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基于STM32单片机的自动喷灌机器人

赵涛¹, 陶重犇², 冯佳佳², 孙云飞²

(1.苏州科技大学天平学院, 苏州 215009;2.苏州科技大学建筑智慧节能江苏省重点实验室, 苏州 215009)

Automatic Spray Robot Based on STM32 Microcontroller

ZHAO Tao¹, TAO Chong-Ben², FENG Jia-Jia², SUN Yun-Fei²

(1.Tianping College of Suzhou University of Science and Technology, Suzhou 215009, China;2.Building Tntelligent and Energy Saving Key Laboratory of Jiangsu Province, Suzhou University of Science and Technology, Suzhou 215009, China)

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本文已被：浏览 1635次下载 3150次
Received:December 30, 2016

中文摘要: 针对农业大棚中人工喷灌存在的效率低、劳动强度大等问题，为了提高农业大棚自动化水平，本文提出了一种基于STM32单片机为核心控制器的自动喷灌机器人.该机器人通过灰度传感器实现循线，以三轮差分转动方式控制机器人底盘前进与转弯.并基于栅格法提出了一种适用于农业大棚环境的路径规划算法.水箱中的水泵开关由继电器间接控制，并可通过蓝牙模块远程控制喷灌.温湿度传感器负责实时测量土壤湿度，并传回单片机进行处理.实验表明，本文以模块化思想设计的喷灌机器人功能齐备，有利于农业机器人的推广使用.

中文关键词: STM32单片机农业机器人自动喷灌栅格法

Abstract:In view of the low efficiency and high labor intensity in agricultural greenhouse, in order to improve the automation of agricultural greenhouse, an automatic spray robot based on STM32 MCU is proposed in this paper as the core controller. The robot detects lines based on gray sensors. A three-wheel differential rotation is used to control its traveling and turning. A planning algorithm suitable for greenhouse environment of agriculture is presented based on grid method. Pump switches in water tank are controlled indirectly by an electric relay, and spray process can be controlled via bluetooth remote control. Temperature and humidity sensors are used to feed real-time measurement and moisture of soil. Meanwhile, these messages are sent back for processing. Experiments show that the spray robot which is designed based on modularization is fully functioned to promote the use of agricultural robots.

keywords: STM32 MCU agricultural robot automatic spray grid method

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基金项目:江苏省大学生创新项目（201613985001Y）；国家自然科学基金（61401297）；江苏省自然科学基金（BK20140283）

Author Name	Affiliation
ZHAO Tao	Tianping College of Suzhou University of Science and Technology, Suzhou 215009, China
TAO Chong-Ben	Building Tntelligent and Energy Saving Key Laboratory of Jiangsu Province, Suzhou University of Science and Technology, Suzhou 215009, China
FENG Jia-Jia	Building Tntelligent and Energy Saving Key Laboratory of Jiangsu Province, Suzhou University of Science and Technology, Suzhou 215009, China
SUN Yun-Fei	Building Tntelligent and Energy Saving Key Laboratory of Jiangsu Province, Suzhou University of Science and Technology, Suzhou 215009, China

Author Name	Affiliation
ZHAO Tao	Tianping College of Suzhou University of Science and Technology, Suzhou 215009, China
TAO Chong-Ben	Building Tntelligent and Energy Saving Key Laboratory of Jiangsu Province, Suzhou University of Science and Technology, Suzhou 215009, China
FENG Jia-Jia	Building Tntelligent and Energy Saving Key Laboratory of Jiangsu Province, Suzhou University of Science and Technology, Suzhou 215009, China
SUN Yun-Fei	Building Tntelligent and Energy Saving Key Laboratory of Jiangsu Province, Suzhou University of Science and Technology, Suzhou 215009, China

引用文本：
赵涛,陶重犇,冯佳佳,孙云飞.基于STM32单片机的自动喷灌机器人.计算机系统应用,2017,26(9):279-282
ZHAO Tao,TAO Chong-Ben,FENG Jia-Jia,SUN Yun-Fei.Automatic Spray Robot Based on STM32 Microcontroller.COMPUTER SYSTEMS APPLICATIONS,2017,26(9):279-282