Automatic Control System Of The High Range Air-assisted Spraying Equipment

Presently the infestation of forest diseases and insects causes severe problems in forestry production and entironment while the chemical treatment, as the major solution, is of very low efficiency. So, the research of pesticide spraying equipments with precision forestry technology, which bears the promises of low cost and high efficiency of chemical application in diseases and insects treatment, become more and more important. In the paper, with the integration of technology of pesticide smart application based on tree image processing and technology of truck-carrying high range air-assisted spraying equipment, the spraying control system determined by the tree image processing result was accomplished, the low-speed Cruise Control System(CCS) of the truck-carrying high range air-assisted spraying equipment and the corresponding communication protocol were developed.The Centralized Management System was made up by the host computer and the lower computer. The tree image was processed by the host computer, the processing result was then transmitted to the lower computer by the communication circuitry in the form of command. Then the command was received, parsed and executed to control the actual spraying of truck-carrying high range air-assisted spraying equipment. To realize the precise cooperation of image processing, spraying control and spraying circumstance and lower the working intensity, the low-speed Cruise Control System and the corresponding simulation -bugging software were developed. The low-speed Cruise Control System was developed based on PID to control the low-speed vehicle. The sprayer controller and the low-speed Cruise Control System were controlled by the host computer and the lower computer at the same time. It was called the master-slave multicomputer centralized control system of the truck-carrying high range air-assisted spraying equipment. In the paper, the communication protocol of the master-slave multicomputer centralized control system was established, the communication data format was regulated and the interface standard was regulated for further development. So, it is convenient for different developer and different developing platform to syncretize.As shown in the experiment, the low-speed and the fixed-speed control were accomplished by the low-speed Cruise Control System. The control command from the host computer was parsed correctly by the spraying control system. It is significative for the combination of the technology of smart pesticide application based on tree image processing and the truck-carrying high range air-assisted spraying equipment.