果园自动对靶施药系统设计与试验
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摘要
针对果园作物生长环境复杂、农药利用率低且易流失造成环境污染问题,设计了果园自动对靶施药系统。该系统采用红外光电传感器探测果树,根据传感器信号控制电磁阀状态实现自动对靶施药;采用红外测距传感器实时检测周围环境,实现避障及转弯。室内模型实验表明:该系统能够自主行走、垄间穿行、果树识别和向果树对靶施药,小车行走速度约0.5 m/s时对靶喷药时间约20 ms。该研究为在果园中实施自动对靶施药技术提供了理论依据。
Orchard crop growth environment is complex.Pesticide utilization is low and easy to cause environmental pollution.Based on this,the orchard automatic spraying system is designed.Infrared photoelectric sensors are used to detect fruit trees.The solenoid valve is controlled according to the sensor signal.Infrared distance sensor is used to detect the surrounding environment,to achieve barrier and turn.Through the indoor model experiment,the system can walk autonomously,ridge through the line,fruit tree identification and fruit to the target application.The time to spray the target is20 ms when the car walking speed of 0.5 m/s.This study provides a theoretical and practical basis for the implementation of automatic target application technology in orchards.
Orchard crop growth environment is complex.Pesticide utilization is low and easy to cause environmental pollution.Based on this,the orchard automatic spraying system is designed.Infrared photoelectric sensors are used to detect fruit trees.The solenoid valve is controlled according to the sensor signal.Infrared distance sensor is used to detect the surrounding environment,to achieve barrier and turn.Through the indoor model experiment,the system can walk autonomously,ridge through the line,fruit tree identification and fruit to the target application.The time to spray the target is20 ms when the car walking speed of 0.5 m/s.This study provides a theoretical and practical basis for the implementation of automatic target application technology in orchards.
引文
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[11]何雄奎,曾爱军,何娟.果园喷雾机风速对雾滴的沉积分布影响研究[J].农业工程学报,2002(4):75-77.
[12]胡天翔,郑加强,周宏平.基于双目视觉的树木图像测距方法[J].农业机械学报,2010(11):158-162.
[13]陈志刚,王玉光,杜彦生,等.精确对靶喷雾施药的靶标微波探测试验[J].排灌机械工程学报,2010(4):364-368.
[14]宋淑然,陈建泽,洪添胜,等.果园柔性对靶喷雾装置设计与试验[J].农业工程学报,2015(10):57-63.
[2]房亚群,谷丽芬,张莉.基于物联网农业病虫害智能监控的自动喷药机研究[J].农机化研究,2017,39(8):224-227.
[3]刘金龙,郑泽锋,丁为民,等.对靶喷雾红外探测器的设计与探测距离测试[J].江苏农业科学,2013,41(7):368-370.
[4]程旭锋,肖爱平,李婷,等.葡萄树干局部环形对靶装置的设计与试验[J].农业工程学报,2016,32(S1):20-26.
[5]金鑫,董祥,杨学军,等.3WGZ-500型喷雾机对靶喷雾系统设计与试验[J].农业机械学报,2016,47(7);21-27.
[6]刘欢.自走式对靶喷雾机对靶喷雾控制系统的设计与试验[D].镇江:江苏大学,2016.
[7]GILES D K,DELWICKE M J,DODD R B.Control of orchard spraying based on electronic sensing of target characteristics[J].Transactions of the ASAE,1987,30(6):1624-1630.
[8]STAJNKO D,BERK P,LESNIK M,et al.Programmable ultrasonic sensing system for targeted spraying in orchards[J].Sensors,2012,12(11):15500-15519.
[9]GIULIANI R,MAGNSNINI E,FRAGASSA C,et al.Ground monitoring the light shadow windows of a tree canopy to yield canopy light interception and morphological traits[J].Plant Cell and Environment,2000,23(8):783-796.
[10]袁湘月,吴春笃,储金宇,等.果园自动对靶喷雾机的研制-对靶喷雾技术的研究[J].安徽技术师范学院学报,2004,8(1):49-52.
[11]何雄奎,曾爱军,何娟.果园喷雾机风速对雾滴的沉积分布影响研究[J].农业工程学报,2002(4):75-77.
[12]胡天翔,郑加强,周宏平.基于双目视觉的树木图像测距方法[J].农业机械学报,2010(11):158-162.
[13]陈志刚,王玉光,杜彦生,等.精确对靶喷雾施药的靶标微波探测试验[J].排灌机械工程学报,2010(4):364-368.
[14]宋淑然,陈建泽,洪添胜,等.果园柔性对靶喷雾装置设计与试验[J].农业工程学报,2015(10):57-63.