Research on Autonomous Mobile Intelligent IoT Platform in Mushroom Cultivation

We design an autonomous mobile platform with self-navigation, obstacle avoidance, multi-point cruise, quantity calculation of king oyster mushrooms, and environmental data collection. It can be used for patrol inspection of mushroom cultivation farms, replacing manual patrol inspection to overcome the problem of labor shortage. The autonomous mobile platform is based on the ROS (Robot Operating System) architecture with many nodes (programs). The platform integrates a mobile chassis drive node, field mapping node, navigation node, robotic arm control node, and camera node. There is also a smart IoT sensor module on the mobile platform to collect environmental data such as temperature, humidity, and carbon dioxide concentration in real-time and store the data in the network database. Environmental information is sent to managers by LINE notify through IFTTT. The environmental data is shown in graphs by using the visualization software (Grafana). In addition, a thermal imaging sensor records and stores the thermal distribution image. The images are identified by the self-trained YOLO V4 neural network model to predict the production quantity of king oyster mushrooms.