Nozzle Fuzzy Controller of Agricultural Spraying Robot Aiming Toward Crop Rows
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1 Nozzle Fuzzy Controller of Agriultural Spraying Robot Aiming Toward Crop Rows Jianqiang Ren To ite this version: Jianqiang Ren. Nozzle Fuzzy Controller of Agriultural Spraying Robot Aiming Toward Crop Rows. Daoliang i; Chunjiang Zhao. Third IFIP TC 12 International Conferene on Computer and Computing Tehnologies in Agriulture III (CCTA), Ot 2009, Beijing, China. Springer, IFIP Advanes in Information and Communiation Tehnology, AICT-317, pp , 2010, Computer and Computing Tehnologies in Agriulture III. < / _30>. <hal > HA Id: hal Submitted on 8 Sep 2014 HA is a multi-disiplinary open aess arhive for the deposit and dissemination of sientifi researh douments, whether they are published or not. The douments may ome from teahing and researh institutions in Frane or abroad, or from publi or private researh enters. arhive ouverte pluridisiplinaire HA, est destinée au dépôt et à la diffusion de douments sientifiques de niveau reherhe, publiés ou non, émanant des établissements d enseignement et de reherhe français ou étrangers, des laboratoires publis ou privés. Distributed under a Creative Commons Attribution 4.0 International iense
2 NOZZE FUZZY CONTROER OF AGRICUTURA SPRAYING ROBOT AIMING TOWARD CROP ROWS Jianqiang Ren Department of Computer, angfang Teahers College, angfang, Hebei Provine, P.R. China Corresponding author,address: Department of Computer, angfang Teahers College, angfang , Hebei Provine, P.R. China, Tel: , Abstrat: Key words: A novel nozzle ontroller of spraying robot aiming toward rop-rows based on fuzzy ontrol theory was studied in this paper to solve the shortomings of existing nozzle ontrol system, suh as the long regulation time, the higher overshoot and so on. The new fuzzy ontroller mainly onsists of fuzzifiation interfae, defuzzifiation interfae, rule-base and inferene mehanism. Considering the atual appliation, the fuzzy ontroller was designed as a 2- inputs&1-output losed-loop system. The inputs are the distane from nozzle to rop row and its hange rate, the output is the ontrol signal to the exeution unit. Based on the design projet, we seleted the FMC hip NX230, the EMCU hip AT89S52 and the EEPROM hip AT93C57 to make the fuzzy ontroller. Experimental results show that the projet is workable and effiient, it an solve the shortomings of existing ontroller perfetly and the ontrol effiieny an be improved greatly. nozzle, fuzzy ontroller, spraying robot, rop-rows 1. INTRODUCTION The automation and intelletualization of the farmland working assignment is the development trend of today agriulture, the appliation of agriultural robot will redue the agriultural labor intensity and raise the work effiieny greatly. The spraying robot is a type of intelligent
3 2 Jianqiang Ren agriultural implement. The onventional spraying robot adopts the overlapped spraying tehnology(cui Jun et at., 2006), whih an effetively solve the problem of leak spray but an lead to the serious onsequenes easily, suh as the waste of pestiide resoures, the unattainment of pestiide residues in agriultural produts, the environmental pollution and so on. The preision pestiide-appliation tehnology has beome one of the researh diretions of preision agriulture (Ma Hui, 2002, Fu Zetian et at., 2007). A pestiide system spraying with hangeable quantity based on fuzzy ontrol was studied by Anhui Agriultural University (Shao ushou et at., 2005). The automati target deteting eletrostati air assisted orhard sprayer was designed by China Agriultural University and Chinese Aademy of Agriultural Mehnization Sienes (He Xiongkui et al., 2003). The preision sprayer for site-speifi weed management was studied by the Davis Branh, California