农用植保无人机的研究现状及趋势

210014、。。。。S252A1003－188X201712－0001－060、。、1。1300～1600hm22。、。3。、、、。、。。2016－09－27201[e-mail]。[e-mail]。11。、4。2。4。3。－37～10hm2/h3～4460。。4。、、。、、。5、、。、。6。5。·1·201712127。。22．1、。、、、、。。2090、。、。45%。15000。。YAMAHAＲMAX30。、。、。6。。、、、6。GT－MAX、、DGPS7。AGDISP。TeskeThistleAGDISP、、、N－S3AGDISP20km。AGDISPPraatHewitt8Kaul、9。1．1。、、。。2．2205060。410。。400。1。CD－151。15kg3．6m/s12～15min0．13hm2/min26．7～40hm2。。·2·201712124DE1000－H360TY－777、3WQF125－16。1CD－15Fig．1HanHeCD－15plantprotectionunmannedaerialvehicle2。P202。5～8L6m/s1．3hm225min。A2ＲTK、、、、。、、3WQFDX－10、S1100－6KG8DE20003WDM8－20。2P20Fig．2JiFeiP20agriculturalplantprotectionunmannedaerialvehicle33．1、、。、、11。VAＲIO12。AＲMCortex－M3STM32F103VC13。、、、。、48%14。N－3N－3UAV。7m5m9m7m7m26．3%25%15。6%ULV。0．5m16。3．2。、、·3·20171212、。、17。18。18/cm25．22L/hm233．8%19。4。4．1Ｒunge－Kutta20。21。Lagrange22。4．2、23。24。CSD25。4．3—26。、327。28。55．1。APP、、、GPSAPP。、。5．2、。。、。、、。29·4·2017121230。5．325%～50%。。。2090。。2001Kirk、Hoffmann、Carl-ton312003Kirk32。。5．43、。、、、。。4①。ＲobertE．、、。②。。③。33。④。。、、、、、、。5．5、、30～40kg15～30min。、、。、、。6。。、、、。。1．J．2010327224－228．2．J．20122812159－163．3．J．2007381189－192．4．D．2012．5．C//—．2006．6．J．2013445194－201．7．J．20144510－14．·5·201712128HewittAJMaberJPraatJP．Driftmanagementusingmod-elingandGISsystemsC//ProceedingsoftheWorldCon-gressofComputersinAgricultureandNaturalＲesources．CostaＲicaUniversityofCostaＲica2002290－296．9TeskeMEThistleHW．AerialapplicationmodelextensionintothefarfieldC//ASAEAnnualMeeting．LasVegasAmericanSocietyofAgriculturalEngineers2003．10．C//2006．2006．11．D．2011．12．J．201243647－52．13．J．201647115－22．14．J．201239175－80．15．J．201430550－56．16．C//“”—2013．2013．17．J．20111107－111．18．J．201430350－55．19．J．201228127－12．20．D．2012．21．J．2012303384－389．22．J．2006275835－841．23．/J．2004255451－455．24．D．2014．25．/CFD/CSDJ．2014273370－376．26．J．20092810132－140．27．J．、200424141－45．28．J．20157223．29．C//2013．2013．30．201110209409．0P．2011－07－25．31KirkIWHoffmannWCCarltonJB．AerialelectrostaticspraysystemperformanceJ．TransactionsoftheASAE20014451089－1092．32KirkIW．Electrostaticcoalescenceforaerialspraydriftmit-igationC//BeltwideCottonConferences．NashvilleNa-tionalCottonCouncil2003．33．J．2016389156－160．34．J．2014364171－174．35．J．2014368161－164．36．J．2008763－65．37．J．20074189－191．38．J．201531950－56．39AnthonisJＲamonH．Comparisonbetweenthediscreteandfiniteelementmethodsformodellinganagriculturalsprayboom－Part1theoreticalderivationJ．JournalofSoundandVibration2003266515－534．40AnthonisJＲamonH．Comparisonbetweenthediscreteandfiniteelementmethodsformodellinganagriculturalsprayboom－Part2automaticprocedurefortransformingtheequa-tionsofmotionfromforcetodisplacementinputandvalida-tionJ．JournalofSoundandVibration2003266515－534．31·6·20171212QualityＲecognitionforCoatedVegetableSeedBasedonComputerVisionYuZhichengZhaoChunyuGaoLuSchoolofElectronicInformationandElectricalEngineeringShanghaiJiaotongUniversityShanghai200240ChinaAbstractIntelligentregulationofvegetableseedcoatingparameterscanimprovetheefficiencyofthecoatingprocessandimprovethequalityoftheseedproducts．Inordertostudytheintelligentcontrolofcoatingparametersthispaperproposedvegetableseedqualityidentificationmethodbasedoncomputervision．Accordingtothreeimportantindicatorsincludingcoatingratecoatingcolorandtexturefeaturesaseedwasclassifiedasqualified－coatedornon－qualified－coated．Foradhesionoftheseedimagewatershedalgorithmwasusedtosegmenttheseedsintosingle．Seedcoatingratewascalculatedbasedonmulti－thresholdsegmentationmethod．TheseedimagewasconvertedintoHSIcolorspaceinor-dertoextractcolormomentsfeaturesinHandScomponentandgray－level－co－occurrencematrixfeaturesinIcompo-nent．Threekindsoffeaturesincludingcoatingratecolormomentfeaturesandgray－level－co－occurrencematrixfea-tureswerefusedintoaneleven－dimensionalfeaturevector．Supportvectormachineclassifierwastrainedbasedonradialbasisfunction．Experimentswereconductedusingcoatedchillseed．Andresultsshowedthatthequalityrecognitionforcoatedvegetableseedaccuracyis90．93%．Thisresearchlaidatheoreticalfoundationoffollowing－upstudyofintelli-gentregulationofvegetableseedcoatingparameters．Keywordsvegetableseedcoatingqualityrecognitioncomputervision6AbstractID1003－188X201712－0001－EACurrentStatusandTrendsofAgriculturalPlantProtectionUnmannedAerialVehicleLouShangyiXueXinyuGuWeiCuiLongfeiZhouQingqingWangXinNanjingＲesearchInstituteofAgriculturalMechanizationMinistryofAgriculturalNanjing210014ChinaAbstractPlantdiseasesandinsectpestsisoneoftheimportantfactorsthatrestrictgoodcropgrowthandfoodsafetyinproduction．Howeverinthecurrentsituationthatlackofeffectiveearlywarmingmethodandphysicalmethodofpreven-tionandcurechemicalpreventionandcontrolisstillthemainmethodforthepreventionandcontrolofplantdiseasesandinsectpests．Thisarticledescribedtheadvantagesandcharacteristicsofaerialsprayingtechnologycomparedtocon-ventionalgroundadminister．Inthisarticlethecurrentstatusofplantprotectionunmannedaerialvehicleathomeandbroadwerereviewedandsummarized．Throughcomparingthecurrentsituationofaccuratesprayingtechnologywithdevelopedcountriesthes