温室精准对靶喷雾机器人研制

Research on precision target spray robot in greenhouse

对靶喷雾是目前农业信息技术领域的一个研究热点。根据靶标的尺度不同,对靶喷雾有不同的层次。对作物植株单体甚至是单个叶片内病害区域进行对靶喷雾是当前的一个难点。该文研发了一套温室内移动对靶喷雾系统,实现了对黄瓜等篱架型植物以0.2m×0.2m区域为靶标的精准喷雾。系统主要由移动平台、机械臂、病害信息诊断和变量喷嘴4部分组成。移动平台采用高架导轨安装模式,可根据黄瓜垄地位置停车。4自由度的直角坐标系机械臂吊装在平台下,与喷杆配合每垄可实现1.2m×1.2m区域的作业。病害信息诊断以图像分析为主要手段,构建了双目视觉图像采集系统,将1.2m×1.2m的采集区域划分为36个0.2m×0.2m的单元,根据分析结果确定每个单元的病害等级。1.2m长的喷杆上均布6个喷嘴,每个喷嘴每次对应一个区域单元,并根据病害等级程度控制喷嘴的喷雾时间来实现变量喷雾。

Target spray is a focus in the field of agricultural information technology.The level of target spray varied with different target scale.It is a difficulty that taking a region of disease in a plant or one leaf as spray target.In this study,a mobile spray robotic system in greenhouse was developed,which sprayed the cucumber leaves precisely in a square of 0.2 m×0.2 m.The system was mainly composed of a mobile platform,manipulator,disease diagnosis system and variable nozzles.The mobile platform was installed in an elevated guide way,and it could stop according to the cucumber ridge location.The four degrees of freedom Cartesian coordinate manipulator was installed under the platform,which combined with spray bar to work in a rectangle of 1.2 m×1.2 m.Diagnosis of diseases was based on digital image analysis.A binocular vision system was constructed,which captured images in a region of 1.2 m×1.2 m,and then divided the images into units of 0.2 m×0.2 m.The level of disease was detected by analyzing images.Six spray nozzles were distributed uniformly on a 1.2 m long spray bar,and every nozzle corresponds to a region unit.According to the level of disease,spray time of nozzle was changed to realize variable spray.