农业机械学报2026，Vol.57Issue(2)：46-57,12.DOI:10.6041/j.issn.1000-1298.2026.02.005
基于视觉传感器的大田甘蓝对靶变量喷雾系统设计与试验
Design and Test of Vision Sensor-based Targeted Variable Spray System for Field Cabbage
摘要
Abstract
Aiming to enhance the mechanized pest control effectiveness for high-density field crops like cabbage and address issues with conventional high-clearance sprayers that consume excessive pesticides,have low operational efficiency,and cause significant waste of pesticide solution.Based on the agronomic characteristics and pest control needs of field cabbage,a high gap variable application system was designed based on visual sensor identification.The Gemini 335 depth camera was used to detect the crop target in real time,and the PWM pulse width modulation technology was used to achieve the precise spraying of pesticides on the target variable.An improved YOLO v8n object detection model was proposed,which demonstrated 90.2%accuracy in field cabbage trials.The detection accuracy of the model was improved by 1.5 percentage points,and the frame rate(FPS)was increased by 7.6 frames per second.The detection accuracy of the model was improved to meet the precision requirements of field control of cabbage.An electromagnetic valve duty cycle flow control test model was designed and experiments were conducted with different duty cycles.The fitting decision coefficients R2 for various spray pressures were all above 0.9 with strong linear correlation.The integrated system underwent field testing to validate its performance.Field trials demonstrated that variable-rate spraying(VRS)achieved significantly higher target droplet deposition density in cabbage fields compared with conventional fixed-rate spraying.The VRS system showed an average droplet density increase of 21.53 particles/cm2,achieving 23.8%coverage with a minimal error margin of 0.4%.Compared with fixed-rate spraying,VRS enhanced overall cabbage surface coverage by 5.2 percentage points,enabling precise application tailored to pest and disease control needs while maintaining stable operational performance.This approach improved pesticide utilization efficiency and reduced waste.The research result can provide innovative methods for precision management of high-density vegetable crops and offer valuable references for precision application technologies in high-precision spray systems.关键词
大田甘蓝/变量施药/高地隙喷雾机/脉宽调制/视觉传感器/改进YOLO v8n算法Key words
field cabbage/variable-rate spraying/high-clearance sprayer/pulse width modulation/visual sensor/improved YOLO v8n algorithm分类
农业科技引用本文复制引用
罗亚辉,李文,蒋蘋,胡文武,孙超然,齐澳林,石毅新,庄腾飞..基于视觉传感器的大田甘蓝对靶变量喷雾系统设计与试验[J].农业机械学报,2026,57(2):46-57,12.基金项目
国家重点研发计划项目(2022YFD2002001)、湖南省重点研发计划项目(2024JK2031、2023NK2010)和湖南省科技重大专项(2023NK1020) （2022YFD2002001）
