To optimize the flow stability and improve application accuracy of the PWM intermittent variable-rate spraying system, which suffers from insufficient flow stability and response delays during changes in travel speed, this study proposes an intelligent control method based on an improved Adaptive Neural Fuzzy Inference System (ANFIS). Flow characteristic data of the solenoid valve were collected under four pressure conditions (0.2–0.5 MPa), drive frequencies (5–20 Hz), and duty cycles (10–90%) using an indoor test system. An ANFIS controller architecture was constructed with target flow rate and actual travel speed as input variables and PWM frequency-duty cycle combinations as output variables. This controller enhances the traditional single-output mode of ANFIS by achieving multi-output collaborative optimization through shared premise parameters, thereby strengthening the system’s nonlinear modeling and control capabilities. To validate the system’s practical performance, a field simulation test platform based on a spraying robot was constructed. By analyzing preset prescription map information, the system achieved precise variable-rate spraying operations during movement. Test results demonstrate that the steady-state error remains within 5.03% under various speed-varying conditions. This research provides a high-precision intelligent control solution for variable-rate spraying systems, holding significant implications for reducing pesticide application rates and advancing precision agriculture.

Electrostatic spraying improves droplet deposition on the undersides of leaves and within canopy-obscured regions. However, existing studies mainly rely on two-dimensional trajectory analyses or simplified computational fluid dynamics (CFD) models, limiting the mechanistic understanding of the three-dimensional transport behaviour of charged droplets. To address this limitation, an integrated analytical framework combining theoretical droplet dynamics, CFD–DPM simulations, high-speed imaging, and wind-tunnel experiments was developed. Within this framework, a three-dimensional trajectory-tracking method was established to quantitatively characterise the electrostatic envelopment effect using measurable transport parameters, including droplet trajectories and effective electrostatic envelopment distance. Numerical simulations and experimental evaluations were combined to analyse the relationships among three-dimensional droplet transport, electrostatic envelopment, and leaf deposition performance. Results showed that deposition efficiency reached 15.92% at an induction voltage of 12 kV, representing an increase of 13.94 percentage points compared with uncharged spraying. Crosswind speed was the dominant factor affecting deposition, followed by induction voltage and spray pressure. The effective electrostatic envelopment distance was approximately 2.1 cm. The proposed framework enables quantitative characterisation of electrostatic envelopment and provides a mechanistic basis for analysing the relationship between three-dimensional droplet transport and deposition performance, offering a framework for electrostatic spraying evaluation and operating parameter optimisation.

Dairy cow body temperature is a key physiological indicator that reflects metabolic level, immune status, and environmental stress responses, and it has been widely used for early disease recognition. Infrared thermography (IRT), as a non-contact imaging technique capable of remotely acquiring the surface radiation temperature distribution of animals, is regarded as a powerful alternative to traditional temperature measurement methods. Under practical cowshed conditions, IRT images of dairy cows are easily affected by complex background interference and generally suffer from low resolution, poor contrast, indistinct boundaries, weak structural perception, and insufficient texture information, which lead to significant degradation in target detection and temperature extraction performance. To address these issues, a lightweight detection model named YOLOv11n-CGSD is proposed for dairy cow IRT images, aiming to improve the accuracy and robustness of region of interest (ROI) detection and body temperature extraction under complex background conditions. At the architectural level, a C3Ghost lightweight module based on the Ghost concept is first constructed to reduce redundant feature extraction while lowering computational cost and enhancing the network capability for preserving fine-grained features during feature propagation. Subsequently, a space-to-depth convolution module is introduced to perform spatial rearrangement of feature maps and achieve channel compression via non-strided convolution, thereby improving the sensitivity of the model to local temperature variations and structural details. Finally, a dynamic sampling mechanism is embedded in the neck of the network, where the upsampling and scale alignment processes are adaptively driven by feature content, enhancing the model response to boundary temperature changes and weak-texture regions. Experimental results indicate that the YOLOv11n-CGSD model can effectively shift attention from irrelevant background regions to ROI contour boundaries and increase attention coverage within the ROI. Under complex IRT conditions, the model achieves P, R, and mAP50 values of 89.11%, 86.80%, and 91.94%, which represent improvements of 3.11%, 5.14%, and 4.08%, respectively, compared with the baseline model. Using T_max as the temperature extraction parameter, the maximum error (Max. Error) and mean error (MAE. Error) in the lower udder region are reduced by 33.3% and 25.7%, respectively, while in the around the anus region, the Max. Error and MAE. Error are reduced by 87.5% and 95.0%, respectively. These findings demonstrate that, under complex backgrounds and low-quality IRT imaging conditions, the proposed model achieves lightweight and high-performance detection for both lower udder (LU) and around the anus (AA) regions and provides a methodological reference and technical support for non-contact body temperature measurement of dairy cows in practical cowshed production environments.