丘陵山地柑橘果园多方位自动喷药装置研制
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摘要
针对现有自动喷药装置对丘陵山地不同树冠大小的柑橘果树适应性差的问题,该文设计了一种双向多方位自动喷药装置。通过模式转换机构,实现竖直喷药模式、45°倾斜喷药模式和对地喷药模式的任意切换,以满足喷药装置对不同大小柑橘树的适应性需求,提高农药的利用率。采用自动对靶模块检测果树冠层高度和高压雾化喷头组件至冠层表面距离;采用车速测定模块实时检测履带式手扶拖拉机行进速度。室内试验结果表明:在3种喷药工作模式下,装置射程与喷幅均符合植保机械作业质量要求;单次喷药量为72～190 L/hm2,符合低剂量喷药要求;超声波传感器布置在喷杆前方0.8 m处,当履带式手扶拖拉机行驶速度3～8 km/h时,有效降低了信号检测与处理滞后带来的对靶误差,对靶精度为99.7%,符合设计要求。田间试验结果表明:在竖直喷药模式和45°喷药模式下进行喷药工作,柑橘树冠层表面雾滴平均覆盖率分别为82.5%和78.7%,沉积密度分别为109滴/cm2和106滴/cm2;冠层内部雾滴平均覆盖率分别为16.1%和30.6%,沉积密度分别为35滴/cm2和64滴/cm2,喷药效果满足国家标准要求。
In view of the poor adaptability of the existing automatic spraying device to citrus fruit trees with different crown size in hilly and mountainous areas,a bidirectional multi-mode automatic spraying device was development in this paper.The device was mainly composed of mechanical framework,high-pressure atomizing mechanism,air supply mechanism and automatic control system(which including power supply module,communication module,automatic target module,vehicle speed measurement module,motor drive module and solenoid valve).Changing the angle of spraying rod through the mode conversion mechanism,the vertical spraying mode,the 45° tilt spraying mode and the ground spraying mode were realized,which satisfied the adaptability requirements of the spraying device for citrus fruit trees of different sizes,and effectively improved the utilization of pesticides.Firstly,the canopy height of the fruit trees and the distance from the high pressure atomizing nozzle assembly to the crown surface were detected by the automatic target module composing of an ultrasonic sensor and a laser diode array,The ultrasonic sensor was responsible for detecting the top and bottom layers of the canopy,and guided the position adjustment of spraying rod and the on-off of solenoid value,so that the spraying rod could spray against the canopy;the laser diode array was responsible for detecting the distance between the spraying rod and the fruit trees,and guided the boom to adjust to the setting position.Secondly,the speed measuring module was used to detect the moving speed of the crawler-type walking tractors in real time.Thirdly,the collected datas were processed by the controller.The effects of the detection delay on the effect of the spraying were reduced by the cooperation of each module.The laboratory test results showed that the spray range and spray width of the device in 3 spray modes were in line with the quality requirements of plant protection machinery.The spray amount for one operation was 72-190 L/hm2,which met the requirements of the low dose spray.The ultrasonic sensor was arranged at 0.8 m in front of the spraying rod,when the working speed of the crawler-type tractor was not more than 8 km/h,it effectively reduced the target error caused by the delay of signal detection and processing,and the target precision was 99.7%,which was in line with the design requirements.Orthogonal experimental design method was used in field experiments,the effects of vehicle speed,air supply intensity and sprinkler-to-canopy distance on spraying efficiency were investigated by establishing L9(34) orthogonal experimental design table.The results of spraying in vertical spraying mode and 45° tilt spraying mode showed that the average droplet coverage on the canopy surface was 82.5% and 78.7%,respectively,and the droplet deposition density was 109 and 106 droplets/cm2,respectively;the average droplet coverage in the canopy was 16.1% and 30.6%,respectively,and the droplet deposition density was 35 and 64 droplets/cm2,respectively.The spraying effects met the requirements of national standards.
