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Laser tracking leader-follower automatic cooperative navigation system for UAVs

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International Journal of Agricultural and Biological Engineering 2022年第2期15卷 165-176页

作者： Rui Ming Zhiyan Zhou Zichen Lyu Xiwen Luo Le Zi cancan song Yu Zang Wei Liu Rui Jiang College of Engineering South China Agricultural University/Guangdong Laboratory for Lingnan Modern AgricultureGuangzhou 510642China College of Computer and Control Engineering Minjiang University/Fujian Provincial Key Laboratory of Information Processing and Intelligent ControlFuzhou 350108China Guangdong Provincial Key Laboratory for Agricultural Artificial Intelligence(GDKL-AAI) Guangzhou 510642China Guangdong Engineering Research Center for Agricultural Aviation Application(ERCAAA) Guangzhou 510642China Key Laboratory of Key Technology on Agricultural Machine and Equipment South China Agricultural UniversityMinistry of Education of P.R.ChinaGuangzhou 510642China

Currently,small payload and short endurance are the main problems of a single UAV in agricultural applications,especially in large-scale *** is one of the important methods to solve the above problems of UAVs by improving operation efficiency through multi-UAV cooperative *** study proposed a laser tracking leader-follower automatic cooperative navigation system for *** leader in the cluster fires a laser beam to irradiate the follower,and the follower performs a visual tracking flight according to the light spot at the relative position of the laser tracking *** on the existing kernel correlation filter(KCF)tracking algorithm,an improved KCF real-time spot tracking method was *** with the traditional KCF tracking algorithm,the recognition and tracking rate of the optimized algorithm was increased from 70%to 95%in indoor environment,and was increased from 20%to 90%in outdoor *** navigation control method was studied from two aspects:the distance coordinate transformation model based on micro-gyroscope and navigation control *** error of spot position was reduced from the maximum(3.12,−3.66)cm to(0.14,0.12)cm by correcting the deviation distance of the spot at different angles through a coordinate correction *** image coordinate conversion model was established for a complementary metal-oxide-semiconductor(CMOS)camera and laser receiving device at different mounting *** laser receiving device was divided into four regions,S0-S3,and the speed of the four regions is calculated using an uncontrollable discrete Kalman *** outdoor flight experiments of two UAVs were carried out outdoors using this *** experiment results show that the average flight error of the two UAVs on the X-axis is 5.2 cm,and the coefficient of variation is *** average flight error on the Z-axis is 7.3 cm,and the coefficient of variation is *** study demonstrated the possibility

关键词： two-UAVs cooperative visual navigation laser tracking

Discharge rate consistency of each channel for UAV-based pneumatic granular fertilizer spreader

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International Journal of Agricultural and Biological Engineering 2023年第4期16卷 20-28页

作者： Xunwei Wang Rui Jiang Zhiyan Zhou cancan song Xiwen Luo Ruifeng Bao Zichen Lyu Junhao Huang Jianqin Lin College of Engineering South China Agricultural University and Guangdong Laboratory for Lingnan Modern AgricultureGuangzhou 510642China Guangdong Provincial Key Laboratory of Agricultural Artificial Intelligence(GDKL-AAI) Guangzhou 510642China Guangdong Engineering Research Center for Agricultural Aviation Application(ERCAAA) Guangzhou 510642China Key Laboratory of Key Technology on Agricultural Machine and Equipment(South China Agricultural University) Ministry of EducationGuangzhou 510642China College of Agricultural Engineering and Food Science Shandong University of TechnologyZibo 255000China

Unmanned aerial vehicles(UAVs)are widely being used to spread granular fertilizer in *** fertilizer spreaders equipped with UAVs are mainly centrifugal disc-type and *** multichannel pneumatic granular fertilizer spreaders(MPGFSs)have a banded fertilizer deposition distribution pattern,which are more suitable for variable rate fertilization with high precision requirement than the circular deposition distribution pattern of disc-type granular fertilizer spreaders(DGFSs).However,the existing MPGFS has the disadvantage of inconsistent discharge rate of each channel,which affects the uniformity of *** order to explore the causes of inconsistent discharge rate of each channel,the discrete element method(DEM)and bench test were performed to analysis the discharge process of the fluted roller fertilizing apparatus and distribution of fertilizer in axial direction of fluted *** computational fluid dynamics(CFD)was used to simulate the airflow field of pneumatic system to analyze the influence of airflow on the movement of fertilizer *** simulation results of the discharge process of the fluted roller fertilizing apparatus showed that the filling velocity at the axial ends of the fluted roller fertilizing apparatus was lower than that of the *** reason was that the filling capacity was weak near the *** simulated results of the airflow field without partitions showed that the airflow provided by the axial flow fan was rotational,and this caused the particles to move irregularly in the throat,resulting in inconsistency discharge rate of each *** on the analysis of reasons of inconsistent discharge rate of each channel,a MPGFS with partitions in the throat was *** discharge rate bench tests were carried out to optimize the partition spacing parameters,and fertilization test was performed to test the performance of the improved *** discharge rate test results showed better consistency with

