果园对靶喷药控制系统的设计及试验
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摘要
针对目前果园喷药作业现状,设计了果园对靶喷药控制系统。该系统根据霍尔(测速)传感器实时检测拖拉的行驶速度,采用红外传感器列阵探测果树树冠,根据靶标检测信息和行驶速度来控制电磁阀的频率与占空比,从而调节喷头流量,实现了基于果树树冠检测的对靶变量施药。室外对靶施药试验结果显示:在传感器探测范围内,果树靶标识别率100%,喷药覆盖率100%;当拖拉机速率不超过1.16m/s时,对于同一靶标区域,速度几乎不影响靶标的检测宽度;同等条件下,速度越大,喷药宽度的相对误差越小。
According to the current status of orchard spraying,a pesticide spraying control system of targeting variable of orchard was designed. While the tractor is traveling,the system calculates the moving speed by a Hall sensor,detects fruit crown by six infrared sensors. Having obtaining such information,the controller adjust the flow of nozzles by changing the frequency and duty cycle of the solenoid valves,the machine could be variable spraying based on target detection. Target spraying tests in outdoor environments showed that all fruit trees within the range of sensor detection can be detected,the rate of spraying coverage is 100%. The relative error does not exceed the width of spraying of 17. 8%,when the tractor speed is not greater than 1. 16 m/h. When the travelling speed is not greater than 1. 16 m/s,for the same target area,tests at different speeds show that the detection width is almost the same. Under the same conditions,if the machine is running faster,the relative error of spraying width is smaller.
According to the current status of orchard spraying,a pesticide spraying control system of targeting variable of orchard was designed. While the tractor is traveling,the system calculates the moving speed by a Hall sensor,detects fruit crown by six infrared sensors. Having obtaining such information,the controller adjust the flow of nozzles by changing the frequency and duty cycle of the solenoid valves,the machine could be variable spraying based on target detection. Target spraying tests in outdoor environments showed that all fruit trees within the range of sensor detection can be detected,the rate of spraying coverage is 100%. The relative error does not exceed the width of spraying of 17. 8%,when the tractor speed is not greater than 1. 16 m/h. When the travelling speed is not greater than 1. 16 m/s,for the same target area,tests at different speeds show that the detection width is almost the same. Under the same conditions,if the machine is running faster,the relative error of spraying width is smaller.
引文
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[9]翟长远,赵春江,王秀,等.树型喷洒靶标外形轮廓探测方法[J].农业工程学报,2010,26(12):173-177.
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[11]刘大印,王秀,毛益进,等.基于单片机PWM变量农药喷洒控制系统的研究[J].农机化研究,2011,33(5):99-103.
[2]Walklate P J,Cross J V,Richardson G M.Comparison of Different Spray Volume Deposition Models Using LIDAR Measurements of Apple Orchards[J].Biosystems Engineering,2002,82(3):253-267.
[3]李广志,周卓赟,谢昱勃,等.基于FPGA的阵列信号数据采集系统[J].电子技术应用,2016,42(2):71-73.
[4]王万章,洪添胜,陆永超,等.基于超声波传感器和DGPS的果树冠径检测[J].农业工程学报,2006,22(8):158-161.
[5]李丽,宋坚利,何雄奎.农作物喷雾靶标自动探测器设计与应用[J].农业机械学报,2010,41(7):54-56.
[6]邓巍,丁为民,何雄奎.PWM间歇式变量喷雾的雾化特性[J].农业机械学报,2009,40(1):74-78.
[7]Lee W S,Alchanatis V,Yang C,et al.Sensing technologiesfor precision specialty crop production[J].Computers and Electronics in Agriculture,2010,74(1):27-33.
[8]邹建军,曾爱军,何雄奎,等.果园自动对靶喷雾机红外探测控制系统的研制[J].农业工程学报,2007,23(1):129-132.
[9]翟长远,赵春江,王秀,等.树型喷洒靶标外形轮廓探测方法[J].农业工程学报,2010,26(12):173-177.
[10]邹伟,李丽,王秀,等.基于PWM调速的变流量喷药系统[J].农机化研究,2011,33(2):163-166.
[11]刘大印,王秀,毛益进,等.基于单片机PWM变量农药喷洒控制系统的研究[J].农机化研究,2011,33(5):99-103.