幼树靶标探测器设计与试验

针对果园对靶喷药中幼树靶标难以精准探测的难题,该文基于红外传感器设计了幼树靶标探测器,该探测器能同时探测喷药机两侧果树树干,根据用户设置的喷雾宽度和延迟距离等参数计算出靶标喷雾位置,并准确控制电磁阀开闭以进行对靶喷药。实验室试验表明,在传感器探测范围内探测距离和树干直径对探测器探测准确性几乎没有影响,速度对探测准确性有微小量影响,速度不大于1m/s时喷雾总宽度计算精度不小于96.1%。果园试验表明,行走速度不大于0.94m/s时,幼树靶标探测器能100%探测到树干并准确计算出喷雾位置和喷雾宽度。

Design and experiment of young tree target detector

Young tree target is hard to detect in orchard spraying. In order to solve the problem, a young tree target detector was designed based on infrared sensors. Spraying parameters, such as spraying width and delay distance, could be input to the detector easily. The detector could probe orchard tree trunk on the both side of the sprayer at the same time, and accurately control solenoid valves after calculating spraying position on the basis of spraying parameters. Laboratory experiments indicated that accuracy of the detector was hardly affected by probing distance and diameter of tree-truck, while it was affected by the speed of sprayer a little. When the trunk is in the detection range of infrared sensor, and the speed is not more than 1 m/s, the calculating accuracy of spraying width is not less than 96.1%. Orchard experiments shows that the probing accuracy of the detector is 100%, when the speed of sprayer is not more than 0.94 m/s.