共查询到20条相似文献，搜索用时 46 毫秒
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为了在丘陵山地果园施药过程中达到自动对靶、精确施药、提高农药的利用率、减少对环境污染的目的,利用多个超声波传感器有效组合,识别果树位置自动调整喷头高度及距离;转动机构能自动调整喷头喷洒方向,使喷头能更好地对准果树,提高农药喷洒效果;系统能根据有无果树实时控制喷头开闭,降低农药损耗.试验结果表明,在车速为0.3m/s的情况下,喷头离树的距离能较好地控制在0.25~0.75 m范围,并能根据果树高矮自动调节喷头高度;转动机构使喷头始终对准果树,使果树侧面农药覆盖率从10%提高到30%以上.该系统实现了喷头自动对靶功能,自动适应果树形态变化;喷头转动机构弥补了系统滞后及超声波传感器分辨率不高的缺点,提高了树冠侧面的喷洒效果. 相似文献
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A vision sensing system for the measurement of auto-guidance pass-to-pass and long-term errors was implemented to test the steering performance of tractors equipped with auto-guidance systems. The developed test system consisted of an optical machine vision sensor rigidly mounted on the rear of the tested tractor. The center of the drawbar hitch pin point was used as the reference from which to measure the deviation of the tractor's actual travel path from its desired path. The system was built and calibrated to a measurement accuracy of better than 2 mm. To evaluate the sensor, two auto-guidance systems equipped with RTK-level GNSS receivers were tested and the results for different travel speeds compared. Pass-to-pass and long-term errors were calculated using the relative positions of a reference at a collocated point when the tractor was operated in opposite directions within 15 min and more than 1 h apart, respectively. In addition to variations in speed, two different auto-guidance steering stabilization distances allowed for comparison of two different definitions of steady-state operation of the system. For the analysis, non-parametric cumulative distributions were generated to determine error values that corresponded to 95% of the cumulative distribution. Both auto-guidance systems provided 95% cumulative error estimates comparable to 51 mm (2 in.) claims and even smaller during Test A. Higher travel speeds (especially 5.0 m/s) significantly increased measured auto-guidance error, but no significant difference was observed between pass-to-pass and long-term error estimates. The vision sensor testing system could be used as a means to implement the auto-guidance test standard under development by the International Standard Organization (ISO). Third-party evaluation of auto-guidance performance will increase consumer awareness of the potential performance of products provided by a variety of vendors. 相似文献
4.
A. Melese Endalew C. Debaer J. Vercammen H. Ramon P. Verboven 《Computers and Electronics in Agriculture》2010,71(2):128-136
The current trend in modelling flow phenomena within trees such as in orchards follows the assumption of the space occupied by the trees as a porous and horizontally homogeneous medium to avoid the flow details associated with the individual plants. This being sufficient at a larger field or regional scale much has to be done at a plant scale to analyse the flow details within the plant and its elements especially for sensitive agricultural operations such as spraying. This article presents an integrated 3D computational fluid dynamics (CFD) model of airflow from a two-fan air-assisted cross-flow orchard sprayer through non-leafed orchard pear trees of 3 m average height. In this model the effect of the solid part of the canopy on airflow was modelled by directly introducing the actual 3D architecture of the canopy into the CFD model. The effect of small canopy parts, such as very short and thin branches and flowers that were not incorporated in the geometrical model, on airflow was simulated by introducing source-sink terms in the Reynolds averaged Navier-Stokes (RANS) momentum and k-? turbulence equations in a sub-domain created around the branches. This model was implemented in a CFD code of ANSYS-CFX-11.0 (ANSYS, Inc., Canonsburg, PA, USA). In this work it was possible to link the real 3D architecture of pear canopy into a CFD code of CFX. The model was able to capture the local effects of the canopy and its parts on wind and sprayer airflow directly by inserting the tree structure into the model which gave realistic results. The model showed that within the injection region of the sprayer there was an average reduction of the jet velocity by 1 m s−1 for a distance of 2.3 m from the sprayer outlet due to the presence of leafless pear canopy. This reduction was variable at different vertical positions due to the difference in the canopy density. Maximal effect of the canopy was observed in the middle height of the trees between 0.25 m and 2.5 m which is the denser region with a bunch of several branches. The maximum velocity difference observed between these two positions was 1.35 m s−1 at 1.75 m height. Thus, regions of high and low air velocity zones of the sprayer due to the variable branch density of the pear tree were predicted. The effects of wind speed and direction on the air jet from the sprayer were investigated using the model. For a cross- (direction of 90°) wind speed of 5 m s−1 there was about 2 m s−1 reduction in the sprayer jet velocity at the jet centre and 0.5 m horizontal shift of the jet centre towards the wind direction. Generally there was a decrease in the jet velocity with increasing cross-wind and decreasing wind direction with respect to the jet direction. 相似文献
5.