University of United States (Tian. et al., 1999). Preision band spraying system with mahine-vision guidane and adjust able yaw nozzles was studied by Giles D.K. and Slaughter D.C. (Giles D.K. et al., 1997). The spray ontrol system to aim toward rops rows based on mahine vision was studied by Nanjing Agriultural University (Rao Honghui et at., 2007). In these works, the spray ontrol to aim toward rops rows is an important tehnology in the farmland working and the nozzle was moved to aim toward rop rows aurately by a step motor. But to the existing nozzle ontrol system has shortomings, suh as the long regulation time, the higher overshoot and so on. To solve these problems, a new nozzle ontroller based on fuzzy ontrol theory was proposed in this paper and the ontrol effiieny was greatly raised. 2. STRUCTURE OF SPRAYING ROBOT The Struture of the spraying robot is shown in Fig.1. It mainly onsists of the right amera, the left amera, the spray lane, the ultrasoni ranging devie, the nozzles, the lifting gear, the robot body and the pedrails Right Camera 2---eft Camera 3---Spray ane 4---Ultrasoni Ranging Devie 5---Nozzles 6---ifting Gear 7---Robot Body 8---Pedrails Fig.1: Struture of the spraying robot The left amera and the right amera are used to make images of the rops. Based on these images, the rop rows an be deteted and the distane
4 Nozzle Fuzzy Controller Of Agriultural Spraying Robot Aiming Toward 3 Crop Rows between the rop rows and the entral axis of robot an be alulated using stereosopi vision algorithm (Rao Honghui et at., 2007). The ultrasoni ranging devie is used to measure the distane between the nozzle poles and it is onsisted of one ultrasoni transmitting devie and two reeiving devies, the transmitting devie sits on the entral axis and the reeiving devies sit on the top of the nozzle poles. The spray lane (1meter long) is used to sustain the nozzles and nozzle ontrol systems. Eah nozzle is equipped with a fuzzy ontrol system whih is in the spray lane and the nozzle ontrol system is onsisted of differene alulator, fuzzy ontroller (based on FMC(Fuzzy Miro Controller) hip), exeution unit, drive iruit, stepper motor and transmission gear. The struture of the nozzle ontrol system is shown in Fig.2. The differene alulator an reeive the distane ( d 0 ) from a rops row to the entral axis of robot and the distane ( d 1 ) from the orresponding nozzle to the entral axis, then alulate their differene value ( ed ). The fuzzy ontroller an reeive ed as input and produe the ontrol signal to the exeution unit based on fuzzy ontrol theory. The exeution unit and the drive iruit are used to produe the speifi ontrol signal to stepper motor aording to the value of, the absolute value of represents the rotation speed of stepper motor and the sign of represents the rotation diretion. The stepper motor and the transmission gear are used to adjust the position of the nozzle in order to aim toward the rop row. Distane From Crops Row To Central Axis ( d 0 ) Distane From Nozzle To Central Axis ( d 1 ) Differene Calulator ed Fuzzy Controller (based on FMC) Nozzle Transmission Gear Stepper Motor Drive Ciruit Exeution Unit Fig.2: Struture of the nozzle ontrol system In the ourse of the ontrol, the stepper motor is the final ontrolled objet, so the mathematial model of the stepper motor is very important. Duan and Yang studied the mathematial model of the stepper motors in their paper (Duan Yinghong et at., 2006). To be on the distint side, the mathematial model is introdued simply as follows. The differential equation of the stepper-motors mathematial model is as follow ua Ra u b 0 u 0 0 R b 0 0 ia 0 i b R i aa ba a ab bb b dia dt a di b b dt di dt aa ba a ab bb b a ia d b i b dt i The transfer funtion of the stepper motor dedued as follows (1)
