全文总字数：6594字

“多旋翼植保无人机并联施药机构”文献综述

摘 要：随着北斗、GPS等精确定位导航技术在多旋翼植保无人飞机上的持续应用、改进，目前在水平方向上多旋翼植保无人飞机的定位精度达到厘米级。鉴于此，本课题拟设计一款水平方向喷雾幅度可调的、受药部位能方便对准的多功能植保无人飞机。一方面，由于不同作物（大田低矮农作物、高杆农作物；山地经济林木、果树、作物采用多旋翼植保无人飞机进行喷洒作业时需要满足不同的喷幅、不同的施药角度、不同的施药部位等等个性化要求；另一方面，在工业、军工等领域并联机构已经得到广泛应用，并联机构可以实现施药部件、系统径向喷幅在一定范围内的自由设置；同时也能实现绕竖直方向一定角度的自由回转，进而实现施药部件、系统自由对准施药对象的受药部位；此外在喷头的安装末端设计一个可以自由旋转的关节，如此就能实现喷头施药角度的自由调节。

关键词：多旋翼植保无人机；施药；并联机构

Literature Review of 'Parallel Application Mechanism of Multi-rotor Plant Protection UAV'

(Nanjing Forestry University, School of Mechanical and Electronic Engineering, Nanjing 210037)

Abstract: With the continuous application and improvement of Beidou, GPS and other precise positioning and navigation technologies in multi-rotor unmanned aircraft for plant protection, the positioning accuracy of multi-rotor unmanned aircraft for plant protection has reached centimeter level in horizontal direction. In view of this, this subject plans to design a multifunctional plant protection unmanned aircraft with adjustable spray amplitude in horizontal direction and convenient alignment of the medicine receiving part. On the one hand, due to different crops (field low crops, high stem crops; Mountain economic trees, fruit trees and crops need to meet the individualized requirements of different spray width, different application angles and different application positions when spraying with multi-rotor plant protection unmanned aircraft; On the other hand, parallel mechanism has been widely used in industry, military industry and other fields. Parallel mechanism can realize the free setting of pesticide application components and radial spray amplitude of the system within a certain range; At the same time, it can also realize the free rotation around the vertical direction at a certain angle, so as to realize the free alignment of the drug application parts and systems to the drug receiving parts of the drug application objects; In addition, a freely rotatable joint is designed at the mounting end of the sprayer, so that the spraying angle of the sprayer can be freely adjusted.

Key words: multi-rotor plant protection drone; Drug application; Parallel mechanism

1课题研究目的和意义