CAJ | 학술논문

针对温室人工施药效率不足，且容易中毒的现状，设计开发了温室轨道施药机器人系统。结合探测、限位传感器输入信号及输出执行元件的特点，系统采用三菱 PLC 作为控制核心，控制移动搭载平台、电机、电磁阀及药液泵等各个部分，通过探测传感器定位作物行，调控 PWM 波占空比实施变量施药作业，从而实现温室自动化精准施药。实验结果表明：机器人定位准确率高，喷头流量与PWM占空比呈正相关，随着施药距离的增加，药液沉积量呈递减趋势；系统操作简单，自动化程度高，可以有效提高温室施药工作效率和农药利用率。
침대온실인공시약효솔불족，차용역중독적현상，설계개발료온실궤도시약궤기인계통。결합탐측、한위전감기수입신호급수출집행원건적특점，계통채용삼릉 PLC 작위공제핵심，공제이동탑재평태、전궤、전자벌급약액빙등각개부분，통과탐측전감기정위작물행，조공 PWM 파점공비실시변량시약작업，종이실현온실자동화정준시약。실험결과표명：궤기인정위준학솔고，분두류량여PWM점공비정정상관，수착시약거리적증가，약액침적량정체감추세；계통조작간단，자동화정도고，가이유효제고온실시약공작효솔화농약이용솔。
Aim to improve the efficiency of greenhouse spraying, and reduce the risk of staff poisoning, this paper de-signed and developed a greenhouse track spraying robot system.Combined with detection, limit sensor input signal and output actuator characteristics, system uses PLC as the control core Mitsubishi, control the movement of each platform, with motor and electromagnetic valve, liquid pump and other parts, through the detection of sensor location of crop rows, the regulation of the PWM duty cycle implementation of variable spraying, so as to realize the automation of precision pes-ticide application in greenhouse.The experimental results show that, the robot positioning accuracy rate is high, the noz-zle flow and PWM duty ratio were positively correlated with the increase of distance, pesticide, liquid deposition showed a decreasing trend.The system has the advantages of simple operation, high automation degree, and can effectively im-prove the work efficiency and greenhouse spraying pesticide utilization rate .