为提高田间果园的喷雾质量和作业效率、提升农业现代化水平,提出一种新型机电一体化仿形喷雾系统。该系统在结构上能够对果树树冠实现大幅度、多自由度、立体式仿形,满足不同种类、不同高度的果树施药要求。本文着重介绍的控制系统,上位机、下位机分别由C8051F340和MC9S12XET256单片机驱动,二者通过串口主从通讯方式,能够在机车驾驶室内根据树冠位置适时有效的调节执行机构的位置参数和喷雾参数,并显示当前的工作状态,整体操作方便、有效、快捷。 In order to improve the spraying quality and work efficiency of field orchard and enhance the level of agricultural modernization, a new type of mechatronic spray system is proposed. The system is able to achieve substantial, multi-degree-of-freedom and three-dimensional profiling of the canopy of fruit trees in structure so as to meet the application requirements of fruit trees of different kinds and different heights. This article focuses on the control system, the host computer, the next crew were driven by C8051F340 and MC9S12XET256 microcontroller, the two through the serial port master-slave communication, in the locomotive cab according to crown position timely and effective regulation of the actuator position parameters and spray parameters, And shows the current working status, the overall operation is convenient, effective and fast.