植保无人机变量喷雾处方图实时解译系统的设计与试验

doi:10.13229/j.cnki.jdxbgxb20180739

吉林大学学报(工学版) ›› 2020, Vol. 50 ›› Issue (1): 361-374.doi: 10.13229/j.cnki.jdxbgxb20180739

• 农业工程·仿生工程 • 上一篇

植保无人机变量喷雾处方图实时解译系统的设计与试验

高锐涛¹(),单建¹,杨洲¹(),文晟²,兰玉彬^1,²,张泉勇^1,²,汪洋¹

1. 华南农业大学工程学院，广州 510642
2. 国家精准农业航空施药技术国际联合中心，广州 510642

收稿日期:2018-07-20 出版日期:2020-01-01 发布日期:2020-02-06
通讯作者: 杨洲 E-mail:greater@scau.edu.cn;yangzhou@scau.edu.cn
作者简介:高锐涛（1979-），男，副教授，博士. 研究方向：农林机械及装备. E-mail:greater@scau.edu.cn
基金资助:
国家重点研发计划项目(2016YFD0200700);广东省科技计划项目(2017A020208046);广州市科技计划项目(201707010047);广东省自然科学基金项目(2017A030310383)

Real⁃time interpretation system of variable spray prescription map based on plant protection UAV

Rui-tao GAO¹(),Jian SHAN¹,Zhou YANG¹(),Sheng WEN²,Yu-bin LAN^1,²,Quan-yong ZHANG^1,²,Yang WANG¹

1. College of Engineering, South China Agricultural University, Guangzhou 510642, China
2. National Center for International Collaboration Research on Precision Agriculture Aviation Pesticides Spraying Technology, Guangzhou 510642, China

Received:2018-07-20 Online:2020-01-01 Published:2020-02-06
Contact: Zhou YANG E-mail:greater@scau.edu.cn;yangzhou@scau.edu.cn

摘要/Abstract

摘要：

研制了基于ARM架构的变量喷雾处方图实时解译系统，此系统可以实时提取无人机作业位置、速度、高度等参数，并在处方图中进行寻址从而读取对应的栅格处方值发送至变量喷雾系统。寻址采用了延时算法优化设计，使解译结果满足作业需求。解译系统与变量系统搭建在大疆MG-1植保无人机上，通过试验测试解译系统的可实施性与精确性。试验结果表明，此系统可成功实时解译变量施药处方图，在有效喷幅内，栅格中心与栅格边界变量结果显著，与预设处方值相符，采集带雾滴沉积量为0.005~0.765 8 μL/cm²，雾滴覆盖密度为12~72个/cm²，变量转换时间约为0.5 s，变量精度为1 m。

关键词: 农业工程, 变量喷雾, 处方图, 无人机, 植保

Abstract:

This paper develops a real-time interpretation system of variable spray prescription map based on ARM architecture. The system can extract the parameters such as the position, speed and height of the drone in real time, and address it in the prescription map to read the corresponding grid prescription value, and send to the variable spray system. The addressing uses a delay algorithm to optimize the design so that the interpretation results meet the operational requirements. The interpretation system and the variable system were built on the DJI MG-1 plant protection drone, and the implementability and accuracy of the interpretation system were tested through experiments. The results show that the system can successfully interpret the variable application prescription map in real time. Within the effective spray width, the grid center and grid boundary variable results are significant, consistent with the preset prescription value. The collection with the droplet deposition amount is 0.005~0.7658 μL/cm², the droplet coverage density is 12~72/cm², the variable conversion time is about 0.5 s, and the variable accuracy is 1 m.

Key words: agriculture engineering, variable spray, prescription chart, unmanned aerial vehicle, UAV, plant protection

中图分类号:

高锐涛,单建,杨洲,文晟,兰玉彬,张泉勇,汪洋. 植保无人机变量喷雾处方图实时解译系统的设计与试验[J]. 吉林大学学报(工学版), 2020, 50(1): 361-374.

Rui-tao GAO,Jian SHAN,Zhou YANG,Sheng WEN,Yu-bin LAN,Quan-yong ZHANG,Yang WANG. Real⁃time interpretation system of variable spray prescription map based on plant protection UAV[J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(1): 361-374.

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试验号	平均温度/℃	平均湿度/%	平均风速及风向/(m·s^-1)	处方值/(L·hm^-2)			飞行速度/(m·s^-1)
试验号	平均温度/℃	平均湿度/%	平均风速及风向/(m·s^-1)	栅格1	栅格2	栅格3	飞行速度/(m·s^-1)
1	29.8	73.3	1.08/SE	8	10	16	2
2	29.9	70.6	1.22/SE	6	8	12	3
3	30.1	72.8	0.45/SE	4	5	8	4
4	30.2	69.4	1.04/SE	3	4	6	5

飞行速度 /(m·s^-1)	处方值 /(L·hm^-2)	目标流量 /(L·min^-1)	实际流量 /(L·min^-1)	偏差 /%
2	8	0.207 2	0.194 0	6.37
	10	0.294 5	0.289 4	1.73
	16	0.418 4	0.409 7	2.08
2.5	8	0.262 9	0.273 1	3.88
	10	0.356 4	0.344 7	3.28
	16	0.526 8	0.515 9	2.07
3	6	0.232 4	0.229 0	1.46
	8	0.294 5	0.280 1	4.89
	12	0.4572	0.449 3	1.73
3.5	6	0.262 9	0.269 4	2.47
	8	0.356 4	0.362 4	1.68
	12	0.526 8	0.511 6	2.89
4	4	0.207 2	0.195 4	5.69
	5	0.294 5	0.286 5	2.72
	8	0.418 4	0.414 5	0.93
4.5	4	0.262 9	0.254 7	3.12
	5	0.356 4	0.361 5	1.43
	8	0.526 8	0.516 4	1.98
5	3	0.262 9	0.246 5	6.24
	4	0.356 4	0.339 2	4.83
	6	0.526 8	0.530 6	0.72

栅格	采集带位置	总沉积量 /（μL·cm^-2）	每个采样点平均沉积量/（μL·cm^-2）	雾滴分布均匀性/%
1	L2	0.356 0	0.071 2	49.74
1	L3	0.303 5	0.060 7	43.19
	L4	0.483 0	0.096 6	41.26
2	L5	0.515 5	0.103 1	68.14
	L6	0.449 0	0.089 8	71.96
	L8	0.437 5	0.087 5	77.10
	L9	0.622 5	0.124 5	79.32
	L10	0.749 5	0.149 9	75.53
3	L11	0.726 0	0.145 2	63.42
3	L12	0.748 0	0.149 6	63.81

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植保无人机变量喷雾处方图实时解译系统的设计与试验

Real⁃time interpretation system of variable spray prescription map based on plant protection UAV

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占空比/%	喷雾角/(°)	占空比/%	喷雾角/(°)
40	98	75	98
45	99	80	101
50	97	85	102
55	99	90	104
60	98	95	105
65	99	100	105
70	100