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1.
目前,国内外应用于草坪绿化的割草机器人技术不断向智能化、高效化方向发展。为此,从对休闲园林割草机器人的产品设计开发及优化角度出发,通过确定割草机器人的整体结构布局和关键控制装置(包括软件及硬件组成)等,对识别、传递、通讯、执行、反馈等环节提出相适应的设计功能要求和性能参数方案。同时,结合电子计算机多项智能控制算法、驱动程序及割草机器人功能部件选型,实现休闲园林割草机器人的整机设计,并通过性能试验进行验证。结果表明:测试结果与期望性能吻合较好,具有一定的可实施性和推广性,对休闲园林割草机器人的进一步发展和性能优化控制具有参考价值,可为相关学者进行割草机器人设计和改进提供一定的借鉴。 相似文献
2.
随着我国科学技术的不断发展,传统工业机器人已经逐步向地面运输、航空及核环境探测、医疗服务、教育娱乐、救灾救援等人类无法作业的特种机器人发展。与传统的、仅适合在固定环境下作业的工业机器人相比,现在的机器人已经朝具有功能多样化、运动环境复杂、智能化程度高、人机交互性强等特点的趋势发展。本文主要介绍了国内外机器人的发展现状,分析了现阶段的机器人技术基础,并对未来机器人发展提出了建议。 相似文献
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随着工业数字化、信息化进程的推进,工业机器人的使用越来越广泛,不但可以提高数控生产设备的实际效率,还可以显著改善生产企业的总体效率,增加经济效益。基于此,笔者从工业机器人的研究背景出发,对工业机器人GSK的特点进行了简单分析,同时阐述了GSK机器人的功能、980T数控系统车床的工作单元以及自动上下料系统中机器人的工作流程,并从车削技术、拓展功能、通信功能、运动轨迹设计的角度研究了工业机器人的具体应用过程,以期助推机械智能化发展,助力我国制造业的可持续发展,为科研人员提供有价值的参考意见。 相似文献
4.
为了提高果蔬采摘机器人的避障和路径规划能力,实现机器人智能化和轻量化的设计,将嵌入式系统引入到果蔬采摘机器人的控制系统中,并利用EDA技术对控制系统进行了封装,植入了机器人路径规划的遗传算法。对果蔬采摘机器人的机械手进行了改进,通过机械手结构设计实现了采摘机器人执行末端的避障功能,利用遗传算法智能控制设计实现了复杂环境中的路径搜索功能。对果蔬采摘机器人的性能进行了测试,结果表明:障碍物识别率高达99%以上,路径规划的准确率也在95%以上,满足智能化采摘机器人的设计需求,为现代化采摘机器人的设计提供了较有价值的参考。 相似文献
5.
为了提高采摘机器人的设计效率,基于现代机械设计方法,将UG动画仿真软件引入到了采摘机器人的设计过程中,并采用参数化建模和虚拟现实技术,对采摘机器人样机进行性能测试和优化,有效提高了机器人的设计效率和设计质量。使用UG工程软件对采摘机器人进行了参数化建模,得到了采摘机器人装配体的各部分零件模型;然后利用虚拟现实装配技术,通过参数设置,对机器人的性能进行了仿真,实现了机器人的果实抓取、关节转动和移动等一系列的功能,从而验证了采摘机器人结构设计的可行性,为采摘机器人的结构设计和优化提供了基本依据。 相似文献
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7.
