Control System Design Of Baby Silkworm Rearing Intelligent Feeding Machine Based On CAN Bus

With the rapid development and wide application of Internet of Things and “Interner+”,traditional agriculture has begun to transform into modern agriculture characterized by intelligent agriculture.As a facility platform of intelligent agriculture,the intelligence level of agricultural equipment directly affects the development process of intelligent agriculture.However,as a traditional superior agriculture,baby silkworm rearing is still faced with many problems,such as backward production technology and low degree of mechanization,which make it difficult to adapt to the development requirements of modern agriculture.In this paper,a feeding machine control system for baby silkworm rearing was designed by using automation technology.The system can realize automatic and intelligent baby silkworm rearing.It improves the technical level of sericulture equipment,solves some problems restricting the development of sericulture industry,and promotes the sustainable and healthy development of traditional sericulture to modern sericulture to a certain extent.This paper uses CAN bus technology and modular design method to divide the control system into master control node,human-computer interaction node,image acquisition node,dual power supply management node,motor control node and system protection node,connected by CAN bus to transmit data.The functions of the system include automatically scattering mulberry leaf feeding and scattering lime disinfection,to intelligently judge the physiological state of the silkworm,the position and size of the silkworm base and the feeding uniformity of mulberry leaves to automatically control the feeding range and uniformity of mulberry leaves by image recognition.It has the function of main power and auxiliary power supply automatic switching,and is able to manage the battery charge and discharge.In addition,It is equipped with visualization operation interface,and the man-machine interactive performance is well.At last,the whole production process data can be historically inquired and traced,and it is cenvenient to develop remote monitor and other functions.It contains the following research contents.(1)According to the agronomic process and user demand of baby silkworm rearing,the development target and specific target main technical parameters of the system have been worked out.Combined with working principle of the feeding machine,the functional requirements of the system are analyzed.The node structure of the control system based on CAN bus is determined by following the general principles of modular design.(2)The functional hardware circuit is designed.Depending on the idea of bus node,to design hardware circuit design for each node,which includes master control node,dual power supply management node,image acquisition node,human-computer interaction node,DC motor driving control node,stepper motor driving control node and system protection node.During the process,the main working components are selected,and essential parameters are calculated.(3)Based on the image recognition technology,position and size of silkworm base,feeding uniformity of mulberry leaves and baby silkworm physiological state are studied.The edge of silkworm base was obtained by image processing with MATLAB.On this basis,to use coordinate position algorithm and length algorithm to determine the position and size of the silkworm base.By calculating percentage of binary image black pixels in minimum external rectangle containing the edge of the silkworm base to determine the method for judging the feeding uniformity of mulberry leaves.Moreover,A method of judging baby silkworm different physiological state by calculating proportion of remaining mulberry leaves gray value in gray histogram is proposed.(4)The control system software is designed.The system software design is divided into main program design and functional subroutine design with the idea of modular programming,and the system main program flow chart and function subroutine flow chart are designed.The design process of system initialization program,CAN communication program,serial communication program,silkworm base recognition program and motor drivers control program are elaborated in detail by using program flow chart,and code of key ponts in flow chart are displayed.(5)The system is tested,and the test results are analyzed.The control system is tested from three aspects: loading,main functions and key parameters and feeding effect.The test results show that the feeding machine runs stably and reliably,maximum lifting weight of the system is 210 kg,to complete one dustpan feeding time is 18 s,main and auxiliary power supply switching time is 20 ms,the mulberry leaf feeding accuracy of the feeding device is at 95%.All above parameters achieve the development goal and meet the application requirements of the system.