农业机器人路径识别自主导航系统——基于STM32与物联网  

Autonomous Navigation System for Agricultural Robot Path Identification--Based on STM32 and IOT

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作  者:杨辉[1] 吴赛燕[1] Yang Hui;Wu Saiyan(Department of Electronic Engineering,Taiyuan Institute of Technology,Taiyuan 030008,China)

机构地区:[1]太原工业学院电子工程系,太原030008

出  处:《农机化研究》2019年第9期176-179,共4页Journal of Agricultural Mechanization Research

基  金:山西省科技厅攻关项目(20130321014-02).

摘  要:我国人口众多,粮食需求量高,因此有必要提高农业生产效率以提高粮食产量。为此,开发了一套基于STM32及物联网的农业机器人定位及路径导航行走系统,跟踪端GSM芯片在STM32的控制下通过GPRS网络发送GPS定位数据信息,农业机器人视觉系统根据所在环境拍摄图像分析获得行走路径,完成导航任务。以农田垄沟环境为研究对象并进行仿真,将机器人视觉系统采集的图像进行优化,通过MatLab仿真处理,将机器人导航行走路线通过阈值分割和边缘检测提取出来,满足其定位导航的精度。该系统能够大量应用在农业生产技术中,包括种植管理、喷洒农药及果实采摘等,极大地减轻了我国农业生产人员的劳动强度,对于推动农业的现代化具有重要意义。China has a large population and high food demand.Therefore,it is necessary to increase agricultural production efficiency and increase grain output.To solve this problem,this paper developed a set of agricultural robot positioning and path navigation system based on STM32 and the Internet of Things.The GSM chip at the tracking end sends GPS positioning data information through the GPRS network under the control of STM32,and then the agricultural robot vision system is based on The environment captures image analysis to obtain a walking path to complete the navigation task.This paper takes the farmland ditch environment as the research object and simulates it.The image collected by robot vision system is optimized.Through MATLAB simulation processing,the robot navigation walking route is extracted through threshold segmentation and edge detection to meet the accuracy of its positioning and navigation.The system can be used in a large number of agricultural production technologies,including planting management,spraying pesticides,fruit picking,etc.,which greatly reduces the labor intensity of agricultural production personnel in China,and is of great significance in promoting the modernization of agriculture.

关 键 词:农业机器人 STM32 物联网 路径识别 

分 类 号:S127[农业科学—农业基础科学]

 

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