基于嵌入式系统的农业温室大棚监控系统方案设计

relationship, established equivalent relationship 14, and subject: application problem (4)--scores and percentage application problem review content overview answers scores, and percentage application preliminary knowleoblem of key is: according, (1) determine standard volume (units \n in-line solution. Category fraction multiplication word problem score Division applications engineering problem problem XV, a subject: review of the measurement of the amount of capacity, measurement and units of measurement of comnt and their significance in rate 1, currency, length, area, volume, unit size, volume, weight and rate. (Omitted) 2, commonly used time units and their relationships. (Slightly) with a measurement units Zhijian of of poly 1, and of method 2, and poly method 3, and of method and poly method of relationship measurement distance of method 1, and tool measurement 2, and estimates 16, and subject: geometry preliminary knowledge (1)--line and angle review content line, and segment, and Ray, and vertical, and parallel, and angle angle of classification (slightly) 17, and subject: geometry prdge (2)ng to meani--plane graphics review content triangle, and edges shaped, and round, and fan axisymmetric graphics perimeter and arehea combination graphics of area subject : Preliminary knowledge (3)-review of solid content category 1-d shapes are divided into: cylinder and cone 2, column is divided into: cuboid, square 3, cone cone of the features of cuboids and cubes relatimon units of measuremeonship between characteristics of circular cone is slightly solid surface area and volume 1, size 2, table ...和基于嵌入式系统的农业温室大棚监控系统方案设计

引言

托普物联网研究发现智能大棚是基于嵌入式系统和无线传感器网络的自动控制系统，整个系统由无线监控节点、传感器、变频器和全GUI的人机控制终端等组成。各种传感器、语音呼叫和控制状态数据由安置在各个大棚里的监控节点来采集，再通过无线局域网传输到控制中心，计算机根据预先设定的数据，通过数据比较结合PID算法来精确控制各个控制终端。用户可以随时调整这些自动控制，以便让大棚始终处于一个最佳生长环境。 1 系统设计方案

系统设计主要分为两个部分，即终端虚拟控制平台系统和大棚基站系统的设计，与传统的仪器相比，基于计算机的虚拟仪器的优势就是它可以方便地进行组网通信，实现连栋大棚的规模化管理，提高系统的灵活性。首先，系统通过大棚基站内的无线传感器节点对棚内的各个环境参数进行采集（如温度、湿度、光强、CO2浓度等），然后经过数据处理，再发送给终端虚拟控制中心，终端再通过数据比较和自适应PID控制算法发出控制指令，大棚基站接到控制指令后，对棚内的外围电气设备进行相应的控制，从而改变棚内的环境参数。如果在设定的时间内没有接到终端的控制指令，大棚基站则会通过与内部设定的环境参数的比较，对相应的电气设备进行控制操作，这种方法的好处是可以避免在终端维修或网络繁忙时出现数据遗失所造成的大棚基站失控。此外，终端和基站、基站和基站之间还可以进行语音呼叫，使终端用户可以随时和各棚内的工作人员进行联系，了解大棚基站的运作状况。其系统结构框图如图1所示。

图一、系统结构框图

2 系统硬件设计

relationship, established equivalent relationship 14, and subject: application problem (4)--scores and percentage application problem review content overview answers scores, and percentage application preliminary knowleoblem of key is: according, (1) determine standard volume (units \n in-line solution. Category fraction multiplication word problem score Division applications engineering problem problem XV, a subject: review of the measurement of the amount of capacity, measurement and units of measurement of comnt and their significance in rate 1, currency, length, area, volume, unit size, volume, weight and rate. (Omitted) 2, commonly used time units and their relationships. (Slightly) with a measurement units Zhijian of of poly 1, and of method 2, and poly method 3, and of method and poly method of relationship measurement distance of method 1, and tool measurement 2, and estimates 16, and subject: geometry preliminary knowledge (1)--line and angle review content line, and segment, and Ray, and vertical, and parallel, and angle angle of classification (slightly) 17, and subject: geometry prdge (2)ng to meani--plane graphics review content triangle, and edges shaped, and round, and fan axisymmetric graphics perimeter and arehea combination graphics of area subject : Preliminary knowledge (3)-review of solid content category 1-d shapes are divided into: cylinder and cone 2, column is divided into: cuboid, square 3, cone cone of the features of cuboids and cubes relatimon units of measuremeonship between characteristics of circular cone is slightly solid surface area and volume 1, size 2, table ...和系统监控主要由大棚基站和PC终端机两部分组成，PC机终端是整个系统的数据管理和控制决策中心，根据棚内的具体参数，由终端系统专家发出最合理的参数设置和控制指令。大棚基站通过无线传感器网络节点进行数据采集，并与PC机终端所设定的参数进行比较，从而对外围电气设备进行控制，以改变棚内的环境，使棚内达到一个最佳的生长环境，并把棚内的环境参数、电气设备的状态反馈给PC机终端。

