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Droplets movement and deposition of an eight-rotor agricultural UAV in downwash flow field

International Journal of Agricultural and Biological Engineering 2017年第3期10卷 47-56页

作者： Tang Qing Zhang Ruirui Chen Liping Xu Min Yi Tongchuan Zhang Bin beijing Research Center of intelligent equipment for agriculture Beijing Academy of Agriculture and Forestry SciencesBeijing 100097China National Research Center of intelligent equipment for agriculture Beijing 100097China beijing key laboratory of intelligent equipment technology for agriculture Beijing 100097China

The movement and deposition of the droplets sprayed by agricultural unmanned aerial vehicle(UAV)are influenced by the complex downwash flow field of the *** of conducting field experiment,a high speed particle image velocimetry(PIV)method was used to measure the movement and deposition of the droplets at different rotating speeds of rotors(1000-3000 r/min)or at different transverse injecting points(20-50 cm away from its nearby rotors)in the downwash flow field of an agricultural UAV with eight rotors and conical *** maximum speed and size of the high speed zone of the droplets were found greatly influenced by the downwash *** initial spray angle of the nozzle declined with the increase of downwash flow *** was found that the downwash velocity could not only change the deposition zone of the droplets,but also influence their *** increase of the downwash velocity would increase the deposition uniformity of the *** nozzle position in the downwash flow field could also influence the deposition of the *** the transverse distance between the nozzle and its nearby rotors increased,the relative deposition near the downwash flow of the rotors increased ***,the distance between the deposition peak and the nozzle stayed *** initial spray angle of the nozzle was not influenced by the transverse distance between the nozzle and its nearby *** research results could provide a theoretical basis and reference for the optimization of the spray application of multi-rotor UAV to minimize droplets deposition uncertainty.

关键词： chemical spray droplet deposition UAV flow field multi-rotor

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Design and evaluation of a maize monitoring system for precision planting

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International Journal of Agricultural and Biological Engineering 2018年第4期11卷 186-192页

作者： Yanxin Yin Liping Chen Zhijun Meng Bin Li Changhai Luo Weiqiang Fu Hebo Mei Wuchang Qin beijing Research Center of intelligent equipment for agriculture Beijing Academy of Agriculture and Forestry SciencesBeijing 100089China National Research Center of intelligent equipment for agriculture Beijing 100089China beijing key laboratory of intelligent equipment technology for agriculture Beijing 10089China

To increase the accuracy and real-time performance of on-line assessment of maize planting,a CAN bus based maize monitoring system for precision planting was designed and tested both in laboratory and *** system was mainly comprised of:(a)seeding rate sensors based on opposite-type infrared photoelectric cell for counting the dropping seeds;(b)a decimeter GPS receiver for acquiring planter position and operation speed;(c)a vehicle monitoring terminal based on ARM Cotex-m4 core chip to acquire and process the whole-system data;(d)a touchscreen monitor to display the planter performance for the operator;and(e)a buzzer alarm to sound a warning when skip and double seeding *** the applicability,dependability and feasibility of the monitoring system into consideration,the opposite-type infrared photoelectric sensors were selected and their deployment strategies in the 6-port seed tube were *** decrease the average response time,a distributed information communication structure was *** this information communication mode,collectors were designed for each individual sensor and communicated with sensors through two-wire CAN bus.A sensor together with the designed collector is called a sensor node,and each of them worked individually and took the responsibility for acquiring,processing,and transiting the on-going *** test results showed that the random error distribution was approximately normal,and by liner analysis,the system observed value and the true value had as a liner relationship with coefficient of determination R^(2)=*** of field tests showed that the seeding rate maximum relative error of the 6-port seed tube was 2.92%,and the maximum root mean square error(RMSE)was about 1.64%.The monitoring system,including sensor nodes,vehicle monitoring terminal and a touch-screen monitor,was proved to be dependable and stable with more than 14 d of continuous experiments in field.

关键词： maize precision planting monitoring system seeding rate on-line assessment CAN bus

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Design and test of robotic harvesting system for cherry tomato

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International Journal of Agricultural and Biological Engineering 2018年第1期11卷 96-100页

作者： Qingchun Feng Wei Zou Pengfei Fan Chunfeng Zhang Xiu Wang beijing Research Center of intelligent equipment for agriculture Beijing Academy of Agriculture and Forestry SciencesBeijing 100097China National Research Center of intelligent equipment for agriculture Beijing 100097China beijing key laboratory of intelligent equipment technology for agriculture Beijing 100097China

Harvesting of fresh-eating cherry tomato was highly costly on labor and *** order to achieve mechanical harvesting for the fresh-eating tomato,a new harvesting robot was designed,which consisted of a stereo visual unit,an end-effector,manipulator,a fruit collector,and a railed *** robot configuration and workflow design focused on the special cultivating *** key parts were introduced in detail:a railroad vehicle capably moving on both ground and rail was adopted as the robot’s carrier,a visual servo unit was used to identify and locate the mature fruits bunch,and the end-effector to hold and separate the fruit bunch was designed based on the stalk’s mechanical *** field test of the new developed robot was conducted and the results were *** successful harvest rate of the robot was 83%,however,each successful harvest averagely needed 1.4 times attempt,and a single successful harvesting cycle cost 8 s excluding the time cost on moving.

