基于嵌入式互联网的远程智能喷雾控制系统设计
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摘要
为提高设施农业植保作业智能管控能力,该文提出一种基于STM32F101和STM32F103嵌入式技术,结合4G互联网、局域WIFI通信技术及超声波靶标检测算法,能够便捷地对设施作业装备远程视频与控制的方案,达到人机分离与精准施药的目的。该系统在Eclipse和Keil-uvision4开发环境下采用Socket和多线程技术实现双向通信,以TCP通讯协议为媒介,Android端和客户端通过互联网或无线网卡转接移动路由实现远程智能喷雾控制。试验结果表明:1)Android端能够在LAN或Internet中实现智能喷雾装备的近远程控制,软件界面回传状态无卡顿、延时发生,能够准确发射控制指令,实现了对靶标间歇性施药管控;2)系统建立的双向心跳包能够在通信故障情况下迫使喷雾装备处于休眠状态,经测试,心跳包设定时间与喷雾装备休眠响应时间平均相对误差不超过5.50%;3)采用视频帧对冠层中线定位,借助超声检测算法确定风送距离参数且建立冠层体积模型。试验发现,冠层密度对体积测量结果有显著影响,但总体测量准确度可达94.67%。该研究对其他农机装备的智能化管控研究有参考意义。
In view of the current weak status of intelligent management and control systems for facility of agriculture and dwarfed orchards, high labor intensity and complicated spraying environment, this article proposed an embedded technology, which took STM32 F101 and STM32 F103 as the core and basis, combined with 4 G Internet and ultrasonic target detection algorithm, and was able to remotely control agricultural machinery to achieve the purpose of human-machine separation and precise application of pesticides. The system used Socket and multi-thread technology to implement two-way communication under the Eclipse and Keil-uvision4 development environment. With TCP communication protocol as the medium, the Android and client transferred remote routing through the Internet or wireless network card to achieve remote intelligent spray control. The test results show that: 1) Android can implement near-remote control of smart spray equipment in the LAN or Internet. The software interface returns that no stagnant state or delay occurs and it can accurately transmit control commands and achieve intermittent application of the target. 2) The bidirectional heartbeat package established by the system can force the spray equipment to be dormant in the event of communication failure. After testing, the error rate of the heartbeat packet set-up time and the spray equipment dormancy response time does not exceed 5.50%. 3) Use the video frame to locate the canopy middle line, and use the ultrasonic detection algorithm to determine the wind-distance parameters and establish the canopy volume model. Through experiments, it is found that the degree of canopy denseness has a significant impact on the measured results of the canopy volume measurement system. The text measurement system should be used in dense canopy conditions, and the measurement accuracy is as high as 94.67%. 4) The remote smart spray control system in this article can realize local network and long-distance internet communication. Use "Ping" command to check the network response to IP data packets. There is no packet loss problem and the average response time is 5 and 79 ms, respectively. 5) The degree of canopy density has a significant effect on the measurement of the canopy volume measurement system. There is a significant difference between the manual and automatic measurements of the canopy volume in sparse conditions. On the contrary, there is no significant difference between the manual and automatic measurements of the canopy volume in the dense conditions, which is suitable for measuring the canopy volume in this article. In the system, the maximum relative error is only 6.4%, and the canopy coverage and distribution uniformity will be significantly improved. 6) A remote control and optimized application system available for complete Internet-based spray equipment is designed. The system can realize human-machine separation and precise application of pesticides. Through tests, it can be seen that the detection and processing of the fuselage faults has high reliability. At the same time, it has potential application value for the transformation of traditional production modes and the promotion of smart agricultural machinery. The study can also provide reference for the automation and intellectualization of other agricultural machinery equipment.
