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智能喷雾机器人的喷雾性能试验评价

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智能喷雾机器人的喷雾性能试验评价

第28卷增刊2农业工程学报v01.28SIlpp.21142012年10月1'瑚s∞ti∞softhechi鹏∞societyofA鲥∞It啪lEngineeringOct.2012

Assessmentonsprayingeffect0f

inteUigentsprayingrobotbyexperiment

GengChang×ing,ZhangI(ai,ZhangErpeng,Zhang】unXiOng,LiW色i

∞olkge醇Eng协eenng’ChiMAgrictltttlratUn{versi魄Beij{鸭、Q响褐.Cht嘲

Abs仃act:T0con舡.oI

infIo皿训on蠢boutpl锄tsdisea∞witlIlesspesticide,asprayinge丘bctoftlleilltellig∞tspmyingrobotfi)rgreenho哪髓

w弱assessed.Thedise鹳eIocationandstalew够obtainedbymachiIIe“si∞s∞so体.Vrariablenozzleswere越V钿byat11l优deg佗esof眠domcancsi锄c00rdiIlalem锄ipulatIDr’柚dpesticideswe糯spmyedaccord缸茁tota唱etpositi∞觚dlesionar∞.Boomlocationerrordisea辩levels.Comp删w触仃aditi∞aIandpesticidesaving枷owerequantitative肌alyzedinthe孕毵llhol珥eexperiment.Therobotw鹊testedontllreeSp髓yingmetIlods,thissystemsavedov盯60%oftlIeh盯bicides.Therobotc觚directlyapplypesticideto伽c哪berindivid∞llesiona坤a锄diInprovepesticidese伍ciency’reduceproductioncoSts柚dprotectfheenvironm蛐t.

Keywords:mbots,spraying,pcsticides,maclli∞vision

doi:lO.396蛳.issn.1002—6819.2012.z2.020

CLCnumber:s49D佻ume毗code:AAnicleⅢ:l002—6819(2012)一Supp.2—0114一04

GengChall醪ing'zhangI(ai,zhangEfpeng,eta1.As∞ssment∞sprayinge疏ctofiIltellig朗tsp叫ngrobotbyexperiment阴.Tl瑚lsactionsoftheClIi∞辩societyofA舒cllltll】ralEngineering(Tf托sactionsoftheCSAE),2012,28(Supp.2):114—1l7.(iIlEnglishw油Chineseabs魄Ict)

耿长兴,张凯,张二鹏,等.智能喷雾机器人的喷雾性能试验评价[J].农业工程学报,2012,28(增刊2):114—117.0Introduc60nT垤aterialsandmethOds

Precisionsprayisaselec6vespmyingmethodiIl1.1TeStde、riCe

whichplantsanddiseasehd'onmtionareobtainedbyAprecisionSpmyiIlgrobotinte孕atcdwitIlsenso娼tocon仃olnozzles,anditisaresearchhotspotcomputerViSiontecIlIlolog)r,imagei11fbmlatiorrintlleintelligenta鲥culnlmlequipment.Manytecllnolo时andcon饷ltechIlology,、张sachievedtllerese甜℃hershavefitted如吼chiIlevisionsystems,0ntargetsprayiIlgin孕eenhouse.Therobotconsistsofaprecisionspra_yellsf.0rwecdin一”川.Af.ewrcal.timedia印osissysteIIl’amech狮icalsyStemanda∞n仃0lfieldsyStemshavebe%developed卜州.Otllerm砒0dssystem.Themech龃icalsystcmincludedamobilehaveusedforspmycr【10。111.AsyStemthatcouldmal【eplatf0咖,am觚ipulator锄dsevemlnozzles.TherobotuseofthespatiallesiondistributioninfonnationinSystemisshowninfig.1.T}lediseaseinfo加Aationw勰realtimeandapply0nlythenecessaryamountsofacquiredbyar%l-timecomputerVisionsystcm,pesticidetomedisea∞areawouldbemuchmorewhichconnlolstlleInobilepIatfbnnofs1【artingandeffici锄t锄d111inirIlizeenviI伽mentaIimp∞t.AsmanstoppiIlg,tllem枷pulatorofactions锄dno盟lesofsprayerwithreal-timesens0璐觚dcontrolalgoritllrIlssprayiIlgviaⅡleinfomlationcommunicationpon.toestimatediseasedensityandsizeiIlthe田『eelllIouse,

realizesite-specificspmying,锄de毹ctivelyreduce

chemicalapplication籼ⅢItsforcuc啪berSI¨J.Its

perf.0nIlanceevaluationme也odw弱proposedmt11is

study.Boompositioningpesticidesaving

ratioweredet∞tediIlthe毋鼬ousee肿r锄dconditions.

