| The plant protection spraying equipment in orchards in hilly and mountainous areas in China is still lacking.Existing spraying equipment is mostly manual operation for extensive spraying.Due to the need for direct manual operation at close range,not only the labor intensity is large,but the operator's body health is also seriously threatened.Therefore,this paper aims at the above problems,through the research on the existing plant protection spraying operation methods in hilly mountain areas,combined with the actual planting situation of orchards in hilly mountainous areas,integrating panoramic visualization technology,remote control technology and target spraying technology,a set of visual remote control two-side automatic target spraying system was designed.The system uses the self-propelled crawler electric transfer platform independently developed by the team as a carrier.The panoramic camera and 4G network transmission form a panoramic visual module.The ultrasonic probe is used to detect the position of fruit trees.For target spraying,STM32C8T6 is used as the control core,and NRF24L01 is a wireless communication module to form a control system,which realizes 100m remote visualization of target spraying operations.In order to adapt to different spraying requirements,three spraying modes are provided,which can be switched by remote control.The following work was mainly carried out.(1)This paper proposed a visual remote control automatic target spraying operation method which combined panoramic visualization,remote control and automatic target spraying.The panoramic view can be used to provide the operating environment around the spraying system for the operator.The spraying operation adopts the method of automatic targeting and the spraying command is issued through remote control,which enables the operator to remotely control the spraying system at a location far away from the coverage area of the pesticide It laid the foundation for solving the problems of high labor intensity and the health of the operator's close-range spraying,which is harmed by pesticides.(2)The spraying system is installed on the self-propelled crawler electric transfer platform independently developed by the team.The overall length,width and height of the spraying system is 1.6×1.3×3m.Due to the small size of the machine,it can move flexibly in the orchards in hilly and mountainous areas,which provides conditions for the automatic operation of the spraying system.The 4G network transmission and panoramic camera are used to form the panoramic visual system of this article,which provides the conditions for remote operation.Each side uses 4 ultrasonic probes with 0.65m installation pitch for target detection,which provides conditions for the target spraying.(3)In order to meet the need of spraying operations in orchards in hilly and mountainous areas,the spraying system in this paper uses a fan-shaped sprinkler,controlled by a solenoid valve,with a spray width of 2.8m and a horizontal range of 1.2m.Three spraying modes of manual remote control spraying,automatic large-volume spraying and automatic precision spraying were proposed to ensure the adaptability of the spraying system.(4)According to the overall plan of the system,the hardware selection of the panoramic camera,4G network transmission module,ultrasonic probe,spray head,solenoid valve and spray pump had been completed.Completed the design of the frame of the spraying system and the target actuator.With STM32C8T6 microcontroller as the control core and NRF24L01 as the wireless communication module,the control system hardware was established.The power module design was completed by analyzing and calculating the power demand of each consumer.(5)Using FreeRTOS real-time operating system as the software program framework,combined with STM32 firmware library functions to write software programs.Including the configuration of the SPI communication method used by the wireless module and the processing of sending and receiving data.The configuration of the I~2C communication method used by the OLED display module and the establishment of the text library.The configuration of the UART communication method used by the ultrasonic module and the processing of the received distance data.And completed the preparation of matrix key,motor drive,solenoid valve drive program,which laid the foundation for the remote operation of the system.(6)The key parameters and operating performance of the spray system were tested in the Southwest University and the Citrus Research Institute of Southwest University.The horizontal range and spray width of the spray system reached the design requirements,and the spray flow was 3.07L/min.The results of the field experiment show that the image returned by the panoramic camera through the 4G network is clear.The average length of the visible area in front of the camera is 5.26m,the average length of the rear visible area is 1.56m,the average total length of the visible area is 6.81m,and the visible area The average width is 1.99m,which can meet the needs of the operator to distinguish fruit trees and obstacles.The remote control test results in the orchard show that within 35m,the remote control spray system switches the operating mode and the spray function is normal,the remote control responds sensitively,and there is almost no lag.Meet the needs of the job.The results of ultrasonic ranging show that the average accuracy of probe ranging is more than 80%,which can meet the needs of target operation in this paper.The test results of the three spraying modes show that spraying modes 2 and 3 reduce the spraying amount by more than 50%relative to the continuous spraying,indicating that the target spraying system in this paper achieves the The purpose of liquid waste. |
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