随着科技的进步，各行业都向着自动化、智能化的方向发展。行道树自动养护机器人的设计是为了解决前几代产品自动化、智能化程度较低，携带困难等问题。结合行道树自动养护机器人功能特点，主要采用建模法、类比法、调试法等方法进行研究。行道树自动养护机器人设计主要以功能特点、工作原理及设计内容为核心，其设计内容主要包括底盘设计、机械爪与机械臂结构设计、单片机的选择、驱动系统设计、舵机模块系统设计等，并兼顾行道树自动养护机机器人的技术特点，全面对其工作原理和研究内容作了详实的阐述。 相似文献
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在采摘机器人的设计时,为了提高其动力学设计的效果,将VR技术引入到了设计过程中,采用计算机软件创设虚拟环境,支持对采摘机器人动力学进行仿真,并具有数字化展示功能,可以更好的将产品的初步设计展示给设计者和客户,使产品具有更好的整体性和协调性。为了验证方法的可靠性,以采摘机器人底座的设计为例,对其设计效果以及设计耗时进行了测试。测试结果表明:采用VR技术可以成功的实现采摘机器人动力学设计,且仿真设计的周期较短,效率更高,还能获得更高的用户满意度,对于采摘机器人产品的可视化设计的研究具有重要的意义。 相似文献
10.
智能采摘机器人广泛应用于农业生产中,其协同作用直接影响采摘效率。为了提高智能拣选机器人的生产效率,在采摘机器人的设计和制造中引入了FDM技术。为提高智能采摘机器人的生产设计水平,设计出一种基于多媒体武术教学系统的开放式、协同化、智能化的采摘机器人机械部件设计控制平台。基于FDM和WEB的智能远程协作技术,采用远程多媒体技术,实现远程CAD制造和零件制造的功能。以采摘机器人的机械臂和快速制造为实验对象,对其研发周期和返工数量进行检测,结果表明:采摘机器人机械部件返工率降低,设计研发周期明显缩短,可为采摘机器人的设计及加工提供参考。 相似文献
11.
B. Rivera-Hernández J.J. Obrador-Olán L.A. Aceves-Navarro 《Agricultural Water Management》2010,97(9):1365-5774
In Mexico, corn production, part of which is sweet corn, is mainly destined for human consumption. In the present work, the morphological quality of sweet corn ears was assessed in response to four levels of soil moisture tension indicating irrigation start (−5, −30, −55, and −80 kPa) and three levels of phosphate fertilization (60, 80 and 100 kg ha−1) in carstic soils in the south-east of Mexico. A factorial experimental design with three replicates was used. The following variables were determined: fresh weight (SCFWh), dry weight (SCDWh), diameter (SCDh), and length (SCLh) of sweet corn ears, all without husk, as well as number of kernels (NKxE), number of unfilled kernels (NUK), number of rows (NRxE), and dry kernel weight per ear (DKW). Yield of fresh (YFSCh) and dry (YDSCh) sweet corn ears, both without husk, and the harvest index (HI) were also determined. HI did not show significant statistical differences among irrigation or fertilization treatments. Regarding the other variables, the effect of the more humid treatments (−5 and −30 kPa) and the effect of the higher phosphorus doses (80 and 100 kg ha−1) were statistically equal (P ≤ 0.01) with the lowest NUK and the highest values of all other variables; therefore, irrigation start at soil moisture tension of −30 kPa and phosphate fertilization application of 80 kg ha−1 are recommended. At this level of soil moisture, the mean values over the three fertilization levels and all the replicates, obtained for SCFWh, SCDh, SCLh and NKxE were 198.5 g, 4.39 cm, 26.72 cm and 467 grains, respectively. According to the regression models, moisture tensions from −11.8 to −24.0 kPa, and phosphate fertilization doses from 87.7 to 102.2 kg ha−1 minimize NUK and maximize the values of the rest of the variables. The highest irrigation water use efficiency was found in the moisture tension treatment of −30 kPa with an increase of 27 kg ha−1 ears for each millimeter of applied irrigation water. 相似文献
12.