关键词： cherry tomato harvesting robot visual servo configuration design field test

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Identification of seedling cabbages and weeds using hyperspectral imaging

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International Journal of Agricultural and Biological Engineering 2015年第5期8卷 65-72,I0004页

作者： Deng Wei Yanbo Huang Zhao Chunjiang Wang Xiu beijing Research Center of intelligent equipment for agriculture Beijing Academy of Agriculture and Forestry ScienceBeijing 100097China United States Department of agriculture Agricultural Research ServiceCrop Production Systems Research UnitStonevilleMississippiUSA National Research Center of intelligent equipment for agriculture Beijing 100097China key laboratory of Agri-informatics Ministry of AgricultureBeijing 100097China beijing key laboratory of intelligent equipment technology for agriculture Beijing 100097China

Target detection is one of research focuses for precision chemical *** study developed a method to identify seedling cabbages and weeds using hyperspectral *** processing the image data with ENVI software,after dimension reduction,noise reduction,de-correlation for high-dimensional data,and selection of the region of interest,the SAM(Spectral Angle Mapping)model was built for automatic identification of cabbages and *** the HSI(Hyper Spectral Imaging)Analyzer,the training pixels were used to calculate the average spectrum as the standard *** parameters of the SAM model,which had the best classification results with 3-point smoothing,zero-order derivative,and 6-degrees spectral angle,was determined to achieve the accurate identification of the background,weeds,and *** comparison,the SAM model can completely separate the plants from the soil background but not perfect for weeds to be separated from the *** conclusion,the SAM classification model with the HSI analyzer could completely distinguish weeds from background and cabbages.

关键词： hyperspectral imaging weed identification cabbage seedlings

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Effects of drought stress on photosynthesis and chlorophyll fluorescence images of soybean(Glycine max)seedlings

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International Journal of Agricultural and Biological Engineering 2018年第2期11卷 196-201页

作者： Wensen Wang Cheng Wang Dayu Pan Yakun Zhang Bin Luo Jianwei Ji College of Information and Electrical Engineering Shenyang Agricultural UniversityShenyang 110866China beijing Research Center of intelligent equipment for agriculture Beijing 100097China National Research Center of intelligent equipment for agriculture Beijing 100097China beijing key laboratory of intelligent equipment technology for agriculture Beijing 100097China

The main purpose of this research is to provide a theoretical foundation for the screening of drought-resistant soybean varieties and to establish an efficient method to detect the PSII actual photochemical quantum yields *** soybean varieties were compared in this experiment after 15 d when they were planted in a *** varieties were then exposed to light drought stress(LD)and serious drought stress(SD)*** five times’measurement,chlorophyll fluorescence and soil-plant analysis development considered as the main basis for this *** parameters in SD conditions significantly reduced,such as net photosynthetic rates(Pn),stomatal conductance(Gs),PSII primary light energy conversion efficiency(Fv/FM),PSII actual photochemical quantum yields[Y(II)],photochemical quenching coefficient(qP)and non-photochemical quenching coefficient(qN).The soybeans in the seedling stage adapted to the inhibitory effect of drought stress on photosynthesis through stomatal *** serious drought stress,non-stomatal limitation damaged the plant photosynthetic *** amplitudes of Pn and Y(II)of drought-resistant Qihuang 35 were lower than those of the two other *** on the data of this study,a new method had been developed to detect Y(II)which reflected the photosynthetic capacity of plant,R=0.85989,u=0.048803 when using multiple linear regression,and R=0.84285,u=0.054739 when using partial least square regression.

