摘要
针对温室人工施药效率不足,且容易中毒的现状,设计开发了温室轨道施药机器人系统。结合探测、限位传感器输入信号及输出执行元件的特点,系统采用三菱PLC作为控制核心,控制移动搭载平台、电机、电磁阀及药液泵等各个部分,通过探测传感器定位作物行,调控PWM波占空比实施变量施药作业,从而实现温室自动化精准施药。实验结果表明:机器人定位准确率高,喷头流量与PWM占空比呈正相关,随着施药距离的增加,药液沉积量呈递减趋势;系统操作简单,自动化程度高,可以有效提高温室施药工作效率和农药利用率。
Aim to improve the efficiency of greenhouse spraying,and reduce the risk of staff poisoning,this paper designed and developed a greenhouse track spraying robot system. Combined with detection,limit sensor input signal and output actuator characteristics,system uses PLC as the control core Mitsubishi,control the movement of each platform,with motor and electromagnetic valve,liquid pump and other parts,through the detection of sensor location of crop rows,the regulation of the PWM duty cycle implementation of variable spraying,so as to realize the automation of precision pesticide application in greenhouse. The experimental results show that,the robot positioning accuracy rate is high,the nozzle flow and PWM duty ratio were positively correlated with the increase of distance,pesticide,liquid deposition showed a decreasing trend. The system has the advantages of simple operation,high automation degree,and can effectively improve the work efficiency and greenhouse spraying pesticide utilization rate.
出处
《农机化研究》
北大核心
2016年第1期109-112 118,共5页
Journal of Agricultural Mechanization Research
基金
国家"863计划"项目(2013AA102406)
果类蔬菜产业体系北京市创新团队项目(2012-2014)