Optimal coupling combinations between irrigation frequency and rate for drip-irrigated maize grown on sandy soil 总被引：1，自引：0，他引：1
This study was conducted over 2 years (2007 and 2008) to establish the optimal combinations between irrigation frequency and rate for drip-irrigated maize using water production functions and water use-yield relationships. A field experiment was conducted using a randomized complete block split plot design with four irrigation frequencies (F1, F2, F3 and F4, irrigation events once every 1, 2, 3 or 4 days, respectively) and three drip irrigation rates (I1: 1.00, I2: 0.80, and I3: 0.60 of the estimated evapotranspiration, ET) as the main and split plots, respectively. Our results show that yield variables and water use efficiencies (WUEs) increased with increasing irrigation frequency and rate, with non-significant differences between F1 and F2 in yield variables and between I1 and I2 in WUEs. Moreover, the combination between various irrigation frequencies and rates had an important effect on yield variables and WUEs, with the highest values being found for F1I2 and F2I1 and the lowest for F3I3 and F4I3. The F1I3 treatment had grain yield and yield components values similar to those obtained for the F3I2 and F4I1 treatments and WUEs values similar to those obtained for the F2I1 and F2I2 treatments. Seasonal yield response factors (ky) were 1.81 and 1.86 in 2007 and 2008, respectively. Production functions of yield versus seasonal crop ET were linear for all combinations of irrigation frequency and rate and for all irrigation frequency treatments with the exception of the F1 treatment, which instead showed a second order relationship. The relationship between WUE and grain yield was best represented by a power equation. In conclusion, we identified the optimal coupling combinations between irrigation frequency and water application rate to achieve the maximum yield and WUEs under either sufficient (F2I1) or limited irrigation (F1I3) water supplies. 相似文献
13.
Increasing water productivity of irrigated crops under limited water supply at field scale 总被引：1，自引：0，他引：1
Borkhar district is located in an arid to semi-arid region in Iran and regularly faces widespread drought. Given current water scarcity, the limited available water should be used as efficient and productive as possible. To explore on-farm strategies which result in higher economic gains and water productivity (WP), a physically based agrohydrological model, Soil Water Atmosphere Plant (SWAP), was calibrated and validated using intensive measured data at eight selected farmer fields (wheat, fodder maize, sunflower and sugar beet) in the Borkhar district, Iran during the agricultural year 2004-2005. The WP values for the main crops were computed using the SWAP simulated water balance components, i.e. transpiration T, evapotranspiration ET, irrigation I, and the marketable yield YM in terms in terms of YMT−1, YM ET−1 and YM I−1.The average WP, expressed as $ T−1 (US $ m−3) was 0.19 for wheat, 0.5 for fodder maize, 0.06 for sunflower and 0.38 for sugar beet. This indicated that fodder maize provides the highest economic benefit in the Borkhar irrigation district. Soil evaporation caused the average WP values, expressed as YM ET−1 (kg m−3), to be significantly lower than the average WP, expressed as YMT−1, i.e. about 27% for wheat, 11% for fodder maize, 12% for sunflower and 0.18 for sugar beet. Furthermore, due to percolation from root zone and stored moisture content in the root zone, the average WP values, expressed as YMI−1 (kg m−3), had a 24-42% reduction as compared with WP, expressed as YM ET−1.The results indicated that during the limited water supply period, on-farm strategies like deficit irrigation scheduling and reduction of the cultivated area can result in higher economic gains. Improved irrigation practices in terms of irrigation timing and amount, increased WP in terms of YMI−1 (kg m−3) by a factor of 1.5 for wheat and maize, 1.3 for sunflower and 1.1 for sugar beet. Under water shortage conditions, reduction of the cultivated area yielded higher water productivity values as compared to deficit irrigation. 相似文献
14.
