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浙江大学学报(工学版)
浙江大学学报(工学版)  2025, Vol. 59 Issue (3): 635-642    DOI: 10.3785/j.issn.1008-973X.2025.03.021
机械工程     
丘陵山地果园植保无人机三维路径规划
于少猛1,2(),闫铭1,王鹏飞1,2,*(),朱建锡3,杨欣1
1. 河北农业大学 机电工程学院，河北 保定 071001
2. 河北省智慧农业装备技术创新中心，河北 保定 071001
3. 浙江省农业机械研究院，浙江 金华 321000
3D path planning of plant protection UAVs in hilly mountainous orchards
Shaomeng YU1,2(),Ming YAN1,Pengfei WANG1,2,*(),Jianxi ZHU3,Xin YANG1
1. College of Mechanical and Electrical Engineering, Hebei Agricultural University, Baoding 071001, China
2. Technology Innovation Center of Intelligent Agricultural Equipment, Baoding 071001, China
3. Zhejiang Agricultural Machinery Research Institute, Jinhua 321000, China
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摘要：

丘陵地区果园植保无人机作业时人工操控难度大，自动作业缺少三维路径规划，为此提出山地果园植保无人机全覆盖三维作业路径规划方法. 利用实景三维模型获取作业区域三维坐标，基于往复牛耕法和丘陵果园实景三维模型，进行植保无人机全覆盖三维路径规划. 考虑植保无人机运动状况及自身载重变化，构建植保无人机能量消耗模型，进而对作业航向角（1°~180°）进行寻优，获得最小能耗的作业路径. 田间试验表明，最小能耗的作业路径（航向角为91°）相比于最大能耗的作业路径（航向角为147°）降低了完成植保作业所需总能耗（能耗降低率为20.88%），缩短了完成植保作业所需时间（时间降低率为16.31%），且作业区域内各采样点的冠层雾滴沉积量波动较小，在优化能耗、提高作业效率的同时实现了对作业区域的全覆盖植保作业.
关键词： 植保无人机;  路径规划;  山地果园;  作业航向角;  能耗    
Abstract:

A full-coverage 3D path planning method for mountainous orchard plant protection UAVs was proposed to address the challenges of manual control and the lack of 3D path planning for plant protection drones operating in hilly orchards. 3D coordinates of the operation area obtained from a real scene 3D model of the area were utilized. Comprehensive 3D path planning for plant protection UAVs was carried out based on the reciprocating cattle farming method and the real scene 3D model of the hilly orchard. An energy consumption model for the UAV was constructed, considering its movement status and load changes. The operating heading angle (ranging from 1° to 180°) was optimized to determine the path with minimal energy consumption. Results of field experiments showed that the path with the minimal energy consumption (heading angle of 91°) reduced the total energy consumption by 20.88% and the time required to complete the plant protection operation by 16.31%, compared to the path with the maximum energy consumption (heading angle of 147°). The fluctuation in canopy droplet deposition at each sampling point within the operation area was minimal. This method not only optimizes the energy consumption and improves the operational efficiency, but also ensures full coverage of plant protection within the working area.
Key words: plant protection unmanned aerial vehicle    path planning    mountainous orchard    operational heading angle    energy consumption
收稿日期: 2024-01-01 出版日期: 2025-03-10
CLC:  S 225.3  
基金资助: 国家现代农业产业技术体系资助项目（CARS-27）；金华市科技计划资助项目(2021-2-016).
通讯作者: 王鹏飞     E-mail: ysmaabb@163.com;wpf5769@126.com
作者简介: 于少猛（1998—），男，硕士生，从事丘陵山地果园生产装备自动化研究. orcid.org/0009-0004-2579-051X. E-mail：ysmaabb@163.com
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引用本文:

于少猛,闫铭,王鹏飞,朱建锡,杨欣. 丘陵山地果园植保无人机三维路径规划[J]. 浙江大学学报(工学版), 2025, 59(3): 635-642.

Shaomeng YU,Ming YAN,Pengfei WANG,Jianxi ZHU,Xin YANG. 3D path planning of plant protection UAVs in hilly mountainous orchards. Journal of ZheJiang University (Engineering Science), 2025, 59(3): 635-642.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2025.03.021    或    https://www.zjujournals.com/eng/CN/Y2025/V59/I3/635

图 1  试验区域实景照片
图 2  试验区坐标系构建示意图
图 3  坐标系旋转示意图
图 4  二维作业路径示意图
图 5  路径规划算法流程图
图 6  三维作业路径示意图（航向角为60°）
参数数值参数数值
飞行速度/（m·s?1）2喷洒速度/（kg·s?1）0.1
空载质量/kg35风阻系数0.5
最大载药质量/kg30旋翼总面积/m24.39
空气密度/（kg·m?3）1.21重力加速度/（m·s?2）9.8
表 1  大疆T30植保无人机能耗计算相关参数
参数数值
最小能耗情况最大能耗情况平均
角度/（°）91147—
补给次数01—
总能耗/ kJ83.47139.77100.72
工作能耗/ kJ83.47111.83100.46
补给能耗/ kJ—27.950.26
总时间/s292.63425.29377.24
工作时间/s292.63380.47319.03
补给时间/s066.8258.21
表 2  植保无人机路径规划结果
图 7  无人机最小能耗路径与最大能耗路径
图 8  采样果树分布示意图
参数数值
最小能耗情况最大能耗情况
角度/(°)91147
补给次数11
总能耗/(mA·h)20 88026 390
工作能耗/(mA·h)17 12221 112
补给能耗/(mA·h)3 7585 283
总时间/s557.98666.73
工作时间/s480.57582.69
补给时间/s77.4184.04
表 3  T30植保无人机能耗试验结果
图 9  采样点水敏纸雾滴沉积分布图
图 10  采样果树雾滴沉积量
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