| Most of the greenhouse spraying machines in China have such problems as low degree of automation,unreasonable spray model design,serious pesticide residues and personal injury caused by pesticide spraying.Based on the mechanical structure of"3M-50 autonomous operation greenhouse mist machine"developed in the earlier part of the project group,this paper uses wireless communication technology and embedded technology to develop an intelligent application control system of self-propelled positioning and coordinated spraying.The system can be used to accurately and quickly control the mist machine to perform automatic spraying operation based on the precise positioning for different planting patterns and different growth periods in the greenhouse.The research work of this paper includes the following five aspects.(1)In order to realize logistics transportation and the spray function of plug and play of3M-50 mist sprayer in the greenhouse,based on the idea of modular design,the system is divided into the self-propelled control subsystem,the spray control subsystem and the remote control terminal three parts.On this basis,using the embedded system software and hardware design method,the three parts of the control module are designed and built independently,and the standardized interface is used to integrate each module into the whole control system.(2)A precise positioning method in greenhouse is proposed,which is low cost,high precision and easy to popularize.The method selects the way of the track,designs the location anchor with different structures and acquires location information by the proximity switch and the Encoder sensor.The positioning of mist sprayer on straight/curved track can be measured by the method.In order to further improve the positioning precision,static positioning error and dynamic positioning error during the machine driving process are analyzed,and the corresponding error compensation method is also proposed.(3)A coordinated spray control method adapted to different planting patterns is proposed,especially for the two main planting patterns of"dense planting greens"and"fencing plant"in the greenhouse in our country,and the full automatic precision spray is realized by the method.This paper first designs the automatic spray mode according to the two kinds of planting patterns,then establishes the medicine model,and studies the control method of the spray volume and air-assist based on the model.By combining the self-propelled control method of the mist machine,the precision,efficiency and intelligent spray operation under different planting modes are finally realized to acquire the uniform deposition of the droplets and reduce the volume of pesticides.(4)Based on the modular hardware system,integrating the above precise positioning and coordinated spray control methods,the intelligent operation control software of mist machine is developed and implemented.In order to simplify the development process and reduce the difficulty and cost of development,theμC/OS-II real-time operating system is transplanted for the self-propelled control subsystem.In order to provide a perfect human-computer interface,the object oriented visual design method UML is used to build model of the control software,and the client control software based on Android is developed.(5)Based on the above research content,in order to verify the feasibility of the precision positioning method and the coordinated spray control method designed in this paper,as well as the reliability of the mist control system,the testing of the positioning precision and spray performance of the mist machine is carried out in several greenhouse.The test results show that the positioning precision of the mist machine can reach?3cm,and the fluctuation of droplet deposition in the upper,middle and lower layers of the plant is not more than0.4?/cm~2,and the droplet distribution uniformity is verified good.In addition,the response speed of the mist machine to the control signal is less than 2s,the system has high reliability and stability,and is easy to operate.Through the above research content,this paper realizes the precision positioning and coordinated spray function of the 3M-50 mist machine,which can effectively reduce the volume of pesticides and improve the utilization rate of pesticides.At the same time,it realizes the isolation of human and pesticides in the spray process,protects the health of the workers,and is beneficial to the development of the modern technology of plant protection.It has great social,economic and ecological significance. |
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