Development Of Tracked Intelligent Pesticide Application Vehicle For Facility Agriculture

At present,the traditional methods of pesticide application in facility agriculture in China are still manual application,mobile back loading application,etc,which are inefficient,poor adaptability,lack of suitable greenhouse hedge type crop pesticide equipment,and often lead to poisoning of operators in the process of pesticide application.Based on the study of the domestic and foreign pesticide application,the planting and growth characteristics of hedgerow cucumber in greenhouse were investigated,this paper designed and developed a kind of tracked intelligent pesticide application vehicle.It can meet the requirements of high efficiency,unmanned and intelligent pesticide application of the trellis type cucumber and meanwhile provide technical and equipment support for intelligent pesticide application in facility agriculture.The main research work and achievements of this paper are as follows:(1)Firstly,this paper analyzed the environment of greenhouse,and studied the planting characteristics and growth characteristics of the trellis type cucumber.On this basis,the overall scheme design of intelligent pesticide application vehicle was defined.According to the requirements of the walking mechanism of intelligent pesticide application vehicle,a double motor driven tracked chassis with high ground clearance and good trafficability was designed.A double rod type vertical retractable pesticide mechanism was also designed,which can meet the requirements of pesticide application in different growth periods of trellis type cucumber in the environment of greenhouse(2)The hardware of the control system of the intelligent pesticide application vehicle was designed with the idea of building block design and the hardware scheme of the control system with Arduino due as the core was formed.Based on the requirement of autonomous navigation of the intelligent pesticide application vehicle,the hardware scheme of motion control was defined clearly,and the key electrical components were selected and designed.Based on the demand of the intelligent pesticide application vehicle,the paper proposed an intelligent application scheme based on visual recognition and studied the recognition of target area based on hue filtering algorithm.Aiming at the influence of illuminating environments on recognition rate,the paper also studied the function relationship between the brightness adjustment value and the illumination intensity.Based on the demand of agricultural facilities for big data analysis,the framework of cloud monitoring system was constructed.(3)This paper analyzed the motion state of the tracked intelligent pesticide application vehicle and established the motion model of vehicle body based on the relationship between the speed of left and right driving wheels and the position deviation of vehicle body;aiming at the problem of autonomous navigation path tracking control of the intelligent pesticide application vehicle and combing the kinematic model of the intelligent pesticide application vehicle,a motion control strategy based on Fuzzy PID algorithm was presented.The simulation results verify the effectiveness of the method by simulation model of control system of the tracked intelligent pesticide application vehicle based on Matlab/Simulink.(4)The software of the control system of the tracked intelligent pesticide application vehicle was programmed based on the Arduino development environment.In order to meet the requirements of the system in monitoring and efficient operation,the interrupt scheduling mode was adopted to coordinate each task unit.Based on OneNET cloud platform,a remote monitoring system for the tracked intelligent pesticide application vehicle was developed(5)The prototype of the tracked intelligent pesticide application vehicle was developed and then the field test was carried out in Yangzhou modern agricultural science and technology comprehensive demonstration base.In this paper,the straight-line driving and turning driving tests of the prototype were carried out under the control strategies of conventional PID and fuzzy PID respectively.The test results showed that the motion control strategy designed in this paper with the fuzzy PID controller has the ability of fast correction,which can ensure the stability of the vehicle body during operation and the effectiveness of path tracking.The results also show that the speed affects the stability of the vehicle body at the initial stage of driving,and it is necessary to reduce the speed in advance in order to ensure the car body to smoothly cross the bend and shift.The experiment of the prototype under different driving speeds was carried out,the results showed that when the speed of the tracked intelligent pesticide application vehicle was not higher than 0.6m/s,the effect application meets the requirements of the characteristic.Through the cloud monitoring test of the system,we can find that it can successfully send the temperature of the greenhouse,light and operation state parameters of the tracked intelligent pesticide application vehicle to OneNET cloud platform and achieve the expected effect of remote monitoring.