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

Development and Testing of a Nozzle Adaptive Movement and Automatic Control System in the Orchard Sprayer

为了在丘陵山地果园施药过程中达到自动对靶、精确施药、提高农药的利用率、减少对环境污染的目的,利用多个超声波传感器有效组合,识别果树位置自动调整喷头高度及距离;转动机构能自动调整喷头喷洒方向,使喷头能更好地对准果树,提高农药喷洒效果;系统能根据有无果树实时控制喷头开闭,降低农药损耗.试验结果表明,在车速为0.3m/s的情况下,喷头离树的距离能较好地控制在0.25~0.75 m范围,并能根据果树高矮自动调节喷头高度;转动机构使喷头始终对准果树,使果树侧面农药覆盖率从10%提高到30%以上.该系统实现了喷头自动对靶功能,自动适应果树形态变化;喷头转动机构弥补了系统滞后及超声波传感器分辨率不高的缺点,提高了树冠侧面的喷洒效果.

In order to improve the utilization rate of pesticides,reduce pollution and realize automatic targeting and precise pesticide spraying in orchards in hilly areas,a nozzle adaptive movement and automatic control system was developed.According to the return data from the sensors,two slide rails adjusted the sprayer height and the distance away from fruit trees,a step motor drove spray rod rotation,and the sprayer could accurately aim at the fruit tree.With the help of an electromagnetic valve,the nozzles could turn on and turn off real-time,thus reducing the waste of pesticides.In an outdoor experiment with the system,the crawler drove from right to left at the speed of 0.3m/s,and the results showed that it could adjust sprayer height according to tree height,and the distance of the nozzles from the canopy could be kept in the range of 0.25 mto 0.75 m.With the help of a rotating mechanism,the nozzles always aimed at the tree,and the pesticide coverage rate increased from 10%to 30%.In conclusion,as the system can automatically target the tree according to the shape of the crown,the nozzle rotating mechanism solves the problems of system delay and the low resolution of the ultrasonic sensor,thus resulting in improvement of the spraying effect of the canopy side.