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
a
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
a
panel.Wireless
real—time
control
The
distantconnQl’
automaticmodeisthemostprominentworkingmodefortheprecisionsprayingmbot.Therobotmust
use
reverselvintohorizontalityandmecradlerestoration.Thisisallofthecvcle【”J.
Fig.2
B10ck
diagr狮ofa黟ochemicalapplication
robotcontroIsystem
2
2.1
Experimentaldesignandmethods
ExperimentaI
regionofspraying.ThelocationratioofsolutionsavingTestequipments
are
error
ofspmyandthe
theevaluationindexes.
enviroum蛐t
in
a
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
x
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
a
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)
Q
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
a
negativecon.elation
be觚een
thepesticidesavingmtio
andthedisease1evel.Theooen
timeofthenozzles
wasincreasedwiththeincreaseofthediseaseseverit、,。whilethepesticidesavingratioweredecreased.Thelocation
error
isconfinedwithin5mm,making
a
good
matchwiththeimagingregionandthespray
area,
tbIus
ensuring
the
spray
precision.
Thepesticide-
savingratiosexceed60%atthethreedisease1evels.
With
lowdiseaselevel,thepesticidesavingratio
exceeds80%.
4
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
L,ReidJF,HummelJW.Developmemof
a
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machine-vision911idaIlce
and删ustable
yaw
nozzles[J】.
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增刊2嘲
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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131—135.
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ofthe
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a
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precisionta唱etspraymbotinofthe
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吲
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ExtractionColor
ofand
Cucumber
m
YinDong如,ChenShuren,PeiWenchao,eta1.Desi91lof
Mildew
Texture[J】.
m印-basedindoor
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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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