美国白蛾幼虫网幕喷药机器人精准变量喷药研究
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摘要
为实现美国白蛾幼虫网幕精准变量对靶喷药,提高对目标的覆盖率,减少漏喷与误喷。喷药机器人控制系统通过调节脉冲的占空比来调节喷头喷药,保证喷药雾化效果,实现精准的变量喷药。考虑自然风对喷药的影响,并确定占空比和压强、占空比和流量、压强和流量、压强和覆盖面积之间的关系。喷药机器人实现精准变量喷药,对目标的覆盖率达到90%以上。喷药机器人适应美国白蛾幼虫网幕分布不规则的特点,减少药液的浪费和污染,有效的提高对目标的覆盖率。
In order to realize the precise variable spraying on the target, improve the coverage of the target and reduce the leakage and mistake spraying. The control system of spraying robot adjusts the spraying effect of spraying nozzle by adjusting the duty cycle of pulse, which ensures the spraying effect and realizes precise variable spraying. Considering the influence of natural wind on spraying, the relationship between duty ratio and pressure, duty ratio and flow rate, pressure and flow rate, pressure and coverage area was determined through experimental analysis.The spray robot achieves accurate variable spraying, and the coverage of the target reaches over 90%.It adapts to the irregular distribution of the net curtain of the Hyphantria cunea larvae nets, reduces the waste and pollution of the liquid, and effectively improves the coverage of the target.
In order to realize the precise variable spraying on the target, improve the coverage of the target and reduce the leakage and mistake spraying. The control system of spraying robot adjusts the spraying effect of spraying nozzle by adjusting the duty cycle of pulse, which ensures the spraying effect and realizes precise variable spraying. Considering the influence of natural wind on spraying, the relationship between duty ratio and pressure, duty ratio and flow rate, pressure and flow rate, pressure and coverage area was determined through experimental analysis.The spray robot achieves accurate variable spraying, and the coverage of the target reaches over 90%.It adapts to the irregular distribution of the net curtain of the Hyphantria cunea larvae nets, reduces the waste and pollution of the liquid, and effectively improves the coverage of the target.
引文
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[20] 翟庆钟,冯静安,王卫兵,等.基于PWM技术的比例电磁阀的控制方法[J].中国农机化学报,2015,36(1):71-73,77.Zhai Qingzhong,Feng Jingan,Wang Weibing,et al.Control method of proportional electromagnetic valve based on PWM technology[J].Journal of Chinese Agricultural Mechanization,2015,36(1):71-73,77.
[2] 史红安,王志勇,胡娴,等.美国白蛾的为害与防治现状[J].华中昆虫研究,2018,14(00):158-161.
[3] 伊振宇.美国白蛾发生规律及综合防治措施[J].现代园艺,2018(22):49.
[4] 周微.美国白蛾防治特点及策略分析[J].农家参谋,2018(19):49.
[5] 陈梦悦,李欣,廖明玮,等.美国白蛾的扩散与防治政策[J].华中昆虫研究,2018,14(00):110-119.
[6] 郭小军.美国白蛾的生物学特征及其综合防治[J].黑龙江农业科学,2018(9):165-168.Guo Xiaojun.Biological characteristics and integrated control of Hyphantria cunea [J].Heilongjiang Agricultural Science,2018(9):165-168.
[7] 段立蹄,刘洋洋,茹煜.植保无人机变量施药监测技术研究发展与展望[J].中国农机化学报,2018,39(6):108-113.Duan Liti,Liu Yangyang,Ru Yi.Research development and prospect of plant protection UAV aerial application monitoring technology [J].Journal of Chinese Agricultural Mechanization,2018,39(6):108-113.
[8] 陈晓明.实时精确变量喷雾系统的设计与研究[J].中国农机化学报,2018,39(5):64-67.Chen Xiaoming.Design and research of real time accurate variable spray system [J].Journal of Chinese Agricultural Mechanization,2018,39(5):64-67.
[9] 卢营蓬,易文裕,庹洪章,等.果园喷雾机械现状及发展趋势[J].中国农机化学报,2018,39(1):36-41.Lu Yingpeng,Yi Wenyu,Tuo Hongzhnag,et al.Present state and trends of orchard sprayer [J].Journal of Chinese Agricultural Mechanization,2018,39(1):36-41.
[10] Yang Zhongqi.Mass rearing and augmentative releases of the native parasitoid Chouioia cunea Yang(Hymenoptera:Eulophidae) for biological control of the invasive fall webworm Hyphantria cunea in China [A].中国生态学学会.Abstracts of EcoSummit 2007—Ecological Complexity and Sustainability—Challenges & Opportunities for 21st Century's Ecology [C].中国生态学学会:中国生态学学会,2007:1.
[11] 林立恒,侯加林,吴彦强,等.高地隙喷杆喷雾机研究和发展趋势[J].中国农机化学报,2017,38(2):38-42.Lin Liheng,Hou Jialin,Wu Yanqiang,et al.Structural improvement and functional experiment on the knapsack sprayer for protected agriculture [J].Journal of Chinese Agricultural Mechanization,2017,38(2):38-42.
[12] 贾卫东,刘欢,薛新宇,等.对靶喷雾机喷雾参数对雾滴沉积分布的影响试验[J].中国农机化学报,2016,37(12):53-56,93.Jia Weidong,Liu Huan,Xue Xinyu,et al.Influence test of spraying parameters of target sprayer on droplet deposition distribution [J].Journal of Chinese Agricultural Mechanization,2016,37(12):53-56,93.
[13] 张乃君,殷志杰,赵兴家.农业精量施药减药技术研究[J].现代化农业,2018(10):6-7.
[14] 刘建龙,余刚,孟力力,等.基于STM32F103的遥控自走式喷药系统设计及应用[J].江苏农业科学,2018,46(1):177-180.
[15] 徐艳蕾,包佳林,付大平,等.多喷头组合变量喷药系统的设计与试验[J].农业工程学报,2016,32(17):47-54.Xu Yanlei,Bao Jialin,Fu Daping,et al.Design and experiment of variable spraying system based on multiple combined nozzles [J].Transactions of the Chinese Society of Agricultural Engineering,2016,32(17):47-54.
[16] 王深研,杨柏松,房欣.低漂移低药量喷杆喷雾机试验研究[J].现代化农业,2017(5):71-72.
[17] 张凯丽.植保机喷药变流量控制[D].沈阳:沈阳工业大学,2018.Zhang Kaili.Plant flow control spray flow control [D].Shenyang:Shenyang University of Technology,2018.
[18] 包佳林.变量喷药控制系统的研究与实现[D].长春:吉林农业大学,2017.Bao Jialin.Research and implementation of variable spray control system [D].Changchun:Jilin Agricultural University,2017.
[19] 王相友,胡周勋,李学强,等.多回流式变量喷药控制系统设计与试验[J].农业机械学报,2019(2):1-11.Wang Xiangyou,Hu Zhouxun,Li Xueqiang,et al.Design and experiment of multi-reflux variable spraying control system [J].Transactions of the Chinese Society for Agricultural Machinery,2019(2):1-11.
[20] 翟庆钟,冯静安,王卫兵,等.基于PWM技术的比例电磁阀的控制方法[J].中国农机化学报,2015,36(1):71-73,77.Zhai Qingzhong,Feng Jingan,Wang Weibing,et al.Control method of proportional electromagnetic valve based on PWM technology[J].Journal of Chinese Agricultural Mechanization,2015,36(1):71-73,77.