吉林农业大学学报2026，Vol.48Issue(4)：620-631,12.DOI:10.13327/j.jjlau.2026.0063
基于STM32与物联网的粮仓智能巡检机器人系统设计
Design of Grain Warehouse Intelligent Inspection Robot System Based on STM32 and Internet of Things
摘要
Abstract
To address the issues associated with traditional grain warehouse inspections,namely reli-ance on manual labor,low efficiency,poor real-time performance,and existence of monitoring blind spots,we designed a smart grain warehouse inspection robot system based on the STM32F407VET6 microcontroller and Internet of Things technologies.The system employs a three-layer architecture comprising"embedded main control—Wi-Fi communication—cloud-based monitoring".Using STM32F407VET6 as its core controller,the system communicates with vedder electronic speed con-troller brushless electronic speed controllers via a controller area network bus to implement differen-tial drive control.It integrates an MPU6050 inertial measurement unit,a ultra wide band(UWB)in-door positioning module,a DHT11 temperature and humidity sensor,and a laser rangefinder to en-able attitude sensing,location acquisition,and collection of environmental parameters within the warehouse.Furthermore,the system utilizes an ESP-12F Wi-Fi module and message queuing telem-etry transport protocol to upload operational data in real-time to an Alibaba Cloud server,facilitating remote visualization and motion control via a Python-based monitoring dashboard.In terms of soft-ware design,the system implements multi-task scheduling based on FreeRTOS,employs Kalman fil-tering for attitude fusion,and utilizes an incremental proportional-integral controller to achieve closed-loop speed control.Test results demonstrate that,under a step input with a target velocity of 0.5 m/s,the system's settling time is approximately 0.8 s,the overshoot is less than 5%,and the steady-state error is maintained within±0.02 m/s.Under favorable Wi-Fi signal conditions,the data packet loss rate remains below 0.5%,with an end-to-end latency ranging from 200 to 500 ms;Addi-tionally,UWB positioning accuracy exhibits an error of approximately±10 cm under line-of-sight conditions.These results indicate that the developed system possesses robust control performance,communication stability,and remote monitoring capabilities,thereby effectively meeting the require-ments for smart grain warehouse inspection applications.关键词
粮仓机器人/STM32F407/物联网/MQTT/CAN总线/FreeRTOSKey words
granary robot/STM32F407/Internet of Things/MQTT/CAN bus/FreeRTOS分类
农业科技引用本文复制引用
钟豪,吴文福,尹慧敏,于子清..基于STM32与物联网的粮仓智能巡检机器人系统设计[J].吉林农业大学学报,2026,48(4):620-631,12.基金项目
区域创新发展联合基金项目(U23A20257) （U23A20257）