A new integrated CFD modelling approach towards air-assisted orchard spraying—Part II: Validation for different sprayer types 总被引：1，自引：0，他引：1
A. Melese Endalew C. Debaer J. Vercammen H. Ramon P. Verboven 《Computers and Electronics in Agriculture》2010,71(2):137-147
A computational fluid dynamics (CFD) model to simulate airflow from air-assisted orchard sprayers through pear canopies was validated for three different sprayers; single-fan (Condor V), two-fan (Duoprop) and four-fan sprayers (AirJet Quatt). The first two sprayers are widely used in Belgium and the latter one is a new design. Validation experiments were carried out in an experimental orchard (pcfruit, Velm, Belgium) in spring 2008. Ultrasonic anemometers were used to measure the time-averaged velocity components at different vertical positions before the tree and after the tree when the sprayers were driven through the orchard. The model was able to predict accurately the peak jet velocity, Um from all the sprayers considered at all distances from the sprayer centre and vertical positions. More than 95% of the local relative errors of Um were below 20%. Average relative errors, E, and root mean square errors, ERMS, were all less than 11.04% and 1.68 m s−1, respectively. The regions of high- (up to 18.0 m s−1 upstream) and low (down to 2.8 m s−1 downstream)-air velocity zones for all the sprayers were accurately predicted. The simulation results showed that the Condor V sprayer had a highly disturbed vertical jet velocity profile, especially at higher heights. The Duoprop sprayer had high jet velocities at the two-fan positions and lower jet velocity in between the two fans. Within the canopy height the AirJet Quatt sprayer showed a more uniform distribution of air than the other two sprayers except the minor peaks at the fan positions. These situations were all confirmed by the measurements. 相似文献
6.
Real-time technology was developed and tested to variably apply fungicides on the plant surface of cereals. An important step
towards variable-rate fungicide application in real time is the development and operation of online sensors for measuring
plant parameters. The sensor signal of the CROP-Meter (real-time sensor to measure crop biomass density) is correlated with
the Leaf Area Index, a measurement characterising the plant surface. Geostatistical analysis of the sensor values in the experimental
fields showed that the autocorrelation distance was greater than 25 m, which was wider than the spray boom of the sensor-controlled
field sprayer. Control of individual sections of the spray boom was therefore not necessary in the 5-year experiments. In
the eleven field trials, average fungicide savings of 22% were achieved. Field scale strip trials were conducted with the
sensor-operated field sprayer to analyse the yield response of the crop. Higher, lower, as well as similar yield levels were
obtained in the variable-rate plots by comparison with the uniform plots. 相似文献
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Thomas Fricke Felix RichterMichael Wachendorf 《Computers and Electronics in Agriculture》2011,79(2):142-152
The non-destructive assessment of forage mass in legume-grass mixtures as a tool for yield mapping in precision farming applications has been investigated in two field experiments. An ultrasonic sensor was used to determine sward heights. Forage mass-height relationships were evaluated by carrying out static measurements on binary legume-grass mixtures of white clover (Trifolium repens L.), red clover (Trifolium pratense L.), and lucerne (Medicago sativa L.) with perennial rye grass (Lolium perenne L.) across a wide range of sward heights (5.0-104.2 cm) and forage mass (0.15-11.25 t ha−1). Mobile measurements, hereafter referred to as “on-the-go” were conducted by mounting the ultrasonic sensor in combination with a high-precision Differential Global Positioning System (DGPS) on a vehicle. Data were recorded along experimental plots consisting of perennial rye grass and grass-clover mixtures similar to the mixtures that were used for the static experiment. The static experiment revealed a relationship between ultrasonic sward height and forage mass explaining 74.8% of the variance with a standard error (SE) of 1.05 t ha−1 in a common dataset. The type of legume species, weed proportion, and growth period had a significant impact on the above mentioned relationship. Legume-specific regression functions had higher R2-values of up to 0.855 (white clover mixture). Datasets including legume-specific mixtures and pure swards of both components