果园靶标在线探测方法及风送变量喷雾技术研究
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摘要
果园病虫害防治目前主要靠化学农药,而果园过量施用农药致使其大量残留,严重污染生态环境,威胁果品安全生产。对靶喷药技术是降低农药残留的有效手段之一,本文针对果园对靶精准喷雾关键技术难题,研究果园靶标在线探测风送变量喷雾方法,具有重要意义。主要研究内容及结论分为如下4部分。
(1)提出了基于超声传感靶标外形轮廓探测方法,并对该方法进行了低速条件下探测精度分析和高速条件下机具行走速度对探测影响规律研究。设计了靶标外形轮廓探测试验台,研究了基于超声传感技术在低速条件下探测靶标外形的可行性,并针对规则树冠、樱桃树冠和山楂树冠分别进行试验,探究该方法的普适性和探测精度,结果显示树冠体积探测精度分别为92.8%、90.0%和87.0%,表明该方法在机具低速行走条件下具有较高探测精度。进行了机具行走速度对靶标外形轮廓探测影响试验,数据表明,不同行走速度下探测的靶标形状基本一致,但会产生一定滞后现象,且速度越高滞后越明显。行走速度不大于1m/s时,靶标外形滞后量拟合方程为d=0.117v-0.02,式中,d为靶标外形滞后量,m；v为运动速度,m/s。该方程具有很高的拟合精度,其中R2=0.983。
(2)提出了幼树靶标探测方法并进行了试验研究和探测系统设计。针对幼树树冠很小且枝叶稀疏,难以通过探测树冠准确获取靶标位置信息的难题,研究了基于红外光电传感技术通过探测树杆获取靶标位置,通过预先设置靶标外形参数进行对靶喷雾的可能性；设计了幼树靶标探测系统,在实验室和果园分别进行了试验,并进行了探测精度和准确性分析。实验室试验表明,在传感器探测范围内,探测距离和树杆直径对探测系统探测准确性几乎没有影响,速度对探测准确性有微小量影响,速度不大于1m/s时喷雾总宽度最大相对误差只有3.9%。果园试验表明,行走速度不大于0.94m/s时,幼树靶标探测系统能100%探测到树杆并计算出喷雾位置和喷雾宽度。
(3)研究并建立了PWM变量喷雾喷头流量模型。针对喷头流量受喷雾压力、PWM频率和占空比多因素影响,难以通过少量的试验获得其数学关系的问题,采用二次回归正交组合试验设计方法建立了喷头流量回归模型。在常压喷雾条件下,分别对TEEJET AITXA8002型、8003型和8004型喷头建立了常压喷头流量模型,并对其进行了参数检验和失拟检验,结果表明3个喷头流量模型均可行；随机选择同类型其他喷头进行了模型普适性试验,结果表明,模型流量和实际测量流量均具有很好的一致性,其中8002喷头模型最大相对误差为7.05%,最小相对误差为0.14%；8003喷头模型最大和最小相对误差分别为7.27%和0.31%；8004喷头模型最大和最小相对误差分别为7.94%和0.71%。同样建立了高压喷雾喷头流量模型,并对其进行了参数检验和失拟检验,结果表明3个喷头流量模型亦均可行；并对TEEJET AITXA8002型喷头进行了模型普适性试验,结果表明,模型流量和实际测量流量具有很好的一致性,最大相对误差为6.50%,最小相对误差为0.44%。
(4)试验研究风送PWM变量喷雾雾化特性和喷头雾滴沉积特性。在设计风送PWM变量喷雾雾化特性试验台的基础上,通过试验研究喷雾压力、风速、PWM频率和占空比对雾化效果影响特性,试验表明,雾滴粒径随喷雾压力的增加成规律性变化,其中常用的三个粒径统计项D32、D43和Dvo.5随喷雾压力增加的平均变化率分别为-90.33μm/MPa、-232.3μm/MPa和-300.2μm/MPa,喷雾压力从0.2MPa增加到0.5MPa时,D32、D43和Dvo.5分别减小31%、36%和56%；雾滴粒径随PWM频率增加先增加后减小,PWM频率从2Hz增加到10Hz时,D32、D43和Dvo.5最大增加18%、31%和62%；雾滴粒径随PWM占空比增加而减小,PWM占空比从30%增加到90%时,D32、D43和Dvo.5分别减少19%、21%和27%；雾滴粒径随风速的增加成规律性变化,D32、D43和Dvo.5随风速增加的平均变化率分别为2.62μm·s/m、3.59μm·s/m和6.83μm·s/m,风速从3m/s增加到15m/s时,D32、D43和Dv0.5分别增加46%、26%和71%。设计了喷头流量二维分布测量皿,并对TEEJET AITXA8002型喷头进行流量分布测量,数据显示,当喷头高度为0.20m时,喷头有效喷雾宽度约为0.24m,在喷雾宽度范围内,流量分布尚均匀,呈“双驼峰”形状。设计了风送喷雾喷头沉积试验台并研究风速对喷头雾滴沉积影响特性,数据显示,风速越小,雾滴沉积受重力影响越大,分布越靠下；反之,受重力影响越小,且越集中于原点区域;当风速大于12m/s,喷雾距离为0.80m时,喷雾沉积基本不受重力的影响,且喷雾集中。
At present orchard plant diseases and insect pests are mainly controlled by chemical pesticides. Spraying excessive amounts of pesticides will cause its large residues, which has seriously polluted ecological environment and fruit production. Target-oriented spraying is one of good means to reduce pesticide residues. The aim of the paper is to solve target-oriented spraying technical problem through studying targets online detection chemical pesticide variable spraying method. The main research contents and conclusions are the following four parts.
(1) Orchard spray target profile probing method based on ultrasonic sensors was put forward. The precision analysis of the method at low speed condition was carried out, and the detection influence by sprayer speed was researched. In order to research on spray target profile probing method, and provide the theoretical support for variable spray based on real-time probing target profile, a tree spray target profile probing platform was improved. The platform was used in probing canopy profile of man-made tree with standard shape, cherry tree in the flowering stage and Hawthorn