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A Self-adjusting System of Pesticide SprayingManipulator Based on MCU

Published by the American Society of Agricultural and Biological Engineers, St. Joseph, Michigan

Citation:  2018 ASABE Annual International Meeting  1800734.(doi:10.13031/aim.201800734)
Authors:   Gang Wu, Ding Xu, Shixiong Li, Jianping Li, Yongjun Zheng, Yu Tan
Keywords:   MCU, obstacle avoidance, pesticide spray rod, pose control.


Traditional agricultural machinery and equipment gradually being eliminated by intelligent agricultural machinery due to too much rely on manpower, animal power operations and inefficient, intelligent agricultural machinery has the advantages of high degree of autonomy, high efficiency and high precision, so it has been widely used in agricultural production. In this paper, a self-adjusting system of pesticide spray rod based on MCU(microcontroller) is designed by using the mechanical arm to simulate the intelligent pesticide spray rod of unmanned tractor. Mc9s12xs128 is the core of the controller, the ultrasonic sensors which are installed in front of the body and spray rod can detect obstacles, the ultrasonic sensors which are installed blow spray rod can detect the distance, the gyroscope sensor can detect real-time terrain angle changes. By controlling the spray rod position to ensure the spraying mouth always keep a certain height with crops, to make pesticides have good contact with foliage, improving the effect of prevention and control of pesticide.

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