面向差异化果园精准防治的多旋翼植保无人机喷施模式优化研究

Spraying Mode Optimization of Multi-rotor Plant Protection UAV for Precision Prevention and Control in Differentiated Orchards

摘要:

针对复杂地形与树冠结构差异导致果园病虫害防治中植保无人机喷施模式适配性不足、冠层药液沉积不均和地面流失风险增加等问题，本文开展了面向果园病虫害精准防治的植保无人机喷施模式决策与参数优化研究。以平原高纺锤形果园和山地开心形果园为典型应用场景，综合考虑地形类型、树冠结构、作业模式、雾滴覆盖度、雾滴密度、沉积均匀性和地面沉积等作业信息，构建了面向喷施执行层的作业模式评价与决策方法，系统分析行内、行间和盘旋等飞行模式对冠层药液沉积分布及地面流失的影响。结果表明：在平原高纺锤形果园中，行间飞行模式能够增强雾滴向冠层内部的穿透作用，各冠层位置平均雾滴密度达到32.52个/cm2，雾滴密度变异系数为14.64%，优于行内和盘旋模式。在山地开心形果园中，盘旋模式沉积水平更高、覆盖能力更强，叶片正、反面雾滴密度分别达到56.42~88.18个/cm2和25.29~67.38个/cm2，更有利于开放式冠层内部靶标区域的药液覆盖。行间和盘旋模式在提高冠层沉积水平的同时，也可能增加地面药液沉积，因此实际作业中需结合防治对象、冠层靶标位置和环境条件等进行协同调控。研究结果可为果园病虫害智能化管控平台施药决策提供理论参考与技术支持。

Abstract:

Aiming to address the poor adaptability of plant protection UAV spraying modes, uneven canopy deposition, and increased ground loss risk caused by complex terrain and heterogeneous canopy structures in orchard pest and disease control, spraying mode decision-making and parameter optimization for precision orchard plant protection were investigated.Plain high-spindle orchards and mountainous open-center orchards were selected as typical application scenarios.Multi-source information, including terrain type, canopy structure, flight mode, droplet coverage, droplet density, deposition uniformity, and ground deposition, was integrated to establish an operation-mode evaluation and decision-making method for the spraying execution layer.The effects of intra-row, inter-row, and spiral flight modes on canopy droplet deposition and ground loss were systematically analyzed.The results showed that in plain high-spindle orchards, the inter-row flight mode enhanced droplet penetration into the canopy, with an average droplet density of 32.52 droplets/cm2 and a coefficient of variation of 14.64%, outperforming the intra-row and spiral modes.Therefore, it was recommended as the preferred spraying mode for pest and disease control in dense plain orchards.In mountainous open-center orchards, the spiral flight pattern achieved higher droplet deposition and superior coverage performance.The droplet density on the adaxial and abaxial leaf surfaces ranged from 56.42 droplets/cm2 to 88.18 droplets/cm2 and 25.29 droplets/cm2 to 67.38 droplets/cm2, making it more suitable for improving pesticide coverage in open-center structures.Although the inter-row and spiral modes improved canopy deposition, they also increased ground deposition to some extent.The research findings can provide theoretical guidance and technical support for pesticide application decisions on the intelligent pest and disease management platform for orchards.