基于DSP的智能喷药系统控制器设计
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摘要
我国是农业大国,因此做好对农业的现代化是非常重要的。随着我国现代化进程的不断加快,农业的现代化也有了一定的发展。农业现代化就是用现代生产手段和现代技术逐步装备农业的过程。在当今电子技术的突飞猛进发展下,电子技术尤其是嵌入式技术正逐步的应用在农业现代化上。本文正是以此为依托,设计了针对大面积葡萄种植过程中的农药自适应式喷洒控制器。
针对我国传统低效的篱架型果园喷药过程,我们设计了结合现代嵌入式系统和多路传感器信号融合技术来解决喷药过程中效率低、药物浪费以及环境污染的智能喷药系统控制器。本智能喷药系统控制器中包括了用于智能控制的S3C2410处理器、用于图像采集和处理的TMS320DM642处理器以及多路传感器信号采集融合的TMS320F2806处理器,通过不同的通信协议将三个处理器有机的结合起来以控制下层动作机构的实时智能动作,从而完成对篱架型作物的自适应喷药。
本文通过对国内外篱架型作物喷药系统的现状展开,首先介绍了篱架型智能喷药系统控制器的意义以及嵌入式系统应用在农业领域的优点,从整体上介绍了本智能喷药系统控制器的实现可行性；其次重点介绍了基于TMS320DM642的视觉处理技术在硬件平台的实现和对葡萄叶子稀疏度提取的图像处理算法的实现；然后论述了多路传感器信号的采集和处理,并且对驱动电路的设计做了说明；最后主要是对整个系统的通信协议和自适应式的控制方法做了详细的论述,在文章的结尾还对本系统提出了比较有建设性的结论和建议。
China is a large agricultural country. Therefore, it's important to do well in modernization of agriculture. Along with the acceleration of our country's modernization, agriculture modernization has is also gradually developing. Agricultural modernization is a process to gradually equip agriculture by using modern production methods and technologies. With today's advancement in electronic technology, it is gradually being applied in the agricultural modernization, especially the embedded technology. This paper is based on these ideas, which designs the automatic spraying insecticides as an adaptive controller for a large scale grape growing areas.
With the view of inefficient traditional orchard spraying trellised, we designed an intelligent spraying system controller using a combination of modern embedded systems and multi-sensor signal fusion technology to solve the low efficiency spraying process, drug waste and environmental pollution of traditional type. The intelligent spraying system controller consists of three processor, namely S3C2410 for intelligent control, TMS320DM642 for image acquisition and processing and TMS320F2806 for multi-sensor signal acquisition integration. These processors are combined together with different protocols, thus controlling the real time intelligent movement of the machine for automatically spraying the trellised type crops.
This article start from the present situation of domestic and foreign trellised type crops spraying system, firstly introduces the intelligent of trellised type spraying system controller of significance and embedded systems used in agriculture of advantages, overall introduction of this intelligent system constructability. Secondly, introduces the visual processing technology based on TMS320DM642 in hardware platform and the algorithm of grape leaves sparse degrees extraction realization. Presents the multi-channel sensor signal collection and processing, and to illustrate the driver circuit design. Finally, does a detailed discussion about the communication protocols and adaptive type control method of whole system. At the end of the article also puts forward a more constructive conclusions and recommendations for this system.
针对我国传统低效的篱架型果园喷药过程,我们设计了结合现代嵌入式系统和多路传感器信号融合技术来解决喷药过程中效率低、药物浪费以及环境污染的智能喷药系统控制器。本智能喷药系统控制器中包括了用于智能控制的S3C2410处理器、用于图像采集和处理的TMS320DM642处理器以及多路传感器信号采集融合的TMS320F2806处理器,通过不同的通信协议将三个处理器有机的结合起来以控制下层动作机构的实时智能动作,从而完成对篱架型作物的自适应喷药。
本文通过对国内外篱架型作物喷药系统的现状展开,首先介绍了篱架型智能喷药系统控制器的意义以及嵌入式系统应用在农业领域的优点,从整体上介绍了本智能喷药系统控制器的实现可行性；其次重点介绍了基于TMS320DM642的视觉处理技术在硬件平台的实现和对葡萄叶子稀疏度提取的图像处理算法的实现；然后论述了多路传感器信号的采集和处理,并且对驱动电路的设计做了说明；最后主要是对整个系统的通信协议和自适应式的控制方法做了详细的论述,在文章的结尾还对本系统提出了比较有建设性的结论和建议。
China is a large agricultural country. Therefore, it's important to do well in modernization of agriculture. Along with the acceleration of our country's modernization, agriculture modernization has is also gradually developing. Agricultural modernization is a process to gradually equip agriculture by using modern production methods and technologies. With today's advancement in electronic technology, it is gradually being applied in the agricultural modernization, especially the embedded technology. This paper is based on these ideas, which designs the automatic spraying insecticides as an adaptive controller for a large scale grape growing areas.
