Design and Experiment of a Prescription-Map-Based Variable-Rate Spraying System for Soybean–Maize Strip Intercropping

Le résumé fourni par la source

To meet the requirements of differentiated pesticide application between soybean and maize strips in soybean–maize strip intercropping systems, this study developed a strip-specific variable-rate spraying system based on real-time prescription map interpretation and spatiotemporal nozzle matching with delay compensation. A simulated prescription map with predefined application-rate levels was generated using ArcMap and converted into a binary data structure suitable for embedded-controller access. Based on high-precision RTK-BDS positioning information, a local field coordinate transformation model was established and combined with SRAM-based memory preloading to achieve rapid prescription matrix addressing. To reduce boundary misalignment caused by positioning offset, actuator response lag, and hydraulic delay during dynamic field operations, a nozzle spatial position prediction model and a forward delay-compensation control algorithm were developed. Results from the strip-specific variable-rate spraying tests based on the simulated prescription map showed that, under the tested conditions, the mean boundary offset decreased from 0.69 m to 0.29 m after delay compensation. The mean flow-rate control accuracy for both soybean and maize strips exceeded 95% across different application-rate levels, while the coefficients of variation of flow rate were below 6%. These results indicate that, under the tested conditions, the developed system was able to perform real-time prescription map interpretation, target application-rate matching, and strip-specific variable-rate control, demonstrating its technical feasibility for variable-rate spraying in soybean–maize strip intercropping.

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