Re∞ivedda舱:2012.05—10Revisedd鲥蟹}2012.09-15

Fo帅dali∞it锄:sIIpI’ort甜bymeN砒i蚰alH岫Tbchnology黜s髓rch舳d

Dcvel叩Ⅱ髓t陬移咖ofChin丑(SS2012从041507),Chin丑P∞tdodoral

sci∞∞F加ndation(20lIM500450).

Biography:GengCh姐弘ing(1983一),Ph.D.R∞%rchar龃:machinevisi∞1.MobiIepl酬}研m2.R丑il3.B∞m4.Die丑s嚣diagDosissysteln姐da面cIlInIlfalrol斌tech∞l嘟B卿ingConegeofEngin觏_ing'ctIina5.C雌ulll_b盯pl柚ts

A面“ltlllralUniVc疆i吼lo0083.Email:gcxk@163.comF谚1鼬n】ctIl】他diagramofrobotexpcriⅡl锄t

万方数据

增刊2

1.2

耿长兴等:智能喷雾机器人的喷雾性能试验评价

115

Worl【ingprinciple

Theprecisionsprayingrobotwascomprisedofa

and

itS4DOF.Asshowninflg,l,6rstlv,themobile

platfornl

stans

movementinXdirection.Secondly。

computerPLC,

whicha∞C/S

sVstemdisease

thecmdlestartstomovetothesettingposition,whichtriggersdiseasediagnosissystemtocaptllrediseasesinformationDfplantsaT】dleavesincucumber.Thirdly,inordertoobtainsubdomainstateofandtransfersit

to

an

architectureinFig.2.Thecomputer

processes

diagnosisin氨)】-rnation,andtheresuI俸are

toPLC.The

tran哪rted

the

PLCdealswiththecomDuterandthe

infbnnation.

and

controls

illnesschart

other

sensors’

PLC.themachinevisionsvstem

mechanicalsvstemofmovingandnozzIesofopeningandshutting.

Therobothas

ttlreecontr01

mDdeS:

distinguishescucumbefpIantsanddiseaseinfonnation。Fourthly,thePLCcontrolssDraylancesrotateinXdirectioninverticalconditionandmovestotheguiderailinto

one

Automaticmode,panelcon缸Dlmodeandwirelesscontrolmode.Intheautomaticmode,mespraVrobotworksautom8ticailyacco『ding

t0

edge.Finhly,thespray1ancesmovesin

thesettings.Panel

contr01modeallowstheoperatortomanipulatetherobotmo(1e

guiderail,andthePLCcon仃olsthenoz芝Tesspralyingseparately,mordertoreallzepreclslonspraymg.Finally,whenspraylancesgot0theguide“ne’send,a【I

ofthe

nozzlesclose

andspray

lances

rgtate

mrou曲the

suits

t.or

operating

panel.Wireless

real—time

control

The

distantconnQl’

automaticmodeisthemostprominentworkingmodefortheprecisionsprayingmbot.Therobotmust

use

reverselvintohorizontalityandmecradlerestoration.Thisisallofthecvcle【”J.

Fig.2

B10ck

diagr狮ofa黟ochemicalapplication

robotcontroIsystem

2.1

Experimentaldesignandmethods

ExperimentaI

regionofspraying.ThelocationratioofsolutionsavingTestequipments

are

error

ofspmyandthe

theevaluationindexes.

enviroum蛐t

in

includeJS一9electronicstopwatch

industrial

Co.,

Thespmytestfortheagrochemicalapplicationrobot

has

been

done

greenhouse

of

that

at

(ShenzheniuIIsidaLTD),

JJ1000

electronicbalancefG&GGmbH)andtapemeasure

ShangzhuangAgriculmral

Experiment

Foundation

China

UniversityL”j,The

are

typeofthenozzieis

(NingboPan—Yitape%Vironmentisshownin

2.2

measurefig.1.

Co.,

LTD,).

