基于六轴多旋翼飞行器的赤眼蜂投放系统设计与试验  

Design of Trichogramma Delivering System Based on Hex-Rotor UAV

作　　者：徐东甫 白越[1] 宫勋[1] 续志军[1] 

机构地区：[1]中国科学院长春光学精密机械与物理研究所,长春130033 [2]中国科学院大学,北京100039

出　　处：《农业机械学报》2016年第1期1-7,共7页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(11372309;61304017);吉林省科技发展计划重点项目(20150204074GX);省院合作科技专项资金项目(2014SYHZ0004);中国科学院科技服务网络计划(STS计划)项目(KFJ-EW-STS-068)

摘　　要：为更好地进行农作物病虫害防治,结合农业无人机和生物防治,设计了一种基于Hex-Rotor飞行器的赤眼蜂投放系统,实现赤眼蜂自主投放功能。首先,使用共轴双桨和旋翼系统的倾斜配置,对6轴多旋翼飞行器结构进行了改进,提高了系统的冗余性和可靠性,整个系统满载9 kg,以10 m/s的速度可飞行超过20 min;然后,利用带有扩张状态观测器和快速微分器的反步控制算法,使系统在投放干扰和外部风扰共同作用下,能够很好地完成轨迹跟踪飞行任务。最后,设计了专用的赤眼蜂投放装置,配合GPS和Google earth地图,实现赤眼蜂自主投放功能。在实际试验中,投放系统投放速度超过9 700 m2/min,飞行投放覆盖率100%,赤眼蜂孵化率75.81%。试验证明,该系统可以稳定可靠地完成赤眼蜂的投放工作,投放效率和经济效益方面表现良好,可以实现无人机自主生物防治。Trichogramma is adopted in biological agriculture because it is environmental friendly and has high efficiency in preventing pests. However,different from traditional liquid pesticides,trichogramma comes in small pill,which is difficult for manual dispensing,especially in Northeast China where corn is the main crop. Based on biological control and agricultural unmanned aerial vehicles（ UAV） technology,this article proposed a trichogramma delivering system using Hex-Rotor UAV. The trichogramma autonomous delivery function was achieved through GPS and Google earth map. The Hex-Rotor＇s basic structure and operating principle were explained,and a special trichogramma delivering device was designed. The entire system weighs 9 kg at full load,and the UAV can fly for more than 20 min at the speed of 10 m / s,complete serving an area of over 10 hm^2 on a single flight. A back-stepping control algorithm with extended state observer（ ESO） and fast differentiator was adopted,and the UAV can finish the trajectory tracking flight against external interference winds. Finally,the unit operation area of the delivery system reached 9 700 m^2/ min in practical tests. The trichogramma coverage was estimated almost 100% under ideal conditions,and work omission was 0. Experiments prove that this trichogramma delivering system possesses high stability and reliability,and can realize UAV autonomous biological control.

关 键 词：生物防治 无人飞行器 赤眼蜂 自主投放系统 

分 类 号：S252.3[农业科学—农业机械化工程] S476.3[农业科学—农业工程]