多旋翼无人机果园集群授粉仿真研究  

Simulation Study on Multiple Unmanned Aerial Vehicles for Precise Stereotactic in Orchard

作　　者：贾宜霖 王秀娟[1] 王汝毅 岳训[1] Jia Yilin;Wang Xiujuan;Wang Ruyi;Yue Xun(College of Information Sciences and Engineering,Shandong Agricultural University,Tai’an 271018,China)

机构地区：[1]山东农业大学信息科学与工程学院,山东泰安271018

出　　处：《农机化研究》2023年第6期24-29,共6页Journal of Agricultural Mechanization Research

基　　金：山东省自然科学基金面上项目(ZR2018MA013);山东省自然科学基金青年项目(ZR2020QF066)。

摘　　要：针对果树花期异常气候下所造成的壁蜂传粉虫源不足、人工辅助授粉劳动力成本高和缺乏数字化精准管理等问题,以提升果树花期异常气候下的经济效益为目标,首先提出了补偿性精准授粉的多旋翼无人机集群策略以及从果树开花生热红外图像中识别精准授粉区域的关键技术;其次,设计了多旋翼无人机集群编队目标位置分配、回避碰撞和集群队列区域路径规划等核心技术;最后,在MatLab环境下实现4单元多旋翼无人机集群精准授粉虚拟仿真和算法时效性分析。研究旨在为构建智慧农业生态无人农场的精准化种植关键技术与应用提供超前一步的理论探索和可行性应用方案。In order to enhance the economic benefits of fruit in adverse weather of orchard,heterocyst and precise stereotactic of compensatory pollination technology for heterosisin,is the effectively improve the fruit setting rate and the economic benefits of crop.However,the effects of honeybee pollination in adverse weather of orchard are restricted,and manual spraying of compensatory pollination technology is high,the working efficiency and the digital precision control strategies is low.In this paper,firstly,method of multiple unmanned aerial vehicles in orchard for precise stereotactic of compensatory pollination is given,digital precision management of modern agriculture based on infrared thermal imaging technology is developed.Secondly,we study the evolutionary cycle of formation control and dynamic task assignment models for unmanned aerial vehicles in orchard for precise stereotactic of compensatory pollination technology,such as time-varying formation control,formation tracking control of UAVs in orchard,Simulation of 4 UAVs and the effectiveness of the theoretical results is given in Matlab environment.The precise stereotactic of compensatory pollination technology,provides a feasible solution scheme for ecological unmanned farm.

关 键 词：多旋翼无人机 授粉 虚拟仿真 红外热成像技术 果树花期 

分 类 号：S252[农业科学—农业机械化工程]