5 4 Jianqiang Ren 2 ( s) G( s) (2) 1( s) To simplify, we an ignore the self-indutanes and the mutualindutanes. Under the assumption of T1 0 and a-b--a phase sequene, the motion equation of stepper motor is as follows 2 2 d d Z r 1ia J D sin Z r 0 (3) 2 d t dt 2 If the rotor arrives at the equilibrium position when t 0, the transfer funtion of the stepper motor an be further dedued based on the onditions stated above and it is as follows ( s) Z r 1i a / 2J G( s) s 2 D 1( ) 2 2 (4) S S Z r 1i a / 2J J Where: Z r is the teeth number of stepper motor. 1 is the indutane. i a is the phase eletri urrent. J is the rotational inertia. D is the oeffiient of visosity. 3. DESIGN OF FUZZY CONTROER 3.1 Overall Design of the fuzzy ontroller Considering the atual appliation, the fuzzy ontroller is designed as a 2- inputs&1-output losed-loop system. The first input is ed (in entimeters), the seond one is the hange rate of ed (reorded as ed ' ) (in entimeters/seond) and the output is. As mentioned above, the absolute value of represents the rotation speed of stepper motor and the sign of represents the rotation diretion. The struture of the nozzle ontroller is shown in Fig.3. In the ontroller, the original inputs ( ed and ed ' ) are tuned to e d and e d ' firstly,and K ed, K ed ' are the proportional gains for tuning via saling universes of disourse of inputs. Then e d and e d ' are quantified to the fuzzy linguisti variables ( ed and ed ' ) by the fuzzifiation interfae. The inferene mehanism an reeive e d and e d ', determine the extent to whih eah rule is relevant to the urrent situation as haraterized by e d and e d ', and draw onlusion ( C ) using the previous inputs and the information in the rule-base (Kevin M. P., 2001, P60-66 ). The defuzzifiation interfae and the output saling gain K are used to onvert the fuzzy linguisti variable C into the atual output.
6 Nozzle Fuzzy Controller Of Agriultural Spraying Robot Aiming Toward 5 Crop Rows d 0 + d 1 ed K ed de ed ' dt e d K ed ' ed ' Fuzzifiation Interfae ed ed' Rule-base Inferene Mehanism C CDefuzzifiation Interfae K Controlled Objet Fig.3: Struture of the fuzzy ontroller 3.2 Tuning via Saling Universes of Disourse In order to enhane the effiieny of the fuzzy ontroller, we an tune the universe of disourse for inputs and output in the ourse of design. In this papae, the spraying robot has three nozzles and the first input is ed, so the effetive universe of disourse for ed is set to [-33.3,+33.3] entimeters. The tuned universe of disourse for e d is seleted as E d [ 3, 3 ] and the input saling gain K ed The seond input is ed ' and its value depends on the atual rotation speed of the stepper motor, the parameters of the transmission gear and some other speifi fators. In this paper, taking universality into aount, its effetive universe of disourse is set to [, ] entimeters/seond, its tuned universe of disourse for e d ' is seleted as E d ' [ 3, 3 ] and the input saling gain 6 K ed '. The output is the ontrol signal to the exeution unit and its value depends on the atual fators too, its effetive universe of disourse is set to [, ] in this paper. The tuned universe of disourse for is also seleted as 6 [ 3, 3 ] and the input saling gain K. 3.3 Fuzzy quantifiation of inputs and output In the fuzzy ontroller, the fuzzifiation interfae is used to onvert the inputs e d and e d ' into their linguisti variables so that they an be interpreted and ompared to the rules in the rule-base and the defuzzifiation interfae is used to onvert the onlusions reahed by the inferene mehanism into the output. ed, ed ' and C are the linguisti variables orresponding to the inputs and output and their linguisti values set are all the set of {NB, NM, NS, NZ, PS, PM, PB}. Their membership funtions are shown in Fig.4.
