农机化研究2026，Vol.48Issue(10)：52-59,8.DOI:10.13427/j.issn.1003-188X.2026.10.007
基于物联网技术的履带式果园智能喷药机设计与试验
Design and Test of Tracked Orchard Intelligent Sprayer Based on Internet of Things Technology
摘要
Abstract
Due to the drawbacks of traditional manual spraying methods and it was difficult to adapt to the large-scale de-velopment of orchards.Therefore,taking the crawler remote control machine as the carrier,integrating remote control technology,Internet of Things technology,navigation technology,integrating air-assisted sprayer,navigation module,visual control module,and optimizing control algorithm,a crawler orchard intelligent sprayer based on Internet of Things technology was developed.The hardware selection and calculation of the spraying system,navigation module and visual control module were mainly carried out.The control algorithm of the tracking controller of the navigation module was dis-cussed,and the spraying test was carried out in the pear orchard.The results showed that the grounding pressure of the crawler chassis decreased from 15.5 kPa to 15.2 kPa,and the average soil compactness was 234.44 kPa.The spraying characteristics were basically consistent with the growth characteristics of the pear tree.The average absolute value of the lateral tracking deviation was 2.436 cm.The maximum command response delay was 0.6 s,and the maximum video transmission delay was 1.3 s.The intelligent spraying machine realized remote unmanned spraying operation,and could monitor the operating environment in real time to meet the needs of large-scale management of orchards.关键词
果园智能喷药机/物联网技术/追踪控制算法/履带式Key words
orchard intelligent sprayer/Internet of Things technology/tracking control algorithm/tracked分类
农业科技引用本文复制引用
张俊杰,李立辉,焦海涛,么立申,张西群,焦立飞..基于物联网技术的履带式果园智能喷药机设计与试验[J].农机化研究,2026,48(10):52-59,8.基金项目
河北省农林科学院现代农业科技创新专项(2022KJCXZX-NJS-4) （2022KJCXZX-NJS-4）