reached comparable R2 values between 0.799 and 0.818 but exhibited higher SE values. The abundance of weeds resulted in increased ultrasonic sward heights for the same levels of forage mass. On-the-go measurements across experimental field plots yielded a sward height range of 1.4-70.4 cm. Abrupt forage mass changes at the transition from treatment plots to cut interspaces resulted in a significant deviation from stubble height within a distance of 50 cm to plot borders. When legume-specific equations derived from static measurements were applied to sward heights, forage mass was overestimated by 21.4% on average. Mean residuals from predicted forage mass ranged between 0.893 (pure grass) and 1.672 (red clover mixture) and increased significantly if the point sampling distance along the track was increased to more than 0.82 m on average across all plots. The prediction accuracy of forage mass from ultrasonic height measurements is promising; however, further modifications to the technique are necessary. One such improvement can be the use of spectral reflectance signatures in combination with the ultrasonic sensor. 相似文献
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Susan A. O'Shaughnessy Martin A. HebelSteve R. Evett Paul D. Colaizzi 《Computers and Electronics in Agriculture》2011,76(1):59-68
Many agricultural studies rely on infrared sensors for remote measurement of surface temperatures for crop status monitoring and estimating sensible and latent heat fluxes. Historically, applications for these non-contact thermometers employed the use of hand-held or stationary industrial infrared thermometers (IRTs) wired to data loggers. Wireless sensors in agricultural applications are a practical alternative, but the availability of low cost wireless IRTs is limited. In this study, we designed prototype narrow (10°) field of view wireless infrared sensor modules and evaluated the performance of the IRT sensor by comparing temperature readings of an object (Tobj) against a blackbody calibrator in a controlled temperature room at ambient temperatures of 15 °C, 25 °C, 35 °C, and 45 °C. Additional comparative readings were taken over plant and soil samples alongside a hand-held IRT and over an isothermal target in the outdoors next to a wired IRT. The average root mean square error (RMSE) and mean absolute error (MAE) between the collected IRT object temperature readings and the blackbody target ranged between 0.10 and 0.79 °C. The wireless IRT readings also compared well with the hand-held IRT and wired industrial IRT. Additional tests performed to investigate the influence of direct radiation on IRT measurements indicated that housing the sensor in white polyvinyl chloride provided ample shielding for the self-compensating circuitry of the IR detector. The relatively low cost of the wireless IRT modules and repeatable measurements against a blackbody calibrator and commercial IR thermometers demonstrated that these wireless prototypes have the potential to provide accurate surface radiometric temperature readings in outdoor applications. Further studies are needed to thoroughly test radio frequency communication and power consumption characteristics in an outdoor setting. 相似文献
9.
RTK GPS mapping of transplanted row crops 总被引：2，自引：0，他引：2
This study demonstrated the feasibility of using a real-time kinematic (RTK) global positioning system (GPS) to automatically map the location of transplanted row crops. A positive-placement vegetable crop transplanter retrofitted with an RTK GPS receiver, plant, inclination, and odometry sensors, and an on-board real-time data logger were used for transplant mapping in the field during planting. Sensing the location where each plant was placed in the soil using an absolute shaft encoder mounted on the planting wheel proved to be more robust and accurate than using an infrared light beam sensor to detect the stem location of each plant immediately after planting. Field test results showed that the mean error between the plant map locations predicted by the planting data and the surveyed locations after planting was 2 cm, with 95% of the predicted plant locations being within 5.1 cm of their actual locations. Along-track errors were greater than transverse-track errors indicating that some improvement in plant map accuracy might be obtained by characterization of dynamic planting effects on final plant location. Overall, the system was capable of automatically producing a centimeter-level accuracy plant map suitable for use in precision plant care tasks such as intra-row weed control. 相似文献
10.
