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为了在丘陵山地果园施药过程中达到自动对靶、精确施药、提高农药的利用率、减少对环境污染的目的,利用多个超声波传感器有效组合,识别果树位置自动调整喷头高度及距离;转动机构能自动调整喷头喷洒方向,使喷头能更好地对准果树,提高农药喷洒效果;系统能根据有无果树实时控制喷头开闭,降低农药损耗.试验结果表明,在车速为0.3m/s的情况下,喷头离树的距离能较好地控制在0.25~0.75 m范围,并能根据果树高矮自动调节喷头高度;转动机构使喷头始终对准果树,使果树侧面农药覆盖率从10%提高到30%以上.该系统实现了喷头自动对靶功能,自动适应果树形态变化;喷头转动机构弥补了系统滞后及超声波传感器分辨率不高的缺点,提高了树冠侧面的喷洒效果.
In order to achieve automatic target application, precise application of pesticides, increase pesticide utilization rate and reduce environmental pollution during the pesticide application in hilly and mountainous orchards, multiple ultrasonic sensors are used to effectively identify the position of fruit trees and automatically adjust the height and distance of the sprayers. The mechanism can automatically adjust the spraying direction of the spray head so that the spray head can better align the fruit tree and improve the spray effect of the pesticide.The system can control the spray head opening and closing in real time according to the presence or absence of the fruit tree and reduce the pesticide loss.The experimental results show that at a speed of 0.3 m / , The distance between the spray nozzle and the tree can be controlled within the range of 0.25-0.75 m, and the height of the spray nozzle can be adjusted automatically according to the height of the fruit tree. The rotating mechanism keeps the spray nozzle always aligned with the fruit tree so as to increase the pesticide coverage rate on the side of the fruit tree from 10% To above 30% .The system achieves the automatic target function of the sprinkler and automatically adapts to the morphological changes of the fruit tree. The rotating mechanism of the sprinkler makes up for the shortcoming of the system lag and the low resolution of the ultrasonic sensor, and improves the spraying effect on the side of the canopy.