tree. Experiments indicate that measurement accuracy of standard shape canopy, cherry tree and Hawthorn tree canopy profile probing is92.8%,90.0%and87%, which shows that this method has high accuracy at the condition of low speed. The results of target detection speed influence test show that the target profiles detected at different speed are almost the same with lag phenomenon. The higher speed will cause the more lag. When the speed is not more than1m/s, the relationship between the lag distance and the speed is approximately linear. The straight-line equation obtained is d=0.117v-0.02, where d is the lag distance in m, v is the speed in m/s.The equation has a high fitting accuracy, where R2=0.983.
(2) Orchard young tree target detection method was put forward, and the detection system was designed. Young tree target is hard to detect in orchard spraying because the tree canopies are small and sparse. In order to solve the problem, a young tree target detector which percept the target though probing orchard tree trunk was designed based on infrared sensors. Spraying parameters, such as spraying width and delay distance, could be input to the detector easily. Laboratory experiments indicated that accuracy of the detector is hardly affected by probing distance and diameter of tree-truck, while it is affected by the speed of sprayer a little. When the trunk is in the detection range of infrared sensor, and the speed is not more than1m/s, the calculating accuracy of spraying width is not less than96.1%. Orchard experiments showed that the probing accuracy of the detector is100%, when the speed of sprayer is not more than0.94m/s.
(3) Nozzle flow models of PWM variable-rate spraying were studied and established. Nozzle flow model is indispensable in variable-rate spraying control based on Pulse Width Modulation (PWM) technology, especially when nozzles are controlled independently. Nozzle flow is affected by spraying pressure, PWM frequency and PWM duty cycle. It is hard to establish the model with a few trials. The central composite orthogonal regression tests were completed, and the flow models of TEEJET AITXA nozzles of type8002、8003and8004were obtained. The results of equation hypothesis test and test for lack of fit of flow models for regular pressure variable-rate spraying show that the three flow models are agreeable. The maximum relative error of the TEEJET AITXA nozzle model of type8002is7.05%, while the minimum relative error is0.14%. For the type8003, the maximum and minimum relative errors are7.27%and0.31%. And for the type8004, the maximum and minimum relative errors are7.94%and0.71%. Nozzle flow model validation trials show that the relative errors between model flow and actual flow are small. Nozzle flow model for high pressure variable-rate spraying is also established. The results from equation hypothesis test and test for lack of fit of flow model shows that those three flow models work well. Nozzle flow model validation trials show that the relative errors of model flow and actual flow are small, while the maximum and minimum relative error is6.50%and0.44%. The flows characteristics of different nozzles with the same type are almost the same.
