果园对靶喷药控制系统的设计及试验

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。

Design and Test of Control System for Automatic Variable Target Sprayer Used in Orchard

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 1.16m/h. When the travelling speed is not greater than 1.16m/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.