7 6 Jianqiang Ren NB NM NS NZ PS PM PB ed / ed ' / Fig.4: Membership funtions of the inputs and output 3.4 Design of Rule-base and Inferene Mehanism The rule-base is the foundation of fuzzy inferene and it ontains a set of rules, whih are the knowledge of how best to ontrol the nozzle system and how to ontrol the system without outside help. In this paper, taking into aount the information from a human deision maker who performs the ontrol task, the rule-base array that we use for the nozzle ontroller is designed as Table 1. Table 1. Rule-Base for fuzzy nozzle ontroller ed ed NB NM NS NZ PS PM PB C NB PB PB PB PB PM PS PS NM PB PB PS PS PS PS NZ NS PB PM PS PS NS NM NB NZ PB PM PS NZ NS NM NB PS PM PS PS NS NS NM NB PM PS PS PM PB PM PS NZ PB PM PB PB PB NM NB NB The inferene mehanism is used to emulate the expert s deision making in interpreting and applying knowledge about how best to ontrol the nozzle system. In this paper, the Mamdani inferene method is used to realize the fuzzy inferene and the fuzzy impliative relation as follows ( z) V[ ( x)) ( y)] [ ( x) ( y) ( z)] C x yy X V{[ xx yy { V[ xx ( x)) ( x)) ' ' ( y)] [ ( x)] V[ yy ( ' ) C ( z) Where: is the adaptive degrees of degrees of to '. ( x) ' ' ' ( y) ( y)]} ( z) ' to. C C ( y)]} ( z) C (5) ' is the adaptive
8 Nozzle Fuzzy Controller Of Agriultural Spraying Robot Aiming Toward 7 Crop Rows 3.5 Seletion of defuzzifiation method The defuzzifiation interfae is used to onvert the onlusions of the inferene mehanism into the atual output through a defuzzifiation method. In this paper, we use the enter-average method and the proess of defuzzifiation is shown in Fig.5. () 2 max( ) 1 max( ) Where: Fig.5: The proess of defuzzifiation is the atual output and it is given by max ( ) 2 max ( ) 1 2 max ( ) max ( ) (6) 4. IMPEMENTATION OF FUZZY CONTROER The fuzzy ontroller an be implemented based on FMC (Fuzzy Miro Controller), and NX230 hip is seleted as FMC in this paper. NX230 is a typial FMC hip produed by Neuraogix, it has 40pins in DIP pakage, and its input and output are all 8-bits of digital data. The built-in 24-bit rule register an store 64 rules at most and the maximum inferene speed is 30M rules/seond (Huang Xiaolin et at., 2006). The internal struture of NX230 is shown in Fig.6. 8-bit Iutput Fuzzy Input seletseletor Output Feedbak Fuzzifier A Fuzzifier B Fuzzifier C Fuzzifier D Fuzzifier E Fuzzifier F Fuzzifier G Fuzzifier H Fuzzifier I Fuzzifier J Fuzzifier K Fuzzifier Fuzzifier M Fuzzifier N Fuzzifier O Fuzzifier P Minimum Comparator Maximum Comparator Output Register Time Controllort Rule Register 8-bit Output
9 8 Jianqiang Ren Fig.6: Internal struture of NX230 In this paper, the onnetion of fuzzy ontroller iruit is shown in Fig.7. The MCU AT89S52 is used to ontrol all the NX230 hips. In the initialization of system, the pins of P1.0-P1.2 of AT89S52 provide signals to ontrol and synhronize all the NX230 hips. When the RST signal beome effetive, NX230 will generate the signal of SK and CS to AT93C57 and reeive the rules data from AT93C57. AT93C57 is a 2Kb EEPROM (Wang xingzhi, 2004, P ) used to store the rules data. In work proess, NX230 reeive the input ed through DI0-DI7 and produe the output through DO0-DO7. ed DI0 DI7 DO0 DO7 To other ontrollers P1.0 P1.1 P1.2 AT89S52 RST NX230 SK CS DI DO CK CS DO DI AT93C57 Fig.7: Connetion diagram of fuzzy ontroller iruit 5. EXPERIMENT AND ANAYSIS In order to testify the performane of the proposed sheme, the experiment was arried out and the 57BYG4503 stepper moter was seleted in it. The driving voltage of the 57BYG4503 is 36V, the phase urrent is 1.5A, the phase indutane is 2.4mH, the rotational Inertia is 0.3 Kg m 2, the teeth number is 50 and the the stepping angle is 1.8. In the experiment, the proposed ontrol projet was ompared with the traditional ontrol methods. The experimental results show that the proposed projet has exellent ontrol effet and ability of anti-jamming. 