There is an urgent need for new chemical application techniques and sprayers in Chinese orchard spraying.A new tractor-mounted automatic target detecting electrostatics,and air-assisted orchard sprayer was designed an...There is an urgent need for new chemical application techniques and sprayers in Chinese orchard spraying.A new tractor-mounted automatic target detecting electrostatics,and air-assisted orchard sprayer was designed and developed to meet the demand of chemical pest control in orchards.This sprayer light weighted,highly efficient,reduces pesticide use and is friendly to the environment.The techniques of automatic target detecting,electrostatics,and air-assisted spraying were combined in this system.The electrostatically charged droplets are projected toward the target by the assistance of an air stream that increases the droplets penetration within canopy.Experimental results show that the new automatic target detecting orchard sprayer with an infrared sensor can save more than 50%to 75%of pesticides,improve the utilization rate(over 55%),control efficiency,and significantly reduce environmental pollution caused by the pesticide application.At the same time the key technological problems related to air-assisted low volume and electrostatic spraying were solved.展开更多
The application and spraying effect of 3 WG-1200 A air-assisted sprayer in dwarfing rootstock apple orchard were evaluated by investigating the droplet density, coverage and volume median diameter(VMD) in different ca...The application and spraying effect of 3 WG-1200 A air-assisted sprayer in dwarfing rootstock apple orchard were evaluated by investigating the droplet density, coverage and volume median diameter(VMD) in different canopy layers(2.0, 1.5, 1.0 m) and five directions(east, south, west, north and middle) of apple trees. The results showed that the droplet density was 166.99 per square centimeter, the coverage was 48.23%, and the VMD was 138.63 μm. The droplet density in different canopy layers of the trees had consistent trend with the coverage. The droplet density and coverage in the upper and middle canopy(2.0 m and 1.5 m) had no significant difference, but they were both higher than those in the lower canopy, while the VMD in different canopy layers showed an opposite trend. The change trends of the coverage and VMD in the five directions were consistent, and the values in the middle and east were the highest, followed by the north, south and west, respectively. The results indicated that droplet characteristics of the 3 WG-1200 A air-assisted sprayer met the basic requirements for pest and pathogen control. This study provides a theoretical basis and data support for the application and improvement of orchard application equipments in dwarfing rootstock apple orchard.展开更多
针对树冠横切面形状引起施药机喷头与树冠间距发生动态变化从而导致树冠内、外和两侧、中部等区域喷药量不均匀、较多药液喷洒在无效空间区域的问题,该研究提出一种基于激光雷达树干定位的树冠环绕式仿形对靶喷药方式。首先,基于喷头环...针对树冠横切面形状引起施药机喷头与树冠间距发生动态变化从而导致树冠内、外和两侧、中部等区域喷药量不均匀、较多药液喷洒在无效空间区域的问题,该研究提出一种基于激光雷达树干定位的树冠环绕式仿形对靶喷药方式。首先,基于喷头环绕树冠的运动需求,设计对称交叉布置的两自由度仿形机构,并建立喷头运动学模型,采用基于二环PID算法对喷杆伸缩和喷头旋转进行精准控制,通过匹配施药机前进速度实现喷头半圆和多边形轨迹仿形控制;然后采用平面激光雷达对树干高度的水平面进行扫描,提出基于DBSCAN(dnsity-based spatial clustering of applications with noise)密度聚类和3点树干形状拟合的树干动态识别和定位方法;再次,在FreeRTOS框架下搭建双层控制系统,对树干定位感知、动态喷头仿形轨迹控制、数据通信和操控交互等多任务进行并行处理,实现基于激光雷达树干位置信息的喷头动态伺服仿形控制。最后,以雾滴沉积量、雾滴密度、药液覆盖率和雾滴体积中值直径作为量化指标,在树冠不同区域布置10个检测点,对环绕式和定距施药开展6组对比试验。雾滴结果表明,树干纵向和横向定位误差分别为9.44和1.74 cm,环绕式仿形施药方式的平均雾滴密度为72.2个/cm^(2),平均沉积量为1.99μL/cm^(2),药液覆盖率为47.5%,相比定距施药方式,雾滴沉积量和雾滴密度分别提升36.3%和58.3%,雾滴沉积量变异系数降低了60%,环绕式仿形对靶喷雾可有效提高药液利用率和喷药均匀性。展开更多
文摘There is an urgent need for new chemical application techniques and sprayers in Chinese orchard spraying.A new tractor-mounted automatic target detecting electrostatics,and air-assisted orchard sprayer was designed and developed to meet the demand of chemical pest control in orchards.This sprayer light weighted,highly efficient,reduces pesticide use and is friendly to the environment.The techniques of automatic target detecting,electrostatics,and air-assisted spraying were combined in this system.The electrostatically charged droplets are projected toward the target by the assistance of an air stream that increases the droplets penetration within canopy.Experimental results show that the new automatic target detecting orchard sprayer with an infrared sensor can save more than 50%to 75%of pesticides,improve the utilization rate(over 55%),control efficiency,and significantly reduce environmental pollution caused by the pesticide application.At the same time the key technological problems related to air-assisted low volume and electrostatic spraying were solved.
