基于边缘计算的植保机械自动导航系统的设计与实现  

Design and implementation of automatic navigation system for plant protection machinery based on edge computing

作　　者：孟庆山 许宁 牛萌萌 张春艳 王小瑜 王永烁 MENG Qingshan;XU Ning;NIU Mengmeng;ZHANG Chunyan;WANG Xiaoyu;WANG Yongshuo(Shandong Academy of Agricultural Machinery Sciences,Jinan 250100,Shandong,China;Huang Huai Hai Key Laboratory of Modern Agricultural Equipment,Ministry of Agricultural and Rural Affairs,Jinan 250100,Shandong,China)

机构地区：[1]山东省农业机械科学研究院,山东省济南市250100 [2]农业农村部黄淮海现代农业装备重点实验室,山东省济南市250100

出　　处：《农业装备与车辆工程》2023年第8期35-39,共5页Agricultural Equipment & Vehicle Engineering

基　　金：2021年适应丘陵山区农业作业的通用动力装备及高效作业机具攻关项目(TC210H02V);2022年山东省重点研发计划项目(2022CXGC020706)。

摘　　要：目前植保机械自动导航系统一般采用单片机或嵌入式微处理器作为中枢系统对作业平台进行行进控制,实时路径规划等复杂计算由云端辅助进行。为解决车载终端计算能力较低、云端通讯及响应速度较慢、导航系统整体扩展性较差的问题,设计了一种基于边缘计算(Edge Computing)的喷药植保机械自动导航系统。该系统集成边缘网络、无线传输、计算存储、导航应用等核心功能,通过近端服务,提高了自动导航系统对环境数据的感知及反馈效率。在自动导航的基础上,实现了轨迹动态调整与云端数据高速互联。高度集成的边缘计算平台不仅降低了导航系统各模块的耦合度,同时也为植保机械智能化的升级及功能扩展提供了基础。At present,the automatic navigation system of plant protection machinery generally uses a single chip computer or an embedded microprocessor as the central system to control the movement of the operating platform.The cloud is used to assist in complex computing needs such as real-time path planning.In order to solve the problems of low computing power of vehicle terminals,slow cloud communication and response speed,and poor overall scalability of the navigation system,an automatic navigation system for pesticide plant protection machinery based on edge computing was designed.The system integrated core functions such as edge network,wireless transmission,computing storage,and navigation application,and improved the efficiency of automatic navigation system's perception and feedback of environmental data through near end service.On the basis of automatic navigation,dynamic trajectory adjustment and highspeed interconnection of cloud data were realized.The highly integrated edge computing platform not only reduced the coupling degree of each module of the navigation system,but also provided a basis for the intelligent upgrade and function expansion of plant protection machinery.

关 键 词：植保机械 自动导航 边缘计算 卡尔曼滤波法 CAN总线 轨迹纠偏 

分 类 号：S49[农业科学—植物保护] U675.73[交通运输工程—船舶及航道工程]