农业工程学报
農業工程學報
농업공정학보
2014年
22期
1-9
,共9页
许林云%张昊天%张海锋%徐业勇%徐铭铭%蒋雪松%张慧春%贾志成
許林雲%張昊天%張海鋒%徐業勇%徐銘銘%蔣雪鬆%張慧春%賈誌成
허림운%장호천%장해봉%서업용%서명명%장설송%장혜춘%가지성
果园%激光%喷头%喷雾机%自动对靶%精确施药
果園%激光%噴頭%噴霧機%自動對靶%精確施藥
과완%격광%분두%분무궤%자동대파%정학시약
orchards%lasers%nozzles%sprayers%automatic target%precision spraying
为提高农药利用率，减少环境污染，该文针对中国果园机械化作业条件差和传统果园喷雾机连续喷雾时存在果树间空隙无效喷雾的特点，设计了自动对靶喷雾控制系统，该系统以GY8履带自走式果园喷雾机为载体，采用传感器测距方式探测果树，实现自动对靶喷雾。通过对超声波、红外和激光3种传感器进行性能比较，及对超声波和激光2种传感器进行静态识别间距测试与分析，红外传感器受光强影响较大，超声波传感器识别间距超过800 mm，均不满足果园精确对靶喷雾控制要求，激光传感器静态识别间距只有20 mm，具有工作稳定、响应快速、方向性好等特点，故将激光传感器选为自动对靶喷雾机探测装置，并将激光传感器安装于喷头组件前方220 mm。采用连续3次检测靶标判别法设计了自动对靶喷雾系统，该系统可有效避免因激光光束较细而导致的将树冠内空洞、枝间间隙等误判为果树间空隙而出现的电磁阀频繁启闭动作。行驶速度为0.5 m/s时，自动对靶喷雾控制系统的动态靶标识别间距介于100～150 mm之间，行驶速度1.0 m/s时，动态靶标识别间距为200～250 mm。此外，该系统还具有提前及延后喷雾功能，自动对靶喷雾系统提前靶标95.0～157.5 mm距离开始喷雾，离开靶标100 mm距离停止喷雾，使喷雾完全覆盖整个树冠。与连续喷雾相比，对靶喷雾可有效节省施药量，对于空隙比为20.0%、35.2%、52.9%靶标行枣树，行驶速度为0.5 m/s时省药率分别达27.9%、53.7%、76.9%，行驶速度为1.0 m/s时省药率分别达27.3%、54.5%、81.0%。因此，该自动对靶喷雾系统对稀疏果园的精确对靶病虫害防治具有较好的实用价值。
為提高農藥利用率，減少環境汙染，該文針對中國果園機械化作業條件差和傳統果園噴霧機連續噴霧時存在果樹間空隙無效噴霧的特點，設計瞭自動對靶噴霧控製繫統，該繫統以GY8履帶自走式果園噴霧機為載體，採用傳感器測距方式探測果樹，實現自動對靶噴霧。通過對超聲波、紅外和激光3種傳感器進行性能比較，及對超聲波和激光2種傳感器進行靜態識彆間距測試與分析，紅外傳感器受光彊影響較大，超聲波傳感器識彆間距超過800 mm，均不滿足果園精確對靶噴霧控製要求，激光傳感器靜態識彆間距隻有20 mm，具有工作穩定、響應快速、方嚮性好等特點，故將激光傳感器選為自動對靶噴霧機探測裝置，併將激光傳感器安裝于噴頭組件前方220 mm。採用連續3次檢測靶標判彆法設計瞭自動對靶噴霧繫統，該繫統可有效避免因激光光束較細而導緻的將樹冠內空洞、枝間間隙等誤判為果樹間空隙而齣現的電磁閥頻繁啟閉動作。行駛速度為0.5 m/s時，自動對靶噴霧控製繫統的動態靶標識彆間距介于100～150 mm之間，行駛速度1.0 m/s時，動態靶標識彆間距為200～250 mm。此外，該繫統還具有提前及延後噴霧功能，自動對靶噴霧繫統提前靶標95.0～157.5 mm距離開始噴霧，離開靶標100 mm距離停止噴霧，使噴霧完全覆蓋整箇樹冠。與連續噴霧相比，對靶噴霧可有效節省施藥量，對于空隙比為20.0%、35.2%、52.9%靶標行棘樹，行駛速度為0.5 m/s時省藥率分彆達27.9%、53.7%、76.9%，行駛速度為1.0 m/s時省藥率分彆達27.3%、54.5%、81.0%。因此，該自動對靶噴霧繫統對稀疏果園的精確對靶病蟲害防治具有較好的實用價值。
위제고농약이용솔，감소배경오염，해문침대중국과완궤계화작업조건차화전통과완분무궤련속분무시존재과수간공극무효분무적특점，설계료자동대파분무공제계통，해계통이GY8리대자주식과완분무궤위재체，채용전감기측거방식탐측과수，실현자동대파분무。통과대초성파、홍외화격광3충전감기진행성능비교，급대초성파화격광2충전감기진행정태식별간거측시여분석，홍외전감기수광강영향교대，초성파전감기식별간거초과800 mm，균불만족과완정학대파분무공제요구，격광전감기정태식별간거지유20 mm，구유공작은정、향응쾌속、방향성호등특점，고장격광전감기선위자동대파분무궤탐측장치，병장격광전감기안장우분두조건전방220 mm。채용련속3차검측파표판별법설계료자동대파분무계통，해계통가유효피면인격광광속교세이도치적장수관내공동、지간간극등오판위과수간공극이출현적전자벌빈번계폐동작。행사속도위0.5 m/s시，자동대파분무공제계통적동태파표식별간거개우100～150 mm지간，행사속도1.0 m/s시，동태파표식별간거위200～250 mm。차외，해계통환구유제전급연후분무공능，자동대파분무계통제전파표95.0～157.5 mm거리개시분무，리개파표100 mm거리정지분무，사분무완전복개정개수관。여련속분무상비，대파분무가유효절성시약량，대우공극비위20.0%、35.2%、52.9%파표행조수，행사속도위0.5 m/s시성약솔분별체27.9%、53.7%、76.9%，행사속도위1.0 m/s시성약솔분별체27.3%、54.5%、81.0%。인차，해자동대파분무계통대희소과완적정학대파병충해방치구유교호적실용개치。
In order to improve the utilization rate of pesticides and reduce the pesticide pollution to the environment, the control system of the automatic target spray was designed to focus on a Chinese low level of mechanization about the orchard sprayer and the invalid spray existed in the gap of fruit trees when the orchard sprayer sprayed with a continuous spray method. Whether the automatic target spray system sprayed to the fruit trees, depended on the detection distance between the orchard sprayer and the