基于PID控制的复杂地形自适应助农机器人OA
PID control based complex terrain adaptive agricultural assistance robot
研发了一款基于比例-积分-微分控制(PID)控制的复杂地形自适应助农机器人,以提高农业生产效率,减轻农民劳动强度,实现多复杂地形下的精准助农.该机器人以 STM32F103C8T6 单片机为核心控制器,通过 HC-15 蓝牙模块接收用户的远程指令,控制步进电机实现精准移动,并驱动水泵模块完成农药喷洒作业.其核心运行原理是"无线指令接收→核心处理→电机与执行器驱动"的过程.该机器人相较于现有农业机器人最大的一个创新点在于,能够根据不同的地形进行自适应调整,不论是在山坡、沙地,还是其他崎岖地形,都能稳定运作.该机器人还能对作物进行健康检测,包括叶片的生长情况、作物的成熟度等;同时支持土壤成分检测、农药喷洒及灌溉等.
A complex terrain adaptive agricultural assistance robot based on PID control was developed,aiming to en-hance agricultural production efficiency,reduce farmers'labor intensity,and achieve precise agricultural assistance in vari-ous complex terrains.The robot was controlled by the STM32F103C8T6 single-chip microcontroller,which received re-mote instructions from users through the HC-15 bluetooth module and controlled the stepper motor to achieve precise movement,and drove the water pump module to complete the spraying operation of the pesticide.The core operation prin-ciple was a closed-loop process of"wireless instruction reception → core processing → motor and actuator drive".The biggest innovation of this robot compared to existing agricultural robots lies in its ability to adapt to different terrains.It can operate stably on hillsides,sandy areas,or any rough terrain.Additionally,the robot can conduct health checks on crops,including the growth of leaves and the maturity of the crops.Besides,the robot has functions such as detecting soil composition,spraying pesticides,and irrigation.
吴梓豪;刘元林;李扬;张子杰;陈锐涛;赵曼伶;金扬印
嘉应学院物理与电子工程学院,广东 梅州 514015嘉应学院物理与电子工程学院,广东 梅州 514015嘉应学院物理与电子工程学院,广东 梅州 514015嘉应学院物理与电子工程学院,广东 梅州 514015嘉应学院物理与电子工程学院,广东 梅州 514015嘉应学院物理与电子工程学院,广东 梅州 514015梅州市鑫农机械制造有限公司,广东 梅州 514015
信息技术与安全科学
STM32F103C8T6单片机PID算法蓝牙通信复杂地形自适应
STM32F103C8T6 microcontrollerPID algorithmBluetooth communicationadaptation to complex terrain
《物联网学报》 2026 (2)
92-100,9
2023年国家级大学生创新训练计划项目(No.202410582002)2023年度广东省教育科学规划课题专项(No.2023GXJK490)2021年广东省线下一流本科课程-精密机械与仪器设计项目(No.422A1002)2023年度广东省本科高校教学质量与教学改革工程项目(No.424A1603)2024年度广东省本科高校教学质量与教学改革工程项目(No.425A3201)嘉应学院教学质量与教学改革工程项目(No.ZLGC2023301)2024年度校企合作共建课程项目(嘉院教[2024]39号,No.16)嘉应学院人才科研启动项目(No.2024RC18) The 2023 National College Students'Innovation Training Program Project(No.202410582002),The 2023 An-nual Project of Guangdong Province's Educational Scientific Research Planning(No.2023GXJK490),The 2021 Annual Guangdong Province First-Class Undergraduate Courses-Precision Machinery and Instrument Design(No.422A1002),The 2023 Annual Project for Teaching Quality and Teaching Reform of Undergraduate Universities in Guangdong Province(No.424A1603),The 2024 Annual Project for Teaching Quality and Teaching Reform of Undergraduate Universities in Guangdong Province(No.425A3201),The Jiay-ing University Quality Education and Teaching Reform Project(No.ZLGC2023301),The 2024 Annual Cooperative Course Construc-tion between the School and Enterprises(Jiayuan Education[2024]No.39,No.16),The Jiaying University Talent Research Initiation Project(No.2024RC18)
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