Automated technologies in precision agriculture enable unmanned systems to precisely target areas with chemicals through controlled nozzle movements. Quantitative assessment of these sprayers can enhance spraying strategies, catering to different canopy sizes, row spacing and coverage objectives. This research assessed an unmanned sprayer equipped with pan-tilt nozzles for targeted area control and spray coverage adjustment. The spray cloud path on the canopy, as the nozzles moved vertically and the sprayer advanced, was simulated mathematically. A model was developed to determine the swing angle based on orchard/vineyard geometrical parameters. This model was then applied in field tests in a vineyard and an apple orchard. Various nozzle-heading angles, driving speeds, and flow rates were experimented with, using average coverage and droplet density as the evaluation criterion. The findings showed that the developed model offered an effective method for determining the swing angles. Lowering driving speeds and increasing flow rates were found to notably enhance coverage. A 45º nozzle-heading angle proved more effective in vineyards, whereas a 90º angle yielded better results in apple orchards, reflecting the variations in canopy size and row spacing. The unmanned sprayer demonstrated great potential for autonomous spraying in vineyards and orchards.

精准农业中的自动化技术使无人系统能够通过受控的喷嘴运动精确瞄准化学品区域。对这些喷雾器的定量评估可以增强喷雾策略，满足不同的树冠尺寸、行距和覆盖目标。这项研究评估了配备云台喷嘴的无人喷雾机，用于目标区域控制和喷雾覆盖范围调整。当喷嘴垂直移动和喷雾器前进时，冠层上的喷雾云路径进行了数学模拟。开发了一个模型来根据果园/葡萄园的几何参数确定摆动角度。该模型随后应用于葡萄园和苹果园的现场测试。使用平均覆盖率和液滴密度作为评价标准，对不同的喷嘴航向角度、驱动速度和流量进行了实验。研究结果表明，所开发的模型提供了一种确定摆动角度的有效方法。研究发现，降低行驶速度和增加流速可以显着提高覆盖范围。事实证明，45° 喷嘴头角在葡萄园中更有效，而 90° 角在苹果园中效果更好，反映了树冠大小和行距的变化。无人喷雾机在葡萄园和果园自主喷雾方面展现出了巨大的潜力。