基于无人机的竹产品与疫木下山吊运系统设计与试验

doi:10.11707/j.1001-7488.LYKX20240770

Abstract

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

CLC Number:

S776.2

Hongli Chen,Guankai Wang,WenFu Zhang,Jian Zhang,Hongliang Huang,Zhenhua Yang,Yin Zhao,Xiaoqiang Du. Design and Testing of a Based on UAV Lifting System for Bamboo Product and Epidemic Tree Downhill[J]. Scientia Silvae Sinicae, 2026, 62(1): 177-187.

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References 0

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参数Parameter	值Value	平均值Average
竹子长度Bamboo length/m	18~25	20
竹梢长度Bamboo tip length/m	2.8~5.0	3
竹梢最粗处直径Diameter at the thickest part of the bamboo tip/cm	6~10	7.5
竹梢保留节数Number of nodes retained on the bamboo tip	9~16	13
竹梢竹节间距Internode spacing of bamboo tip/cm	17~39	23
一捆竹梢质量Mass of a bundle of bamboo tips/kg	80~120	100
竹段长度Length of bamboo segment/m	1.1~1.5	1.3
竹段质量Mass of bamboo segment/kg	0.3~0.6	0.5

竹参数Bamboo parameter	平均值Average
长度Length/m	1.3
最粗处直径Diameter at the thickest part/cm	9
个数Number	2
一捆梢头质量Mass of a bundle of bamboo tips/kg	1

编号No.	重力钩Gravity	电磁主动钩Electromagnetic	编号No.	重力钩Gravity	电磁主动钩Electromagnetic
1	√	√	6	√	√
2	√	√	7	√	×
3	√	√	8	×	√
4	√	√	9	√	√
5	×	√	10	√	√

编号No.	脱困试验Escape test	脱困耗时Escape duration/s
1	√	5.5
2	√	5.3
3	√	5.6
4	√	5.5
5	×	×
6	√	5.4
7	√	5.3
8	√	5.6
9	√	5.5
10	√	5.5

技术参数Technical parameter	数值Value
无人机最大载荷UAV maximum load/kg	50
无人机飞行速度UAV speed/(m·s^?1)	10
无人机悬停高度UAV hover height/m	35
无人机遥控距离UAV control range/m	3 000
无人机巡航时间UAV cruise time/min	60
无人机电池容量UAV battery capacity/mAh	40 000
无人机汽油机功率UAV gasoline engine power/kW	20
无人机燃油容量UAV fuel capacity/L	10

Design and Testing of a Based on UAV Lifting System for Bamboo Product and Epidemic Tree Downhill

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编号No.	魔术贴Velcro	凹扣Snap button	绳结Knot
1	22	21	26
2	21	22	25
3	19	21	27
4	23	24	27
5	20	23	24

竹段参数Bamboo segment parameter	数值Value
长度Length/m	1.3
最粗处直径Diameter at the thickest part/cm	9
个数Number	5
一捆竹段质量Mass of a bundle of bamboo segments/kg	3

编号 No.	脱钩 Unhooking	挂钩耗时 Hooking duration/s	脱钩耗时 Unhooking duration/s	编号 No.	脱钩 Unhooking	挂钩耗时 Hooking duration/s	脱钩耗时 Unhooking duration/s
1	√	15.4	0.8	6	√	15.6	0.8
2	√	13.2	1.2	7	√	14.8	1.3
3	√	14.1	0.9	8	√	12.7	1.4
4	×			9	√	14.2	1.0
5	√	15.0	1.1	10	√	17.2	1.2

编号No.	上升Ascend	下降Descend	前进Move forward
1	√	√	√
2	×	√	√
3	√	√	√
4	√	√	√
5	×	√	×
6	√	×	√
7	√	√	√
8	√	√	√
9	√	√	√
10	√	√	√

项目Items	价格Price/yuan
无人机UAV	80 000
脱困装置 Emergency rescue device	1 200
重力脱钩装置Gravity-release mechanism	110
电磁铁脱钩装置Electromagnetic release mechanism	198
吊运设备控制系统Hoisting equipment control system	800
合计Total	82 308

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