Authors

Abstract

During field operations of the spray boom sprayer, the distance between the ends of the spray boom and the height of the crop canopy affects the uniformity of spraying, requiring operators to manually adjust the spray boom to be parallel to the crop canopy, which impacts operational efficiency. This study presents the design of a boom tilt control system, consisting of a main control node, distance measurement node, vehicle tilt detection node, and spray boom tilt control node. The bus communication protocol for the spray boom tilt control system is defined according to the ISO11783 standard, and a serial communication network is designed, along with the development of a real-time dynamic monitoring interface for the spray boom. The system automatically monitors the height of the boom and the tilt of the vehicle, makes decisions based on the detection information, controls the electric actuator, and adjusts the tilt of the boom. Leveraging the advantages of fast computing speed and user-friendly human-machine interface of the PC, as well as the high cost-effectiveness and small size of the microcontroller, and the multi-master-slave structure of the CAN bus, this system can complete data acquisition, processing, and other functions required for spray boom tilt control, achieving automatic adjustment of spray boom tilt. This enhances spray uniformity and operational efficiency of the sprayer, while reducing the workload of operators.

Abstract in Chinese

喷杆喷雾机田间作业时，喷杆两端距离作物冠层的高度影响喷雾均匀性，需要操作人员手动将喷杆调整到与作物冠层平行，影响作业效率。本文设计了一种喷杆倾角控制系统，包括主控节点、测距节点、车体倾角检测节点和喷杆倾角控制节点。根据ISO11783协议定义了喷杆倾角控制系统总线通信协议，进行了串行通信网设计，开发了喷杆实时动态监控界面。本系统能自动监视喷杆高度和车体倾角，并根据检测信息做出决策，控制电动推杆，调节喷杆倾角。本系统充分发挥了PC机运算速度快和人机交互界面友好、单片机性价比高且体积小、CAN总线多主从结构等优点，能够完成喷杆倾角控制所需数据的采集、处理等功能，实现喷杆倾角自动调节，从而提高喷雾均匀性和喷雾机作业效率，减轻操作人员的劳动强度。