In view of the current weak status of intelligent management and control systems for facility of agriculture and dwarfed orchards, high labor intensity and complicated spraying environment, this article proposed an embedded technology, which took STM32 F101 and STM32 F103 as the core and basis, combined with 4 G Internet and ultrasonic target detection algorithm, and was able to remotely control agricultural machinery to achieve the purpose of human-machine separation and precise application of pesticides. The system used Socket and multi-thread technology to implement two-way communication under the Eclipse and Keil-uvision4 development environment. With TCP communication protocol as the medium, the Android and client transferred remote routing through the Internet or wireless network card to achieve remote intelligent spray control. The test results show that: 1) Android can implement near-remote control of smart spray equipment in the LAN or Internet. The software interface returns that no stagnant state or delay occurs and it can accurately transmit control commands and achieve intermittent application of the target. 2) The bidirectional heartbeat package established by the system can force the spray equipment to be dormant in the event of communication failure. After testing, the error rate of the heartbeat packet set-up time and the spray equipment dormancy response time does not exceed 5.50%. 3) Use the video frame to locate the canopy middle line, and use the ultrasonic detection algorithm to determine the wind-distance parameters and establish the canopy volume model. Through experiments, it is found that the degree of canopy denseness has a significant impact on the measured results of the canopy volume measurement system. The text measurement system should be used in dense canopy conditions, and the measurement accuracy is as high as 94.67%. 4) The remote smart spray control system in this article can realize local network and long-distance internet communication. Use "Ping" command to check the network response to IP data packets. There is no packet loss problem and the average response time is 5 and 79 ms, respectively. 5) The degree of canopy density has a significant effect on the measurement of the canopy volume measurement system. There is a significant difference between the manual and automatic measurements of the canopy volume in sparse conditions. On the contrary, there is no significant difference between the manual and automatic measurements of the canopy volume in the dense conditions, which is suitable for measuring the canopy volume in this article. In the system, the maximum relative error is only 6.4%, and the canopy coverage and distribution uniformity will be significantly improved. 6) A remote control and optimized application system available for complete Internet-based spray equipment is designed. The system can realize human-machine separation and precise application of pesticides. Through tests, it can be seen that the detection and processing of the fuselage faults has high reliability. At the same time, it has potential application value for the transformation of traditional production modes and the promotion of smart agricultural machinery. The study can also provide reference for the automation and intellectualization of other agricultural machinery equipment.
引文
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[2]王潇楠,何雄奎,宋坚利,等.助剂类型及浓度对不同喷头雾滴飘移的影响[J].农业工程学报,2015,31(22):49-55.Wang Xiaonan,He Xiongkui,Song Jianli,et al.Effect of adjuvant types and concentration on spray drift potential of different nozzles[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2015,31(22):49-55.(in Chinese with English abstract)
[3]Wang Changling,He Xiongkui,WangXiaonan,et al.Testing method and distribution characteristics of spatial pesticide spraying deposition quality balance for unmanned aerial vehicle[J].Int J Agric&Biol Eng,2018,11(2):18-26.
[4]吴亚垒,祁力钧,张亚,等.温室弥雾机控制系统的设计[J].中国农业大学学报,2018,23(2):79-87.Wu Yalei,Qi Lijun,Zhang Ya,et al.Research and development of the mist sprayer control system in greenhouse[J].Journal of China Agriculture University,2018,23(2):79-87.(in Chinese with English abstract)
[5]Sánchez-Hermosilla J,Rincón V J,Páez F,et al.Comparative spray deposits by manually pulled trolley sprayer and a spray gun in greenhouse tomato crops[J].Crop Protection,2012,31(1):119-124.
[6]傅泽田,祁力钧,王秀.农药喷施技术的优化[M].北京:中国农业科学技术出版社,2002.
[7]王昌陵,宋坚利,何雄奎,等.植保无人机飞行参数对施药雾滴沉积分布特性的影响[J].农业工程学报,2017,33(23):109-116.Wang Changling,Song Jianli,He Xiongkui,et al.Effect of flight parameters on distribution characteristics of pesticide spraying droplets deposition of plant-protection unmanned aerial vehicle[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2017,33(23):109-116.(in Chinese with English abstract)
[8]周良富,薛新宇,周立新,等.果园变量喷雾技术研究现状与前景分析[J].农业工程学报,2017,33(23):80-92.Zhou Liangfu,Xue Xinyu,Zhou Lixin,et al.Research situation and progress analysis on orchard variable rate spraying technology[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2017,33(23):80-92.(in Chinese with English abstract)
[9]Rajkishan A,Stavros G,Francisco J,et al.Estimation of fruit locations in orchard tree canopies using radio signal ranging and trilateration[J].Computers and Electronics in Agriculture,2016,125(5):160-172.
