GPS自動噴藥機之開發-田間定點定量施噴作業

Abstract

本文目的係建立一套可用GPS控制之桿式噴藥機，能對特定田區進行定點定量之施噴作業，以達成精準噴藥之策略。實驗設備包括：1.GPS Pathfinder Pro XRS：主要包括接收機、天線以及資料收集控制器。接收機具有12個頻道，可接收GPS衛星與基站差分修正訊號及NMEA傳輸格式及通訊協定；天線具全方向性，地平線以上皆可接收到GPS衛星訊號；資料收集控制器可對接收機作參數設定，具2MB資料記憶量。2.控制及分析軟體部分：包括TSC1操作軟體Asset Surveyor、資料後處理軟體Pathfinder Office、GIS輔助軟體ArcView及PC ARC/INFO。3.桿式噴藥機：台南縣仁德鄉鉅業公司製，型號JZTSL500，使用動力為13馬力四衝程汽油引擎。4噴藥控制模組：係美國Spraying System公司產品，型號為744A,具有三組開關電磁閥，可同時或分別控制左中右三組噴藥桿。5.GPS控制器：係國內廠商自行研製，可輸入擬施噴田區之地理坐標，並與GPS所接接收之信號做比對，藉以決定噴藥閥之啟閉。實驗方法包括：1.動態路線定位之實測作業：選擇一條行走路線並將GPS天線固定在車輛上再將紀錄的路線套疊相關圖層進行分析。2.田間噴藥機之實際操作：1）利用筆記型電腦輸入擬施噴田區之經緯度坐標於一CF卡上，再將該卡片插入GPS控制器；2）將桿式噴藥機駛入擬施噴之田區，觀察GPS有無作動噴藥用電磁閥，為便於遠處監看，另置一作動信號燈。結果與討論：1.由GPS定位實驗結果顯示，在靜態點位觀測之誤差量與動態各種路徑的實測方面，將行走路線套疊台灣大學之地圖分析後，其誤差量皆可保持在3公尺以內。2.當桿式噴藥機駛入坐標設定之擬施噴田區後，信號燈立即亮起並轉動，同時噴藥電磁閥立即作動，進行田間施噴作業；而一旦噴藥機駛離擬施噴之田區後，信號燈立即熄滅不動，噴藥電磁閥亦立即關閉，不再進行施噴作業。 The purpose of this study is to establish a precision spraying system of the boom sprayer that can be controlled by a GPS. The sprayer can be operated at a destined field by a fixed flow rate. The necessary apparatus and instruments include:1) Trimble GPS Pathfinder Pro XR: includes a receiver, an antenna and a data collector/controller. 2) Control and analysis software: includes Asset Surveyor, Pathfinder Office, ArcView and ARC/INFO. 3) Boom sprayer: manufactured by Zetor Co., Model: ZTSL500. 4) Sprayer control kit: produced by Spraying System Co., Model: 744A. 5) GPS controller: made by a domestic Company. The methods are: 1) Actual measurements by GPS: Positioning by an actual dynamic path. 2) Actual operation of the boom sprayer in field: a) Coordinates saved in a CF card by means of a computer. b) CF card inserted into the GPS controller. c) Boom sprayer operated in field, observed whether the spraying valves are actuated. d) A signal lamp mounted for the purpose of monitoring in a long distance. Results and Discussion: 1) The positioning experiments of GPS show that all the errors can be kept within three meters, either the error from the static positioning point or the error from an actual measurement by various dynamic paths. 2) When the boom sprayer is operated in a destined field, a lamp will flash and rotate. The control valves will be actuated simultaneous for spraying. If the sprayer leaves the preset field, the lamp will not flash, the valves will also be closed and the pesticide solution will not be sprayed any more.