关键词： soybean seedling drought stress photosynthetic parameters chlorophyll fluorescence parameters chlorophyll fluorescence images

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Design and performance evaluation of a variable-rate orchard sprayer based on a laser-scanning sensor

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International Journal of Agricultural and Biological Engineering 2019年第6期12卷 51-57页

作者： Jichen Cai Xiu Wang Yuanyuan Gao Shuo Yang Chunjiang Zhao College of Information and Electrical Engineering China Agricultural UniversityBeijing 100083China National Research Center of intelligent equipment for agriculture Beijing 100097China key laboratory of Agri-informatics Ministry of AgricultureBeijing 100097China beijing key laboratory of intelligent equipment technology for agriculture Beijing 100097China

To improve the precision spraying strategy and reduce excessive pesticide application in orchards,an air-assisted sprayer integrated with a laser-scanning system was developed to realize the toward-target variable-rate *** the spray control system,a method of calculating canopy gridding volumes was designed to ensure that the canopy was divided into a uniform grid size,a variable-rate spray model was used in the flow rate decision software to control the spray output according to the canopy gridding volumes and travel speed,and a method of saving and accessing spray data was used to control the spray *** effects of different grid sizes and travel speeds on the spray performance were evaluated by quantifying spray coverage uniformity inside tree *** results showed that spray coverage uniformity declined with increasing grid width from 0.14 to 0.28 m although the mean spray coverage on each target location showed no significant ***,there were no significant variations in mean spray coverage at speeds of 1.0,1.2 and 1.4 m/s for a tested tree of 1.6 m width and at any experimental speeds for a tested tree of 1.3 m width,which indicated that the variable-rate sprayer could provide good spray coverage uniformity under various travel speeds with a canopy size *** with the same sprayer without the variable-rate spray function,the intelligent sprayer prototype realized effective toward-target spraying and avoided overspraying while providing sufficient spray coverage.

关键词： laser-scanning sensor variable-rate spray orchard precision sprayer pesticide application efficiency

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Development of real-time laser-scanning system to detect tree canopy characteristics for variable-rate pesticide application

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International Journal of Agricultural and Biological Engineering 2017年第6期10卷 155-163页

作者： Cai Jichen Wang Xiu Song Jian Wang Songlin Yang Shuo Zhao Chunjiang College of Information and Electrical Engineering China Agricultural UniversityBeijing 100083China National Research Center of intelligent equipment for agriculture Beijing 100097China key laboratory of Agri-informatics Ministry of AgricultureBeijing 100097China beijing key laboratory of intelligent equipment technology for agriculture Beijing 100097China

Improving pesticide application efficiency is increasingly important in orchard *** this study,a laser-scanning system was designed to acquire gridding volumes of a tree to quantify the geometry characteristics of the tree canopy in real-time.A laser-scanning sensor mounted on a linear guide was utilized to measure the structure of a target tree canopy.A computer was used to receive measurement data from the laser scanner and obtain the movement distance of the laser-scanning sensor from a *** algorithm written with VC#program was designed to calculate gridding volumes of trees by recognizing valid measurement data from the laser *** evaluations were conducted on three kinds of regular objects,and the maximum relative errors of section volumes of the cuboid,triangular prism and cylinder objects were 3.3%,7.9%and 9.4%,respectively,which illustrated that the algorithm could calculate the section volumes in different parts of the objects with high accuracy.A conifer tree and an apple tree were chosen to verify detecting accuracy of the laser-scanning system at variable speeds and grid *** variation coefficients of total volumes for each kind of the tree were 0.078 and 0.041,respectively,which indicated that the laser-scanning system could be applied to provide the gridding volumes of different canopy densities in real-time with good reliability for guiding a variable-rate sprayer.

关键词： laser-scanning system sensor tree canopy variable-rate spray pesticide application efficiency gridding volumes calculation algorithm

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Evaluating effective swath width and droplet distribution of aerial spraying systems on M-18B and Thrush 510G airplanes

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International Journal of Agricultural and Biological Engineering 2015年第2期8卷 21-30页

作者： Zhang Dongyan Chen Liping Zhang Ruirui Xu Gang Lan Yubin Wesley Clint Hoffmann Wang Xiu Xu Min beijing Research Center of intelligent equipment for agriculture Beijing 100097China National Research Center of intelligent equipment for agriculture Beijing 100097China key laboratory of Agri-informatics Ministry of AgricultureBeijing 100097China beijing key laboratory of intelligent equipment technology for agriculture Beijing 100097China Sino-US Agricultural Aviation Cooperative technology Center BeijingChina and College StationTXUSA United States Department of agriculture(USDA) Agricultural Research Service(ARS)Aerial Application Technology Research UnitCollege StationTX 77840