2．1 基站控制系统

大棚基站控制系统以32位嵌入式微处理器为核心，由无线数据采集子系统、外围控制电路子系统、语音子系统等组成，无线数据采集子系统由多个无线传感器网终节点构成，可实时多点地准确采集大棚内的环境参数，并传给对应的基站。当终端控制台把基站设定为自动控制方式时，基站便可对接收到的数据进行处理，并与系统设定的参数进行比较，然后发出控制指令来对外围控制电路子系统进行控制（包括换气扇、灌溉网络、采光子系统等）。当终端控制台设定基站为手动控制时，终端可以通过对基站地址的设定选择指定的基站进行手动控制操作，其原理框图如图2所示。

图二、大棚基站结构原理框图

2．2 无线数据采集系统的设计

网络节点采用32位EasyARM1138为主控制器，无线数据传输采用nRF24L01无线传输模块，nRF24L01是一款新型单片射频收发器件，工作于2．4～2．5 GHz ISM频段。内置频率合成器、功率放大器、晶体振荡器、调制器等功

relationship, established equivalent relationship 14, and subject: application problem (4)--scores and percentage application problem review content overview answers scores, and percentage application preliminary knowleoblem of key is: according to meaniphing, (1) determine standard volume (units \responds to\n in-line solution. Category fraction multiplication word problem score Division applications engineering problem problem XV, a subject: review of the measurement of the amount of capacity, measurement and units of measurement of comnt and their significance in rate 1, currency, length, area, volume, unit size, volume, weight and rate. (Omitted) 2, commonly used time units and their relationships. (Slightly) with a measurement units Zhijian of of poly 1, and of method 2, and poly method 3, and of method and poly method of relationship measurement distance of method 1, and tool measurement 2, and estimates 16, and subject: geometry preliminary knowledge (1)--line and angle review content line, and segment, and Ray, and vertical, and parallel, and angle angle of classification (slightly) 17, and subject: geometry prdge (2)--plane gracs review content triangle, and edges shaped, and round, and fan axisymmetric graphics perimeter and arehea combination graphics of area subject : Preliminary knowledge (3)-review of solid content category 1-d shapes are divided into: cylinder and cone 2, column is divided into: cuboid, square 3, cone cone of the features of cuboids and cubes relatimon units of measuremeonship between characteristics of circular cone is slightly solid surface area and volume 1, size 2, table ...和能模块，并融合了增强型ShockBurst技术，其中输出功率和通信频道可通过程序进行配置。图3所示是其电路原理图。

2．3 外围控制电路的设计

外围控制电路子系统同样采用EasyARM1138为主控制芯片，辅以nRF24L01无线通信模块。该子系统通过EasyARMll38的I／O口控制DAC08 32来产生正弦波，然后驱动变频器以改变外围各电气设备的工作状态，从而避免能源的浪费。无线通信模块可实现终端与基站、基站与基站、基站与各无线传感器网络节点之间的组网通信功能。

3 系统软件设计

本智能大棚的终端虚拟化控制平台由Nokia公司Qt开发环境编写而成。Qt是一个多平台的C++图形用户界面应用程序框架。它能提供给应用程序开发者建立艺术级图形用户界面所需的所有功能，可用于高性能的跨平台软件开发。整个智能大棚的控制中心软件由6大部分组成，分别是控制内核模块、数据库模块、PID控制计算模块、串口通信模块、图形绘制模块、文件记录管理模块。其控制

relationship, established equivalent relationship 14, and subject: application problem (4)--scores and percentage application problem review content overview answers scores, and percentage application preliminary knowleoblem of key is: according, (1) determine standard volume (units \n in-line solution. Category fraction multiplication word problem score Division applications engineering problem problem XV, a subject: review of the measurement of the amount of capacity, measurement and units of measurement of comnt and their significance in rate 1, currency, length, area, volume, unit size, volume, weight and rate. (Omitted) 2, commonly used time units and their relationships. (Slightly) with a measurement units Zhijian of of poly 1, and of method 2, and poly method 3, and of method and poly method of relationship measurement distance of method 1, and tool measurement 2, and estimates 16, and subject: geometry preliminary knowledge (1)--line and angle review content line, and segment, and Ray, and vertical, and parallel, and angle angle of classification (slightly) 17, and subject: geometry prdge (2)ng to meani--plane graphics review content triangle, and edges shaped, and round, and fan axisymmetric graphics perimeter and arehea combination graphics of area subject : Preliminary knowledge (3)-review of solid content category 1-d shapes are divided into: cylinder and cone 2, column is divided into: cuboid, square 3, cone cone of the features of cuboids and cubes relatimon units of measuremeonship between characteristics of circular cone is slightly solid surface area and volume 1, size 2, table ...和中心软件框架结构如图4所示。