D.W. Lamb D.A. SchneiderM.G. Trotter M.T. SchaeferI.J. Yule 《Computers and Electronics in Agriculture》2011,77(1):69-73
Recently reported testing of active, optical crop sensors in low-level aircraft have demonstrated a new class of airborne sensing system that can be deployed under any ambient illumination conditions, including at night. A second-generation, high-powered, light-emitting diode system has been assembled and tested over a 80 ha field of wheat (Triticum aestevum) by mapping the normalised difference vegetation index (NDVI) at altitudes ranging from 15 to 45 m above the canopy; significantly higher altitudes than existing systems. Comparisons with a detailed on-ground NDVI survey indicated the aerial sensor values were highly correlated to the on-ground sensor (0.79 < R2 < 0.85), with close to unity slope and zero offset. The maximum average deviation between aerial and on-ground NDVI values was 0.04. Sample calculations involving two exemplar algorithms, one for estimating monoculture pasture biomass and the other for estimating wheat yield, indicate such deviations to have no significant effect on prediction accuracy. The subsequent NDVI maps proved to be invariant to sensor height over the 15-45 m altitude range meaning this new sensor configuration can be deployed over undulating crops and pastures and in areas with nearby obstacles such as trees and buildings. 相似文献
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激光传感器在喷雾靶标检测中的研究应用 总被引：1，自引：0，他引：1
树木尺寸、形状等特征信息的获取,是现代化农业中重要的环节,为农林管理中的变量精密喷雾提供依据。为了实现对树木靶标信息的精确测量,搭建了基于UTM-30LX型激光传感器的室内滑台靶标检测系统,实现对规则物体、仿真树的扫描检测,通过编写的C++程序,实时读取数据信息并存储于控制计算机中。利用MATLAB软件对存储的数据信息进行后期的离线分析,重构物体三维图像,通过最大相对误差、轮廓相似度两个参数,分析激光传感器检测得到靶标目标尺寸、重构目标三维图像的精确度。以长方体柜子、圆柱体泡沫、2棵仿真树为试验对象,按照选取的3个检测距离和4个检测速度分别对4个试验对象进行检测与数据分析。试验结果显示,多次试验下,与人工测量尺寸比较而言,激光传感器测得的长方体柜子长度、宽度和高度尺寸最大相对误差分别为6.76%、6.86%和3.92%,圆柱体泡沫的高度、直径尺寸最大相对误差分别为4.25%和7.33%,仿真树1高度、宽度尺寸最大相对误差分别为4.06%和5.91%,仿真树2高度、宽度尺寸最大相对误差分别为3.24%和4.00%;仿真树1、2的激光扫描重构图像与对应实物轮廓相似度最小值分别为0.928 8和0.932 6。研究表明,UTM-30LX型激光传感器在各种试验条件下对多种试验靶标特征检测均具有较好的精确性和准确性,可以担负变量喷雾检测的任务,具有应用到农业生产中的前景。 相似文献
12.
Akira Mizushima Kazunobu IshiiNoboru Noguchi Yousuke MatsuoRenfu Lu 《Computers and Electronics in Agriculture》2011,76(2):198-204
The objective of this research was to develop a low-cost attitude sensor for agricultural vehicles. The attitude sensor was composed of three vibratory gyroscopes and two inclinometers. A sensor fusion algorithm was developed to estimate tilt angles (roll and pitch) by least-squares method. In the algorithm, the drift error of the gyroscopes was estimated using the inclinometers. In addition to tilt angles, the attitude sensor also estimated the absolute heading angle and position with inclination error correction by integrating a GPS. Tests were conducted on a flat field, a sloping ground and a bumpy road. Results showed that the attitude sensor was able to estimate the roll angle with the maximum root mean square error of 0.43°, the pitch angle with 0.61° and the heading angle with 0.64°. Moreover, the attitude sensor dramatically improved the positioning accuracy from 25.9 cm to 3.0 cm in the sloping ground test and from 8.4 cm to 3.7 cm in the bumpy road test. The proposed technology used in the attitude sensor will help to develop advanced agricultural applications. 相似文献
13.
