基于无人机的赤眼蜂卵投放系统设计与试验

Design and experiment of a precise delivery system for Trichogramma eggs based on unmanned aerial vehicle

【目的】解决人工投放赤眼蜂卵成本高、效率低且均匀性差等问题,实现机械化生物防治作业。【方法】设计基于无人机的团粒化赤眼蜂卵的精准投放系统,提出双层水平圆盘式赤眼蜂蜂球防堵塞投放装置结构,通过理论计算确定波浪导向拨杆和型孔等关键零部件参数,并对无人机进行选型和投放设置。基于EDEM离散元仿真软件进行计算机模拟,分别选用动能变化量和速度变化量为指标,分析波浪导向拨杆对赤眼蜂卵的扰动情况和投放时蜂卵流动情况。在不同飞行高度下对投放系统进行实际投放试验,统计分析了投放合格率和蜂球落点的均匀性。【结果】在3、5、7 m的飞行高度下的3组投放试验均未出现蜂球漏投现象,蜂球落点平均间距分别为15.61、15.20、15.71 m,落点间距的变异系数均低于10%,且随飞行高度的上升有微小增加。【结论】本研究设计的无人机赤眼蜂卵投放系统能够自动高效完成蜂球投放任务,蜂球投放分布均匀,满足大面积赤眼蜂投放作业需求,为机械化生物防治提供了装备支撑。

【Objective】The study was conducted to address the problems of high cost,low efficiency,and poor uniformity of manual Trichogramma eggs distribution,and to achieve mechanized biological pest control operations.【Method】A precision delivery system for granulated Trichogramma eggs based on unmanned aerial vehicles was designed.A double-layer horizontal circular blocking device for Trichogramma wasp balls was proposed.The key component parameters such as the wave-guiding dial and the mold hole were determined through theoretical calculations.UAV selection and deployment settings were made.Computer simulations were carried out using EDEM discrete element simulation software.The changes in kinetic energy and velocity were selected as indicators to analyze the disturbance of the wave-guiding dial on the Trichogramma eggs and the flow of eggs during delivery.Actual delivery experiments were conducted at different flight altitudes,and the delivery success rate and uniformity of the wasp ball landing points were statistically analyzed.【Result】No wasp ball leakage occurred in any of the three groups of experiments conducted at flight altitudes of 3,5,and 7 meters.The average spacing between landing points was 15.61,15.20,and 15.71 meters,respectively,and the coefficient of variation of the landing point spacing was less than 10%,which increased slightly with the increasing of flight altitude.【Conclusion】The UAV-based Trichogramma egg delivery system designed in this study can efficiently complete the task of delivering wasp balls automatically.The distribution of wasp balls is uniform,which can meet the demand for large-scale Trichogramma eggs delivery operations and provide equipment support for mechanized biological pest control.