Grapevines are extensively grown in the semiarid and arid regions, but little information is available on the variability of energy partitioning and resistance parameters for the vineyard. To address this question, an eddy covariance system was applied to measure energy balance over a vineyard in northwest China during 2005-2006. Result indicated that 2-year average Bowen ratio (β) of vineyard was 1.0, canopy resistance (rc) 289.3 s m−1, aerodynamic resistance (ra) 9.7 s m−1 and climatological resistance (ri) 117 s m−1. This implied that the annual energy was split almost equally between sensible heat and latent heat. Compared to the corresponding values in other ecosystems reported by Wilson et al. [Wilson, K.B., Baldocchi, D.D., Aubinet, M., Berbigier, P., Bernhofer, C., Dolman, H., Falge, E., Field, C., Goldstein, A., Granier, A., Grelle, A., Halldor, T., Hollinger, D., Katul, G., Law, B.E., Lindroth, A., Meyers, T., Moncrieff, J., Monson, R., Oechel, W., Tenhunen, J., Valentini, R., Verma, S., Vesala, T., Wofsy, S., 2002. Energy partitioning between latent and sensible heat flux during the warm season at FLUXNET sites. Water Resource Research 38, 1294-1305.], the vineyard had a higher β, rc and ri than deciduous forests, corn and soybean, and grassland. Such difference was mainly attributed to (1) serious water stress in 2005, which resulted in a greater rc up to 364.4 s m−1; (2) sparse canopy with row spacing of 2.9 m and plant spacing of 1.8 m; (3) warm-dry climate and high attitude (1581 m) along with higher ri and lower psychrometer (54 Pa K−1) in the arid region of northwest China. These characters of vineyard revealed varying process of energy partitioning and surface resistance, and provided a scientific basis in understanding and modeling water and energy balance for the vineyard in the semiarid and arid regions. 相似文献
15.
Irrigation rate and plant density effects on yield and water use efficiency of drip-irrigated corn 总被引：3，自引：0，他引：3
Salah E. El-Hendawy Essam A. Abd El-Lattief Mohamed S. Ahmed Urs Schmidhalter 《Agricultural Water Management》2008,95(7):836-844
The efficient use of water by modern irrigation systems is becoming increasingly important in arid and semi-arid regions with limited water resources. This study was conducted for 2 years (2005 and 2006) to establish optimal irrigation rates and plant population densities for corn (Zea mays L.) in sandy soils using drip irrigation system. The study aimed at achieving high yield and efficient irrigation water use (IWUE) simultaneously. A field experiment was conducted using a randomized complete block split plot design with three drip irrigation rates (I1: 1.00, I2: 0.80, and I3: 0.60 of the estimated evapotranspiration), and three plant population densities (D1: 48,000, D2: 71,000 and D3: 95,000 plants ha−1) as the main plot and split plot, respectively. Irrigation water applied at I1, I2 and I3 were 5955, 4762 and 3572 m3 ha−1, respectively. A 3-day irrigation interval and three-way cross 310 hybrid corn were used. Results indicated that corn yield, yield components, and IWUE increased with increasing irrigation rates and decreasing plant population densities. Significant interaction effects between irrigation rate and plant population density were detected in both seasons for yield, selected yield components, and IWUE. The highest grain yield, yield components, and IWUE were found for I1D1, I1D2, or I2D1, while the lowest were found for I3D2 or I3D3. Thus, a high irrigation rate with low or medium plant population densities or a medium irrigation rate with a low plant population density are recommended for drip-irrigated corn in sandy soil. Crop production functions with respect to irrigation rates, determined for grain yield and different yield components, enable the results from this study to be extrapolated to similar agro-climatic conditions. 相似文献
16.
