基于光透射法的药液浓度在线检测装置研制  

Development of On-line Measuring Device for Liquid Concentration Based on Light Transmission Method

作　　者：胡静涛[1,3] 韦飞 时佳 杨亮 奚文龙[1,3] 赵泳嘉 Hu Jingtao;Wei Fei;Shi Jia;Yang Liang;Xi Wenlong;Zhao Yongjia(Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;College of Information Science and Engineering,Northeastern University,Shenyang 110819,China;Key Laboratory of Agricultural Equipment Intelligent Technology in Liaoning Province,Shenyang 110016,China)

机构地区：[1]中国科学院沈阳自动化研究所,沈阳110016 [2]东北大学信息科学与工程学院,沈阳110819 [3]辽宁省农业装备智能化技术重点实验室,沈阳110016

出　　处：《农机化研究》2022年第11期31-36,共6页Journal of Agricultural Mechanization Research

基　　金：“十三五”国家重点研发计划项目(2017YFD0700500);辽宁省“兴辽英才计划”项目(XLYC1902006)。

摘　　要：精准农业是现代农业的发展趋势,在线混药技术可以做到按需施药及提高农药的有效利用率,有利于推动精准农业的发展。虽然在线混药的控制技术和喷雾技术日益完善,但田间复杂的地形环境、农机行走时引起的震动以及精准的农药浓度在线检测装置和处理技术的缺乏,降低了在线混药浓度的精确性。为了解决这一问题,在光透射法的药液浓度在线检测方法的基础上,采用卡尔曼滤波技术处理田间作业时引起的误差,保证田间作业时在线混药后药液浓度的准确性。对设计的光透射在线药液浓度检测装置进行震动实验,将滤波前后的实验结果作对比分析。实验结果表明:震动实验中采用卡尔曼滤波技术滤波后,与滤波前的数据相比相对误差由±2.7%~±7.5%左右降低到±0.2%~±2%左右,可有效解决实际喷药时遇到的震动问题。文中提出的在线检测装置可以使光透射技术用于田间作业,并达到了精确检测在线混药浓度的目的。Precision agriculture is the development trend of modern agriculture.Online drug blending technology can apply drugs on demand,improve the effective utilization rate of pesticides,and promote the development of precision agriculture.The control technology and spray technology of online mixing are increasingly improved.However,due to the lack of accurate online detection device and treatment technology of pesticide concentration,the complex terrain environment in the field and the vibration caused by the walking of agricultural machinery reduce the accuracy of online mixing concentration.In order to solve this problem,this paper adopts kalman filter technology to deal with the errors caused by field operation on the basis of the on-line detection method of liquid concentration of light transmission method,so as to ensure the accuracy of liquid concentration after on-line mixing of drugs in field operation.In this paper,vibration experiment is carried out on the designed on-line liquid concentration detection device for light transmission and the experimental results before and after filtering are compared and analyzed.The experimental results show that the relative error decreases from±2.7%-±7.5%to±0.2%-±2%compared with the data before filtering,which indicates that the Kalman filter can effectively solve the vibration problem encountered in the actual spraying.In this paper,the light transmission technology can be used in field operation,and the concentration of mixed drugs can be accurately detected online.

关 键 词：在线检测 农药浓度 卡尔曼滤波 光透射法 

分 类 号：S237[农业科学—农业机械化工程] TP24[农业科学—农业工程]