Utilização do protocolo MQTT e framework ROS na instrumentação de tratores agrícolas

Abstract

Considering the world population growth and the consequent increase of the food production, the optimization of agricultural process is crucial to circumvent this problem. For this, Precision Agriculture (AP) seeks to reduce the amount of nutrients and other inputs used, increasing the quality and productivity of crops without adding cultivated area. Through advances in electronic instrumentation and embedded systems, it has been possible to accelerate AP developments. Tools such as the Message Queuing Telemetry Transport (MQTT) protocol and the Robot Operating System (ROS) framework enable monitoring of system variables, communication between all units in the machine, communication with remote servers, and control of any actuator in that system. This work deals with the development of a modular embedded system for agricultural machines, with the ROS and the MQTT protocol, capable of collecting data during the operation of the tractor-implement assembly through specific sensors. It also addresses the validation of this system with a focus on the integrity of the data transmitted and their speed of transmission. With the tests carried out, it was observed that the system allows the acquisition of data by the ROS system at a sampling frequency of 3700 Hz which, compared to other works, is an excellent value for control systems. It was also observed that the system guarantees 100% integrity of the transmited data