Application of Self-propelled Boom Sprayers for Control of Rice Insects and Diseases

Comparisons were performed between self-propelled boom sprayer and traditional mechanis, such as knapsack sprayer and sprayer-duster, stretcher-type powered sprayer, as well as single rotor unmanned sprayer and multi-rotor un- manned sprayer. The effects on rice injury, lodging, and rehabilitation were conclud- ed and drug uniform distribution, sedimentation and prevention effects were ana- lyzed. The results showed that the self-propelled boom sprayer is characterized by high degree of automation, convenient operation, high adaptability, and high work efficiency. What＇s more, the sprayed fog quality is better, and fog distribution is more uniform. During the work process, fog loss would be diminished substantially, improving work efficiency and cutting down drug and water. It is notable that the underpart of the sprayer can be widely applied to plant protection in large-scale ar- eas in Jiangsu Province, significantly advancing whole-process mechanization of rice production.

Optimization design of the hydro-pneumatic suspension system for high clearance self-propelled sprayer using improved MOPSO algorithm

Large high clearance self-propelled sprayers were widely used in field plant protection due to their high-efficiency operation capabilities.Influenced by the characteristics of field operations such as high power,heavy weight,high ground clearance,and fast operation speed,the comprehensive requirements for the ride comfort,handling stability and road friendliness of the sprayer were increasingly strong.At the present stage,the chassis structure of the high clearance selfpropelled sprayer that attaches great importance to the improvement of comprehensive performance still has the problems of severe bumps,weak handling performance and serious road damage in complex field environments.Therefore,this paper proposes an optimization design method for hydro-pneumatic suspension system of a high clearance self-propelled sprayer based on the improved MOPSO(Multi-Objective Particle Swarm Optimization)algorithm,covering the entire process of configuration design,parameter intelligent optimization,and system verification of the high clearance self-propelled sprayer chassis.Specifically,chassis structure of the hydro-pneumatic suspension suitable for the high clearance self-propelled sprayer was designed,and a design method combining the improved MOPSO algorithm based on time-varying fusion strategy and adaptive update with the parameter optimization of hydro-pneumatic suspension based on this algorithm was proposed,and finally the software simulation and bench performance verification were carried out.The results show that the optimized hydropneumatic suspension has excellent vibration reduction effect,and the body acceleration,suspension dynamic deflection and tire deflection were increased by 16.5%,9.9%and 0.9%respectively,compared with those before optimization.The comprehensive performance of the hydro-pneumatic suspension designed in this study is better than that of the traditional suspension.

Influences of the tank liquid lateral sloshing and mass time-varying on high clearance self-propelled sprayer ride comfort

To explore the influence of the lateral sloshing and the time-varying mass of the liquid in the tank on the ride comfort of the high-clearance sprayer,a spring-mass-damping equivalent mechanics that can describe the lateral sloshing of the liquid under different filling ratios was constructed based on the equivalent criterion.The Fluent was used to simulate the moment acting on the wall of the tank by the lateral sloshing of the liquid,and then the parameters of the equivalent mechanical model are obtained by fitting and solving.Comparative analysis of Fluent simulation and bench test on lateral sloshing of tank liquid under different filling ratios.The results show that the lateral sloshing trend of the tank liquid level obtained from the Fluent simulation and the bench test was consistent,which proved the accuracy of the Fluent fluid simulation process and the correctness of the required equivalent mechanical model parameters.Incorporating a liquid sloshing equivalent model,a four-degree-of-freedom vertical dynamic model of the sprayer half-car was established.Subsequently,the performance of the sprayer was systematically analyzed and compared under the excitation of a bump road and a random E-level road.This investigation took into account varying liquid filling ratios of 10%,50%,and 90%.The focus lay on evaluating the vertical acceleration of the sprayer body,dynamic deflection of the suspension,and dynamic load on the tires in response to these road conditions.This analysis is conducted independently of the liquid sloshing factor.The results show that the lateral sloshing of the liquid medicine significantly reduces the ride smoothness of the machine,and makes the vibration response of the machine produce a certain hysteresis effect.With the reduction of the quality of the liquid medicine in the spray tank,the vibration amplitude of the sprayer body gradually decreases,the hysteresis effect is also gradually weakened.The results presented in this study offer a theoretical foundation for the analysis of ride comfort and the optimization of chassis structure in high-clearance sprayers.

