结合STM 32和MSP 430单片机设计了一种新的农业果实采摘机器人激光自动瞄准系统，并在系统设计过程中引入了PID算法，大大提高了果实采摘机器人的定位精度和自动化程度。该系统对果实目标区域采用两组控制系统进行图像采集和运动控制。其中， STM 32单片机控制图像采集设备，并对图像信息进行分析处理，数据结果经无线通信送MSP 430单片机，控制电机带动激光笔移动瞄准目标位置。系统采用 OpenCV 处理图像，实现了人机交互功能，利用PID控制算法调整瞄准误差，提高了瞄准精度，通过对电机的闭环控制，实现了激光自动瞄准功能。实验结果表明：此系统可以成功锁定目标，达到了较高的精度，为激光瞄准系统在农业自动化和现代化中的应用研究提供了理论依据。%This paper describes the design of a new automatic aiming system of agricultural fruit picking robot laser com -bined with STM32 and MSP430 single chip microcomputer , and PID algorithm is introduced in the process of system de-sign , which greatly improves the positioning accuracy and automation degree of fruit picking robot .The system adopts two sets of control system to acquire image and control motion in the fruit object area , the STM32 single chip is used to con-trol the image acquisition equipment , and analyze image information processing .The data results is sent to MSP 430 through wireless communication , and control motor drives the laser pen moving at the target location .The system adopts OpenCV to process image , which realize the function of human-computer interaction , using PID control algorithm to ad-just the pointing error , and improves the precision of aim control .It realizes the automatic laser aiming function through the closed loop of the motor .Finally , it shows that this system can target successfully locked , and achieves higher accu-racy through the experimental results , which provides a theoretical basis for laser aiming system application study in the agriculture automation and modernization .
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