关键词： UAV discharge rate fertilizer spreader DEM CFD

八车道高速公路可变信息标志前置距离对驾驶行为的影响

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同济大学学报（自然科学版） 2022年第5期50卷 731-740页

作者：荆迪菲宋灿灿郭忠印同济大学道路与交通工程教育部重点实验室上海201804

基于驾驶模拟实验,设置3.0、2.5、1.5、0.7 km 4种前置距离的可变信息标志(variable message sign,VMS),收集32名驾驶员视认4种前置距离的VMS后换道驶出高速公路过程中的方向盘、速度和位置数据,并观察各驾驶员在换道过程中的方向盘操... 详细信息

基于驾驶模拟实验,设置3.0、2.5、1.5、0.7 km 4种前置距离的可变信息标志(variable message sign,VMS),收集32名驾驶员视认4种前置距离的VMS后换道驶出高速公路过程中的方向盘、速度和位置数据,并观察各驾驶员在换道过程中的方向盘操控行为、换道行为、减速行为。结果表明:VMS视认过程属于多任务驾驶行为,驾驶员需在短时间内完成VMS视认、路径决策、车辆减速与换道;当VMS前置距离不足时,驾驶员需快速、大幅转动方向盘,进行连续换道、急换道;为顺利驶入减速车道,部分驾驶员采取减速换道措施,增加了事故风险;当VMS前置距离过长时,驾驶员对VMS的短期记忆效应使得驾驶负荷提高。

关键词：交通工程可变信息标志(VMS)前置距离驾驶模拟驾驶行为优化设置

Design and test of centrifugal disc type sowing device for unmanned helicopter

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International Journal of Agricultural and Biological Engineering 2018年第2期11卷 55-61页

作者： cancan song Zhiyan Zhou Xiwen Luo Yubin Lan Xingang He Rui Ming Keliang Li Shahbaz Gul Hassan College of Engineering South China Agricultural University/Guangdong Engineering Research Center for Agricultural Aviation Application(ERCAAA)Guangzhou 510642China National Joint Research Center for Precision Agricultural Aviation Application Technology Guangzhou 510642China Key Laboratory of Key Technology on Agricultural Machine and Equipment(South China Agricultural University) Ministry of EducationGuangzhou 510642China

In China,it is difficult for manned aircraft to sow seeds in small and scattered plots,especially in areas including hills,swamps,telegraph poles,windbreaks,and residential areas;in such terrain,the sowing machinery cannot function ***,unmanned helicopters(UHs)are flexible enough to control and adapt to the complex environments that are not easily accessible by terrain sowing machinery and large agricultural aircraft,which have been widely used in *** this study,a centrifugal disc-type sowing device for an unmanned helicopter(CDTSDUH)was *** factors influencing the seed velocity when the seeds move away from the disc were explored by analyzing the forces of the seed acting on the sowing disc and the wind field of the *** influential factors include the distance from the falling mouth to the center of the disc,the offset angle of the falling mouth,and the rotation speed of the *** orthogonal test was designed with the sowing width and the curvature of the sowing area as the *** test results showed that the three factors mentioned above had a greater impact on the sowing width than the curvature of the seeding ***,the superior parameters of the disc were *** was also suggested that the above factor levels had little effect on the offset width of *** results of the test conducted for studying the sowing uniformity of the CDTSDUH indicated that the maximum and minimum difference values among the number of particles of the sampling points in the forward direction was 11 and 8,and the coefficient of variation of the number of particles in each row was more than 20%,indicating less uniformity was achieved when sowing in the lateral(perpendicular to the forward direction)direction,as compared to that in the forward *** study determined the ideal values for the radius of particles position,the offsetting angle,and the disc speed of the sowing machinery ***,considering that

关键词： sowing unmanned helicopter aircraft sowing centrifugal disc uniformity sowing disc

Fish as a source of acoustic signal measurement in an aquaculture tank:Acoustic sensor based time frequency analysis

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International Journal of Agricultural and Biological Engineering 2019年第3期12卷 110-117页

