基于微型自动导引运输车的盆栽作物数据采集系统设计

发布时间：2018-07-20 19:49

【摘要】：作物育/选种过程中需要考察样本植株个体生长周期内的生理指标与生长环境相关参数,一般是采用人工方式对这些数据进行高频次的精准采集,通常情况下样本的基数大,数据采集的周期长,因此为提高育/选种过程的自动化水平,本文以微型AGV为基础结合ARM嵌入式技术、RFID技术、传感器技术以及无线通信等技术设计了一套可自主对盆栽作物个体进行数据采集的系统。系统由微型AGV系统、车载数据采集系统以及通讯与控制系统3个子系统构成。进行数据采集作业时,先通过通讯与控制系统的系统监控软件设置系统的相关参数,将系统调整到合适的工作模式,然后再发出相应的作业指令;微型AGV接收到作业指令后会根据指令信息自动沿规划的作业路径移动,当识别到目标样本点时微型AGV停车,并通过车载数据采集系统获取样本植株个体的全貌图像以及环境信息。微型AGV系统包括控制单元、行走单元、导引单元以及定位单元4部分,车体长260mm、宽170mm、高100mm,其底盘高度为60mm,轮子半径为40mm,设计最高移动速度为0.5m/s,微型AGV系统控制单元采用基于ARM1176JZF-S核S3C6410作为系统的控制核心;行走单元采用4个GA20Y180微型直流减速电机为系统提供动力,并采用基于L293D芯片的电机控制模块实现行动控制功能;导航单元采用光电传感器模块实现引导功能,并通过2级导航模式实现微型AGV的可靠导航;定位单元采用RFID技术和光电识别技术相结合的定位模式,保证了微型AGV移动过程中的精确定位。车载数据采集系统包括图像采集单元、环境信息采集单元、数据处理单元以及数据存储单元4部分,图像采集单元由CCD摄像头与自动升降装置2部分构成,具有采集样本植株全貌图像的功能;环境信息采集单元可以通过传感器对样本植株周围的环境信息(温湿度、CO2浓度、光照强度)进行采集;数据处理单元通过数据处理算法对采集的环境数据进行处理,以保证系统获取精准有效的数据;数据存储单元采用SD卡作为存储介质,并引入FAT文件系统对SD卡的文件进行组织和管理。通信与控制系统包括车载通信单元和系统监控软件2部分,车载通信单元通过ZTE-AC200 3G通信模块实现系统远程无线通信的功能;系统监控软件负责对系统进行监测和控制,软件是在Delphi11环境下开发,并采用TCP/IP协议以及Socket同步阻塞通信方式实现网络通信功能。为验证系统性能和可行性,以温室栽培的盆栽大豆作为样本进行实地试验,试验过程中系统运行稳定,微型AGV能准确选择作业路径,没有出现脱轨现象,样本点定位误差小于6mm,采集160个样本点的数据需要时间约为9分钟,采集效率相对人工方式有大幅度提高;实验结果表明,系统采集的样本图像完整清晰且一致性好,每个样本图像的大小约为200k B,图像质量能够满足后期处理的要求;系统采集的环境信息数据与人工方式采集的数据平均误差小于2%,满足数据采集精度的设计要求。该研究解决了育/选种过程中需要人工方式采集样本植株个体数据的问题,为育/选种过程中盆栽作物相关数据的自动化采集提供了参考。
[Abstract]:In the process of crop breeding / selection, it is necessary to investigate the physiological indexes and the parameters related to the growth environment in the individual growth cycle of the sample plant. Generally, the data are collected by the artificial method at high frequency. In general, the base number of the sample is large and the period of the data collection is long. Therefore, the automation level of the breeding / selection process is improved. This paper, based on micro AGV, combines with ARM embedded technology, RFID technology, sensor technology and wireless communication technology, designs a set of independent data collection system for individual plant crop individuals. The system is composed of 3 subsystems: micro AGV system, vehicle data acquisition system and communication and control system. Through the system monitoring software of the communication and control system, the system is set up to adjust the system to the appropriate work mode, and then the corresponding operation instructions are sent. After the operation instruction is received, the micro AGV will automatically move along the planned job path according to the instruction information. When the target sample point is identified, the micro AGV stops and passes through. AGV system includes control unit, walking unit, guidance unit and positioning unit 4 parts, the car body is long 260mm, wide 170mm, high 100mm, the chassis height is 60mm, the wheel radius is 40mm, the design maximum moving speed is 0.5m/s, micro AGV system control The system uses the ARM1176JZF-S core S3C6410 as the control core of the system; the walking unit uses 4 GA20Y180 micro DC deceleration motors to provide power for the system, and uses the motor control module based on the L293D chip to realize the action control function. The navigation unit uses the photoelectric sensor module to realize the guiding function and through the 2 level navigation mode. The system realizes the reliable navigation of the micro AGV. The positioning unit uses the positioning mode of RFID technology and photoelectric recognition technology to ensure the precise positioning of the micro AGV movement. The vehicle data acquisition system includes the image acquisition unit, the environment information collection unit, the data processing single element and the data storage unit 4 parts, the image acquisition unit. It is composed of 2 parts of the CCD camera and the automatic lifting device. It has the function of collecting the whole picture of the sample plant. The environment information acquisition unit can collect the environmental information around the sample plant (temperature, humidity, CO2 concentration, light intensity) through the sensor, and the data processing single unit can be used to carry out the collected environmental data through the data processing algorithm. In order to ensure the system to obtain accurate and effective data, the data storage unit uses SD card as the storage medium, and introduces the FAT file system to organize and manage the files of the SD card. The communication and control system includes 2 parts of the vehicle communication unit and the system monitoring software, and the vehicle communication single connected to the ZTE-AC200 3G communication module to realize the system remote. The function of wireless communication; the system monitoring software is responsible for monitoring and controlling the system. The software is developed in the Delphi11 environment, and uses the TCP/IP protocol and the Socket synchronous blocking communication to realize the network communication function. In the process, the system runs stably, the micro AGV can select the job path accurately, without derailment, the location error of the sample point is less than 6mm, the time of collecting the data of 160 sample points is about 9 minutes, the acquisition efficiency is greatly improved compared with the artificial method. The experimental results show that the sample image collected by the system is complete and clear and consistent. The size of each sample image is about 200K B, and the image quality can meet the requirements of the later processing. The average error of the environmental information data collected by the system and the manual method is less than 2%, which meets the design requirements of the data acquisition precision. The problem provides a reference for the automatic acquisition of potted crop related data during the process of breeding / seed selection.
【学位授予单位】：东北农业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP274.2;S126

【相似文献】