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DevelopmentandPerformanceTestofVariableSpray
ControlSystemBasedonTargetLeafAreaDensityParameter
1211
FANDaoquan,ZHANGMeina,PANJian,LYUXiaolan
（1.InstituteofAgriculturalFacilitiesandEquipment,JiangsuAcademyofAgriculturalSciences,Nanjing210014,China;
2.InstituteofAgriculturalInformation,JiangsuAcademyofAgriculturalSciences,Nanjing210014,China）
Abstract:Variablespraytechnologyisanimportantmeanstoimprovepesticideutilizationrateandsavepesticide.Fruittreeisa
kindofthree-dimensionalspace,andthedensitiesofbranchesandleavesinthecanopyoffruittreesatdifferentlocationsare
differentatthesametime.Theidealstateofsprayistoadjusttheamountofsprayaccordingtolocalcharacteristics,soastore‐
alizetheapplicationofthesprayonthecanopyoffruittreesasrequiredandimprovetheutilizationrateofpesticide.Inorderto
achievetheeffectofreducingthedosageandincreasingtheefficiencyofpesticideapplication,avariablespraycontrolsystem
wasdevelopedandthemethodsforcomputingleafareadensityparameterandpulsewidthmodulation(PWM)''sdutyratioofac‐
tuatorswereproposed.Asthedosageparameter,theleafareadensitywasderivedbasedonthepointclouddensitydetectedby
LiDARsensorontheuppercomputer.ThenPWM''sdutyratiowascalculatedbasedontheleafareadensityandsenttotheslave
computer-PLCinrealtime.ThecommunicationbetweenupperandslavecomputerwascarriedoutthroughRS485standard.So
thesprayflowofeachnozzlewascontrolledbytheswitchingfrequencyofthesolenoidvalvewithPWM''sdutyratiosignal.
Keyparameterswereobtainedbythetestincludingthenetsizeofsprayunit,delaytimeofthesystemandthefunctionrelation‐
shipbetweenthePWM''sdutyratioandthesprayflowofnozzle.Thetestresultsshowedthattherewasalinearrelationshipbe‐
tweenthePWM''sdutyratioandthesprayflowofnozzleunderthepressureof0.2,0.3and0.4MPa,andthelineargoodnessof
fitwereallabove0.98.Finally,theeffectivenessofthevariablespraysystemwasverifiedbythespraytest.Thetestresults
2
showedthattheminimumnumberofdropletsperunitarea(cm)onthewater-sensitivepaperwas35dropsatthesampling
point,whichwashigherthanthe25dropsdefinedbythecommonmethodforthesprayamplitudeofaerosolintheairsupply
spray.Under39.9%ofthecanopyratiobetweenthetargetcanopyareaandthewholearea,thevariablesprayingmodesaved
71.96%ofthepesticidedosagecomparedwiththecontinuoussprayingmode,and29.72%comparedwiththetargetspraying
mode,achievingthedosereductioneffect.
Keywords:variablespray;LiDAR;leafareadensity;controlstrategy;pulsewidthmodulation
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