(4) Air-blast spraying atomization characteristics and spray nozzle droplets sedimentary characteristics were experimentally researched. A atomization characteristics test bench of air-assisted spraying was designed, with which the atomization effect impact characteristics of spraying pressure, wind speed, PWM frequency and duty cycle were studied. Experiments show that droplet size changes regularly as spraying pressure increases, and the average rates of change of the three statistics items commonly usedD43and Dv0.5are-90.33μm/MPa、-232.3μm/MPa and-300.2μm/MPa. When spraying pressure increases from0.2MPa to0.5MPa, D32, D43and.Dv0.5decrease by31%,36%and56%. Droplet size increases firstly then decreases as PWM frequency increases. When PWM frequency increases from2Hz to10Hz, D32, D43and DV0.5decreased by18%,31%and62%.Droplet size decreases as PWM duty cycle increases. When PWM duty cycle increases from30%to90%, D32, D43and Dv0.5decreased by19%,21%and27%. Droplet size changes regularly as wind speed increases, and the average rates of change of D32、D43and Dv0.5are2.62μm·s/m,3.59μm-s/m and6.83μm·s/m.When wind speed increases from3m/s to15m/s, D32, D43and Dv0.5decreased by46%,26%and71%. Square two-dimensional nozzle flow measurement dish was designed. And nozzle flow distribution measurement of TEEJET AITXA nozzle of type8002show that when the nozzle height is0.20m, spray nozzle effective width is about0.24m, and the flow distribution is even with a "double hump" shape. Air-blast spraying nozzle sedimentary characteristics test bench was improved. Spray nozzle droplets sedimentary characteristics experiments show that the smaller the wind speed, the more droplets sedimentary are affected by gravity. Conversely, they are affected by gravity less, and are concentrated in origin area. When the wind speed is more than12m/s and spraying distance is0.80m, droplets sedimentary are concentrated and hardly affected by gravity.
(1)提出了基于超声传感靶标外形轮廓探测方法,并对该方法进行了低速条件下探测精度分析和高速条件下机具行走速度对探测影响规律研究。设计了靶标外形轮廓探测试验台,研究了基于超声传感技术在低速条件下探测靶标外形的可行性,并针对规则树冠、樱桃树冠和山楂树冠分别进行试验,探究该方法的普适性和探测精度,结果显示树冠体积探测精度分别为92.8%、90.0%和87.0%,表明该方法在机具低速行走条件下具有较高探测精度。进行了机具行走速度对靶标外形轮廓探测影响试验,数据表明,不同行走速度下探测的靶标形状基本一致,但会产生一定滞后现象,且速度越高滞后越明显。行走速度不大于1m/s时,靶标外形滞后量拟合方程为d=0.117v-0.02,式中,d为靶标外形滞后量,m；v为运动速度,m/s。该方程具有很高的拟合精度,其中R2=0.983。
(2)提出了幼树靶标探测方法并进行了试验研究和探测系统设计。针对幼树树冠很小且枝叶稀疏,难以通过探测树冠准确获取靶标位置信息的难题,研究了基于红外光电传感技术通过探测树杆获取靶标位置,通过预先设置靶标外形参数进行对靶喷雾的可能性；设计了幼树靶标探测系统,在实验室和果园分别进行了试验,并进行了探测精度和准确性分析。实验室试验表明,在传感器探测范围内,探测距离和树杆直径对探测系统探测准确性几乎没有影响,速度对探测准确性有微小量影响,速度不大于1m/s时喷雾总宽度最大相对误差只有3.9%。果园试验表明,行走速度不大于0.94m/s时,幼树靶标探测系统能100%探测到树杆并计算出喷雾位置和喷雾宽度。