基金Supported by Shandong Key Research and Development Program(2017CXGC0214)Tai’an Science and Technology Development Project(2017NS0091)
文摘The application and spraying effect of 3 WG-1200 A air-assisted sprayer in dwarfing rootstock apple orchard were evaluated by investigating the droplet density, coverage and volume median diameter(VMD) in different canopy layers(2.0, 1.5, 1.0 m) and five directions(east, south, west, north and middle) of apple trees. The results showed that the droplet density was 166.99 per square centimeter, the coverage was 48.23%, and the VMD was 138.63 μm. The droplet density in different canopy layers of the trees had consistent trend with the coverage. The droplet density and coverage in the upper and middle canopy(2.0 m and 1.5 m) had no significant difference, but they were both higher than those in the lower canopy, while the VMD in different canopy layers showed an opposite trend. The change trends of the coverage and VMD in the five directions were consistent, and the values in the middle and east were the highest, followed by the north, south and west, respectively. The results indicated that droplet characteristics of the 3 WG-1200 A air-assisted sprayer met the basic requirements for pest and pathogen control. This study provides a theoretical basis and data support for the application and improvement of orchard application equipments in dwarfing rootstock apple orchard.
文摘针对树冠横切面形状引起施药机喷头与树冠间距发生动态变化从而导致树冠内、外和两侧、中部等区域喷药量不均匀、较多药液喷洒在无效空间区域的问题,该研究提出一种基于激光雷达树干定位的树冠环绕式仿形对靶喷药方式。首先,基于喷头环绕树冠的运动需求,设计对称交叉布置的两自由度仿形机构,并建立喷头运动学模型,采用基于二环PID算法对喷杆伸缩和喷头旋转进行精准控制,通过匹配施药机前进速度实现喷头半圆和多边形轨迹仿形控制;然后采用平面激光雷达对树干高度的水平面进行扫描,提出基于DBSCAN(dnsity-based spatial clustering of applications with noise)密度聚类和3点树干形状拟合的树干动态识别和定位方法;再次,在FreeRTOS框架下搭建双层控制系统,对树干定位感知、动态喷头仿形轨迹控制、数据通信和操控交互等多任务进行并行处理,实现基于激光雷达树干位置信息的喷头动态伺服仿形控制。最后,以雾滴沉积量、雾滴密度、药液覆盖率和雾滴体积中值直径作为量化指标,在树冠不同区域布置10个检测点,对环绕式和定距施药开展6组对比试验。雾滴结果表明,树干纵向和横向定位误差分别为9.44和1.74 cm,环绕式仿形施药方式的平均雾滴密度为72.2个/cm^(2),平均沉积量为1.99μL/cm^(2),药液覆盖率为47.5%,相比定距施药方式,雾滴沉积量和雾滴密度分别提升36.3%和58.3%,雾滴沉积量变异系数降低了60%,环绕式仿形对靶喷雾可有效提高药液利用率和喷药均匀性。
