农机化研究2026，Vol.48Issue(7)：185-192,8.DOI:10.13427/j.issn.1003-188X.2026.07.024
基于激光雷达的果园对靶施药控制系统设计与试验
Design and Experiment of Orchard Target Spraying Control System Based on Laser Radar
摘要
Abstract
Aiming at the orchard target application control system has problems such as difficulty in accurately matching the canopy volume with the application amount,and low target accuracy,which is likely to cause large spraying errors,a tower-type air-assisted sprayer was employed as the carrier,integrated with the standardized planting model of short-an-vil dense-planting orchards,to develop an orchard-specific pesticide application control system based on LiDAR technol-ogy.Based on the three-dimensional point cloud data of fruit tree canopies obtained in real time by LiDAR,a grouped and layered nozzle control strategy was designed.Following the principle of targeted spraying,a corresponding spraying program was developed to achieve precise application.This study proposed a delayed spray control model that integrated spatial geometric compensation with motion state prediction.Through a three-tier framework comprising fundamental de-lay calculation,hierarchical recursive compensation,and dynamic speed adaptation,the model effectively addressed the issue of target deviation caused by vehicle speed fluctuations and system response delays in mobile spraying operations,the accuracy of targeted spraying and the utilization efficiency of the sprayed liquid were significantly enhanced.In the target precision test,the closer the gap between the two trees was to the center,the smaller the droplet deposition point density and droplet coverage were,indicating that the target application system achieved the expected target effect.The droplet deposition point density of the target group in the variable spraying test was lower than that of the constant group.The minimum deposition point densities of the constant group of the target combination were 99/cm2 and 143/cm2,re-spectively,which were higher than the 20/cm2 defined in the general test method of plant protection machinery.In addi-tion,the droplet deposition point density of the target group in the upper part of the smaller canopy volume was greatly re-duced compared with the constant group,indicating that the target spraying system achieved the expected effect of effec-tive prevention and variable spraying.关键词
果园对靶施药/变量施药/激光雷达/三维点云/延时喷雾补偿Key words
orchard target spraying/variable spraying/laser radar/three-dimensional point cloud/delay spray com-pensation分类
农业科技引用本文复制引用
孟庆山,许宁,武文璇,郭娜,张兴国,张明宇..基于激光雷达的果园对靶施药控制系统设计与试验[J].农机化研究,2026,48(7):185-192,8.基金项目
山东省重点研发计划(重大科技创新工程)项目(2022CXGC020706) （重大科技创新工程）
国家重点研发计划项目(2023YFD2001100) （2023YFD2001100）
山东省科特派共同体服务乡村振兴样板建设典型案例(2022DXAL0208) （2022DXAL0208）
