秸秆集行模式下精准喷药装置搭建与试验  

Construction and test of the precise spraying device for the stalk set-row planting mode

作　　者：王跃勇 崔舒然 刘媛媛[2] 何铭 王鹏宇 王景立[1] Wang Yueyong;Cui Shuran;Liu Yuanyuan;He Ming;Wang Pengyu;Wang Jingli(College of Engineering and Technology,Jilin Agricultural University,Changchun 130118,China;College of Information Technology,Jilin Agricultural University,Changchun 130118,China)

机构地区：[1]吉林农业大学工程技术学院,长春130118 [2]吉林农业大学信息技术学院,长春130118

出　　处：《农业工程学报》2022年第11期12-20,共9页Transactions of the Chinese Society of Agricultural Engineering

基　　金：国家自然科学基金项目(42001256);吉林省科技厅重点科技项目(20180201014NY);吉林省教育厅科学技术研究项目(JJKH20220339KJ)。

摘　　要：保护性耕作秸秆集行模式下作物苗前除草作业时,传统全覆盖喷药方式下喷洒在秸秆条带的药液无法到达地表而造成药液浪费和环境污染。针对该问题,该研究提出了一种基于图像识别的精准喷药装置。首先,使用搭载在植保机前端的摄像头采集田间图像,采用智能优化多阈值算法分割图像中的秸秆和种植带,计算种植带的定位线坐标。然后,控制器根据种植带定位线坐标驱动步进电机滑台带动喷头移动到种植带上方进行对行喷药;为防止喷药过程中横向与纵向气流影响使雾滴飘移至秸秆行与空气中造成喷药不均,使用模糊控制器根据横向与纵向气流变化对喷药量进行调整。最后,分别进行了平台与田间试验。试验结果表明,该装置对种植带定位线的识别准确率约为88.3%;相比于传统全覆盖喷药方式药液使用量节省约52.84%;药液沉降均匀度得到提高,雾滴覆盖率维持在28.5%~33.8%。该装置可实现秸秆集行模式下的种植带精准施药,对提高药液利用率、保护环境有积极作用,研究结果可为精准喷药和保护性耕作技术推广应用提供支持。Stalk set-row planting has been one of the conservation tillage systems to minimize the frequency or intensity of tillage operations in northeast China.The agricultural management approach can integrate the tillage and planting operations to cover at least 30%of the soil surface with crop residues.A narrow row zone can be sown to clear out from the stalk-covered surface in the wide leisure zone.However,the pesticide liquid cannot reach the stalk strip surface,particularly when weeding the crop during the seedling stage under stalk mulching in the traditional full-coverage spraying mode.In this study,a precision spraying device was designed to promote the utilization rate of pesticide liquid using image recognition.Firstly,a digital camera was mounted in front of the plant protection machine to real-time capture the stalk set-row planting images in fields.A Digital Signal Processor(DSP)was used as the host computer to preprocess the images.Then,an optimized multi-threshold segmentation was performed on the images of stalk and seedling strip parts.A series of morphological operations were utilized to correct the dividing edges,where an external moment was selected to frame and separate the seedling strip areas of the field.As such,the position of the seedling strip center was evaluated to mark out the line of the seedling strip.Secondly,an STM32 microcontroller was used as the lower computer.Specifically,the controller drove the stepper motor slide to move the nozzle on the top of the seedling strip for spraying,according to the line coordinates of seedling strip positioning.At the same time,a multi-subdivision drive was used to improve the operation precision of the stepping motor.Nevertheless,some unfavorable conditions occurred in the horizontal and vertical kinds of airflow during spraying,whether the droplets drifted into the stalk rows,or the uneven spraying was caused by the air.Therefore,the drift rate of the droplet was calculated under different velocities of airflow using Fluent fluid simulation software

关 键 词：植保机械 图像处理 精准施药 保护性耕作 定位线检测 

分 类 号：S232.3[农业科学—农业机械化工程] TP751[农业科学—农业工程]