支持地址自设定的喷雾机喷头流量总线监测系统设计

针对现有宽幅喷杆喷药机多喷头堵塞监测扩展性差的问题,研制了一种自动地址设定的喷药机喷头流量总线监测系统。以STM32F030F4为主控核心,设计了基于RS-485软件地址自设定、喷雾流量总线传输的控制器,并开发了上位机软件,完成多路流量信息实时监测和总线挂载模块的地址自动设定。为了验证系统地址自动设定可靠性,开展了地址自设定成功率试验,结果表明:当总线挂载最多5个设备时,3次地址自设定的成功率达到100%;开展了喷头流量监测精度试验,结果表明:LICHENG 11004 VP、DG9503EVS和XR8002VS 3种类型喷头,在0.3MPa和0.4MPa两种压力下,系统流量监测总体准确率平均值为94.51%,流量监测准确率最大偏差小于等于10%,流量监测准确率标准差在2.49%~4.09%范围内波动,证明了系统具有较好的流量监测稳定性。进行了宽幅喷杆喷药机喷头堵塞监测田间性能试验,结果表明:系统同时监测20个喷头流量,在0.4、0.5、0.6MPa下,对喷头堵塞位置和个数的监测准确率为100%。研究结果可为宽幅喷杆喷药机喷头流量独立精准监测的研究提供一种可行的解决方案。

基于3C认证的自走式喷杆喷雾机产品现状与展望

随着植保机械研发水平的提高,自走式喷杆喷雾机成为重要的植保机械之一,其认证产品不断变化和改进。对3C认证的自走式喷杆喷雾机发展现状进行研究总结,近三年植保机械强制性认证新增初审或扩项产品共1366个,其中自走式喷杆喷雾机占比最高约70%;农机3C认证采信补贴政策等推动我国自走式喷杆喷雾机的认证新产品和新技术发展,促进多系统分控、药液防干涉、喷雾防飘移、喷幅匹配和变量控制等技术实际应用。分析自走式喷杆喷雾机认证产品的发展趋势,未来将向高效化、智能化、绿色环保、安全防护、多功能化和高适应性等方面发展。为推动自走式喷杆喷雾机行业的健康发展,提出加大政策支持、加强认证制度研究、强化政府监督力度、提高产品作业质量、积极参与国际合作等建议。为植保机械的研究发展和实际应用提供参考。

Design and test of the anti-skid system for self-propelled high-stem crop sprayers

Aiming at the problem of skidding in the operation of a self-propelled high-stem crop sprayer due to uneven road surface and uneven distribution of soil cohesive force,This study proposed a four-wheel drive hydraulic anti-skid control system based on RTM valve.Through theoretical analysis of control components such as the RTM valve and steering cylinder,the control model of the anti-skid drive system of the spray machine is established,and the simulation test is carried out in Matlab/Simulink.The simulation results show that the slip rate of the anti-skid drive system based on the PID control strategy is controlled below 0.05,and the RTM valve keeps the driving pressure of the system basically stable.In order to verify the reliability of the simulation results,the designed drive anti-skid control system was carried out on a spray machine for the field test.The experimental results show that the slip rate of the drive anti-skid system decreases from 86.7%to 1.25%when the anti-skid function is turned on,indicating that the designed drive anti-skid system has good anti-skid performance.

树冠环绕式仿形对靶施药机设计与试验

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。

智能履带变幅水肥一体喷洒机设计

在信息化技术的支持下,农业生产发生了巨大的变化,凭借信息技术,农业生产逐渐实现集约化、高效化、智能化。基于这种背景,设计了一种智能履带车驱动的变幅水肥一体喷洒机,包含智能电机、梅花联轴器、支撑板、喷头和速度传感器等部件;同时设计了高效控制系统,整个系统包括主页系统界面、监测系统界面、数据显示界面和实时参数界面等部分,并实时监测GPS、肥料EC值、pH值等信息,实时监控周围环境变化,并将实时数据输送到控制终端,达到远程控制的目的。控制系统不断根据环境调整肥料配比及喷洒速度,使整个作物的生长一机化、智能化。

