Design Of Intelligent Weed Equipment And Control System For Precision Spraying

At present,the precision agriculture has been a hot field in the international agricultural scientific research,and the precision chemical is one of the most important components of the precision agriculture.To fall off being extravagant by the reasonableness distribution and to maximum the utilization ratio of pesticide,to reduce cost and improve beneficial result;at the same time to reduce the toxic residual in crop product,raising the quality of the crop product,also protect ecological environment in agriculture.In the paper,an embedded weed control system for precision spraying based on ARM7 has been developed.A series of experiments and analysis,which cover the main puzzles and technical difficulties,were carried out to predict the feasibility and reliability of system for working in the out-door field.The research mainly concludes several aspects as follows:1) The design of intelligent weed platform for precise spraying:design the intelligent weed equipment based on the environment of filed.In addition,choosing the suitable device to construct the spraying system.2) The design of scheme for control system:to realize the communication between the PC and SCM based on RS232,the encoder as speed sensor to get the information of precise position.Using the fuzzy theory to design the fuzzy controller and control the valves to spray the weeds.3) Design of control system:design the hardware of control system based on ARM7 andμC/OS-Ⅱ,using the C to realize the functions of fuzzy controller,interface and so on.4) Experiments and Study:Using a method of the calculation on position based on encoder,to realize precise position;To get the relay time of control system and the relationship between press and flux,study the variable spraying based on PWM.The system is composed of weeding platform,ARM7controller,hydrometer,encoder, nozzles and solenoid-valves.Two sets of software were written in VC++ and C respectively to realize the functions as follows:Realizing data exchange between PC and SCM,the SCM receive the spraying information from machine vision,at the same time, sending the instruction to control PC to get new pictures;Using a method of the calculation on position based on encoder,to realize precise position;To control the solenoid-valves based on the theory of fuzzy,and the simulation result of fuzzy controller validate the rules of fuzzy control;Acquiring the data of flux in system by hydrometer,and displaying data on LCD.The research in the paper will provide valuable experiences both theoretically and practically for the precise spraying weeding system based on machine vision.