| Design, fabrication and evaluation of a rope climbing sprayer robot for smart spraying of greenhouse |
| Paper ID : 1174-NICAME1402 |
| Authors: |
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Shabban Mohammadi Sanji1, Mehrnoosh Jafari *2, Amin Allah Masoumi1 1Department of Biosystems Engineering, College of agriculture, Isfahan University of Technology, Isfahan, Iran 2Department of Biosystems Engineering-College of Agriculture-Isfahan University of Technology-Isfahan-Iran |
| Abstract: |
| Abstract With the increase in population, humans have developed new methods such as greenhouse farming to increase the quantity and quality of agricultural products. Compared to traditional agriculture, greenhouse farming is subject to various environmental factors such as high density, temperature, and humidity, which are conducive to the growth of pests and diseases. In this study, a pesticide spraying robot was designed and fabricated to reduce human contact with toxins, improve the quality of pest control, and reduce pesticide consumption. The robot consists of a chassis, arms, pulleys, actuators, telescopic mechanism, pesticide transfer system, power transmission system, electronic circuits, cables, and nozzles. In this study, the effect of three levels of nozzle movement speed, three levels of pressure, three positions of leaves and two types of nozzles (fan nozzle and hollow cone) on the deposition of poison droplets from the sprayer was evaluated. The results showed that the flat fan nozzle produces a smaller numerical and volumetric median diameter and a higher number of droplets compared to the hollow cone nozzle. Increasing the pressure from 1.4 to 2.2 and then to 3.6 bar resulted in a 15.4% and 9.9% reduction in numerical and volumetric median diameter, respectively, while the percentage of coverage, number of droplets per square centimeter, and uniformity index of droplets spectrum increased. Increasing the speed from 12 to 15 and then 18 meters per minute resulted in a 13.3%, 12.5% and 28% reduction in numerical and volumetric median diameter, and percentage of coverage, respectively. |
| Keywords: |
| Numerical median diameter, Volumetric median diameter, Percentage of coverage, spraying robot, Uniformity index of droplet spectrum, Coefficient of variation |
| Status : Paper Accepted (Oral Presentation) |