Test

hollowconicaltangentialdirectionliquidintake.Thepammetersofnozzlesdiameterof1.3L/minwith

sprayangleof900,orificesratesprayvoIume

MethOds

Thespray

area

n蜘and

of1.12

isproportionaltothesquareofthe

spraydistarIceL1uJ。TotestforthemaximumIocation

erfor

pressure

of0.8MPa.API【M.370A如11y

automaticself-suction

p岫p

manufa咖d(Shanghai

anun

area

of

theagrochemicalapplicationrobot,select

somepointsrQtation

Rf(卢l,2,…,刀门≥3)onⅡleguide

centerpoint

andthe

people’senterpriseCo.,LTD】withused"Thesprayboomis1000

tankof15Lwaswithsixnozzles

oflinear

is

jointQofthespraybarofthe

robot.Contr01therobotatthedistancenot1essthan2000mmfromtheselectedpointalongthepositionof

is

reVersex

uniformlvdistributed.TheeffectivetraveI

point只f

toreachthis

guidedrailis1200mm.Imageacquisition

direction,Supposingthestop

the

l200mm×l000mm,consis£entwithchecover碰孓

P名i(f=l,2,…,拜阼≥3),measuIIe

万方数据

116农业工程学报

2012年

relatiVedisplacementerror

betweenP二fand只f

along

the

direction.Cucumber

plants

with

downy

mildew

was

investigated.Thediseaseseveritywasdetenninedbyimageprocessing【14J.Anozzlespray

area

namedA。In

ordertoachieVere-sprayingandleakspmying,theoVerlap

area

of

adjacent

nozzles

sprayisC,aIld

C兰0.25A.Inthisexperiment,pesticideres01utionisreplacedbywateratmomtemperature.Thesavingratioforpesticideisthat

ratioofta昭etspraying

water

consumption

tocommon

spraying

water

consumption.Thespfaydistanceis1oomm,andthesprayrangeis1000mJl】×l000mm,whichisintheimageacquisition

area.

Theintelligentsprayrobot

worl(sintheautomode,thesprayann

movesalong

the1inearguidef.romthebeginningtotheend,andtheentirerobotwillmoVefonⅣardu11lessitdetectsa

stop

sensor,andprecisionsprayingbegins。

3Results

and舳alysis

In

this

experiment,memoVing

speedofme

intelligentsprayingrobotwas0.3IIl/s.Fourlocation㈣r.

ra】adomlocationpointswereselectedtotesttheTheresults

are

shownintable1.

Tablel

Resultsoflocation

error

!!!塞塞!坐!

!竺

!::竺竺竺:

=勰

_27

1.5

3.1

4.7

4.7

error/Inm

N0te:Pxl,Px2,Px3,Px4are

thelocationpoint

The

test

resultsshowedt】1atthemaximumpositioning

error

ofthesprayerwas1essthan5mm,

w场chsa:cisfiedthe

spray

distanceprecisionrequirements。

Thepesticidesavingratioistheratiobe似een

the

weightsofthewaterbeensavedin

one

sprayandthe

weightofthewaterusedunderthehighestdiseaselevel,FoⅡnula(1)shows咝×

therelation.

R=

100%(1)

Where咫is

thepesticidesaving

ratio,%;Q1w

is

theweightofthewaterused

in

one

sprayunder

certaindisease

leVel,g;Qistheweightofthewater

usedunderthehighestdiseaselevel,g.

Thehighestdiseaselevel

spray

waterweight

meansthewaterusedwhenaUthenozzles

areoDen

a11dthespraypipemoVesf-romthebegillIlingofmelinearguidetotheend.Three

觚ws

plantswere

tested.andthediseaseseveritvofcucumberswasassessedbyfivevisualmters,andtakingⅡleaveragevalue

as

diseaseindex.Theexperimentwasrepeated

forfivetimes,andtheavemgewastakenasⅡle

highestdiseaselevelspraywaterweight.Theresults

ofthediseaseseveritvare

showninTab.2.andthe

万方数据

resultsofthepesticidesa们ngratioexperimentare

showninTab.3.

Table2

Resunsofdisease

seVerny

!兰!!!!墨竺些!竺!!兰!!竖!竺坐垫1211塑塑壁竺

Pise篇Leve慨

weigll!。jused。婆尝等:嚣三。restici坐:av证g;撇“怒篡篇麓“

rat蜘脱。

31.8122.62422.8373.3739.4

137.68

422.83

69.80

TheexDerimentalresultsshowtllatthereis

negativecon.elation

be觚een

thepesticidesavingmtio

andthedisease1evel.Theooen

timeofthenozzles

wasincreasedwiththeincreaseofthediseaseseverit、,。whilethepesticidesavingratioweredecreased.Thelocation

error

isconfinedwithin5mm,making

good

matchwiththeimagingregionandthespray

area,

tbIus

ensuring

the

spray

precision.

Thepesticide-

savingratiosexceed60%atthethreedisease1evels.

