
Development and Performance Test of Variable Spray Control System Based on Target Leaf Area Density Parameter
FAN Daoquan, ZHANG Meina, PAN Jian, LYU Xiaolan
Development and Performance Test of Variable Spray Control System Based on Target Leaf Area Density Parameter
Variable spray technology is an important means to improve pesticide utilization rate and save pesticide. Fruit tree is a kind of three-dimensional space, and the densities of branches and leaves in the canopy of fruit trees at different locations are different at the same time. The ideal state of spray is to adjust the amount of spray according to local characteristics, so as to realize the application of the spray on the canopy of fruit trees as required and improve the utilization rate of pesticide. In order to achieve the effect of reducing the dosage and increasing the efficiency of pesticide application, a variable spray control system was developed and the methods for computing leaf area density parameter and pulse width modulation(PWM)'s duty ratio of actuators were proposed. As the dosage parameter, the leaf area density was derived based on the point cloud density detected by LiDAR sensor on the upper computer. Then PWM's duty ratio was calculated based on the leaf area density and sent to the slave computer-PLC in real time. The communication between upper and slave computer was carried out through RS485 standard. So the spray flow of each nozzle was controlled by the switching frequency of the solenoid valve with PWM's duty ratio signal. Key parameters were obtained by the test including the net size of spray unit, delay time of the system and the function relationship between the PWM's duty ratio and the spray flow of nozzle. The test results showed that there was a linear relationship between the PWM's duty ratio and the spray flow of nozzle under the pressure of 0.2, 0.3 and 0.4 MPa, and the linear goodness of fit were all above 0.98. Finally, the effectiveness of the variable spray system was verified by the spray test. The test results showed that the minimum number of droplets per unit area (cm2) on the water-sensitive paper was 35 drops at the sampling point, which was higher than the 25 drops defined by the common method for the spray amplitude of aerosol in the air supply spray. Under 39.9% of the canopy ratio between the target canopy area and the whole area, the variable spraying mode saved 71.96% of the pesticide dosage compared with the continuous spraying mode, and 29.72% compared with the target spraying mode, achieving the dose reduction effect.
variable spray / LiDAR / leaf area density / control strategy / pulse width modulation {{custom_keyword}} /
Table 1 Spray quantity of three spray modes表1 3种喷雾模式喷雾量 |
喷雾模式 | 喷雾量/L |
---|---|
连续恒定式喷雾 | 2.960 |
对靶开关式喷雾 | 1.181 |
变量喷雾 | 0.830 |
1 |
邱威, 顾家冰, 丁为民, 等. 果园风送式喷雾机防治效果试验[J]. 农业机械学报, 2015, 46(1): 94-99.
{{custom_citation.content}}
{{custom_citation.annotation}}
|
2 |
王万章, 洪添胜, 李捷, 等. 果树农药精确喷雾技术[J]. 农业工程学报, 2004(6): 98-101.
{{custom_citation.content}}
{{custom_citation.annotation}}
|
3 |
{{custom_citation.content}}
{{custom_citation.annotation}}
|
4 |
金鑫, 董祥, 杨学军, 等. 3WGZ-500型喷雾机对靶喷雾系统设计与试验[J]. 农业机械学报, 2016, 47(7): 21-27.
{{custom_citation.content}}
{{custom_citation.annotation}}
|
5 |
李瀚哲, 翟长远, 张波, 等. 果园喷雾靶标探测技术现状分析[J]. 农机化研究, 2016, 38(2): 1-5.
{{custom_citation.content}}
{{custom_citation.annotation}}
|
6 |
周良富, 薛新宇, 周立新, 等. 果园变量喷雾技术研究现状与前景分析[J]. 农业工程学报, 2017, 33(23): 80-92.
{{custom_citation.content}}
{{custom_citation.annotation}}
|
7 |
张美娜, 吕晓兰, 常有宏, 等. 果树靶标精准探测系统研究进展分析[J]. 中国农机化学报, 2016, 37(10): 227-233.
{{custom_citation.content}}
{{custom_citation.annotation}}
|
8 |
李丽, 李恒, 何雄奎, 等. 红外靶标自动探测器的研制及试验[J]. 农业工程学报, 2012, 28(12): 159-163.