In view of the poor adaptability of the existing automatic spraying device to citrus fruit trees with different crown size in hilly and mountainous areas,a bidirectional multi-mode automatic spraying device was development in this paper.The device was mainly composed of mechanical framework,high-pressure atomizing mechanism,air supply mechanism and automatic control system(which including power supply module,communication module,automatic target module,vehicle speed measurement module,motor drive module and solenoid valve).Changing the angle of spraying rod through the mode conversion mechanism,the vertical spraying mode,the 45° tilt spraying mode and the ground spraying mode were realized,which satisfied the adaptability requirements of the spraying device for citrus fruit trees of different sizes,and effectively improved the utilization of pesticides.Firstly,the canopy height of the fruit trees and the distance from the high pressure atomizing nozzle assembly to the crown surface were detected by the automatic target module composing of an ultrasonic sensor and a laser diode array,The ultrasonic sensor was responsible for detecting the top and bottom layers of the canopy,and guided the position adjustment of spraying rod and the on-off of solenoid value,so that the spraying rod could spray against the canopy;the laser diode array was responsible for detecting the distance between the spraying rod and the fruit trees,and guided the boom to adjust to the setting position.Secondly,the speed measuring module was used to detect the moving speed of the crawler-type walking tractors in real time.Thirdly,the collected datas were processed by the controller.The effects of the detection delay on the effect of the spraying were reduced by the cooperation of each module.The laboratory test results showed that the spray range and spray width of the device in 3 spray modes were in line with the quality requirements of plant protection machinery.The spray amount for one operation was 72-190 L/hm2,which met the requirements of the low dose spray.The ultrasonic sensor was arranged at 0.8 m in front of the spraying rod,when the working speed of the crawler-type tractor was not more than 8 km/h,it effectively reduced the target error caused by the delay of signal detection and processing,and the target precision was 99.7%,which was in line with the design requirements.Orthogonal experimental design method was used in field experiments,the effects of vehicle speed,air supply intensity and sprinkler-to-canopy distance on spraying efficiency were investigated by establishing L9(34) orthogonal experimental design table.The results of spraying in vertical spraying mode and 45° tilt spraying mode showed that the average droplet coverage on the canopy surface was 82.5% and 78.7%,respectively,and the droplet deposition density was 109 and 106 droplets/cm2,respectively;the average droplet coverage in the canopy was 16.1% and 30.6%,respectively,and the droplet deposition density was 35 and 64 droplets/cm2,respectively.The spraying effects met the requirements of national standards.
引文
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[8]李龙龙,何雄奎,宋坚利,等.基于变量喷雾的果园自动仿型喷雾机的设计与试验[J].农业工程学报,2017,33(1):70-76.Li Longlong,He Xiongkui,Song Jianli,et al.Design and experiment of automatic profiling orchard sprayer based on variable air volume and flow rate[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2017,33(1):70-76.(in Chinese with English abstract)
[9]李龙龙,何雄奎,宋坚利,等.果园仿形变量喷雾与常规风送喷雾性能对比试验[J].农业工程学报,2017,33(16):56-63.Li Longlong,He Xiongkui,Song Jianli,et al.Comparative experiment on profile variable rate spray and conventional air assisted spray in orchard[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2017,33(16):56-63.(in Chinese with English abstract)