fruit trees by the application of distance measuring sensors and control program, which was installed on the GY8 caterpillar self-propelled orchard sprayer manufactured by Nantong Guangyi Mechanical & Electrical Co, Ltd. This paper compared the properties of three kinds of sensors which were MB7060 ultrasonic sensor, GP2Y0A710K0F infrared sensor and DT35-B15251 laser sensor, and tested the discernible spacing for the ultrasonic sensor and the laser sensor. The laser sensor was chosen as a detection device of the orchard sprayer for its high stability, fast response and good direction, while the other two sensors were abandoned for the following reasons that the infrared sensor was seriously affected by the sunshine, and the discernible spacing of ultrasonic sensor was too wide to satisfy the working conditions of the orchard sprayer. The parameters of the target range for spray trees could be adjusted in the system of the automatic target spray, based on different planted size (spacing in the rows and spacing between rows) of an orchard and the different travel speed of the orchard sprayer. The automatic target spray system could distinguish whether the fruit tree, or the gap between fruit trees and the gap in the canopies, so as to effectively control pests with the minimum dose of pesticide and the least environmental pollution. To ensure that the droplet could cover the whole canopy, the orchard sprayer must start to spray before the nozzle assembly reached the fruit trees and stopped spraying after the nozzle assembly leaves the fruit trees, so the laser sensor was installed in front of nozzle assembly 220 mm and delayed a period of time on the basis of the travel speed to stop spraying after the nozzle assembly left the fruit trees by calculation. The experiment of the discernible spacing of the automatic target spray system and field experiment was tested in the Jiamu forest farm in Aksu of Xinjiang. The results showed that the value of the minimum discernible spacing was lower at higher travel speed to lower travel speed. The discernible spacing of the automatic target spray system was 100-150 mm under the travel speed 0.5 m/s and 200-250 mm under the travel speed was 1.0 m/s. The saving rate of pesticides increased with the increase of the gap rate. Compared with continuous spray, the automatic target spray could save pesticides 27.9%, 53.7%, 76.9%at the travel speed of 0.5 m/s and 27.3%, 54.5%, 81.0%at the travel speed 1.0m/s, respectively for the gap rate 20.0%, 35.2%, 52.9%. The saving rate of pesticides was higher than the gap rate of the fruit trees, because the pressure of the spray unit was low as the pesticide valve on initially. It is a favorable condition to save pesticide corresponding to thin canopy. Thus, the automatic target spray system of the orchard sprayer could effectively improve the utilization rate of pesticides.