(3)研究并建立了PWM变量喷雾喷头流量模型。针对喷头流量受喷雾压力、PWM频率和占空比多因素影响,难以通过少量的试验获得其数学关系的问题,采用二次回归正交组合试验设计方法建立了喷头流量回归模型。在常压喷雾条件下,分别对TEEJET AITXA8002型、8003型和8004型喷头建立了常压喷头流量模型,并对其进行了参数检验和失拟检验,结果表明3个喷头流量模型均可行；随机选择同类型其他喷头进行了模型普适性试验,结果表明,模型流量和实际测量流量均具有很好的一致性,其中8002喷头模型最大相对误差为7.05%,最小相对误差为0.14%；8003喷头模型最大和最小相对误差分别为7.27%和0.31%；8004喷头模型最大和最小相对误差分别为7.94%和0.71%。同样建立了高压喷雾喷头流量模型,并对其进行了参数检验和失拟检验,结果表明3个喷头流量模型亦均可行；并对TEEJET AITXA8002型喷头进行了模型普适性试验,结果表明,模型流量和实际测量流量具有很好的一致性,最大相对误差为6.50%,最小相对误差为0.44%。
(4)试验研究风送PWM变量喷雾雾化特性和喷头雾滴沉积特性。在设计风送PWM变量喷雾雾化特性试验台的基础上,通过试验研究喷雾压力、风速、PWM频率和占空比对雾化效果影响特性,试验表明,雾滴粒径随喷雾压力的增加成规律性变化,其中常用的三个粒径统计项D32、D43和Dvo.5随喷雾压力增加的平均变化率分别为-90.33μm/MPa、-232.3μm/MPa和-300.2μm/MPa,喷雾压力从0.2MPa增加到0.5MPa时,D32、D43和Dvo.5分别减小31%、36%和56%；雾滴粒径随PWM频率增加先增加后减小,PWM频率从2Hz增加到10Hz时,D32、D43和Dvo.5最大增加18%、31%和62%；雾滴粒径随PWM占空比增加而减小,PWM占空比从30%增加到90%时,D32、D43和Dvo.5分别减少19%、21%和27%；雾滴粒径随风速的增加成规律性变化,D32、D43和Dvo.5随风速增加的平均变化率分别为2.62μm·s/m、3.59μm·s/m和6.83μm·s/m,风速从3m/s增加到15m/s时,D32、D43和Dv0.5分别增加46%、26%和71%。设计了喷头流量二维分布测量皿,并对TEEJET AITXA8002型喷头进行流量分布测量,数据显示,当喷头高度为0.20m时,喷头有效喷雾宽度约为0.24m,在喷雾宽度范围内,流量分布尚均匀,呈“双驼峰”形状。设计了风送喷雾喷头沉积试验台并研究风速对喷头雾滴沉积影响特性,数据显示,风速越小,雾滴沉积受重力影响越大,分布越靠下；反之,受重力影响越小,且越集中于原点区域;当风速大于12m/s,喷雾距离为0.80m时,喷雾沉积基本不受重力的影响,且喷雾集中。
At present orchard plant diseases and insect pests are mainly controlled by chemical pesticides. Spraying excessive amounts of pesticides will cause its large residues, which has seriously polluted ecological environment and fruit production. Target-oriented spraying is one of good means to reduce pesticide residues. The aim of the paper is to solve target-oriented spraying technical problem through studying targets online detection chemical pesticide variable spraying method. The main research contents and conclusions are the following four parts.
(1) Orchard spray target profile probing method based on ultrasonic sensors was put forward. The precision analysis of the method at low speed condition was carried out, and the detection influence by sprayer speed was researched. In order to research on spray target profile probing method, and provide the theoretical support for variable spray based on real-time probing target profile, a tree spray target profile probing platform was improved. The platform was used in probing canopy profile of man-made tree with standard shape, cherry tree in the flowering stage and Hawthorn tree. Experiments indicate that measurement accuracy of standard shape canopy, cherry tree and Hawthorn tree canopy profile probing is92.8%,90.0%and87%, which shows that this method has high accuracy at the condition of low speed. The results of target detection speed influence test show that the target profiles detected at different speed are almost the same with lag phenomenon. The higher speed will cause the more lag. When the speed is not more than1m/s, the relationship between the lag distance and the speed is approximately linear. The straight-line equation obtained is d=0.117v-0.02, where d is the lag distance in m, v is the speed in m/s.The equation has a high fitting accuracy, where R2=0.983.