[10]王佳文.智能喷药机关键部件设计与研究[D].淄博:山东理工大学,2016.Wang Jiawen.Design and Study on Key Components of Intelligent Sprayer[D].Zibo:Shandong University of Technology,2016.(in Chinese with English abstract)
[11]王成达.直立风送式对靶喷药机设计研究[D].北京:中国林业科学研究院,2016.Wang Chengda.Design and Study of Vertical Air Target Spraying Machine[D].Beijing:Chinese Academy of Forestry,2016.(in Chinese with English abstract)
[12]宋淑然,夏侯炳,卢玉华,等.风送式喷雾机导流器结构优化及试验研究[J].农业工程学报,2012,28(6):7-12.Song Shuran,Xia Houbing,Lu Yuhua,et al.Structural optimization and experiment on fluid director of air-assisted sprayer[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2012,28(6):7-12.(in Chinese with English abstract)
[13]翟长远,朱瑞祥,随顺涛,等.车载式变量喷药机控制系统设计与试验[J].农业工程学报,2009,25(8):105-109.Zhai Changyuan,Zhu Ruixiang,Sui Shuntao,et al.Design and experiment of control system of variable pesticide application machine hauled by tractor[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2009,25(8):105-109.(in Chinese with English abstract)
[14]蔡吉晨.基于二维激光雷达的果树在线探测方法及对靶变量喷药技术研究[D].北京:中国农业大学,2018.Cai Jichen.Research on Tree On-line Detection Method and Targeted Variable-rate Spraying Techniques Based on Laserscanning Sensor[D].Beijing:China Agricultural University,2018.(in Chinese with English abstract)
[15]赵映,肖宏儒,梅松,等.我国果园机械化生产现状与发展现状[J].中国农业大学学报,2017,22(6):116-127.Zhao Ying,Xiao Hongru,Mei Song,et al.Current status and development strategies of orchard mechanization production in China[J].Journal of China Agricultural University,2017,22(6):116-127.(in Chinese with English abstract)
[16]周良富,傅锡敏,丁为民,等.组合圆盘式果园风送喷雾机设计与试验[J].农业工程学报,2015,31(10):64-71.Zhou Liangfu,Fu Ximin,Ding Weimin,et al.Design and experiment of combined disc air-assisted orchard sprayer[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2015,31(10):64-71.(in Chinese with English abstract)
[17]Miranda-Fuentes A,Rodriguez-lizana A,Cuenca A,et al.Improving plant protection product applications in traditional and intensive olive orchards through the development of new prototype air-assisted sprayers[J].Crop Protection,2017,94:44-58.
[18]邱威,丁为民,汪小旵,等.3WZ-700型自走式果园风送式喷雾机[J].农业机械学报,2012,43(4):26-30.Qiu Wei,Ding Weimin,Wang Xiaochan,et al.3WZ-700self-propelled air-blowing orchard sprayer[J].Transactions of the Chinese Society for Agricultural Machinery,2012,43(4):26-30.(in Chinese with English abstract)
[19]宋坚利,何雄奎,张京,等.“Ⅱ”型循环喷雾机设计[J].农业机械学报,2012,43(4):31-36.Song Jianli,He Xiongkui,Zhang Jing,et al.Design ofⅡ-type recycling tunnel sprayer[J].Transactions of the Chinese Society for Agricultural Machinery,2012,43(4):31-36.(in Chinese with English abstract)
[20]李超,张晓辉,姜建辉,等.葡萄园立管风送式喷雾机的研制与试验[J].农业工程学报,2013,29(4):71-78.Li Chao,Zhang Xiaohui,Jiang Jianhui,et al.Development and experiment of riser air-blowing sprayer in vineyard[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2013,29(4):71-78.(in Chinese with English abstract)
[21]姜宗月.果园定向仿形弥雾机的研制与试验[D].泰安:山东农业大学,2014.Jiang Zongyue.Development and Experiment of Directional Profiling Orchard Mist Sprayer[D].Taian:Shandong Agricultural University,2014.(in Chinese with English abstract)
[22]丁素明,傅锡敏,薛新宇,等.低矮果园自走式风送喷雾机研制与试验[J].农业工程学报,2013,29(15):18-25.Ding Suming,Fu Ximin,Xue Xinyu,et al.Design and experiment of self-propelled air-assisted sprayer in orchard with dwarf culture[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2013,29(15):18-25.(in Chinese with English abstract)
[23]徐莎.果园风送施药机的设计及优化[D].咸阳:西北农林科技大学,2014.Xu Sha.Design and Optimization of Orchard Air-assisted Sprayer[D].Xianyang:Northwest Agriculture and Forestry University,2014.(in Chinese with English abstract)
[24]中华人民共和工业化信息部.JB/T 9782-2014植保机械通用试验方法[S].北京:机械工业出版社,2014.
[25]中华人民共和国农业部.NY/T 650-2013喷雾机(器)作业质量[S].北京:中华人民共和国农业部,2013.
[26]刘鹤年.流体力学[M].武汉:武汉大学出版社,2006.