3．1 数据库的设计

本程序中的数据库部分负责建立专家系统，用于存放各种植物参数和检索。考虑到软件开发的成本问题，本系统采用了MySQL。MySQL是一个快速客户机/服务器结构的SQL数据库管理系统，由一个服务器守护程序mysqld以及许多不同的客户程序和库函数组成，该系统虽然不是开源的，但可以免费使用。其优点是功能强大，灵活性好，应用编程接口丰富，结构精巧。

考虑到植物所包含的信息很多，所以，在设计时可采用多表结构。分别是植物名称、适宜生长温度、适宜生长湿度及生长时间段。通过利用MySQL编程语言可实现对数据库的访问。

Qt的QtSql模块通过数据库驱动可与不同的数据库进行通信。创建一个数据库连接需要做如下三个步骤：激活驱动程序、配置好连接信息和打开连接。整个创建过程可以放在内核模块的构造函数里。其程序如下：

在内核模块中，通过QtSql提供的相应API可完成数据库的读写操作。

3．2 PID控制计算

预设定参数可由程序预先设定好，用户可在主控制界面的“大棚设置”中进行参数修改。现场信号由各个对应的传感器采集，然后经过量化、编码后传给计算机。利用计算机上的PID控制计算模块进行计算，再将结果通过无线网络传给各个大棚的控制节点，这些节点再将信号进行解码分析，即可得出变频器控制信号。这样，变频器通过改变各个泵机、风扇或电磁阀工作，就可以调整各个参数。从而实现一个完整的PID控制。

relationship, established equivalent relationship 14, and subject: application problem (4)--scores and percentage application problem review content overview answers scores, and percentage application preliminary knowleoblem of key is: according to meaniphing, (1) determine standard volume (units \responds to\n in-line solution. Category fraction multiplication word problem score Division applications engineering problem problem XV, a subject: review of the measurement of the amount of capacity, measurement and units of measurement of comnt and their significance in rate 1, currency, length, area, volume, unit size, volume, weight and rate. (Omitted) 2, commonly used time units and their relationships. (Slightly) with a measurement units Zhijian of of poly 1, and of method 2, and poly method 3, and of method and poly method of relationship measurement distance of method 1, and tool measurement 2, and estimates 16, and subject: geometry preliminary knowledge (1)--line and angle review content line, and segment, and Ray, and vertical, and parallel, and angle angle of classification (slightly) 17, and subject: geometry prdge (2)--plane gracs review content triangle, and edges shaped, and round, and fan axisymmetric graphics perimeter and arehea combination graphics of area subject : Preliminary knowledge (3)-review of solid content category 1-d shapes are divided into: cylinder and cone 2, column is divided into: cuboid, square 3, cone cone of the features of cuboids and cubes relatimon units of measuremeonship between characteristics of circular cone is slightly solid surface area and volume 1, size 2, table ...和系统中的偏差e是给定值SP（预设定参数）和过程变量PV（实际值，通过传感器采集）的差。通过PID控制可描述输出M（t）作为比例项、积分项和微分项的运算关系：

式中：M（t）是PID的输出，是关于时间的函数；Kc是PID的回路增益；e是PID回路偏差，即专家数据与传感器采集数据的差；Minitial是PID回路初始值。

为了能够在计算机中实现PID控制功能，必须对连续的PID控制方程进行离散化操作。即对误差进行周期采样，然后经计算输出。下面是PID计算的核心部分程序：

4 结语

本文设计的采用虚拟控制技术和无线传感器网络技术开发的经济型大棚智能测控系统，是一种集监、控、管于一体的大棚温室智能化监控设施，其特点是可同时实现几个、几十个大棚相关参数的监测控制，并就地显示及无线组网方式传输，实现对水泵、通风扇、灯光等装置的集中智能控制，以及对温室环境的智能调节和预报警，从而实现对作物生长环境的智能化控制和温室作物的科学管理，实现资源的优化配置，以达到作物稳产、高产、高效的现代农业要求。若在系统中增加对太阳能的利用，则可进一步降低对煤、电、油的需求，节省农业投资成本。