Expected yield losses as a function of quality and quantity of water applied for irrigation are required to formulate guidelines for the effective utilisation of marginal quality waters. In an experiment conducted during 2004-2006, double-line source sprinklers were used to determine the separate and interactive effects of saline and alkali irrigation waters on wheat (Triticum aestivum L.). The study included three water qualities: groundwater (GW; electrical conductivity of water, ECw 3.5 dS m−1; sodium adsorption ratio, SAR 9.8 mmol L−1; residual sodium carbonate, RSC, nil) available at the site, and two synthesized waters, saline (SW; ECw 9.4 dS m−1, SAR 10.3 mmol L−1; RSC nil) and alkali (AW; ECw 3.7 dS m−1, SAR 15.1 mmol L−1; RSC 9.6 meq. L−1). The depths of applied SW, AW, and GW per irrigation ranged from 0.7 to 3.5 cm; the depths of applied mixtures of GW with either SW (MSW) or AW (MAW) ranged from 3.2 to 5 cm. Thereby, the water applied for post-plant irrigations using either of GW, SW or AW ranged between 15.2 and 34.6 cm and 17.1 and 48.1 cm during 2004-2005 and 2005-2006, respectively and the range was 32.1-37.0 and 53.1-60.0 cm for MSW or MAW. Grain yields, when averaged for two years, ranged between 3.08 and 4.36 Mg ha−1, 2.57 and 3.70 Mg ha−1 and 2.73 and 3.74 Mg ha−1 with various quantities of water applied using GW, SW and AW, respectively, and between 3.47 and 3.75 Mg ha−1 and 3.63 and 3.77 Mg ha−1 for MSW and MAW, respectively. The water production functions developed for the two sets of water quality treatments could be represented as: RY = 0.528 + 0.843(WA/OPE) − 0.359(WA/OPE)2 − 0.027ECw + 0.44 × 10−2(WA/OPE) × ECw for SW (R2 = 0.63); RY = 0.446 + 0.816(OPE/WA) − 0.326(WA/OPE)2 − 0.0124RSC − 0.55 × 10−4(WA/OPE) × RSC for AW (R2 = 0.56). Here, RY, WA and OPE are the relative yields in reference to the maximum yield obtained with GW, water applied for pre- and post-plant irrigations (cm), and open pan evaporation, respectively. Crop yield increased with increasing amount of applied water for all of the irrigation waters but the maximum yields as obtained with GW, could not be attained even with increased quantities of SW and AW. Increased frequency of irrigation with sprinklers reduced the rate of yield decline with increasing salinity in irrigation water. The sodium contents of plants increased with salinity/alkalinity of sprinkled waters as also with their quantities. Simultaneous decrease in potassium contents resulted in remarkable increase in Na:K ratio. 相似文献
17.
Grass reference evapotranspiration (ETo) is an important agrometeorological parameter for climatological and hydrological studies, as well as for irrigation planning and management. There are several methods to estimate ETo, but their performance in different environments is diverse, since all of them have some empirical background. The FAO Penman-Monteith (FAO PM) method has been considered as a universal standard to estimate ETo for more than a decade. This method considers many parameters related to the evapotranspiration process; net radiation (Rn), air temperature (T), vapor pressure deficit (Δe), and wind speed (U); and has presented very good results when compared to data from lysimeters populated with short grass or alfalfa. In some conditions, the use of the FAO PM method is restricted by the lack of input variables. In these cases, when data are missing, the option is to calculate ETo by the FAO PM method using estimated input variables, as recommended by FAO Irrigation and Drainage Paper 56. Based on that, the objective of this study was to evaluate the performance of the FAO PM method to estimate ETo when Rn, Δe, and U data are missing, in Southern Ontario, Canada. Other alternative methods were also tested for the region: Priestley-Taylor, Hargreaves, and Thornthwaite. Data from 12 locations across Southern Ontario, Canada, were used to compare ETo estimated by the FAO PM method with a complete data set and with missing data. The alternative ETo equations were also tested and calibrated for each location. When relative humidity (RH) and U data were missing, the FAO PM method was still a very good option for estimating ETo for Southern Ontario, with RMSE smaller than 0.53 mm day−1. For these cases, U data were replaced by the normal values for the region and Δe was estimated from temperature data. The Priestley-Taylor method was also a good option for estimating ETo when U and Δe data were missing, mainly when calibrated locally (RMSE = 0.40 mm day−1). When Rn was missing, the FAO PM method was not good enough for estimating ETo, with RMSE increasing to 0.79 mm day−1. When only T data were available, adjusted Hargreaves and modified Thornthwaite methods were better options to estimate ETo than the FAO PM method, since RMSEs from these methods, respectively 0.79 and 0.83 mm day−1, were significantly smaller than that obtained by FAO PM (RMSE = 1.12 mm day−1). 相似文献
18.