农机装备在农业生产中的应用与作业效率提升

机械化作业已经成为现代农业发展的重要趋势,而农机装备作为机械化作业的重要组成部分,可以大幅度提高种植作业的效率和质量。通过对现有农机装备的分析与研究,探讨了不同种类农机装备在机械化种植中的应用,并分析了其作业效率的提升情况。研究表明,农机装备的应用可以大幅度提高作业的效率,提高作物的产量和品质。因此,推广农机装备的应用在机械化作业中具有重要的现实意义和广阔的发展前景。

Design and experiment of a high-clearance self-propelled sprayer chassis

A large high-clearance self-propelled sprayer chassis was designed according to the requirements of the sprayer’s driving operation and the overall goal.The structural characteristics and working principle of the chassis drive system,suspension system,track adjustment system,and frame were analyzed.A finite element analysis of the frame was carried out under four extreme conditions:full load bending,full load torsion,full load emergency braking and full load emergency turning.Under these four conditions,the maximum stress values of the frame were 149.45 MPa,219 MPa,151.44 MPa,and 123.27 MPa respectively,and the maximum strain values were 1.12 mm,2.22 mm,0.95 mm,and 1.16 mm respectively.A theoretical analysis of the stability,steering ability,and obstacle navigation of the sprayer chassis was conducted.The results showed that the upper angleθlim,lower angleθ׳lim and lateral limit tumbling angleφlim of the sprayer chassis were 50.1°,30.0°and 35.3°respectively.The minimum turning radius of the chassis was 5816 mm,and the minimum turning width was 4113 mm.The maximum obstacle crossing heights of the front and rear wheels were 466 mm and 457 mm.The theoretical analysis showed that the designed chassis met the field management operations of large plots.A field experiment of the high-clearance self-propelled sprayer chassis at full load was conducted.The experimental results were consistent with the theoretical analysis results.The sprayer chassis not only good handling stability but also good ride comfort.The results of this study provide references for the design of high-clearance self-propelled sprayer chassis.

Development of sensor system for real-time measurement of droplet deposition of agricultural sprayers

During the chemical application process,droplet deposition on a target is an important reference indicator for evaluating the spraying technique and its performance.In order to quickly obtain deposition results in the field,this study proposed a novel system based on surface humidity sensors.The basic principle is to convert the measured physical quantity change into a capacitance change,thereby realizing the physical quantity to electrical signal conversion.An Android application for mobile terminal and the corresponding coordinator were developed,which allowed operators to control multiple sensors simultaneously through the Bluetooth.The soluble tracer detected by spectrophotometer was used to calibrate the system.The obtained results indicated a good correlation between deposition volume and voltage increment output from the newly developed system(R2 of the six nozzles with Dv0.5 ranging from 107.28μm to 396.20μm were 0.8674-0.9729),and a power regression model based on the least squares technique(R2=0.8022)was developed.In the field test,the system exhibited an optimal performance in predicting the deposition volume.Compared with the conventional method of measuring tracer concentration,the deviation was less than 10%.In addition,the system exhibited good fitting curve of the deposition distribution with droplet number results measured by the water sensitive paper method.

雷沃ZP9500高地隙喷雾机的GNSS自动导航作业系统设计

为减少农药喷雾作业对人体造成的化学损害,该研究以雷沃高地隙喷杆喷雾机为平台,基于GNSS开发了自动导航作业系统,实现喷雾机在极少人工干预情况下的自动导航作业。通过对平台的机-电-液改造,实现了喷雾机作业系统的电气化控制。基于简化的二自由度车辆转向模型设计了以位置偏差和航向偏差为状态变量的直线路径跟踪控制算法,基于纯追踪模型设计了曲线路径跟踪控制算法。根据喷雾机田间作业需要设计了喷雾机一体化自动导航作业控制方法,使系统能够自动控制喷雾机完成直线、地头转弯行驶和喷雾作业,油门调节以及车辆启停控制。在1.3 m/s左右的前进速度条件下,分别在水泥路面、旱田、水田环境中进行了试验,测试结果表明:水泥路面车身横滚在–1.6?~1.5?范围,直线路径跟踪误差最大值为3.9 cm,平均值为-0.15 cm,标准差为1.0 cm;旱田地块车身横滚在–1.4?~3.3?范围,跟踪误差最大值为9.8 cm,平均值为1.3 cm,标准差为3.3 cm;水田环境车身横滚在–2.4?~5.2?范围,跟踪误差最大值为17.5 cm,平均值为2.2 cm,标准差为4.4 cm。试验数据表明,所设计的自动导航作业系统初始上线快速、地头转弯对行平顺、各设计功能执行可靠;导航系统具有良好的稳定性和控制精度,能够满足水田、旱田环境下的喷雾作业要求。

