摘要
设计了一套基于STM32控制的施药农用无人车,在设定路径和施药信息后能够自动导航完成作业,与无人机施药配合能够360°无死角地消除虫害,并且无须人工操作,省时省力。该自动导航设计是基于GPS定位和三轴航向角测定的控制算法,使用SDIO总线操作SD卡记录航行操作数据,加入实时的自检代码以进行路径修正,加入避障系统以保证人员和车辆安全。系统基于STM32开发板进行开发,扩展性和兼容性强,后续可继续增添新功能。
A set of pesticide dispensing agricultural UAV based on STM32 control was designed.After setting path and pesticide information,it could automatically navigate and complete operation.Cooperating with the UAV,it could eliminate pests 360°without dead angle,without personnel operation and save time and labor.Automatic navigation design was based on control algorithm of GPS positioning and three-axis heading angle measurement,and used SDIO bus to operate SD card.In order to record navigation operation data,real-time self-test code was added,the path could be corrected,and obstacle avoidance system wass added to ensure safety of personnel and vehicles.This system was developed based on STM32 development board,which had strong expansibility and compatibility,and new functions could be added in the future.
作者
余科松
武志明
YU Kesong;WU Zhiming(College of Agricultural Engineering,Shanxi Agricultural University,Jinzhong Shanxi 030031,China)
出处
《农业工程》
2023年第3期35-42,共8页
AGRICULTURAL ENGINEERING
基金
山西省重点研发项目(201903D221029)。
关键词
农用无人车
自动导航
STM32
GPS
算法
agricultural unmanned vehicle
automatic navigation
STM32
GPS
algorithm
