Design And Experiment Of Automatic Target Spray Control System Used In Self Propelled Sprayer

The target spray technology is an important part of the fruit tree pest control and precision applyi ng pesti cide,is of great significance and prac tical value to developm ent suited of China’s national conditi ons of sustainabl e agricul ture.C ombi ning with t he target of spray and self-propelled spraye r,designed t he targe t the spray control system of the self-propel led of target sprayer and the perform ance test of the control syst em was carried out. At the same time the test and analys is of influence on the fruit tree canopy droplet s deposition wi th the self-prope lled of target sprayer.This could solve the more precise sprayi ng to fruit trees,a lso provi de a refere nce for orchard precis ion appl yi ng pesticide resea rch.The main res earc h content of t his articl e is as follows:1.By s tudyi ng the research st atus of dom estic and overseas, formulated the overall plan of the target spray control s ys tem of self-propel led target sprayer.Based on accor ding to the speed to dyn amically adjust t he sampling frequency by single chip microcomputer control ler to rea lizat ion of three consecutive sampling method for identifying targets and the algorithm of interference signal fil tering,using solenoid valve to control the spray opening and cl osing,combining with technology of target based on laser sensor.2.Designed the hyd raulic circuit and hardware ci rcuit and software program of the control system of self-propel led t arge t spraye r.In this paper,selecti on of main component s of the hydraulic circuit.And using STC12C5A60S2 as the core to designed the connection of single chip processor module, signal detection module,matrix key module,liquid crystal display m odule,alarm indicator module and seri al interface communication module. Ba sed on the C language to write the handler and target discrimination algor ithm,including the proces sing of the main program, the target sampli ng, detection and alarm indication and matrix butt on subroutine.3.Base d on l aser s ensor,we had carri ed on the test and res earch on perform ance of t arget parameters, Inc luding the establishment of sel f-prope ll ed target sprayer,andtarget identifi cation distance test of laser sensor.The t est showed t hat the target recognition spacing has nothing t o do with the horizont al dist ance between t he sensor and t he t arge t reco gnition spa cing, but i nfluence d by speed.W hen t he speed of 0.5 m/s,dyna mic identification minim um spacing between 100 ~ 150 mm;w hen the speed of 1m/s, dynamic identification minimum spacing between 200 ~ 250 mm.And the system’s abili ty to ident ify target minimum distance decreased with the increasing of spray m achine s peed.4.Due to the lag of spray with target will affect the fruit t ree canopy droplets coverage.Therefore we des igned t wo kinds of different ways to overcome the lag spray.Keep spray machine work under 0.5 m/s speed,test ed the droplet s on the canopy coverage, when used cont inuous spray,the droplets cover age rat e of 64.2%, when used two kinds of different target canopy s pray,the droplets are coverage rate of47.6%,52.8%.Experi ment showed that used the target spray, canopy dropl ets coverage has increased significant ly, at the same time under way Ⅲ, further improved the droplets coverage.So this arti cle used t he control m ethods of ahead of time to target and after leaving the target del ay a sam pling period to stop spray.5.In order to research on the infere nce of spray operating parameters of target sprayer on droplet deposition di stribution,four kinds of travel speed and planting distance,three kinds of sampling canopy, were set to testing droplet coverage in artifi cial t ree canopy, contra st ex perim ent was carr ied out with continuous spray method.R esulted showed t hat the influence of travel speed on the droplets deposition distribution i s obvi ous,when the speed was 0.5 m/s, droplets coverage on the canopy reached t he largest of 48%,the droplets distribution uniformi ty is best,the coefficient of variation is onl y 14.3%;when use t arget spray, make sure that t he plant ing dist ance is grea ter than the minimum target recognition of target sensor spacing, when planting distance of 1 m or less, the target sensor cannot acc urate ly identify targets, easy to cause t he mi stake;due to the delay of target response, may cause a delay spray distance, make the droplet s deposition on the canopy to present the char acteristics of left side low, middle and ri ght side high.So sl ow speed, sui tabl e plant ing distance and reducing the target res ponse delay time,were the effe ctive way to improve the spraydroplets uniformity of depos ition distribution in the canopy and enhanced droplets coverage.