[27]陈魁,李光林,李晓东,等.果园喷雾机喷头自适应运动与自动喷雾控制系统研制与试验[J].西南大学学报:自然科学版,2017,39(4):178-184.Chen Kui,Li Guanglin,Li Xiaodong,et al.Development and testing of a nozzle adaptive movement and automatic control system in the orchard sprayer[J].Journal of Southwest University:Natural Science Edition,2017,39(4):178-184.(in Chinese with English abstract)
[28]中华人民共和国国家质量监督检验检疫总局,中国国家标准化管理委员会.GB/T 17997-2008农药喷雾机(器)田间操作规程及喷洒质量评定[S].北京:全国农业机械标准化技术委员会,2008.
[2]许林云,张昊天,张海锋,等.果园喷雾机自动对吧喷雾控制系统研制与试验[J].农业工程学报,2014,30(22):1-9.Xu Linyun,Zhang Haotian,Zhang Haifeng,et al.Development and experiment of automatic target spray control system used in orchard sprayer[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2014,30(22):1-9.(in Chinese with English abstract)
[3]Solanelles F,EscolàA,Planas S,et al.An electronic control system for pesticide application proportional to the canopy width of tree crops[J].Biosystems Engineering,2006,95(4):473-481.
[4]Viktor Jej?i?,Tone Gode?a,Marko Ho?evar,et al.Design and testing of an ultrasound system for targeted spraying in orchards[J].Journal of Mechanical Engineering,2011,57(7/8):587-598.
[5]Alja?Osterman,Tone Gode?a,Marko Ho?evar,et al.Realtime positioning algorithm for variable-geometry air-assisted orchard sprayer[J].Computers and Electronics in Agriculture,2013,98:175-182.
[6]Cai Jichen,Wang Xiu,Song Jian,et al.Development of realtime laser-scanning system to detect tree canopy characteristics for variable-rate pesticide application[J].International Journal of Agricultural and Biological Engineering,2017,10(6):155-163.
[7]Li Longlong,He Xiongkui,Song Jianli,et al.Designed and experiment of variable rate orchard sprayer based on laser scanning sensor[J].Inernational Journal of Agricultural and Biological Engineering,2018,11(1):101-108.
[8]李龙龙,何雄奎,宋坚利,等.基于变量喷雾的果园自动仿型喷雾机的设计与试验[J].农业工程学报,2017,33(1):70-76.Li Longlong,He Xiongkui,Song Jianli,et al.Design and experiment of automatic profiling orchard sprayer based on variable air volume and flow rate[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2017,33(1):70-76.(in Chinese with English abstract)
[9]李龙龙,何雄奎,宋坚利,等.果园仿形变量喷雾与常规风送喷雾性能对比试验[J].农业工程学报,2017,33(16):56-63.Li Longlong,He Xiongkui,Song Jianli,et al.Comparative experiment on profile variable rate spray and conventional air assisted spray in orchard[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2017,33(16):56-63.(in Chinese with English abstract)
[10]王佳文.智能喷药机关键部件设计与研究[D].淄博:山东理工大学,2016.Wang Jiawen.Design and Study on Key Components of Intelligent Sprayer[D].Zibo:Shandong University of Technology,2016.(in Chinese with English abstract)
[11]王成达.直立风送式对靶喷药机设计研究[D].北京:中国林业科学研究院,2016.Wang Chengda.Design and Study of Vertical Air Target Spraying Machine[D].Beijing:Chinese Academy of Forestry,2016.(in Chinese with English abstract)
[12]宋淑然,夏侯炳,卢玉华,等.风送式喷雾机导流器结构优化及试验研究[J].农业工程学报,2012,28(6):7-12.Song Shuran,Xia Houbing,Lu Yuhua,et al.Structural optimization and experiment on fluid director of air-assisted sprayer[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2012,28(6):7-12.(in Chinese with English abstract)
[13]翟长远,朱瑞祥,随顺涛,等.车载式变量喷药机控制系统设计与试验[J].农业工程学报,2009,25(8):105-109.Zhai Changyuan,Zhu Ruixiang,Sui Shuntao,et al.Design and experiment of control system of variable pesticide application machine hauled by tractor[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2009,25(8):105-109.(in Chinese with English abstract)
[14]蔡吉晨.基于二维激光雷达的果树在线探测方法及对靶变量喷药技术研究[D].北京:中国农业大学,2018.Cai Jichen.Research on Tree On-line Detection Method and Targeted Variable-rate Spraying Techniques Based on Laserscanning Sensor[D].Beijing:China Agricultural University,2018.(in Chinese with English abstract)
[15]赵映,肖宏儒,梅松,等.我国果园机械化生产现状与发展现状[J].中国农业大学学报,2017,22(6):116-127.Zhao Ying,Xiao Hongru,Mei Song,et al.Current status and development strategies of orchard mechanization production in China[J].Journal of China Agricultural University,2017,22(6):116-127.(in Chinese with English abstract)
[16]周良富,傅锡敏,丁为民,等.组合圆盘式果园风送喷雾机设计与试验[J].农业工程学报,2015,31(10):64-71.Zhou Liangfu,Fu Ximin,Ding Weimin,et al.Design and experiment of combined disc air-assisted orchard sprayer[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2015,31(10):64-71.(in Chinese with English abstract)
[17]Miranda-Fuentes A,Rodriguez-lizana A,Cuenca A,et al.Improving plant protection product applications in traditional and intensive olive orchards through the development of new prototype air-assisted sprayers[J].Crop Protection,2017,94:44-58.
