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.

英文摘要：

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.