基于单片机果树施药仿形喷雾的位置控制系统

Position Control System Based on Single Chip Microcomputer for Spraying Spraying of Fruit Trees

当前果树种植已经由小面积种植模式转变为大面积果园种植模式,因而对喷雾提出更高要求,尤其是要解决传统喷雾在操作中存在的药物浪费现象。为此,采用仿形技术结合单片机控制技术研制出一种仿形机构,可根据果树形状改变其结构形状。其由多自由度机械臂组成,通过单片机发布命令控制液压系统,推动机械臂到达指定位置,形成与果树形状类似的包络形结构,通过单片机控制系统控制其机械臂位置,并以C语言作为编程语言编写控制程序,控制整个机构展开工作。试验结果表明:其实效性满足工作需求。

The current pattern of small area by planting fruit trees has been planted into a large area of orchard planting pattern,this kind of mode put forward certain requirements for spray,especially the shape of tall trees is difficult to carry out all-round fertilization on,and the traditional spray structure exists in the operation of drug waste. This paper adopts profiling technique combined with single-chip microcomputer control technology developed a profiling mechanism based on fruit shape change according to its structure and shape,structure by multi DOF Manipulator,command control hydraulic system through the microcontroller,push the arm to the specified location,form an envelope shaped structure similar to fruit shape,setting up reasonable hydraulic system the parameters,through the MCU control system to control the mechanical arm position,and using C language as the programming language control program,control the entire organization work,and verify its effectiveness to meet the work demand.