考虑动态能耗的无人机采收菠萝田间收集点优化配置研究  

Study on Optimal Allocation of Field Collection Points for Pineapple Harvesting by UAV Considering Dynamic Energy Consumption

作　　者：马瑞峻[1] 马宏震 伍恩慧 陈瑜[1] 李呈辉 洪苑乾 MA Ruijun;MA Hongzhen;WU Enhui;CHEN Yu;LI Chenghui;HONG Yuanqian(College of Engineering,South China Agricultural University,Guangzhou 510642,China)

机构地区：[1]华南农业大学工程学院,广州510642

出　　处：《沈阳农业大学学报》2024年第3期343-353,共11页Journal of Shenyang Agricultural University

基　　金：广东省科技计划项目(2021B1212040009)。

摘　　要：为了深化无人机在田间菠萝采收和运输过程中的应用,探索无人机悬停放置菠萝到收集箱中的技术方案。无人机的续航能力限制菠萝采收工作的完成,而对续航能力影响最大的因素是无人机的载重,提出在田间设立菠萝收集点,并确定收集点的最优设立数量及位置,以确保菠萝采收工作的有效完成。在研究方法上,基于K-means算法寻找最佳收集点位置及分组方式,建立无人机采收菠萝的能耗及成本模型,通过编写程序对模型进行求解,并以无人机续航能力为约束条件,确定了无人机采收菠萝的最大覆盖范围和菠萝采摘数量。通过比较不同设立数量和位置的收集点方案,得出综合最优的结果。在不更换无人机电池的情况下,1台农业无人机采收菠萝约480个,采收面积约44m^(2)。随着收集点设立数量增加,无人机总路程和总能耗呈稳步下降状态,总成本呈稳步上升状态,分析发现667 m^(2)菠萝地设立15个固定位置的收集点时总能耗、总路程和总成本达到均衡最优。无人机采收菠萝的收集点配置优化方案,可为应用无人机进行田间作物采收及运输时收集点的数量和选址提供建设性意见。This study investigates the application of UAVs(Unmanned Aerial Vehicles)in the harvesting and transportation of pineapples in agricultural fields,specifically focusing on the method of UAVs hovering to deposit pineapples into collection bins.The operational range of UAVs,significantly impacted by the weight they carry,limits the efficiency of pineapple harvesting tasks.This study proposes the establishment of pineapple collection points within the fields and determines the optimal number and placement of these points to facilitate efficient harvesting operations.This study utilizes the K-means algorithm to determine the most favorable locations and grouping for the collection points.It also develops models for calculating the energy consumption and cost associated with UAV-based pineapple harvesting.By coding these models to solve the models and address the constraints related to UAV endurance,the study ascertains the maximum operational area and the quantity of pineapples that can be harvested by a UAV.Through comparative analysis of various design involving different numbers and placements of collection points,the study determines the most effective strategy,that without battery replacement,a single agricultural UAV is capable of harvesting approximately 480 pineapples over an area of about 44 m^(2).With the increase of number of collection points,the UAV's total travel distance and energy consumption decrease steadily,whereas the total cost gradually rises.The analysis reveals that the establishment of 15 fixed collection points within a pineapple field of 667 m^(2) achieves an optimal balance of total energy consumption,travel distance,and cost.The collection point configuration optimization scheme proposed in this study offers constructive recommendations for the number and location of collection points in using UAVs for crop harvesting and transportation tasks in agricultural fields.

关 键 词：菠萝 农业无人机 动态能耗 收集点配置 续航能力 

分 类 号：S252.9[农业科学—农业机械化工程]