F. Lebeau A. VerstraeteC. Stainier M.-F. Destain 《Computers and Electronics in Agriculture》2011,77(2):161-174
A spray drift model called RTDrift was developed to estimate drift caused by ground sprayer machines. The sprayer was equipped with sensors measuring operational parameters namely spray pressure, boom height and movements, and geolocalisation. Climatic parameters, including wind speed and direction, were measured using a 2-D ultrasonic anemometer mounted on the sprayer. The nozzles spray drop size spectra were characterised using Phase Doppler Interferometer measurements. At every successive boom position, a diffusion-advection Gaussian tilted plume model computed the spray drift deposits for each drop class taking into account evaporation. The contribution of a single nozzle was calculated by integration of the individual puffs with respect to time and summation of the contributions of individual drops classes. The overall drift generated by the sprayer machine was obtained adding the contributions of all the nozzles. Field trials were performed on a fallow field with water and on crops with pesticides in various wind conditions. The ground drift was measured at different drift distances using fluorometric methods. When comparing the results of the model with experimental measurements of deposits, the model produced realistic maps of drift deposits. Some further improvement is needed in the presence of large scale eddies. The model offers potential benefits for the farmer as a real time drift estimator embedded on a sprayer machine. 相似文献
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Joe D. Luck Santosh K. Pitla Rodrigo S. Zandonadi Michael P. Sama Scott A. Shearer 《Precision Agriculture》2011,12(4):534-545
Pesticide application is an essential practice on many U.S. crop farms. Off-rate pesticide application errors may result from
velocity differential across the spray boom while turning, pressure fluctuations across the spray boom, or changes in boom-to-canopy
height due to undulating terrain. The sprayer path co-ordinates and the status (on or off) of each boom control section were
recorded using the sprayer control console which provided map-based automatic boom section control. These data were collected
for ten fields of varying shapes and sizes located in central Kentucky. In order to estimate potential errors resulting from
sprayer turning movements, a method was developed to compare the differences in application areas between spray boom control
sections. The area covered by the center boom control section was considered the “target rate area” and the difference in
these areas and the areas covered by remaining control sections were compared to estimate application rate errors. The results
of this analysis conducted with sprayer application files collected from ten fields, many containing impassable grassed waterways,
indicated that a substantial portion of the fields (6.5–23.8%) could have received application in error by more than ±10%
of the target rate. Off-rate application errors exceeding ±10% of the target rate for the study fields tended to increase
as the average turning angles increased. The implication of this is that producers may be unintentionally applying at off-label
rates in fields of varying shapes and sizes where turning movements are required. 相似文献
16.
针对温室内手动施药劳动强度大、容易造成施药人员中毒等问题,利用GSM网络技术平台,设计基于手机信息发送指令的自走式弥雾机远程控制系统。该系统采用GSM模块和手机及单片机之间的双向通信实现手机对弥雾机行走速度和喷雾流量设定,运用Keil C51V9.00软件编程,对动作流程进行决策,控制弥雾机自动喷药。试验结果表明:该系统响应时间约为3s,弥雾机停止工作时,有一定的响应距离,最大为0.59m;当行走速度为4~12cm/s,喷雾流量50~300mL/min时,雾滴分布变异系数为3%~5%,喷雾均匀性较好。该远程控制系统可以满足在温室大棚内的使用要求,与传统施药方法相比,简化了植保机械的操作过程,有利于减轻劳动强度,保障人身安全。 相似文献
17.