Aerial spraying plays an important role in promoting agricultural production and protecting the biological environment due to its flexibility,high effectiveness,and large operational area per unit of *** order to evaluate the performance parameters of the spraying systems on two fixed wing airplanes M-18B and Thrush 510G,the effective swath width and uniformity of droplet deposition under headwind flight were tested while the planes operated at the altitudes of 5 m and 4 *** results showed that although wind velocities varied from 0.9 m/s to 4.6 m/s,and the directions of the atomizer switched upward and downward in eight flights,the effective swath widths were kept approximately at 27 m and 15 m for the M-18B and Thrush 510G,respectively,and the latter was more *** addition,through analyzing the coefficients of variation(CVs)of droplet distribution,it was found that the CVs of the M-18B were 39.57%,33.54%,47.95%,and 59.04% at wind velocities of 0.9,1.1,1.4 and 4.6 m/s,respectively,gradually enhancing with the increasing of wind speed;the CVs of Thrush 510G were 79.12%,46.19%,14.90%,and 48.69% at wind velocities of 1.3,2.3,3.0 and 3.4 m/s,respectively,which displayed the irregularity maybe due to change of instantaneous wind ***,in terms of the CVs and features of droplet distribution uniformity for both airplanes in the spray swath,choosing smaller CV(20%-45%)as the standard of estimation,it was found that the Thrush 510G had a better uniform droplet distribution than the *** results provide a research foundation for promoting the development of aerial spraying in China.

关键词： aerial spraying effective swath width droplet distribution coefficients of variation agricultural airplane

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Applying a salinity response function and zoning saline land for three fi eld crops: a case study in the Hetao Irrigation District, Inner Mongolia, China

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Journal of Integrative agriculture 2015年第1期14卷 178-189页

作者： TONG Wen-jie CHEN Xiao-li WEN Xin-ya CHEN Fu ZHANG Hai-lin CHU Qing-quan Shadrack Batsile Dikgwatlhe College of agriculture and Biotechnology China Agricultural University/Key Laboratory of Farming SystemMinistry of Agriculture beijing Research Center of intelligent equipment for agriculture Beijing Academy of Agriculture and Forestry Sciences

Salinity is one of the major abiotic factors affecting the growth and productivity of crops in Hetao Irrigation District, China. In this study, the salinity tolerances of three local crops, wheat （Triticum aestinum L.）, maize （Zea mays L.） and sunflower （Helianthus annuus L.）, growing in 76 farm fields are evaluated with modified discount function. Salinity ecological zones appropriate for these local crops are characterized and a case study is presented for crop salinity ecological zoning. The results show that the yield reductions of wheat, maize and sunflower when grown in saline soils are attributed primarily to a reduction in spikelet number, 1 000-grain weight and seed number per head, respectively. Sunflower is the most tolerant crop among the three which had a salinity tolerance index （ST-index） of 12.24, followed by spring maize and spring wheat with ST-Indices of 9.00 and 7.43, respectively. According to the crop salinity tolerance results, the arable land in the Heping Village of this district was subdivided into four salinity ecological zones： the most suitable, suitable, sub-suitable and unsuitable zones. The area proportion of the most suitable zone for wheat, maize and sunflower within the Heping Village was 27.5, 46.5 and 77.5%, respectively. Most of the most suitable zone occurred in the western part of the village. The results of this study provide the scientific basis for optimizing the local major crop distribution and improving cultural practices management in Hetao Irrigation District.

关键词： salinity tolerance modified discount function ecological zoning Hetao Irrigation District

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Droplet spectra and high-speed wind tunnel evaluation of air induction nozzles

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Frontiers of Agricultural Science and Engineering 2018年第4期5卷 442-454页

作者： Qing TANG Liping CHEN Ruirui ZHANG Min XU Gang XU Tongchuan YI Bin ZHANG beijing Research Center of intelligent equipment for agriculture Beijing Academy of Agriculture and Forestry SciencesBeijing 100097China National Research Center of intelligent equipment for agriculture Beijing 100097China beijing key laboratory of intelligent equipment technology for agriculture Beijing 100097China

A series of air induction nozzles were tested in a high-speed wind *** size spectra were measured for four air induction nozzles(IDK-120-01,IDK-120-02,IDK-120-03 and IDK-120-04)each at three spray pressures(0.3,0.4 and 0.5 MPa)and seven different air velocities(121.7,153.4,185.5,218.4,253.5,277.5 and 305.5 km·h^(-1)).The measurement distance(0.15,0.25 and0.35 m)from the nozzle orifice was found to be important for the atomization of the *** response surface method was used to analyze the experimental *** results indicated that Dv_(0.1)and Dv_(0.5)of the droplets decreased quasi-linearly with increased wind speed,while Dv_(0.9)was affected by the quadratic of wind ***_(0.1),Dv_(0.5)and Dv_(0.9)of the droplets were all proportional to the orifice size,and were not markedly influenced by the spray *** percentage of the spray volume consisting of droplets with a diameter below 100 mm(%<100 mm)was found to be quadratically related to wind speed,and was not markedly influenced by the spray pressure and orifice ***,the effect of the orifice size on the %<200 mm could not be ignored.

关键词： air induction nozzle wind tunnel aerial spray droplet size spectra

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