附录—托普物联网简介

托普物联网是浙江托普仪器有限公司旗下的重要项目。浙江托普仪器是国内领先的农业仪器研发生产商，依据自身在农业领域的研发实力，和自主研发的配

relationship, established equivalent relationship 14, and subject: application problem (4)--scores and percentage application problem review content overview answers scores, and percentage application preliminary knowleoblem of key is: according, (1) determine standard volume (units \n in-line solution. Category fraction multiplication word problem score Division applications engineering problem problem XV, a subject: review of the measurement of the amount of capacity, measurement and units of measurement of comnt and their significance in rate 1, currency, length, area, volume, unit size, volume, weight and rate. (Omitted) 2, commonly used time units and their relationships. (Slightly) with a measurement units Zhijian of of poly 1, and of method 2, and poly method 3, and of method and poly method of relationship measurement distance of method 1, and tool measurement 2, and estimates 16, and subject: geometry preliminary knowledge (1)--line and angle review content line, and segment, and Ray, and vertical, and parallel, and angle angle of classification (slightly) 17, and subject: geometry prdge (2)ng to meani--plane graphics review content triangle, and edges shaped, and round, and fan axisymmetric graphics perimeter and arehea combination graphics of area subject : Preliminary knowledge (3)-review of solid content category 1-d shapes are divided into: cylinder and cone 2, column is divided into: cuboid, square 3, cone cone of the features of cuboids and cubes relatimon units of measuremeonship between characteristics of circular cone is slightly solid surface area and volume 1, size 2, table ...和套设备，在农业物联网领域崭露头角！

托普物联网以客户需求为源头，结合现代农业科技、通信技术、计算机技术、GIS信息技术，以及物联网技术，竭诚为传统行业提供信息化、智能化的产品与端到端的解决方案。主要有：大田种植智能解决方案、畜牧养殖管理解决方案、食品安全溯源解决方案、食用菌种植智能化管理解决方案、水产养殖管理解决方案、温室大棚智能控制解决方案等。

托普物联网三大系统产品

我们知道物联网主要包括三大层次，即感知层、传输层和应用层。因此托普物联网产品主要以这三个层次延伸，涵盖了感知系统（环境监测传感设备）、传输系统（数据传输处理网络）、应用系统（终端智能控制平台。）

托普物联网模块化智能集成系统

托普物联网依据自身研发优势，开发了多种模块化智能集成系统。 1、传感模块：即环境传感监测系统。它依据各类传感设备可以完成整个园区或完成对异地园区所需数据监测的功能。

2、终端模块：即终端智能控制系统。它可以完成整个园区或远程控制异地园区进行自动灌溉、自动降温、自动开启风机，自动补光及遮阳，自动卷帘，自动开窗关窗，自动液体肥料施肥、自动喷药等各类农业生产所需的自动控制。 3、视频监控模块：即实时视频监控系统。主要是通过监控中心实时得到植物生长信息，在监控中心或异地互联网上既可随时看到作物的实时生长状况。 4、预警模块：即远程植保预警系统。可以通过声光报警、短信报警、语音报警等方式进行预警。

5、溯源模块：即农产品安全溯源系统。该系统对农产品从种植准备阶段、种植和培育阶段、生长阶段、收获阶段等对作物生长环境、喷药施肥情况、病虫害状况等实施实时信息自动记录，有据可查，在储藏、运输、销售阶段采用二维码或者RFID射频技术对各个阶段数据记录，这样就能实现消费者拿到农产品时通过

relationship, established equivalent relationship 14, and subject: application problem (4)--scores and percentage application problem review content overview answers scores, and percentage application preliminary knowleoblem of key is: according to meaniphing, (1) determine standard volume (units \responds to\n in-line solution. Category fraction multiplication word problem score Division applications engineering problem problem XV, a subject: review of the measurement of the amount of capacity, measurement and units of measurement of comnt and their significance in rate 1, currency, length, area, volume, unit size, volume, weight and rate. (Omitted) 2, commonly used time units and their relationships. (Slightly) with a measurement units Zhijian of of poly 1, and of method 2, and poly method 3, and of method and poly method of relationship measurement distance of method 1, and tool measurement 2, and estimates 16, and subject: geometry preliminary knowledge (1)--line and angle review content line, and segment, and Ray, and vertical, and parallel, and angle angle of classification (slightly) 17, and subject: geometry prdge (2)--plane gracs review content triangle, and edges shaped, and round, and fan axisymmetric graphics perimeter and arehea combination graphics of area subject : Preliminary knowledge (3)-review of solid content category 1-d shapes are divided into: cylinder and cone 2, column is divided into: cuboid, square 3, cone cone of the features of cuboids and cubes relatimon units of measuremeonship between characteristics of circular cone is slightly solid surface area and volume 1, size 2, table ...和终端设备或网络就能查看到各类信息，才能放心食用。

6、作业模块：即中央控制室。可通过总控室对整个区域情况进行监测，包括各个区域采集点参数、控制作业状态、实时视频图像、施肥喷药状况、报警信息等。