The Study On Experimental Ultrosonic Orientation And Variable-rate Spraying For The Spraying Robot

In order to reduce the pesticide waste and deficient spraying during the spraying process, this article set up the ultrasonic system to measure the safe distance before the spraying robot walking into the spraying field. The response time was obtained by making the variable-rate spraying experiments, the spraying capabilities were also studied.The variable-rate spraying system was rebuilt based on the integration of AS-RF robot, SCS450 variable-rate spraying control system, ultrasonic sensors and so on. The functions of the hardware and software were explained in details. The ultrasonic system was built with VC++ software to make sure the orientation of the spraying robot in the spraying field and reduce the pesticide waste and deficient spraying. In order to accomplish this goal, the solution which was brought forward in this article was to set up the safety distance. When the spraying robot walked into the safety distance, the command was given to the spraying system, at the same time the robot began to spray. There was the response time for the spraying system and need to be obtained through variable-rate spraying experiments.To make sure the integration and obtain the precision and scope of the ultrasonic, the ultrasonic sensors need to be demarcated including the distance and angle. Through making experiments, the precision was 10% and scope was between 40cm and 650 cm. The ultrasonic system was built then. The safe distance could be obtained by setting up the spraying robot speed and the response time of the spraying system. The orientation experiments were made and the orientation precision was got. The orientation precision was about 12.02%, finally.The variable-rate spraying experimentswas carried out in order to get the response time of the spraying system. During the experiments, the signals were given to the spraying system and there were two changes during the experiment. The response capability can be described by comparing and analyzing the difference between input and output singles. The results showed that: there were 3 seconds lag for the spraying system when the flow value changed from 0 to 12L/h and from 12L/h to 16 L/h. It illuminated that the spring system had 3 seconds response time and this value can be used when setting up the safety distance. The results also showed that: the instant flow error was about 29.41%, and the total flow error was 10.59%.