Simulation of transpiration, drainage, N uptake, nitrate leaching, and N uptake concentration in tomato grown in open substrate 总被引：3，自引：0，他引：3
M. Gallardo J.S. Rodríguez M.D. Fernández J.J. Magán 《Agricultural Water Management》2009,96(12):1773-1784
Free-drainage or “open” substrate system used for vegetable production in greenhouses is associated with appreciable NO3− leaching losses and drainage volumes. Simulation models of crop N uptake, N leaching, water use and drainage of crops in these systems will be useful for crop and water resource management, and environmental assessment. This work (i) modified the TOMGRO model to simulate N uptake for tomato grown in greenhouses in SE Spain, (ii) modified the PrHo model to simulate transpiration of tomato grown in substrate and (iii) developed an aggregated model combining TOMGRO and PrHo to calculate N uptake concentrations and drainage NO3− concentration. The component models simulate NO3−-N leached by subtracting simulated N uptake from measured applied N, and drainage by subtracting simulated transpiration from measured irrigation. Three tomato crops grown sequentially in free-draining rock wool in a plastic greenhouse were used for calibration and validation. Measured daily transpiration was determined by the water balance method from daily measurements of irrigation and drainage. Measured N uptake was determined by N balance, using data of volumes and of concentrations of NO3− and NH4+ in applied nutrient solution and drainage. Accuracy of the two modified component models and aggregated model was assessed by comparing simulated to measured values using linear regression analysis, comparison of slope and intercept values of regression equations, and root mean squared error (RMSE) values. For the three crops, the modified TOMGRO provided accurate simulations of cumulative crop N uptake, (RMSE = 6.4, 1.9 and 2.6% of total N uptake) and NO3−-N leached (RMSE = 11.0, 10.3, and 6.1% of total NO3−-N leached). The modified PrHo provided accurate simulation of cumulative transpiration (RMSE = 4.3, 1.7 and 2.4% of total transpiration) and cumulative drainage (RMSE = 13.8, 6.9, 7.4% of total drainage). For the four cumulative parameters, slopes and intercepts of the linear regressions were mostly not statistically significant (P < 0.05) from one and zero, respectively, and coefficient of determination (r2) values were 0.96-0.98. Simulated values of total drainage volumes for the three crops were +21, +1 and −13% of measured total drainage volumes. The aggregated TOMGRO-PrHo model generally provided accurate simulation of crop N uptake concentration after 30-40 days of transplanting, with an average RMSE of approximately 2 mmol L−1. Simulated values of average NO3− concentration in drainage, obtained with the aggregated model, were −7, +18 and +31% of measured values. 相似文献
19.
R.B. Thompson C. Martínez-Gaitan M. Gallardo C. Giménez M.D. Fernández 《Agricultural Water Management》2007
Considerable NO3− contamination of underlying aquifers is associated with greenhouse-based vegetable production in south-eastern Spain, where 80% of cropping occurs in soil. To identify management factors likely to contribute to NO3− leaching from soil-based cropping, a survey of irrigation and N management practices was conducted in 53 commercial greenhouses. For each greenhouse: (i) a questionnaire of general irrigation and N management practices was completed, (ii) amounts of N applied in manure were estimated; and for one crop in each greenhouse: (a) irrigation volume was compared with ETc calculated using a mathematical model and (b) total amount of applied fertiliser N was compared with crop N uptake. Total irrigation during the first 6 weeks after transplanting/sowing was generally excessive, being >150 and >200% of modelled ETc in, respectively, 68 and 60% of greenhouses. During the subsequent period, applied irrigation was generally similar to modelled ETc, with only 12% of greenhouses applying >150% of modelled ETc. Large irrigations prior to transplanting/sowing were applied in 92% of greenhouses to leach salts and moisten soil. Volumes applied were >20 and >40 mm in, respectively, 69 and 42% of greenhouses. Chemical soil disinfectants