葡萄园立管风送式喷雾机的研制与试验

针对传统的轴流式果园弥雾机在葡萄园作业时,喷药量分配不均匀、农药大量浪费的现象,研制了一种以小四轮拖拉机为动力源,适用于葡萄园作业的立管风送式喷雾机。该立管风送式喷雾机通过设置在拖拉机变速箱左侧的变速取力器把拖拉机的动力传递给后方的柱塞泵和离心风机,离心风机吹出的气流,通过固定在竖直喷架两侧的风筒出风口高速吹出,这不仅防止了雾滴的飘移,而且二次雾化了雾滴,增加了雾滴在葡萄冠层间的穿透性。利用室内试验和样机田间试验测试了该立管风送式结构的防飘、二次雾化功能以及雾滴在树冠中的附着率,结果表明:在自然风速为3.5和4.5m/s,风管出风口风速为30和35m/s的条件下,立管风送辅助喷雾技术能够有效地减少雾滴的飘失,雾滴体积中值直径在150μm以下,雾滴扩散比在0.74以上,二次雾化性能良好;在喷头距离植株30cm,拖拉机前进速度为1.5m/s,柱塞泵压力为0.25MPa、风机转速为2500r/min时,树体内部枝叶正反面雾滴附着率分别为70.2%和30.2%,树膛外部枝叶正反面附着率分别为85.6%和49.3%,满足葡萄园喷雾标准的要求。

二相流喷雾技术的研究

为了探索设施农业病虫害防治新的施药方法 ,该文对气液二相流喷雾作了雾化性能与药液物理特性相关性试验 ,得到了空气压强与气流量、喷雾量、雾滴直径、有效功率、吸液高度、喷口空气过流面积等诸参数之间相互关系 ,明确了药液粘性和表面张力对雾滴直径、喷雾量的影响程度 。

果园喷雾机圆环双流道风机的设计与试验

为了解决低矮密植型果园施药机械作业范围窄、作业效率低的问题,该文设计了一种轴向进风、径向出风的圆环双流道风机,根据农艺特征,结合流体力学和施药技术,完成风机结构设计和各关键部件技术参数的确定。风机结构为R+S级型式,叶片数为9,后导轮叶片数为11。风道弯角半径为155mm,导流板弯角半径为87.55mm。对风机不同转速下的功率、风量、风速、风压、风场分布进行了测试,绘制了风机的性能曲线图。试验结果表明,该风机各项性能参数满足设计要求,效率值可以达到75%以上,风机转速在1400r/min时的最佳作业幅宽为5m。

国内外田间机械除草技术研究现状

农田草害一直是阻碍农业生产快速、持续发展的一个重要因素。虽然我国农田杂草综合治理已经取得了长足进步,但杂草危害、演替、抗药性、除草剂药害等问题仍相当严重。为此,从除草作业的缺陷出发,分析了当今国内外田间除草技术的研究现状以及化学除草技术与机、电、光等技术的结合情况;通过与美国、德国等西方发达国家先进除草技术的比较,分析了我国除草技术的不足之处,并指出了除草技术的发展趋势。