{{custom_citation.content}}
{{custom_citation.annotation}}
|
9 |
邹建军, 曾爱军, 何雄奎, 等. 果园自动对靶喷雾机红外探测控制系统的研制[J]. 农业工程学报, 2007(1): 129-132.
{{custom_citation.content}}
{{custom_citation.annotation}}
|
10 |
俞龙, 洪添胜, 赵祚喜, 等. 基于超声波的果树冠层三维重构与体积测量[J]. 农业工程学报, 2010,26(11):204-208.
{{custom_citation.content}}
{{custom_citation.annotation}}
|
11 |
{{custom_citation.content}}
{{custom_citation.annotation}}
|
12 |
{{custom_citation.content}}
{{custom_citation.annotation}}
|
13 |
徐伟恒, 冯仲科, 苏志芳, 等. 一种基于三维激光点云数据的单木树冠投影面积和树冠体积自动提取算法[J]. 光谱学与光谱分析, 2014, 34(2): 465-471.
{{custom_citation.content}}
{{custom_citation.annotation}}
|
14 |
俞龙, 黄健, 赵祚喜, 等. 丘陵山地果树冠层体积激光测量方法与试验[J]. 农业机械学报, 2013, 44(8): 224-228.
{{custom_citation.content}}
{{custom_citation.annotation}}
|
15 |
李震, 邓忠易, 洪添胜, 等. 基于神经网络的实蝇成虫图像识别算法[J]. 农业机械学报, 2017, 48(S1): 129-135.
{{custom_citation.content}}
{{custom_citation.annotation}}
|
16 |
{{custom_citation.content}}
{{custom_citation.annotation}}
|
17 |
{{custom_citation.content}}
{{custom_citation.annotation}}
|
18 |
{{custom_citation.content}}
{{custom_citation.annotation}}
|
19 |
李秋洁, 郑加强, 周宏平, 等. 基于车载二维激光扫描的树冠体积在线测量[J]. 农业机械学报, 2016, 47(12): 309-314.
{{custom_citation.content}}
{{custom_citation.annotation}}
|
20 |
翟长远, 赵春江,
{{custom_citation.content}}
{{custom_citation.annotation}}
|
21 |
{{custom_citation.content}}
{{custom_citation.annotation}}
|
22 |
李龙龙, 何雄奎, 宋坚利, 等. 基于变量喷雾的果园自动仿形喷雾机的设计与试验[J]. 农业工程学报, 2017, 33(1): 70-76.
{{custom_citation.content}}
{{custom_citation.annotation}}
|
23 |
李秋洁, 袁鹏成, 邓贤, 等. 基于移动激光扫描的靶标叶面积计算方法[J]. 农业机械学报, 2020, 51(5): 192-198.
{{custom_citation.content}}
{{custom_citation.annotation}}
|
24 |
薛秀云, 许旭锋, 李震, 等. 基于叶墙面积的果树施药量模型设计及试验[J]. 农业工程学报, 2020, 36(2): 16-22.
{{custom_citation.content}}
{{custom_citation.annotation}}
|
25 |
张美娜, 吕晓兰, 邱威, 等. 基于三维激光点云的靶标叶面积密度计算方法[J]. 农业机械学报, 2017, 48(11): 172-178.
{{custom_citation.content}}
{{custom_citation.annotation}}
|
26 |
张美娜, 范道全, 雷晓晖, 等. 基于插值算法的靶标三维激光点云数据补偿研究[J]. 中国农机化学报, 2020, 41(8): 59-64.
{{custom_citation.content}}
{{custom_citation.annotation}}
|
27 |
魏新华, 蒋杉, 张进敏, 等. 脉宽调制间歇喷雾变量喷施系统施药量控制[J]. 农业机械学报, 2013, 44(2): 87-92.
{{custom_citation.content}}
{{custom_citation.annotation}}
|
28 |
翟长远, 王秀, 密雅荣, 等. PWM变量喷雾喷头流量模型[J]. 农业机械学报, 2012, 43(4): 40-44.
{{custom_citation.content}}
{{custom_citation.annotation}}
|
29 |
中华人民共和国工业和信息化部. 植物保护机械通用试验方法: JB/T 9782-2014 [S]. 北京: 中国质检出版社, 2014.
{{custom_citation.content}}
{{custom_citation.annotation}}
|
{{custom_ref.label}} |
{{custom_citation.content}}
{{custom_citation.annotation}}
|
Collection(s)
/
〈 |
|
〉 |