作者： Shahbaz Gul Hassan Shakeel Ahmad Shafqat Iqbal Ehsan Elahi Murtaza Hasan Daoliang Li Zhiyan Zhou Adnan Abbas cancan song College of Engineering South China Agricultural University/Guangdong Engineering Research Center for Agricultural Aviation Application(ERCAAA)Guangzhou 510642China National Joint Research Center for Precision Agricultural Aviation Application Technology Guangzhou 510642China Key Laboratory of Key Technology on Agricultural Machine and Equipment(South China Agricultural University) Ministry of EducationGuangzhou 510642China College of Economics and Statistics Guangzhou UniversityGuangzhou 100083China Department of Biochemistry Biotechnology Islamia University Bahawalpur Pakistan College of Engineering China Agricultural UniversityBeijing 100083China College of Economics and Management Nanjing University of Information Science and TechnologyNanjing 210044China College of Information and Electrical Engineering China Agricultural UniversityBeijing 100083China

Acoustic signals travels rapidly in water without attenuating fish *** digital sonar and passive acoustic has been used for fish monitoring and fish ***,it is an urgent need to introduce new techniques in order to monitor the growth rate of fish during harvesting and without causing adverse effects to the harvested ***,a novel technique was introduced to probe the acoustic signal frequency ratio in absence and presence of the fish in tanks,which basically uses an acoustic sensor(hydrophone),acoustic signal processing system(scope meter),and a signal monitoring system(fluke view).Acoustic signals were selected from 48-52 Hz frequency,measure of dispersion of frequency signal represented as a function of time via Xlstat *** of dispersion displayed a significant effect of acoustic signal in the presence and absence of the fish in *** optimised protocols of this study will help to control and prevent excessive wastage of feed and enhance proper utilization of feed that chiefly enhance fish growth in aquaculture.

关键词： acoustic signals acoustic sensor fish aquaculture time frequency analysis signal processing

Test and evaluation method for endurance performance of electric multi-rotors spraying drones

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International Journal of Agricultural and Biological Engineering 2019年第2期12卷 18-28页

作者： Rui Ming Zhiyan Zhou Xiwen Luo Yubin Lan Xingang He cancan song Rui Jiang Luhong Tian Shahbaz Gul Hassan College of Engineering South China Agricultural University/Guangdong Engineering Research Center for Agricultural Aviation Application(ERCAAA)Guangzhou 510642China National Joint Research Center for Precision Agricultural Aviation Application Technology Guangzhou 510642China Key Laboratory of Key Technology on Agricultural Machine and Equipment(South China Agricultural University) Ministry of EducationGuangzhou 510642China

The endurance performance(EP)of electric multi-rotors spraying drones(EMSDs)is a key technical indicator that ensures the completion of tasks and improves their *** improve the EP of current EMSD,a test system was designed to determine the EP based on the EMSD test platform,and the performance evaluation method was ***,a test model was established to determine the equivalent energy dissipation using the performance-testing platform of the ***,a multisensory test system was *** attitude sensor,high-power DC power supply,infrared thermal imager,and serial port server were *** mounting fixture was designed to meet the universal mounting requirements of *** addition,the software LabVIEW was employed to program the code for the controller and the host computer,where functions such as data collection,data processing,communication,and graphical user interface(GUI),were performed reliably in real ***,the test method was explored by considering factors such as the power consumption,thermal efficiency ratio,and unit load power consumption *** particular,a comprehensive index method and expert consultation weight method were used to evaluate the EP of the EMSD with multiple ***,a systematic real-machine test was carried out on the three types of drones that are currently widely used in the *** results verified the effectiveness and feasibility of the proposed method,which was employed to test and evaluate the EP based on the EMSD performance testing *** the same time,it can provide a reference for the development of the EMSD.

关键词： agricultural aviation multi-rotors spraying drone endurance performance assessment method virtual instrument

Optimization of aviation adjuvants based on wettability analysis for insecticide application on maize using UAV

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International Journal of Agricultural and Biological Engineering 2021年第5期14卷 11-18页

作者： Yu Zang Zhiyan Zhou Ying Zang Xiwen Luo Juan Liao Rui Ming cancan song Le Zi Rui Jiang Hanxiang Xiao College of Engineering South China Agricultural University/Guangdong Engineering Research Center for Agricultural Aviation Application(ERCAAA)Guangzhou 510642China National Center for International Collaboration Research on Precision Agricultural Aviation Pesticides Spraying Technology(NPAAC) Guangzhou 510642China Key Laboratory of Key Technology on Agricultural Machine and Equipment(South China Agricultural University) Ministry of EducationGuangzhou 510642China Institute of Plant Protection Guangdong Academy of Agricultural SciencesGuangzhou 510640China