组合圆盘式果园风送喷雾机设计与试验

针对药液难以穿透篱笆型果树冠层,施药机具对果树冠层的适应性差等问题,提出双侧同时气流辅助喷雾方法,采用电动丝杆调节雾化器的上下左右运动,以变频法调节风机转速,设计了可根据果树外形来调节喷雾位置的组合圆盘式果树风送喷雾机。设计的圆盘式雾化器为单叶轮级（R级）,风机叶轮直径为400 mm,当风机转速大于1 300 r/min时,风量大于1 m3/s;试验结果表明,组合喷雾执行装置完成升降、伸缩和旋转的时间分别为51.3、50.5、26.5 s;在0.4 MPa工作压力、风机转速为1 400 r/min时,不同喷头的喷雾量差异较小;雾滴粒径在射程方向上先增大后减小;垂直雾量分布的范围为1-2.4 m,雾量分布较均匀;在叶面积指数为37.6的非洲茉莉上,树冠外围的正反面覆盖率一致,冠层内叶片正反面覆盖率分别达到为12.77%和9.74%,最小雾滴数为47滴/cm^2,大于通用试验方法对风送喷雾中喷幅界定的20滴/cm^2。该研究为篱笆型果树病虫害防治提供新装备,为果园风送喷雾机改进设计提供参考。

喷雾机设计中喷头的选型

喷头在喷雾装置中起着非常关键的作用。喷雾装置通过喷头控制液体的流量,使液体雾化成雾滴并将雾滴分布在目标的表面上。喷头是喷雾机实现喷雾作业的终端件,因此在喷雾机设计时,喷头的选型对喷雾机的性能尤为重要。为此,对喷头的类型、特点及选型进行了论述。

喷雾高度可调的果园风送喷雾机的设计

【目的】设计喷雾高度可调的牵引式果园风送喷雾机，以满足不同果树对喷雾机喷雾高度可调的要求。【方法】针对轴流风机式果园风送喷雾机难以满足不同果树喷雾高度可变的不足，基于喷雾高度可调的目的，设计了一种由1对转向相反的离心风机和角度可调的导流风箱为核心的牵引式果园风送喷雾机，在需求分析和虚拟三维建模的基础上，完成了各关键部件技术参数和整机结构的确定，并通过试验分析了该喷雾机在不同喷雾角度、风机转速、喷雾距离和喷雾压力条件下喷雾沉积量的分布情况。【结果】设计的以转向相反的离心风机和角度可调的导流风箱为核心的牵引式果园风送喷雾机，在离心风机转速为1 200 r/min、喷雾距离为2.5 m、喷雾压力为0.7 MPa、导流风箱的角度为0°和15°时，喷雾沉积量适宜的施药高度分别为0.8～2.4 m和1.6～3.2 m。【结论】所设计的果园风送喷雾机可以满足果园对不同高度果树施药的农艺要求。

果园风送喷雾机导流板角度对气流场三维分布的影响

风送喷雾条件下,雾滴是在空气流携带下进入果树冠层的各个部位,所以喷雾机气流场的运动和分布对雾滴的分布和穿透非常重要。为了研究果园风送喷雾机导流板角度变化对外部气流速度场三维空间分布的影响,该文采用ICEM建立几何模型,并进行全结构网格划分,采用k-ε湍流模型和CFX求解器进行数值求解。通过变换上导流板角度(30°、45°、60°、90°)与下导流板角度(0°、10°、20°、30°),来模拟分析风机外部流场在各工况下的空间稳态流场、湍流状态,以及对气流场空间分布的影响。结果表明,下导流板角度由0°增加至30°过程中,由于地面摩擦阻力对气流的影响逐渐减小,同时地面摩擦阻力与两侧空气阻力形成的夹角越来越大,因此单一气流束逐渐分成3条气流束,这样的气流分布优于单一方向气流对果树枝叶的吹动效果,有利于气流携带雾滴进入果树冠层;上下导流板导向气流主要集中在导流板指向区域,因此,导流板的角度设置应根据树冠高度、树干高度来调整。通过设置合理的导流板角度,使得风场分布与果树冠形相吻合,达到仿形喷雾效果。对于行距4 m、树高3.0~3.2 m的果园喷雾,上、下导流板角度均为30°;对于棚架果园,上导流板角度为90°(或卸掉上导流板),下导流板为30°。该研究有利于指导田间喷雾作业、喷雾参数调整,可达到更好的喷雾效果、减少环境污染。