6. CONCUSION A novel nozzle ontroller of spraying robot aiming toward rop-rows based on fuzzy ontrol theory was studied in this paper and the aim of this work was to solve the shortomings of existing nozzle ontrol system, suh as the long regulation time, the higher overshoot and so on. In our design projet, the fuzzy ontroller mainly onsists of the fuzzifiation interfae, the
10 Nozzle Fuzzy Controller Of Agriultural Spraying Robot Aiming Toward 9 Crop Rows defuzzifiation interfae, the rule-base and the inferene mehanism. The proportional gains were used to tune the universe of disourse for inputs and output. The fuzzifiation interfae is used to onvert the inputs into their linguisti variables so that they an be interpreted and ompared to the rules in the rule-base and the defuzzifiation interfae is used to onvert the onlusions reahed by the inferene mehanism into the output. The inferene mehanism is used to emulate the expert s deision making in interpreting and applying knowledge about how best to ontrol the nozzle system. In our Implementation projet, we seleted the FMC hip NX230, the EMCU hip AT89S52 and the EEPROM hip AT93C57. The experimental results show that the projet is workable and effiient, and the ontrol effiieny an be raised greatly. ACKNOWGEMENTS Funding for this researh was provided by Hebei Provinial Department of Eduation (P. R. China) and the projet number is REFERENCES Cui Jun, Qiu Baijing, Zhao Jun. Researh on Overlap and eak Spray of Spraying Robot. Journal of Agriultural Mehanization Researh. 2006, (12):63-65 Ma Hui. China should vigorously develop the preision of pestiide appliation tehnology. 2002, 41(6): 47 Fu Zetian, Qi ijun, Wang Junhong. Developmental Tendeny and Strategies of Preision Pestiide Appliation Tehniques. Transations of the Chinese Soiety for Agriultural Mahinery. 2007, 38(1): Shaoushou, DaiZhixiang, CuiHuailei, et al Study on a Pestiide System Spraying with Changeable Quantity Based on Fuzzy Control. Transations of the Chinese Soiety for Agriultural Mahinery. 2005, 36(11): He Xiongkui, Yan Kerong, Chu Jingyu, et al. Design and testing of the automati target deteting, eletrostati, air assisted, orhard sprayer, Transations of the CSAE. 2003, 19(6):78-80 Tian., Reid J.F., Hummel J. W.. Development of preision sprayer for site-speifi weed management. Transations of the ASAE. 1999, 42(4): Giles D.K., Slaughter D.C. Preision band spraying with mahine-vision guidane and adjust able yaw nozzles.transation of the ASAE, 1997, 40(1):29-36 Rao Honghui, Ji Changying. Study on spray ontrol to aim toward mahine vision. Journal of Nanjing Agriultural University. 2007, 30(1):
11 10 Jianqiang Ren Duan Yinghong, Yang Shuo. Fuzzy-PID ontrol of stepping motor. Computer Emulation. 2006, 23(2): Kevin M. Passino, Stephen Yurkovih. Fuzzy ontrol [Photoprint edition]. Beijing: Tsinghua University Press Huang Xiaolin. Researh on NX230 fuzzy ontroller and its embedded appliation. Foreign eletroni omponents. 2006, (3):16-21 Wang xingzhi, Zhong Aiqin, Wang ei, et al. Priniple and Interfae Tehnology of AT89 series Single Chip Proessor. Beijing: Press of Beijing University of Aeronautis and Astronautis
Nozzle Fuzzy Controller of Agricultural Spraying Robot Aiming Toward Crop Rows
Nozzle Fuzzy ontroller of Agriultural Spraying Root Aiming Toward rop Rows Jianqiang Ren Department of omputer, Langfang Teahers ollege, Langfang, Heei Provine, P.R. hina 065000, Tel.:+86-316-681780 renjianqiang@163.om
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