CAJ | 학술논문

为了满足作物育/选种过程中高频次获取样本植株个体的生理指标及生长环境数据的需求，该文以微型自动导引运输车（automated guided vehicle，AGV）为基础结合ARM（advanced RISC machines）嵌入式技术设计了一套温室盆栽作物数据采集系统。该文介绍了温室盆栽作物数据采集系统的工作原理，组成结构和功能测试。系统由微型AGV、车载数据采集系统、通讯与控制系统等部分组成，微型AGV携带数据采集系统按照作业指令依次对样本植株个体的图像信息以及环境参数信息进行采集，解决了育/选种过程中需要人工方式对培育的样本植株个体数据进行采集的问题。随机选取160盆大豆样本进行数据采集试验，试验结果表明，采集的大豆植株图像完整、清晰，生长环境数据精确度高，平均误差不大于2%，对160个样本点的图像数据进行采集用时约9 min，数据采集效率大幅提高。试验过程中系统运行稳定，定位准确，误差为±6 mm，且无脱轨现象。该研究为温室盆栽作物个体的数据自动化采集提供了参考。
위료만족작물육/선충과정중고빈차획취양본식주개체적생리지표급생장배경수거적수구，해문이미형자동도인운수차（automated guided vehicle，AGV）위기출결합ARM（advanced RISC machines）감입식기술설계료일투온실분재작물수거채집계통。해문개소료온실분재작물수거채집계통적공작원리，조성결구화공능측시。계통유미형AGV、차재수거채집계통、통신여공제계통등부분조성，미형AGV휴대수거채집계통안조작업지령의차대양본식주개체적도상신식이급배경삼수신식진행채집，해결료육/선충과정중수요인공방식대배육적양본식주개체수거진행채집적문제。수궤선취160분대두양본진행수거채집시험，시험결과표명，채집적대두식주도상완정、청석，생장배경수거정학도고，평균오차불대우2%，대160개양본점적도상수거진행채집용시약9 min，수거채집효솔대폭제고。시험과정중계통운행은정，정위준학，오차위±6 mm，차무탈궤현상。해연구위온실분재작물개체적수거자동화채집제공료삼고。
During the process of growing and selecting corps, it is significant to high-frequently gain of biological indexes of individual samples and their surrounding environmental parameters. Under normal circumstances, the number of samples is large, data acquisition cycle is long. To realize high-level automation of the process of growing and selecting crops, Data collection system (DCS) of corps was designed based on micro automated guided vehicle (AGV) in this paper. Techniques of advanced RISC machines (ARM), radio frequency identification (RFID), sensors, wireless communication, and modern control, etc were also use to the DCS. The DCS consisted of micro AGV, VDAS (vehicle data acquisition system), communication and control system. Specifically, the micro AGV, made up of control unit, action unit, guiding unit and orientation unit, was used to automatic navigate and pinpoint the location of samples. S3C6410 chip was use as the core processor of the control unit in micro AGV, S3C6410 is common RSIC processor developed by Samsung Company based on ARM1176JZF-S core and 16/32, which met the data processing requirements. ASLONG GA20Y180 micro direct current motor was used as the drive of the action unit, and achieved control of the motor L293D-based control module. Optical guided navigation was used to the guiding unit, which achieved reliable navigation through two micro AGV navigation modules. By RFID and optical recognition two kinds of ways, the orientation unit achieved targeting and accurate positioning of the Micro AGV during movement. The VDAS, made up of data acquisition units of image and environment as well as data processing unit, was used to collect data of samples’ images, environmental humidity and temperature, carbon dioxide intensity, illumination intensity, and then to process and store the collected data. The communication and control system, made up of vehicle communication unit, and control software on remote control computer, was used to realize long distance transmission and control. When collecting the sample’s data, the control software sent orders and the micro AGV carrying VDAS began to collect images and environmental parameters according to the planned routine. In order to validate the accuracy and stability of the DCS, taking soybean pot as sample in this paper, experiments on image and environmental data acquisition was done. It turned out that the images obtained from the DSC were evenly in good quality which met the requirements of image processing in the later period. Besides, the errors between the automatically collected environmental data and manual data were at around 2%, which met the precision standards of data acquisition. The DCS operated stably during the experiments and phenomenon of out of routine didn't occur. The error of orientation was fewer than 6 mm. It took the DSC 9 minutes to collect images of 160 samples, which demonstrated that the efficiency was improved greatly. This paper overcame the problem of data acquisition of individual samples when growing and selecting corps. It provides a good reference for the automatic acquisition of greenhouse corps.