| 摘 要: 丘陵耕地地块细碎、不平整、形状不规则,造成大型农业机械难以发挥作用,推进丘陵山区农机化极其艰难。设计一种基于树莓派(Raspberry Pi)微型电脑和STM32嵌入式单片机的小型农业机械自动导航控制系统。系统通过双频定位模块获取实时定位信息,利用双目摄像头、红外摄像头识别障碍物与耕地边界,采用惯性导航装置获取机械运动信息,树莓派综合分析各项数据以提供高精度导航,实现自动制动和转向。系统有效解决了地块不平整与地块形状不规则带来的自动导航精度不足的问题,推动小型农业机械的自动化,解放劳动力,更好地服务农业机械化率年增长超2百分点的目标。 |
| 关键词: 农业机械;树莓派;STM32;导航 |
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中图分类号: TP399
文献标识码: A
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| 基金项目: 国家级大学生创新创业训练计划项目资助(202310566029) |
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| Design of Automatic Navigation Control System for Small Agricultural Machinery |
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WU Haoji, ZHU Youmin, FENG Zhirui
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(College of Electronics and Inf ormation Engineering, Guangdong Ocean University, Zhanjiang 524088, China)
3266469949@qq.com; gdouzhuym@163.com; wangyi0601@163.com
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| Abstract: The hilly farmland plots are fragmented, uneven, and irregular in shape, making it difficult for large agricultural machinery to function effectively. Therefore, it is extremely challenging to promote agricultural mechanization in hilly and mountainous areas. This paper proposes to design an automatic navigation control system for small agricultural machinery based on the Raspberry Pi microcomputer and STM32 embedded microcontroller. The system acquires real-time positioning information through a dual-frequency positioning module, identifies obstacles and farmland boundaries with binocular and infrared cameras, and obtains mechanical motion information with an inertial navigation device. The Raspberry Pi comprehensively analyzes various data to provide high-precision navigation, achieving automatic braking and steering. The proposed system effectively addresses the issue of insufficient automatic navigation accuracy caused by uneven and irregularly shaped farmlands, promoting the automation of small agricultural machinery, liberating labor, and achieving an annual growth rate of over 2 percentage points in agricultural mechanization. |
| Keywords: agricultural machinery; Raspberry Pi; STM32; navigation |