With

lowdiseaselevel,thepesticidesavingratio

exceeds80%.

1、/u儿~■Uo■u儿a

conclusions

1)7Ihe

intelligentsprayingrobotforgreenhousewithfour

degrees

off.reedomaIld

threeworking

models.wassuitablef-ornurserv

beds

and

胁me

plantingVineplants.Precisionsprayingwasachi“ed

in

one

timeforseVeralplantingmodes.Theposition

error

ofthespmypipe、Ⅳas

4.2mm.2)

Theintelligentsprayer

can

significannyimprovethepesticidesavingratioabove

60%.

Spraying

in

theearly

s切ge

ofthe

diseases,the

pesticidesavingratio

can

reachat80%.

fReferencesl

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in

wheat

fields

using

machine

vision.

TransactionsoftheASAE,1995,38(3):965—975.Tian

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machine-vision911idaIlce

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耿长兴等:智能喷雾机器人的喷雾性能试验评价

a1.Injection

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Mildew

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智能喷雾机器人的喷雾性能试验评价

耿长兴,张凯,张二鹏,张俊雄,李伟

(中国农业大学工学院,北京100083)

摘要:该文对智能喷雾机器人温室对靶喷雾性能进行了试验评价。喷雾机器人采用视觉传感器采集植株和病害图像,提供病灶定位和病情信息。3自由度直角坐标系施药机械臂驱动变量喷嘴进行施药,根据病灶位置和病害程度选择性开闭喷嘴。试验对喷杆定位精度定量和药液节省率进行了试验分析。温室对靶施药机器人在3种病情等级下进行了试验,与传统施药方式相比,药液节省率达到60%以上,实现了对黄瓜等篱笆型植物精准施药。关键词:智能机器人,喷雾,农药,机器视觉

万方数据

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智能喷雾机器人的喷雾性能试验评价

作者:

作者单位:

刊名:

英文刊名:

年,卷(期):耿长兴, 张凯, 张二鹏, 张俊雄, 李伟, Geng Changxing, Zhang Kai, Zhang Erpeng,Zhang Junxiong, Li Wei中国农业大学工学院,北京,100083农业工程学报Transactions of the Chinese Society of Agricultural Engineering2012,28(z2)

1.Zhang N;Chaisattapagon C Effective criteria for weed identification in wheat fields using machine vision1995(03)

2.Tian L;Reid J F;Hummel J W Development of a precision sprayer for site-specific weed management[外文期刊]1999(04)

3.Tian L Development of a sensor-based precision herbicide application system[外文期刊] 2002(36)

4.Giles D K;Slaughter D C Precision band spraying with machine-vision guidance and adjustable yaw nozzles1997(01)

5.Gillis K P;Giles D K;Slaughter D C Injection mixing system for boomless target-activated herbicidespraying[外文期刊] 2003(04)

6.Hong Y Jeon;Lei Tian;Loren Bode Plant specific direct chemical application field robot 2009

7.Guzmán J L;Rodríguez F;Hermosilla J S Robust pressure control in a mobile robot for spraying tasks2008(02)

8.Ogawa Y;Kondo N;Monta M Spraying robot for grape production 2006

9.Berenstein R;Shahar O B;Shapiro A Grape clusters and foliage detection algorithms for autonomousselective vineyard sprayer 2010(04)

10.Yin Dongfu;Chen Shuren;Pei Wenchao Design of map-based indoor variable weed spraying system[期刊论文]-Transactions of the ChineseSociety of Agricultural Engineering(Transactions of the CSAE) 2011(04)

11.Hu Kaiqun;Zhou zhou;Qi Lijun Spraying performance of the direct injection variable-rate sprayer[期刊论文]-Transactions of The Chinese Society For Agricultural Machinery 2010(06)

12.Zhang Junxiong;Cao Zhengyong;Geng Changxing Research on precision target spray robot in greenhouse2009(Supp2)

13.Cao Zhengyong;Zhang Junxiong;Geng Changxing Control system of target spraying robot in greenhouse2010(Supp2)

14.Geng Changxing;Zhang Junxiong;Cao Zhengyong Recognition and Features Extraction of Cucumber Downy MildewBased on Color and Texture[期刊论文]-Transactions of The Chinese Society For Agricultural Machinery2011(03)

引用本文格式:耿长兴.张凯.张二鹏.张俊雄.李伟.Geng Changxing.Zhang Kai.Zhang Erpeng.Zhang Junxiong.Li Wei 智能喷雾机器人的喷雾性能试验评价[期刊论文]-农业工程学报 2012(z2)

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