基于ROS-QT的红花采摘机器人多线程传感器数据预处理系统  

The ROS-QT-based Multithreaded Sensor Data Preprocessing System for Safflower Picking Robots

作　　者：郭辉 王翔 武天伦 杨春天 GUO Hui;WANG Xiang;WU Tianlun;YANG Chuntian(College of Mechanical and Electrical Engineering,Xinjiang Agricultural University,Urumqi Xinjiang 830052,China;Xinjiang Key Laboratory of Intelligent Agricultural Equipment,Urumqi Xinjiang 830052,China)

机构地区：[1]新疆农业大学机电工程学院,乌鲁木齐830052 [2]新疆智能农业装备重点试验室,乌鲁木齐830052

出　　处：《沈阳农业大学学报》2025年第1期117-127,共11页Journal of Shenyang Agricultural University

基　　金：新疆维吾尔自治区自然科学基金项目(2022D01A117)。

摘　　要：[目的]针对红花采摘机器人在复杂农田环境中面临的实时感知与控制挑战,特别是多源异构传感器数据处理和对环境变化的快速响应问题,设计一种基于ROS和Qt的多线程并行控制系统。[方法]数据处理引入生产者-消费者模型,实现多源异构传感器数据的实时并行处理,提高系统数据处理效率和鲁棒性,并在新疆吉木萨尔县红旗农场红花田现场试验。[结果]多线程架构在复杂场景中显著优化资源利用率,减少端到端延迟约19.3%~25%。通过任务分解与并行处理,多线程配置在高负载条件下将CPU使用率从单线程的90%降低至75%~80%,并显著平滑内存曲线,提升系统稳定性。[结论]该项目与新疆35家农户、合作社签订技术服务合作协议,对推动红花采摘机械化发展具有重要的理论和实践意义。[Objective]The paper addresses the challenges of real-time perception and control faced by safflower harvesting robots in complex farmland environments,particularly focusing on multi-source heterogeneous sensor data processing and rapid response to environmental changes.[Methods]A multithreaded parallel control system based on ROS and Qt is designed to tackle these issues.The data processing utilizes a producer-consumer model to achieve real-time parallel processing of multi-source heterogeneous sensor data,enhancing the efficiency and robustness of the system.Field experiments were conducted in a safflower field at Hongqi Farm,Jimusar County,Xinjiang.[Results]The results showed that the multithreaded architecture significantly optimized resource utilization and reduced end-to-end latency by approximately 19.3%to 25%in complex scenarios.By task decomposition and parallel processing,the multithreaded configuration reduced CPU usage from 90%(in single-threaded mode)to 75%–80%under high load conditions and significantly smoothed the memory usage curve,improving system stability.The project has signed technical service cooperation agreements with 35 farmers and cooperatives in Xinjiang.[Conclusion]The research findings have significant theoretical and practical value for promoting the mechanization of safflower harvesting.

关 键 词：红花采摘机器人 多线程控制系统 并行数据处理 并行控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] S24[自动化与计算机技术—控制科学与工程]