Adjuvants can increase the control efficacy of diseases and insect pests by changing the physico-chemical properties of *** of the aviation spray adjuvants are versions of ground *** insecticide sprays with unmanned aerial vehicles(UAV),have problems such as relatively low droplet deposition rate and poor ***,wettability research and optimization tests for aviation spray adjuvants are *** present study screened 12 spray adjuvants using physico-chemical property *** adjuvants were applied to improve the droplet deposition and control efficacy in maize borers controlling by *** selected spray adjuvants were Po2(a hyperbranched polymer adjuvant)and VO3(a vegetable oil adjuvant).Results showed that,(1)When Po2 was added in water-dispersible granules(WGs)at volume rate of 12 L/hm2,the dynamic surface tension(DST)of WGs was decreased by 37.41%,and the maize leaves were covered by droplets 100%,the droplet deposition was increased by 104%and maize borer control was increased by 46%;(2)VO3 decreased the surface tension of ultra-low-volume(ULV)formulation by 12.02%and the maize leaves were covered by droplets 100%.The effect of VO3 on improving the droplet deposition and control efficacy at 12 L/hm2 with ULV was not ***,the addition of aviation spray adjuvant to improve the wettability of WGs significantly improved the droplet deposition and control efficacy but it had no significant effect on the ULV formulation.

关键词： unmanned aerial vehicles spray adjuvants wettability maize insecticide application

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智能施药机器人关键技术研究现状及发展趋势

农业工程学报 2022年第20期38卷 30-40页

作者：兰玉彬闫瑜王宝聚宋灿灿王国宾山东理工大学农业工程与食品科学学院淄博255049 山东省农业航空智能装备工程技术研究中心淄博255049 山东理工大学生态无人农场研究院淄博255049

喷施化学农药是病虫害防治最主要的手段,对保证作物的产量起着至关重要的作用。传统的施药机械工作效率低,且使用同一施药量进行连续喷施作业易造成农药浪费、环境污染。随着农业智能化发展,机器人被广泛应用到农业植保作业中,智能施药... 详细信息

喷施化学农药是病虫害防治最主要的手段,对保证作物的产量起着至关重要的作用。传统的施药机械工作效率低,且使用同一施药量进行连续喷施作业易造成农药浪费、环境污染。随着农业智能化发展,机器人被广泛应用到农业植保作业中,智能施药机器人以减少劳动力投入、提高农药利用率、减少农药施用量以及减少环境污染为目的,实现了更加高效、精准的病虫害防治。智能施药机器人是集复杂农业机械、智能感知、智能决策、智能控制等技术为一体的现代农业施药装备,可自主、高效、安全、可靠地完成施药作业任务。为明确智能施药机器人及关键技术的国内外研究现状,本文总结了适用于不同作业场景的施药机器人的应用进展,从智能施药机器人的移动平台设计、喷雾装置设计、导航技术、智能识别技术4个方面进行分析,结合施药机器人作业环境的复杂多变性,分析智能施药机器人关键技术的现存问题,阐述智能施药机器人未来的发展趋势是精准变量施药、自主导航以及无人化作业,以期为智能施药机器人在未来的研究提供参考。

关键词：施药机器人智能感知自主作业机器人平台喷雾装置

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紧急避险车道全宽型服务车道设置位置

同济大学学报（自然科学版） 2016年第10期44卷 1559-1566页

作者：宋灿灿郭忠印宋超同济大学道路与交通工程教育部重点试验室上海201804 贵州宏信创达工程检测咨询有限公司贵州贵阳550014

在设置全宽型服务车道且避险车道制动床宽度为9.0m与4.5m的断面条件下,利用UCWin Road Ver.9驾驶模拟仿真平台测试了5名驾驶员48次驶入避险车道的几何运动参数.选取方向盘转速指标对车辆驶入紧急避险车道的最小转向半径、方向调整时间... 详细信息

在设置全宽型服务车道且避险车道制动床宽度为9.0m与4.5m的断面条件下,利用UCWin Road Ver.9驾驶模拟仿真平台测试了5名驾驶员48次驶入避险车道的几何运动参数.选取方向盘转速指标对车辆驶入紧急避险车道的最小转向半径、方向调整时间、转向角幅值、转向角频率指标进行提取,选取横向偏移率指标对起弯点进行提取与理论验证,然后运用相关分析检验了5个指标与驶入速度的相关性,运用方差分析与配对样本T检验,检验了5个指标与全宽型服务车道设置的显著性.研究结果表明:当制动床宽度为9.0m且服务车道设置于制动床左侧时,车辆行驶稳定性强,驶入紧急避险车道难度小,供车辆方向调整的距离长,驾驶员心理紧张程度低.当制动床宽度为4.5m且服务车道设置于制动床左侧时,车辆的行驶稳定性强且易于驶入紧急避险车道.

关键词：避险车道驾驶模拟全宽型服务车道道路工程