[10]尹东富,陈树人,毛罕平,等.基于模糊控制的棉田变量对靶喷药除草系统设计[J].农业机械学报,2011,42(4):179-183.Yin Dongfu,Chen Shuren,Mao Hanping,et al.Weed control system for variable target spraying based on fuzzy control[J].Transactions of the Chinese Society for Agricultural Machinery,2011,42(4):179-183.(in Chinese with English abstract)
[11]Marco B,Giovanni C,Renato V,et al.Evaluation of a Li DAR based 3D-stereoscopic vision system for crop-monitoring applications[J].Computers and Electronics in Agriculture,2016,124(3):1-13.
[12]Cross J V,Walklate P J,Murray R A,et al.Spray deposits and losses in different sized apple trees from an axial fan orchard sprayer:3.Effects of air volumetric flow rate[J].Crop Protection,2003,22(2):381-394.
[13]Llop J,Gil E,Gallart M,et al.Spray distribution evaluation of different settings of a hand-held-trolley sprayer used in greenhouse tomato crops[J].Pest Management Science,2016,72(3):505-516.
[14]曹峥勇,张俊雄,耿长兴,等.温室对靶喷雾机器人控制系统[J].农业工程学报,2010,26(增刊2):228-233.Cao Zhengyong,Zhang Junxiong,Geng Changxing,et al.Control system of target spraying robot in greenhouse[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2010,26(Supp.2):228-233.(in Chinese with English abstract)
[15]耿长兴,张俊雄,曹峥勇,等.温室黄瓜病害对靶施药机器人设计[J].农业机械学报,2011,42(1):177-180.Geng Changxing,Zhang Junxiong,Cao Zhenyong,et al.Cucumber disease toward target agrochemical application robot in greenhouse[J].Transactions of the Chinese Society for Agricultural Machinery,2011,42(1):177-180.(in Chinese with English abstract)
[16]石建业,任生兰,马彦霞,等.智能遥控拉移动式温室专用喷雾机的研制[J].农业科技与装备,2014(7):26-27.Shi Jianye,Ren Shenglan,Ma Yanxia,et al.Design of intelligent remote control mobile spray machine for greenhouse[J].Agricultural Scienc&Technology and Equipment,2014(7):26-27.(in Chinese with English abstract)
[17]姜红花,白鹏,刘理民,等.履带自走式果园自动对靶风送喷雾机研究[J].农业机械学报,2016,47(增刊1):189-195.Jiang Honghua,Bai Peng,Liu Limin,et al.Caterpillar self-propelled and air-assisted orchard sprayer with automatic target spray system[J].Transactions of the Chinese Society for Agricultural Machinery,2016,47(Supp.1):189-195.(in Chinese with English abstract)
[18]徐波,李秋洁,束义平,等.计[J].农机化研究,2018,40(11):51-57.Xu Bo,Li Qiujie,Shu Yiping,et al.Design of accurate target spray system remote controlled through WiFi[J].Journal of Agricultural Mechanization Research,2018,40(11):51-57.(in Chinese with English abstract)
[19]刘雪美,李扬,李明,等.喷杆喷雾机精确对靶施药系统设计与试验[J].农业机械学报,2016,47(3):37-44.Liu Xuemei,Li Yang,Li Ming,et al.Design and test of Smart-targeting spraying system on boom sprayer[J].Transactions of the Chinese Society for Agricultural Machinery,2016,47(3):37-44.(in Chinese with English abstract)
[20]Gázquez J A,Novas N,Manzano-Agugliaro F.Intelligent low cost telecontrol system for agricultural vehicles in harmful environments[J].Journal of Cleaner Production,2016,113(8):204-215.
[21]Rowe D E,Malone S,Yate Q L.Automated greenhouse spray system for increased safety and flexibility[J].Crop Science,2000,40(4):1176-1179.
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