篱架型作物高效施药技术自适应控制系统的研究与实现

Implementation of a self-adaptive control system for highly-effective application of trellised crops

针对目前我国果园施药成本高、效益低、药液流失污染严重等问题,设计并实现了一种篱架型作物高效施药技术的自适应控制系统。该系统由DM642视觉处理器、ARM控制器和F2806信号控制器组成,采用基于嵌入式系统的图像处理技术和多传感器技术,通过视觉传感器和超声波传感器探知作物的疏密度和施药距离;由系统自动控制电机带动喷头组的移动,调整最佳喷药距离,选择最佳喷药压力。实验结果表明,该系统实时性好、控制有效、能耗小、成本低,能够稳定可靠地实现喷药过程中的监测和控制。

The orchard pesticide application technology in china still remains problematic with its high cost,low efficiency as well as high pesticide loss,which results in serious environmental pollution.The design and implement of a self-adaptive control system for highly-effective application of trellised crops provide a solution to the above problems.The system consists of a visual DM642 processor,an ARM controller and a F2806 signal controller and adopted the image-processing and multi-sensor merging technologies based on the embedded system.The distance of the pesticide application and the spraying pressure will be detected through ultrasonic sensor and visual sensor,based on which the system manipulates the control motor automatically to adjust the spray nozzles to the optimal spraying distance and choose s the best spraying pressure.To ensure the stability and the reliability of the system,we designed stable hardware components and software structure and worked out detailed communication protocols.Experiments showed that the system is characterized by excellent real-time,effective control,low consumption of power as well as low cost.It proved that the system could fulfill the monitoring and controlling tasks stably and reliably during the spraying.