural aviation technologies[J].Int J Agric&Biol Eng,2017,10(3):1-17.
[2]张东彦,兰玉彬,陈立平,等.中国农业航空施药技术研究进展与展望[J].农业机械学报,2014,45(10):53-59.
[3]周志艳,臧英,罗锡文,等.中国农业航空植保产业技术创新发展战略[J].农业工程学报,2013,29(24):1-10.
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[11]陈盛德,兰玉彬,周志艳,等.小型植保无人机喷雾参数对橘树冠层雾滴沉积分布的影响[J].华南农业大学学报,2017,38(5):97-102.
[12]陈盛德,兰玉彬,FRITZ B K,等.多旋翼无人机旋翼下方风场对航空喷施雾滴沉积的影响[J].农业机械学报,2017,48(8):105-113.
[13]QIN W C,QIU B J,XUE X Y,et al.Droplet deposition and control effect of insecticides sprayed with an unmanned aerial vehicle against plant hoppers[J].Crop Prot,2016,85:79-88.
[14]王潇楠,何雄奎,王昌陵,等.油动单旋翼植保无人机雾滴飘移分布特性[J].农业工程学报,2017,33(1):117-123.
[15]陈盛德,兰玉彬,李继宇,等.小型无人直升机喷雾参数对杂交水稻冠层雾滴沉积分布的影响[J].农业工程学报,2016,32(17):40-46.
[16]王昌陵,何雄奎,王潇楠,等.基于空间质量平衡法的植保无人机施药雾滴沉积分布特性测试[J].农业工程学报,2016,32(24):89-97.
[17]张宋超,薛新宇,秦维彩,等.N-3型农用无人直升机航空施药雾滴飘移模拟与试验[J].农业工程学报,2015,31(3):87-93.
[18]张盼,吕强,易时来,等.小型无人机对柑橘园的喷雾效果研究[J].果树学报,2016,33(1):34-42.
[19]王颉.试验设计与SPSS应用[M].北京:化学工业出版社,2006.
[2]张东彦,兰玉彬,陈立平,等.中国农业航空施药技术研究进展与展望[J].农业机械学报,2014,45(10):53-59.
[3]周志艳,臧英,罗锡文,等.中国农业航空植保产业技术创新发展战略[J].农业工程学报,2013,29(24):1-10.
[4]CHEN S D,LAN Y B,LI J Y,et al.Effect of wind field below unmanned helicopter on droplet deposition distribution of aerial spraying[J].Int J Agric&Biol Eng,2017,10(3):67-77.
[5]XUE X Y,LAN Y B,SUN Z,et al.Develop an unmanned aerial vehicle based automatic aerial spraying system[J].Comput Electron Agric,2016,128:58-66.
[6]陈盛德,兰玉彬,李继宇,等.航空喷施与人工喷施方式对水稻施药效果比较[J].华南农业大学学报,2017,38(4):103-109.
[7]陈盛德,兰玉彬,李继宇,等.植保无人机航空喷施作业有效喷幅的评定与试验[J].农业工程学报,2017,33(7):82-90.
[8]XUE X Y,TU K,QIN W C,et al.Drift and deposition of ultra-low altitude and low volume application in paddy field[J].Int J Agric&Biol Eng,2014,7(4):23-28.
[9]邱白晶,王立伟,蔡东林,等.无人直升机飞行高度与速度对喷雾沉积分布的影响[J].农业工程学报,2013,29(24):25-32.
[10]秦维彩,薛新宇,周立新,等.无人直升机喷雾参数对玉米冠层雾滴沉积分布的影响[J].农业工程学报,2014,30(5):50-56.
[11]陈盛德,兰玉彬,周志艳,等.小型植保无人机喷雾参数对橘树冠层雾滴沉积分布的影响[J].华南农业大学学报,2017,38(5):97-102.
[12]陈盛德,兰玉彬,FRITZ B K,等.多旋翼无人机旋翼下方风场对航空喷施雾滴沉积的影响[J].农业机械学报,2017,48(8):105-113.
[13]QIN W C,QIU B J,XUE X Y,et al.Droplet deposition and control effect of insecticides sprayed with an unmanned aerial vehicle against plant hoppers[J].Crop Prot,2016,85:79-88.
[14]王潇楠,何雄奎,王昌陵,等.油动单旋翼植保无人机雾滴飘移分布特性[J].农业工程学报,2017,33(1):117-123.
[15]陈盛德,兰玉彬,李继宇,等.小型无人直升机喷雾参数对杂交水稻冠层雾滴沉积分布的影响[J].农业工程学报,2016,32(17):40-46.
[16]王昌陵,何雄奎,王潇楠,等.基于空间质量平衡法的植保无人机施药雾滴沉积分布特性测试[J].农业工程学报,2016,32(24):89-97.
[17]张宋超,薛新宇,秦维彩,等.N-3型农用无人直升机航空施药雾滴飘移模拟与试验[J].农业工程学报,2015,31(3):87-93.
[18]张盼,吕强,易时来,等.小型无人机对柑橘园的喷雾效果研究[J].果树学报,2016,33(1):34-42.
[19]王颉.试验设计与SPSS应用[M].北京:化学工业出版社,2006.
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