Research On Automatic Variable-Distance Precision Spraying And The Path Navigation Implementation Method In Orchard

The proposal of precision agriculture has also put forward increasing requirements for the accuracy of the drug garden’s medication technology and the intelligent level of medication machinery.At present,Chinese orchards are used manually to operate spray operations manually.The pesticide utilization rate is low,which also causes serious pollution to the environment while causing pesticides.The tractor carries the medicine box to take medicine,which not only wastes manpower,but also affects the physical health of the medicinal staff.In response to the above problems,this article studies the automatic variable-distance accurate drug application system.It can adjust the spray volume and spray distance according to the characteristics of the crown characteristics of the fruit tree to ensure the scope of the spray The intelligent level of machinery,this article uses the application of orchard as the starting point,and studies the path implementation method of path navigation in the simulation environment,laying the foundation for the study of the path navigation of the drug park in the future.The main research content and results are as follows:(1)Based on the investigation and analysis of the actual planting situation in the orchard,a spraying arm with adjustable nozzle position in horizontal and vertical directions was designed and produced.Before application,the control system can adjust the vertical height of the nozzle so that the nozzle is in a suitable position relative to the canopy;during application,the control system can adjust the horizontal position of the nozzle so that the spraying distance can be adjusted to the best to ensure the maximum coverage of the canopy.In order to test the performance of the spraying arm,the response time and movement of the arm after the controller issued motion control commands were tested;the results showed that the arm could move accurately and in real time according to the set speed,and the feedback to the control commands was rapid.(2)In order to improve the utilization rate of pesticides,this paper designs an automatic variable distance precision application system based on canopy volume estimation of fruit trees.In order to be able to detect the canopy,an infrared sensor array is designed,and after establishing a canopy segmentation model,the data measured by the sensor array are used to construct a canopy volume estimation model by mathematical methods,and the accuracy test of the canopy volume estimation model shows that the error rate of the estimated volume of the model is 11.27%;and the spray parameter adjustment is designed according to the estimated canopy volume and the distance measured by the sensor The spraying parameters were adjusted according to the estimated canopy volume and the distance measured by the sensor to adjust the spraying volume and distance in real time.In order to verify the performance of the automatic variable range precision application system,two sets of target application tests were conducted with fixed range and variable range,and the test results showed that the variable range target application with the automatic variable range precision application system increased the pesticide adhesion rate by 18.66%and saved 30.25%of the liquid compared with the fixed range target application.(3)In order to improve the intelligence of orchard application machinery,this paper takes the actual application in orchards as the starting point and investigates the path navigation implementation method in a simulation environment to prepare for future research on path navigation of orchard application vehicles.Firstly,the laser SLAM(Simultaneous Localization and Mapping)mapping algorithm was analyzed and compared,and the Gmapping algorithm was determined to be used for orchard mapping;then the global path planning algorithm and local path planning algorithm in navigation implementation were studied,and the global path planning algorithm A*algorithm was improved to Finally,a navigation test experiment was conducted in the simulation environment,and the results showed that the Gmapping algorithm can accurately build a two-dimensional raster map,and after setting the destination on the map,the global path planning algorithm can accurately plan the driving path,and the navigation robot can accurately reach the destination along the path;the local path planning algorithm can timely avoid The local path planning algorithm can avoid obstacles on the path and re-plan the path to achieve obstacle avoidance,which proves the effectiveness of the path navigation method and lays the foundation for the path navigation of the application vehicle in the actual orchard environment.