水稻条播无人机无驱动折叠导种投种装置设计与试验

Design and Experiment of Non-driven Gravity-based Foldable Seeding Device for Rice Strip-seeding UAV

摘要:

为实现水稻成条飞播稳定的种子籽粒落地成条效果,针对延长导种投种管引起电驱自动折叠困难而引发的飞行平台安全起降问题,设计一种无驱动重力折叠型导种投种装置。 通过分析无人机水稻条播作业过程中导种投种管内径、管构型组合、导种投种管长度与无人机飞行高度比例(长高比)等关键因素对种子籽粒成条效果的影响机理,确定 3 个因素的取值范围。 基于 3WTYI6-20C 型六旋翼植保无人机开展泥盒飞播优化试验,结果表明,当管内径为 22 mm、长高比为 0. 714、管构型组合为Ⅳ时,导种投种管对种子籽粒约束效果较好,无人机飞行姿态平稳, 条带宽度达到 62. 1 mm,成条指数为 0. 75。 进一步开展 1 ~ 5 m / s 不同作业速度下的泥盒试验,结果表明,该六旋翼植保无人机的条带宽度范围为 58. 3 ~ 69. 2 mm,成条指数范围为 0. 72 ~ 0. 77。 而适配 3WWDZ-60A 型四旋翼无人机后的条带宽度范围为 84. 5 ~ 92. 5 mm,成条指数范围在 0. 63 ~ 0. 66 之间,表明该装置可与多种机架构型的飞行平台相适配,并在不同作业速度下实现稳定的水稻成条飞播效果。

Abstract:

Aiming to achieve a stable strip effect during rice aerial seeding and address the issue of safe unmanned aerial vehicle (UAV)take-off and landing caused by extending the seeding tube, a non-driven and gravity-based foldable seeding device was proposed. By analyzing the rice strip-seeding process based on UAV, it was determined that the inner diameter of the seeding tube, the ratio of tube length to UAV flight height (length-to-height ratio), and the configuration combination of the seeding tube influenced the degree of seed confinement, the disturbance intensity of ground diffusion airflow on seeds, and the stability of the UAV??s flight posture, thereby affecting the strip effect of seeds. Based on the 3WTYI6-20C six-rotor agricultural spraying UAV, a mud-box seeding test was conducted for optimization. Results indicated that when the tube??s inner diameter was 22 mm, the length-to-height ratio was 0. 714, and the configuration combination was Ⅳ, the seed confinement effect of the seeding tube was optimal, the UAV's flight posture remained stable, and the strip width reached 62. 1 mm with a strip index of 0. 75. Using these factor values, mud-box experiments were performed at operation speeds ranging from 1 m / s to 5 m / s. Results showed that for the 3WTYI6-20C six-rotor agricultural spraying UAV, the strip width ranged from 58. 3 mm to 69. 2 mm, and the strip index ranged from 0. 72 to 0. 77. Meanwhile, the 3WWDZ-60A four-rotor agricultural spraying UAV equipped with the non-driven and gravity-based foldable seeding device achieved a strip width range of 84. 5 mm to 92. 5 mm and a strip index range of 0. 63 to 0. 66, which demonstrated the stable strip effect. These findings suggest that the non-driven and gravity-based foldable seeding device can be effectively adapted to various UAV architectures and achieve stable rice strip-seeding effects across different operation speeds.