had been recently applied in 43% of greenhouses; associated irrigation volumes were >20 and >40 mm in, respectively, 78 and 48% of greenhouses conducting disinfection. Nitrogen and irrigation management were generally based on experience, with very little use of soil or plant analysis. Large manure applications were made at greenhouse construction in 98% of greenhouse, average manure and N application rates were, respectively, 432 m3 ha−1 and 3046 kg N ha−1. Periodic manure applications were made in 68% of greenhouses, average application rates for farmyard and pelleted manures were, respectively, 157 and 13 m3 ha−1 (in 55 and 13% of greenhouses); the average N rate was 947 kg N ha−1. Manure N was not considered in N fertiliser programs in 74% of greenhouses. On average, 75% of fertiliser N was applied as NO3−. Applied fertiliser N was >1.5 and >2 times crop N uptake in, respectively, 42 and 21% of crops surveyed. The survey identified various management practices likely to contribute to NO3− leaching loss. Large manure applications and experiential mineral N management practices, based on NO3− application, are likely to cause accumulation of soil NO3−. Drainage associated with: (i) the combined effect of large irrigations immediately prior to and excessive irrigations for several weeks following transplanting/sowing and (ii) large irrigations for salt leaching and soil disinfection, is likely to leach accumulated NO3− from the root zone. This study demonstrated that surveys can be very useful diagnostic tools for identifying crop management practices, on commercial farms, that are likely to contribute to appreciable NO3− leaching. 相似文献
20.
In this paper, we discuss the effect of elevated CO2 concentration, irrigation and nitrogenous fertilizer application on the growth and yield of spring wheat in semi-arid areas. A field experiment was conducted at the Dingxi Agricultural Experiment Station during 2000–2002. According to the experimental design, the CO2 concentration increased to 14.5, 40 and 54.5 μmol mol−1, respectively, by NH4HCO3 (involving CO2) application, direct application of CO2 gas and combination of fertilizer NH4HCO3 plus CO2 application, which are equal to CO2 concentration of the Earth's atmosphere in the next 5, 15 and 20 years. The fertilizer application was divided into three levels: application of NH3NO3 (250 kg h m−2), NH4HCO3 (500 kg h m−2) and no fertilizer. Irrigation was divided into two levels: with 90 mm irrigation in the growth period and without irrigation. They can be combined as eight treatments. Each treatment was replicated three times. The results showed that elevated CO2 concentration owing to CO2 application leads to remarkable increase in leaf area index (LAI) and shoot biomass, and also generates the higher value of leaf area duration (LAD) that can benefit the photosynthesis in the growth stage and yield increase in crop compared than the no CO2 application treatment. When CO2 concentration elevated by 14.5, 40 and 54.5 μmol mol−1 with irrigation and fertilization, correspondingly, the grain yield increased by 6.3, 13.1 and 19.8%, respectively, whereas without irrigation and fertilization, the grain yield increased by only 4.2% when CO2 concentration increased to 40 μmol mol−1. Meanwhile, irrigation and fertilization can result in larger and deeper root system and have significantly positive influences on higher value of root/shoot (R/S) and water use efficiency. The grain yields in irrigation, irrigation plus NH3NO3 application and irrigation plus application of NH4HCO3 treatments are 73.4, 148.0 and 163.6% higher than that of no-irrigated and no-fertilized treatment, suggesting that both irrigation and fertilizer application contribute to remarkable increase of crop yield. In all treatments, the highest water use efficiency (WUE, 7.24 kg h m−2 mm−1) and grain yield (3286 kg h m−2) consistently occurred in the treatment with 90 mm irrigation plus fertilizer NH4HCO3 and elevated CO2 concentration (54.5 μmol mol−1), suggesting that this combination has an integrated beneficial effect on improving WUE and grain yield of spring wheat. These results may offer help to maintain and increase the crop yields in semi-arid areas. 相似文献