Zhu Sun

In recent years, multirotor unmanned aerial vehicles (UAVs) have become more and more important in the field of plant protection in China. Multirotor unmanned plant protection UAVs have been widely used in vast plains, hills, mountains, and other regions, and become an integral part of China’s agricultural mechanization and modernization. The easy takeoff and landing performances of UAVs are urgently required for timely and effective spraying, especially in dispersed plots and hilly mountains. However, the unclearness of wind field distribution leads to more serious droplet drift problems. The drift and distribution of droplets, which depend on airflow distribution characteristics of UAVs and the droplet size of the nozzle, are directly related to the control effect of pesticide and crop growth in different growth periods. This paper proposes an approach to research the influence of the downwash and windward airflow on the motion distribution of droplet group for the SLK-5 six-rotor plant protection UAV. At first, based on the Navier-Stokes (N-S) equation and SST k–ε turbulence model, the three-dimensional wind field numerical model is established for a six-rotor plant protection UAV under 3 kg load condition. Droplet discrete phase is added to N-S equation, the momentum and energy equations are also corrected for continuous phase to establish a two-phase flow model, and a three-dimensional two-phase flow model is finally established for the six-rotor plant protection UAV. By comparing with the experiment, this paper verifies the feasibility and accuracy of a computational fluid dynamics (CFD) method in the calculation of wind field and spraying two-phase flow field. Analyses are carried out through the combination of computational fluid dynamics and radial basis neural network, and this paper, finally, discusses the influence of windward airflow and droplet size on the movement of droplet groups.

Unmanned aerial vehicle (UAV) has the advantages of good repeatability and high remote sensing (RS) information acquisition efficiency, as an important supplement bridging the gap of high-altitude and ground RS platforms. A quadrotor UAV was developed for the agricultural RS application in this study. The control system consists of a main processor and a coprocessor, integrating a three-axis gyroscope, a three-axis accelerometer, an air pressure sensor and a global positioning system (GPS) module. Engineering trial method (ETM) was used to tune the parameters based on the active disturbance rejection control (ADRC) method. Also a ground control station (GCS) adapted to the quadrotor was developed realizing autonomously take-off and landing, flight route planning, data recording. To investigate the performances of the UAV, several flight tests were carried out. The test results showed that the pitch angle control accuracy error was less than 4°, the flight height control accuracy error was less than 0.86 m, the flight path control accuracy error was less than 1.5 m overall. Aerial multispectral images were acquired and processed. The reflected digital number (DN) values obtained from a height of 10-100 m with 10 m interval could be referenced to classify objects. The normalized-difference-vegetation index (NDVI) values obtained from the aerial multispectral images acquired at 15 m were compared with those obtained by the GreenSeeker (GS) and PSR-1100F. The maximum error was 20.37% while the minimum error was 1.99%, which demonstrated the developed quadrotor UAV’s satisfactions for low altitude remote sensing practice. This study provided a low-cost platform for agricultural remote sensing. Keywords: UAV, quadrotor, ADRC, agricultural remote sensing, NDVI, aerial spraying application DOI: 10.25165/j.ijabe.20191204.4641 Citation: Zhang S C, Xue X Y, Chen C, Sun Z, Sun T. Development of a low-cost quadrotor UAV based on ADRC for agricultural remote sensing. Int J Agric & Biol Eng, 2019; 12(4): 82–87.

Recently, multi-rotor unmanned aerial vehicle (UAV) becomes more and more significantly irreplaceable in the field of plant protection against diseases, pests and weeds of crops. The easy takeoff and landing performance, hover function and high spraying efficiency of UAV are urgently required to spray pesticide for crop timely and effectively, especially in dispersed plots and hilly mountains. In such situations, the current researches about UAV spray application mainly focus on studying the influence of the UAV spraying parameters on the droplet deposition, such as operation height, operation velocity and wind velocity. The deposition and distribution of pesticide droplets on crops which depends on installation position of nozzle and airflow distribution characteristics of UAV are directly related to the control effect of pesticide and crop growth in different growth periods. As a preliminary step, this study focuses on the dynamic development law and distribution characteristics of the downwash air flow for the SLK-5 six-rotor agricultural UAV. Based on compressible Reynolds-averaged Navier-Stokes (RANS) equations with an RNG k-e turbulence model and dynamic mesh technology, the efficient three-dimensional computational fluid dynamics (CFD) method was established to analyze the flow field distribution characteristics of UAV in hover. Then the unsteady interaction flow field of the wing was investigated in detail. The downwash wind speed of the marked points for the SLK-5 UAV in hover was also tested by weather tracker. It was found that the maximum velocity value of the downwash flow was close to 10 m/s; the z-direction velocity was the main body of the wind velocity in the downwash airflow, and the comparison of the wind velocity experiment test and simulation showed that the relative error was less than 12% between the experimental and simulated values of the z-direction velocity at the marked points. Then the flow characteristics of the longitudinal and cross section were analyzed in detail, the results obtained can be used as a reference for drift and sedimentation studies for multi-rotor unmanned aerial vehicle. Keywords: UAV, downwash air flow, numerical simulation, experimental verification, pesticide spray, wing interference DOI: 10.25165/j.ijabe.20171004.3077 Citation: Yang F B, Xue X Y, Zhang L, Sun Z. Numerical simulation and experimental verification on downwash air flow of six-rotor agricultural unmanned aerial vehicle in hover. Int J Agric & Biol Eng, 2017; 10(4): 41–53.