A prototype system was developed and constructed for automating the measurement and recording of canopy-, soil-, and air temperature, and soil moisture status in cropped fields. The system consists of a microcontroller-based circuit with solid-state components for handling clock/calendar, sensor power, and data storage and retrieval functions. Sensors, including an analog soil moisture sensor, analog and digital temperature sensors, and a digital infrared thermometer, are widely available and inexpensive. The circuit board and sensor assemblies require approximately 4 h to construct and test, and material costs totaled approximately US$84. Systems were built and tested during the 2009 growing season in a corn field to evaluate performance and suitability under local conditions. The sensors performed according to manufacturers’ specifications, with accuracies of ±0.4 °C, ±1.4 °C, and ±0.3 °C for air-, soil-, and canopy-temperature measurements, respectively. Soil moisture sensors were calibrated and provided measurements within ±2 kPa of the manufacturer's values. Reliability of data collection and storage averaged 91%, with most bad or missing data occurring during periods of inclement weather and electrostatic interference. 相似文献
18.
Development of a target oriented weed control system 总被引：1，自引：0，他引：1
19.
Real-time nozzle flow uniformity when using automatic section control on agricultural sprayers 总被引：1，自引：0，他引：1
Ajay Sharda John P. Fulton Timothy P. McDonald Christian J. Brodbeck 《Computers and Electronics in Agriculture》2011,79(2):169-179
Automatic section control (ASC) has been readily adopted by US producers on sprayers because it can improve operator productivity and decrease overlap or input usage leading to economic savings while reducing environmental impacts. However, there is limited knowledge about nozzle flow dynamics when shutting ON/OFF of boom-sections or nozzles and the possible impact on application accuracy. Therefore, an investigation was conducted to evaluate system response in managing real-time nozzle off-rate and flow uniformity across the boom, for a typical agricultural sprayer using ASC. An 18.3-m sprayer was outfitted with commercially available individual nozzle and boom-section control. Tests were conducted to simulate sprayer moving out of point rows into a no-spray zone and then reentry into the spray zone by selecting two point row scenarios having 20° and 70° angles. Ten high frequency response pressure sensors were randomly mounted across the boom to measure nozzle pressure. The nozzle pressures were converted to nozzle flow, using the manufacturers pressure versus flow relationship, to calculate nozzle flow rate delay time, settling time, percent off-rate (percent difference between actual and target nozzle flow rate) and nozzle flow uniformity (CV), considering only ON boom-sections. Auto-boom scenarios were conducted with and with-out flow compensation while auto-nozzle scenarios were conducted without flow compensation. Results indicated that nozzle flow rate settling time varied from 0.4 to 14.4 s and nozzle off-rate between 36.6% and +28.7% for 70° point row auto-boom tests when exiting and reentering point rows. When exiting point rows, over-application occurred whereas reentry resulted in under-application during flow compensated tests. Nozzle flow uniformity (CV) were more than 50% for a short duration (<1.0 s) when reentering point rows, during all tests. Compensation testing for 20° point row reentry highlighted the constraint of the control system to respond to certain situations where feedback response times could not match target rates rapidly set for the controller. Overall results indicated that system response time can impact nozzle off-rate and can vary with point row angle. 相似文献
20.
温室弥雾机控制系统的设计 总被引：1，自引：0，他引：1
为实现温室环境人机分离自动变量施药,设计基于Wi-Fi与模糊控制的自走式自动变量风送弥雾机。施药系统以STM32单片机为核心,在Eclipse开发环境下采用Socket编程技术实现移动端与弥雾机端双向通信。为满足施药技术要求,采用Mamdani模型制定施药控制规则,将虫害覆盖率和茄子冠层高度参数作为模糊控制模型的输入,根据施药控制规则自动控制电磁阀和继电器以调控喷雾流量和控制施药时间,共同完成弥雾机变量施药。通过流量测定、模糊控制及自动与手动弥雾的沉积试验对施药系统进行验证,结果表明:1)施药控制系统可根据占空比准确调控喷雾流量,且占空比与喷雾流量线性度较好,拟合度为R~2=0.996 4,满足该设计喷雾范围要求。2)采样点与喷头距离为1~3m时对单位面积雾滴有效沉积量影响显著,且随着茄子冠层高度的增大和蓟马覆盖率的提高均会使单位面积雾滴沉积量显著提高。3)自动弥雾与手动弥雾沉积量的相对误差不超过0.8%,可满足变量喷雾的实际需求。 相似文献