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自动施药机器人及可变量控制系统研究(3)

发布时间:2021-06-08   来源:未知    
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自动 机器人

RESEARCHESONAU‘r0NOMOUSROBOTFOR

WEEDCONTROLAND

SMARTSPRjⅣSYSTEMBASED0NVARIABLERATETECHNOLOGY

YongChen

NanjingForestry

University

Agriculturehasbeendevelopingforthousandsofyears,fromancientstyle

tO

modem

stylewithgiantmachinery,andthentoprecisionagriculture.Withthe

increaseof

population,we

are

running

out

ofnaturalresources.Atthesametime,theenvironment

deterioratesterribly.Precisionagricultureandprecisionforestry

are

the

best

solutionto

theseproblems.Formorethan20years,precisionagriculturehasbeenstudiedallover

theworldandhasbrought

us

manypositiveresults,indicatingbenefitfuture.Inthispaper,

therecentdevelopmentofprecisionagriculture,especially,theVRTandprecisionchemicalapplication,WaSdiscussed.

Inordertominimizetheherbicidedosageanddropletdrift,adirectherbicide

deliveringmethodwasfirstlysuggestedinthisresearch.Herbicidewasmoppedontotheweedssurface,aftertheweedswerecut.Chemicalexperimentsbothinfieldandin

greenhouseshowedthat

about90%herbicidecouldbesavedusingthismethod.Ifthe

spatialdistributionwasconsideredinfield.around96.4%herbicidecouldbesaved.

Anautonomousrobotfor

weed

controlwasdevelopedinthisresearch,which

consistedof

digitalcamera,acomputer,aroboticarm,awalkingsystem,a

chemical

deliveringsystem,arobotbodyandetc.Afterweedswereidentifiedinthefieldbythe

machinevisionsystem,theroboticarmcouldreach

out,cut

weedsandmopchemical

onto

their

cut

surfaces.

robot

end—effector

with

high

efficiencyand

stabilitywas

developed.ne

end.effectorcuttheweedsand

moppedchemical

onto

thecutsurface.

Experimentsshowedthattheimageprocessingandrobot—controllingprogram

writteninVC++couldidentifyweedsfromfieldbackgroundcorrectlyandcontrolthe

robotic

alTn

precisely.Machine

vision

andimageprocessingtechniques

havewideapplicationsinindustry,

as

wetl

as

inagriculture.Theauthordeveloped

smartpestieidespraysystemfortrees

based

on

machinevisionandfuzzycontr01.After

treecanopyandthedistance

between

thetreeandthenozzlesweremeasuredandintegrated,thetreesizecouldbe

judged

by

fuzzyreasoninganddecision—making.n圯systemcouldapplypesticideaccording

to

differenttreesizeswithdifferentnozzlesandwithvariableflowrateandnozzlespraying

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