With the view of inefficient traditional orchard spraying trellised, we designed an intelligent spraying system controller using a combination of modern embedded systems and multi-sensor signal fusion technology to solve the low efficiency spraying process, drug waste and environmental pollution of traditional type. The intelligent spraying system controller consists of three processor, namely S3C2410 for intelligent control, TMS320DM642 for image acquisition and processing and TMS320F2806 for multi-sensor signal acquisition integration. These processors are combined together with different protocols, thus controlling the real time intelligent movement of the machine for automatically spraying the trellised type crops.
This article start from the present situation of domestic and foreign trellised type crops spraying system, firstly introduces the intelligent of trellised type spraying system controller of significance and embedded systems used in agriculture of advantages, overall introduction of this intelligent system constructability. Secondly, introduces the visual processing technology based on TMS320DM642 in hardware platform and the algorithm of grape leaves sparse degrees extraction realization. Presents the multi-channel sensor signal collection and processing, and to illustrate the driver circuit design. Finally, does a detailed discussion about the communication protocols and adaptive type control method of whole system. At the end of the article also puts forward a more constructive conclusions and recommendations for this system.
引文
[1]韩长赋.加快发展现代农业[EB/OL].http://www.zgjrw.com/News/20101122/home/ 685692947411.shtml
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[4]赵茂程,邓加强.树形识别与精确对靶施药品的模拟研究[J].农业工程学报2003
[5]邓巍,丁为民.基于PWM技术的连续式变量喷雾装置设计与特性分析[J].农业机械学报2008
[6]何雄奎,严苛荣,储金宇等.果园自动对靶静电喷雾机设计与试验研究[J].农业工程学报2003
[7]我国水果产业进入调整、优化、提高新时期[EB/OL].http://www.foodsl.com/content/ 715163/
[8]宋伯生.PLC编程理论、算法及技巧[M].北京：机械工业出版社2005
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[17]万山明.TMS320F281x DSP原理及应用实例[M].北京：北京航空航天大学出版社 2007
[18]张卫宁编译.TMS320C28x系列DSP的CPU与外设[M].北京：清华大学出版社2004
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[25]谭浩强.C程序设计[M].北京：清华大学出版社2002
[26]钱玉琴.国内外农业施药技术研究进展[J].福建农机
[27]王涛,何金戈,廖宇兰等.植物保护喷药机械的发展研究状况综述[J].安徽农学通报2008
[28]张玲,戴奋奋.我国植保机械及施药技术现状与发展趋势[A].2002
[29]李志臣.基于机器视觉的杂草对准喷药控制系统研究[D].南京农业大学2007
[30]侯茗耀.黄瓜采摘机器人机器视觉系统在DM642上的实现[D].中国农业大学2008
[31]郭慰萱,郭宝龙.基于DM642的视频处理系统设计与实现[J].电子设计工程2009
[32]TI. TMS320x280x,2801x,2804x Enhanced Capture (ECAP) Mdule Reference Guide [Z]. http://www.ti.com 2007.09
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[36]TI. TMS320x280x,2801x,2804x DSP Analog-to-Digital Converter (ADC) Reference Guide[Z]. http://www.ti.com 2010.04
