关键词: 无人机, 竹林吊运, 紧急脱困, 自动脱钩, 仿真优化, 林业应用

Abstract:

Objective: In response to the current problems of high labor intensity, low transportation efficiency, high labor costs, and frequent safety accidents caused by manual handling and towing of bamboo products after logging, a UAV-based bamboo product and epidemic wood downhill lifting system was designed to enable the function of using UAVs for autonomous lifting in bamboo forests and emergency rescue in dangerous situations to protect UAVs, reduce manual involvement, ensure the safety of operators, and overcome the problem of large vertical drops in mountainous areas. Method: The measured morphological characteristic parameters of bamboo shoots and bamboo segments were used to design a hanging automatic decoupling device and a UAVs emergency rescue device. A 3D model of the devices was established using SOLIDWORKS software, and the corresponding hardware and software systems for operating the equipment were developed. Static structural analysis of ANSYS Workbench software and magnetostatic analysis were conducted using ANSYS Workbench to simulate and calculate the key structures of the lifting device and determine the structural parameters and electromagnet model. Indoor experiments were conducted to analyze the efficiency of the packaging methods (velcro, concave hooks, and knots), the stability of decoupling methods (gravity hooks and electromagnetic active hooks), and the feasibility of the escape mechanism. Forest experiments were also conducted to test the efficiency and stability of the entire lifting system in real working scenarios. Result: Indoor tests showed that the average time was 21 s for the velcro packing, 22.2 s for the concave hook group, and 25.8 s for the knot group, leading to the selection of velcro for packing. The success rate for gravity hook disengagement was 80%, while the success rate for electromagnetic active hook disengagement was 90%, confirming the adoption of the electromagnetic active hook detachment method. Field test results showed a disengagement success rate of 90%, with an average hook hanging time of 14.69 s and an average disengagement time of 1.19 s. The success rates for disengagement during ascending, descending, and forward flight were 80%, 90%, and 90%, respectively. Conclusion: The bamboo product and epidemic wood downhill lifting system based on UAV-based lifting system can reduce manual involvement, improve transportation efficiency, lower labor costs, and reduce the probability of safety accidents. Experiments have demonstrated that the system meets the requirements for on-site applications.

Key words: UAV, bamboo forest lifting, emergency rescue, automatic decoupling, simulation analysis, forestry applications