激光探测多信息融合的果园变量喷雾模型与实时控制研究

项目名称： 激光探测多信息融合的果园变量喷雾模型与实时控制研究

项目编号： No.51505195

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 机械、仪表工业

项目作者： 刘慧

作者单位： 江苏大学

项目金额： 21万元

中文摘要： 集对靶性、适量性和均匀性等优点，研究能自适应场地环境持续匹配植株有无和特征变化的智能变量喷雾模型系统，旨在提高农药利用率，降低喷施误靶率，减少环境污染。基于激光传感器实时探测的喷雾机双侧姿态各异苗木冠层点云数据，综合雷达探测喷雾机实时行走速度和数字陀螺仪检测的场地路况数据等多传感器信息，在线重构并校正目标三维树形轮廓和提取多靶标区域冠层的体积密度等特征量；融合植株目标特征、喷雾机行进速度、喷雾压力、路面平整状况、场地风速和病虫害专家知识等多信息构建多靶标独立喷嘴目标区域变量喷雾模型；研究系统输出动态延迟补偿预测机制解决变速喷雾速度、场地风速和系统输出延时等对喷雾目标对靶的影响；实时控制脉宽调制变量单元调节多通道喷嘴实现变流量输出，验证变量喷雾系统的喷雾沉降量、均匀性、对靶性和节约量等。提炼以精密探测、信息融合、在线决策、控制实现为主线的精密施药一般性科学问题，为智能喷雾研究奠定理论基础。

中文关键词： 变量喷雾；激光探测；树冠特征提取；场地信息融合；实时决策

英文摘要： The research objective is to develop an intelligent controller for precision sprayers that can continuously match canopy characteristics and field environment to deliver agrichemicals accurately to nursery and fruit crops, and thus reduce pesticide use,save fuel, reduce the chance of worker exposure and save labor costs in nursery production. A high speed wide angle laser sensor will be used to detect tree objects on left and right lines of the sprayer simultaneously during operation. The raw data from laser sensor and sprayer velocity sensor after real-time field road condition correction will be converted to three-dimension images. Image processing algorithms will be applied for calculating tree canopy characteristics such as tree height, canopy volume and foliage density. A spray model will be developed to optimize variable flow rate based on tree canopy characteristics, field environment parameters and expert knowledge. Embedded computer programs using VC++ language software will be developed to convert laser signals into canopy location, size, shape and density,and ultimately control spray nozzles with variable rates. An electronic flow rate control system accommodating with microprocessors and Pulse Width Modulation(PWM) controlled solenoid valves will be designed to manipulate the output of spray nozzles independently to match tree structures. The communication interfaces based on bus technology will be used to fulfill communications between the embedded computer and the control system. The universal laser-guided spray controller for precision sprayer applications can be used to protect floriculture, nursery, vegetable, field crops against damages from diseases and pests, while safeguarding environmental quality, food and worker safety. Reducing pesticide consumption through targeted application based on precision instrument, information fusion and online decision-making model methods as proposed in the project provides good ideas in the development of intelligent strategies and methodologies for pesticide spray application technologies.

英文关键词： variable-rate spray;laser sensor scanning;canopy characterization;field information intergration;realtime decision