Akademik Veri Yönetim Sistemi
Journal of Agricultural Engineering, cilt.57, sa.1, 2026 (SCI-Expanded, Scopus)
In this study, an electric and autonomous orchard spraying robot, named OrcBOT, was developed, modeled, and prototyped for precision orchard spraying. The system integrates electrostatically charged nozzles with YOLOv5-based real-time canopy detection, enabling highly precise and variable-rate pesticide application through independent nozzle control. Spraying operations are coordinated using stereo cameras and RTK-GPS navigation, while nozzle activation is managed by a central electronic control unit based on canopy structure. The robot is capable of both remote-controlled and fully autonomous operation, with monitoring and control accessible via smartphone and tablet applications. Field trials conducted in apple orchards using food dye as a tracer demonstrated an average droplet size of 150-170 µm, classified as fine spray according to ASAE S572.1. Canopy coverage averaged 55%, reaching up to 57% under optimal operating conditions (2 bar, 1 km/h, 10 kV). These findings demonstrate the effectiveness of OrcBOT in fine pulverization applications and underline its potential as a sustainable and practical solution for precision orchard spraying.