基于无人机的竹产品与疫木下山吊运系统设计与试验
Design and Testing of a Bamboo Product and Epidemic Tree Downhill Lifting System Based on UAV
[目的]针对目前竹产品伐后下山主要依靠人工人工搬运、拖车，存在劳动强度大、运送效率低、人力成本高以及易发生安全事故等问题，设计一种基于无人机的竹产品与疫木下山吊运系统，能够实现利用无人机在竹林或树林间的自主吊运和危险情况下紧急脱困保护无人机安全的功能，减少人工参与、保障作业人员安全并克服山地垂直落差大的问题。[方法]基于测定的竹梢、竹段形态特征参数研究设计吊挂自动脱钩装置和无人机紧急脱困装置，并通过SOLIDWORKS软件建立装置的三维模型，同时开发了驱动设备的软硬件系统。基于ANSYS Workbench软件的静态结构分析(static structural)、静磁分析(magnetostatic)对吊运装置的关键结构进行仿真和理论计算，确定结构参数和电磁铁型号。进行室内试验分析打包方式的效率、两种脱钩方式的稳定性和脱困机构的可行性。并进行林间试验，测试整套调运系统在实际工作场景下的效率和稳定性。[结果]室内试验表明，魔术贴打包方式平均用时21s、凹扣组平均用时22.2s、绳结组平均用时25.8s，选用魔术贴进行打包。重力钩脱钩成功率为80％、电磁主动脱钩成功率为90％，选用电磁主动脱钩方式。林间试验结果显示，脱钩成功率为90％，其中挂钩的平均耗时为14.69秒，脱钩的平均耗时为1.19秒。在上升、下降和前进状态下，脱困成功率分别为80％、90％和90％。[结论]该吊运系统能够减少人工参与、提高运送效率、减小人力成本和降低发生安全事故的概率，试验表明该吊运系统满足现场应用需求。
[Objective]In response to the current problems of high labor intensity,low transportation efficiency,high labor costs,and easy occurrence of safety accidents caused by manual handling and towing of bamboo products after logging,a drone based bamboo product and epidemic wood downhill lifting system is designed to achieve the function of using drones for autonomous lifting in bamboo forests or forests and emergency rescue in dangerous situations to protect the safety of drones,reduce manual participation,ensure the safety of operators,and overcome the problem of large vertical drops in mountainous areas.[Method]Based on the measured morphological characteristic parameters of bamboo shoots and bamboo segments,a hanging automatic decoupling device and an emergency rescue device for unmanned aerial vehicles were studied and designed.A three-dimensional model of the device was established using SOLIDWORKS software,and the software and hardware systems for driving the equipment were developed.Based on ANSYS Workbench software,static structural analysis and magnetostatic analysis are used to simulate and theoretically calculate the key structures of the lifting device,determine the structural parameters and electromagnetic coil models.Conduct indoor experiments to analyze the efficiency of the packaging method,the stability of the two decoupling methods,and the feasibility of the escape mechanism.And conduct forest experiments to test the efficiency and stability of the entire transportation system in actual working scenarios.[Result]Indoor tests showed that the average time for the Velcro packing method was 21s,for the concave hook group it was 22.2s,and for the knot group it was 25.8s,with Velcro selected for packing.The gravity hook disengagement success rate was 80％,while the electromagnetic active disengagement success rate was 90％,with the electromagnetic active disengagement method selected.The field test results showed a disengagement success rate of 90％,with the average hook hanging time being 14.69 seconds and the average disengagement time being 1.19 seconds.The success rates for disengagement in ascending,descending,and forward states were 80％,90％,and 90％,respectively.[Conclusion]The lifting system can reduce manual involvement,improve transportation efficiency,lower labor costs,and reduce the probability of safety accidents.Experiments have shown that the lifting system meets the requirements of on-site applications.
陈洪立;王冠凯;黄宏亮;马锃宏;赵胤;杜小强;
浙江理工大学 机械工程学院 浙江 杭州 310018;浙江理工大学 机械工程学院 浙江 杭州 310018;浙江省湖州市安吉县林业局 湖州市 313300;浙江理工大学 机械工程学院 浙江 杭州 310018;浙江理工大学 机械工程学院 浙江 杭州 310018;浙江理工大学 机械工程学院 浙江 杭州 310018;
S776.2
drone bamboo forest lifting emergency rescue automatic decoupling simulation analysis forestry applications
336-355 / 20
评论