[37]TI. TMS320DM642 Video/Imaging Fixed-Point Digital Signal Processor[Z]. http://www.ti.com 2005.08
[38]TI. TMS320C6000 DSPExternal Memory Interface (EMIF) Reference Guide[Z]. http://www.ti.com 2008.04
[2]郑文钟,应霞芳.我国植保机械和施药技术的现状、问题及对策[J].农机化研究2008.05
[3]中国农业机械化科学研究院.国内外植保机械化发展趋势[J].农机科技推广2005.04
[4]赵茂程,邓加强.树形识别与精确对靶施药品的模拟研究[J].农业工程学报2003
[5]邓巍,丁为民.基于PWM技术的连续式变量喷雾装置设计与特性分析[J].农业机械学报2008
[6]何雄奎,严苛荣,储金宇等.果园自动对靶静电喷雾机设计与试验研究[J].农业工程学报2003
[7]我国水果产业进入调整、优化、提高新时期[EB/OL].http://www.foodsl.com/content/ 715163/
[8]宋伯生.PLC编程理论、算法及技巧[M].北京：机械工业出版社2005
[9]王跃宗,刘京会.TMS320DM642 DSP应用系统设计与开发[M].北京：人民邮电出版社2009
[10]瑞泰创新.ICETEKDM642AVM评估版技术手册[G].http://www.realtimedsp.com.cn
[11]赵加祥,佟吉钢,严建功等.DSP系统设计和BIOS编程及应用实例[M].北京：机械工业出版社2008
[12]D.M.Woebbecke, G.E.Meyer, K.Von.Bargen, D.A.Mortensen. Color Indices for Weed Identification Under Various Soil, Residual, and Lighting Conditions[J].Transactions of the ASAE,1995,38(1):259-269
[13]朱秀昌,刘峰,胡栋.数字图像处理与图像通信[M].北京：北京邮电大学出版社2008
[14]苏奎峰,吕强,邓志东等.TMS320x28xxx原理与开发[M].北京：电子工业出版社2009
[15]Rafeel C.Gonozalez,Richard E. Woods.Digital Image Processing[M].北京：北京工业出版社2007
[16]何明一,卫保国.数字图像处理[M].北京：科学出版社2008
[17]万山明.TMS320F281x DSP原理及应用实例[M].北京：北京航空航天大学出版社 2007
[18]张卫宁编译.TMS320C28x系列DSP的CPU与外设[M].北京：清华大学出版社2004
[19]刘和平,张卫宁,刘林等编译.TMS320C28x系列DSP指令和编程指南[M].北京：清华大学出版社2005
[20]王军宁,何迪,马娟等编译.TI DSP/BIOS用户手册与驱动开发[M].北京：清华大学出版社2007年
[21]于凤芹,张庆荣,吉训生等.TMS320 C6000 DSP结构原理与硬件设计[M].北京：北京航空航天大学出版社2008
[22]苏奎峰,吕强,耿庆锋等.TMS320F2812原理与开发[M].北京：北京电子工业出版社2005
[23]苏奎峰,吕强,常天庆等.TMS320x281xDSP原理及C程序开发[M].北京：北京航空航天大学出版社2008
[24]和众达电子.SEED-VPM642用户指南(Rev.B)[G]. http://www.seeddsp.com 2005.04
[25]谭浩强.C程序设计[M].北京：清华大学出版社2002
[26]钱玉琴.国内外农业施药技术研究进展[J].福建农机
[27]王涛,何金戈,廖宇兰等.植物保护喷药机械的发展研究状况综述[J].安徽农学通报2008
[28]张玲,戴奋奋.我国植保机械及施药技术现状与发展趋势[A].2002
[29]李志臣.基于机器视觉的杂草对准喷药控制系统研究[D].南京农业大学2007
[30]侯茗耀.黄瓜采摘机器人机器视觉系统在DM642上的实现[D].中国农业大学2008
[31]郭慰萱,郭宝龙.基于DM642的视频处理系统设计与实现[J].电子设计工程2009
[32]TI. TMS320x280x,2801x,2804x Enhanced Capture (ECAP) Mdule Reference Guide [Z]. http://www.ti.com 2007.09
[33]TI. TMS320x28xx,28xxx Enhanced Quadrature Encoder Pulse (eQEP) Reference Guide [Z]. http://www.ti.com 2008.12
[34]TI. TMS320x28xx,28xxx Enhanced Controller Area Network (eCAN) Reference Guide [Z]. http://www.ti.com2009.01
[35]TI. TMS320x28xx,28xxx Inter-Integrated Circuit (I2C) Reference Guide[Z]. http://www.ti.com 2009.07
[36]TI. TMS320x280x,2801x,2804x DSP Analog-to-Digital Converter (ADC) Reference Guide[Z]. http://www.ti.com 2010.04
[37]TI. TMS320DM642 Video/Imaging Fixed-Point Digital Signal Processor[Z]. http://www.ti.com 2005.08
[38]TI. TMS320C6000 DSPExternal Memory Interface (EMIF) Reference Guide[Z]. http://www.ti.com 2008.04