[18]邱威,丁为民,汪小旵,等.3WZ-700型自走式果园风送式喷雾机[J].农业机械学报,2012,43(4):26-30.Qiu Wei,Ding Weimin,Wang Xiaochan,et al.3WZ-700self-propelled air-blowing orchard sprayer[J].Transactions of the Chinese Society for Agricultural Machinery,2012,43(4):26-30.(in Chinese with English abstract)
[19]宋坚利,何雄奎,张京,等.“Ⅱ”型循环喷雾机设计[J].农业机械学报,2012,43(4):31-36.Song Jianli,He Xiongkui,Zhang Jing,et al.Design ofⅡ-type recycling tunnel sprayer[J].Transactions of the Chinese Society for Agricultural Machinery,2012,43(4):31-36.(in Chinese with English abstract)
[20]李超,张晓辉,姜建辉,等.葡萄园立管风送式喷雾机的研制与试验[J].农业工程学报,2013,29(4):71-78.Li Chao,Zhang Xiaohui,Jiang Jianhui,et al.Development and experiment of riser air-blowing sprayer in vineyard[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2013,29(4):71-78.(in Chinese with English abstract)
[21]姜宗月.果园定向仿形弥雾机的研制与试验[D].泰安:山东农业大学,2014.Jiang Zongyue.Development and Experiment of Directional Profiling Orchard Mist Sprayer[D].Taian:Shandong Agricultural University,2014.(in Chinese with English abstract)
[22]丁素明,傅锡敏,薛新宇,等.低矮果园自走式风送喷雾机研制与试验[J].农业工程学报,2013,29(15):18-25.Ding Suming,Fu Ximin,Xue Xinyu,et al.Design and experiment of self-propelled air-assisted sprayer in orchard with dwarf culture[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2013,29(15):18-25.(in Chinese with English abstract)
[23]徐莎.果园风送施药机的设计及优化[D].咸阳:西北农林科技大学,2014.Xu Sha.Design and Optimization of Orchard Air-assisted Sprayer[D].Xianyang:Northwest Agriculture and Forestry University,2014.(in Chinese with English abstract)
[24]中华人民共和工业化信息部.JB/T 9782-2014植保机械通用试验方法[S].北京:机械工业出版社,2014.
[25]中华人民共和国农业部.NY/T 650-2013喷雾机(器)作业质量[S].北京:中华人民共和国农业部,2013.
[26]刘鹤年.流体力学[M].武汉:武汉大学出版社,2006.
[27]陈魁,李光林,李晓东,等.果园喷雾机喷头自适应运动与自动喷雾控制系统研制与试验[J].西南大学学报:自然科学版,2017,39(4):178-184.Chen Kui,Li Guanglin,Li Xiaodong,et al.Development and testing of a nozzle adaptive movement and automatic control system in the orchard sprayer[J].Journal of Southwest University:Natural Science Edition,2017,39(4):178-184.(in Chinese with English abstract)
[28]中华人民共和国国家质量监督检验检疫总局,中国国家标准化管理委员会.GB/T 17997-2008农药喷雾机(器)田间操作规程及喷洒质量评定[S].北京:全国农业机械标准化技术委员会,2008.