Research On Intelligent Profiling Pesticide Spraying For Fruit Trees

Ochard pesticides spraying work is an important part for planting fruit trees, whichdirectly related with both gross product and quanlity of fuits. At present, the sprayingequipment and technology is relatively backward in our country, and this causes a waste ofpesticides. In order to solve this problem, this text raise an thinking called profile modelingspraying.In this way, we can improve spraying working efficency and canopy penetration rate,and reduce the cost of planting and improve agricultural ecological environment.Profiling low quantity spraying system can adjust spray mechanism automaticallydepends on fruit trees shape size and treetops edge, making it can work in a certain distanceand angel between the treetops and spraying heads. The profiling mechanism adjustment canbe achieved by3motor-driven push rods. One side of fruit trees can be covered when3spraying heads work at the same time, because the working angel of spraying head is big.Meanwhile, the spraying distance between trees and head can be changed in the way ofregulating the fan speed through inverter. The article begins with design of profilingmechanism, and carries movement simulation based on ADAMS. Then, design control circuit,man-machine interface including menu type and operation panel and finally test debugging.The work contents are as following:1. Designed and improved profiling mechanism. Finished desingning a three degreesprofiling mechanism model based on trees of different height and wide, line spacing and rowspacing of our country, which can successfully adjust different trees size in level and verticaldirection.2. Caculated extends length of each pushing rod according different tree types using themethod of image process. Carried kinematic simulation on the mechanism base on ADAMS,and got movement characteristics curves of each spraying head position.3. Finished the hardware control system based on Single Chip Machine condidering thedesign requirement. Selected C8051F340and C8051F020from SILICON, America as CPU,realizing effectively controlled the spraying parameters including speed and quantity, by themeans of mater and slave communication. Hardware structure mainly includes conmunicationmodule, LCD display module, profiling pushing rod driving module and so on.4. Wrote software code based on C for control system, and analyzed software procedureof each module. Introduced controller oprating dicripnations and designed a man-machineinterface that is brief and clear. Carried simulation testing and commissioning on the wholesystem.