(2) Orchard young tree target detection method was put forward, and the detection system was designed. Young tree target is hard to detect in orchard spraying because the tree canopies are small and sparse. In order to solve the problem, a young tree target detector which percept the target though probing orchard tree trunk was designed based on infrared sensors. Spraying parameters, such as spraying width and delay distance, could be input to the detector easily. Laboratory experiments indicated that accuracy of the detector is hardly affected by probing distance and diameter of tree-truck, while it is affected by the speed of sprayer a little. When the trunk is in the detection range of infrared sensor, and the speed is not more than1m/s, the calculating accuracy of spraying width is not less than96.1%. Orchard experiments showed that the probing accuracy of the detector is100%, when the speed of sprayer is not more than0.94m/s.
(3) Nozzle flow models of PWM variable-rate spraying were studied and established. Nozzle flow model is indispensable in variable-rate spraying control based on Pulse Width Modulation (PWM) technology, especially when nozzles are controlled independently. Nozzle flow is affected by spraying pressure, PWM frequency and PWM duty cycle. It is hard to establish the model with a few trials. The central composite orthogonal regression tests were completed, and the flow models of TEEJET AITXA nozzles of type8002、8003and8004were obtained. The results of equation hypothesis test and test for lack of fit of flow models for regular pressure variable-rate spraying show that the three flow models are agreeable. The maximum relative error of the TEEJET AITXA nozzle model of type8002is7.05%, while the minimum relative error is0.14%. For the type8003, the maximum and minimum relative errors are7.27%and0.31%. And for the type8004, the maximum and minimum relative errors are7.94%and0.71%. Nozzle flow model validation trials show that the relative errors between model flow and actual flow are small. Nozzle flow model for high pressure variable-rate spraying is also established. The results from equation hypothesis test and test for lack of fit of flow model shows that those three flow models work well. Nozzle flow model validation trials show that the relative errors of model flow and actual flow are small, while the maximum and minimum relative error is6.50%and0.44%. The flows characteristics of different nozzles with the same type are almost the same.
(4) Air-blast spraying atomization characteristics and spray nozzle droplets sedimentary characteristics were experimentally researched. A atomization characteristics test bench of air-assisted spraying was designed, with which the atomization effect impact characteristics of spraying pressure, wind speed, PWM frequency and duty cycle were studied. Experiments show that droplet size changes regularly as spraying pressure increases, and the average rates of change of the three statistics items commonly usedD43and Dv0.5are-90.33μm/MPa、-232.3μm/MPa and-300.2μm/MPa. When spraying pressure increases from0.2MPa to0.5MPa, D32, D43and.Dv0.5decrease by31%,36%and56%. Droplet size increases firstly then decreases as PWM frequency increases. When PWM frequency increases from2Hz to10Hz, D32, D43and DV0.5decreased by18%,31%and62%.Droplet size decreases as PWM duty cycle increases. When PWM duty cycle increases from30%to90%, D32, D43and Dv0.5decreased by19%,21%and27%. Droplet size changes regularly as wind speed increases, and the average rates of change of D32、D43and Dv0.5are2.62μm·s/m,3.59μm-s/m and6.83μm·s/m.When wind speed increases from3m/s to15m/s, D32, D43and Dv0.5decreased by46%,26%and71%. Square two-dimensional nozzle flow measurement dish was designed. And nozzle flow distribution measurement of TEEJET AITXA nozzle of type8002show that when the nozzle height is0.20m, spray nozzle effective width is about0.24m, and the flow distribution is even with a "double hump" shape. Air-blast spraying nozzle sedimentary characteristics test bench was improved. Spray nozzle droplets sedimentary characteristics experiments show that the smaller the wind speed, the more droplets sedimentary are affected by gravity. Conversely, they are affected by gravity less, and are concentrated in origin area. When the wind speed is more than12m/s and spraying distance is0.80m, droplets sedimentary are concentrated and hardly affected by gravity.
引文
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刘志壮,洪添胜,李震等.2009.基于模糊控制的流量控制阀仿真.农业工程学报,25(2)：83-86
卢秉福,张祖立,朱明,等.2008.农业机械化发展关键影响因素的辨识与分析[J].农业工程学报,24(11)：114—117.
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