无人机变量施药实时监控系统设计与试验

在航空施药过程中,为保证单位面积施药量的一致性、实现施药流量的实时控制,提出一种航空变量施药分级控制算法。该算法根据各参数的等级和阀门开度建立分级控制表,再结合分级控制公式计算作业参数变化时阀门对应的开度,从而计算出施药流量,实现施药流量的自动调节。基于该算法设计了基于单片机多信息融合的航空变量施药实时监控系统,通过软硬件设计实现了对作业航迹、作业高度、作业速度、施药流量及药液余量等信息的实时监测,进行了航迹监测试验、施药流量监测试验、液位监测试验和变量施药控制试验等。结果表明,该系统可以准确监测多种作业参数,并可根据参数变化精准调控施药流量;飞行航迹监测平均偏差为0.98 m,施药流量监测平均误差为3.57%,液位监测平均误差为1.97%,系统对流量控制的最大误差为9.26%。

To ensure the consistency of pesticide application rate per unit area and achieve real-time control of application flow during aerial pesticide application, a hierarchical control algorithm for aerial variable-rate pesticide application was proposed. This algorithm establishes a hierarchical control table based on parameter levels and valve openings, then calculates the corresponding valve opening when operating parameters change by combining the hierarchical control formula, thereby deriving the application flow and realizing automatic regulation of the pesticide application flow. Based on this algorithm, a real-time monitoring system for aerial variable-rate pesticide application was designed, which is based on a single-chip microcomputer and integrates multi-information fusion technology. Through hardware and software design, the system realizes real-time monitoring of multiple operating parameters including operation trajectory, operation altitude, operation speed, application flow and residual pesticide liquid. Tests including trajectory monitoring, application flow monitoring, liquid level monitoring and variable-rate application control were carried out. The results showed that the system could accurately monitor various operating parameters and precisely regulate the application flow according to parameter changes. The average deviation of flight trajectory monitoring was 0.98 m, the average error of application flow monitoring was 3.57%, the average error of liquid level monitoring was 1.97%, and the maximum error of flow control of the system was 9.26%.

搜集汇总

背景与挑战

背景概述

该数据集属于人工林重大灾害防控关键技术研究数据库，包含无人机变量施药实时监控系统的设计与试验数据，系统能够实时监测和调控施药流量等多种作业参数，试验结果显示其在航迹、施药流量和液位监测方面具有较高准确性。