| 基于北斗-RTK的农用无人车设计与实现 |
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| 引用本文： | 刘婷婷,郭佩佩,高翔,洪志鹏,孟祥宝,黄家怿.基于北斗-RTK的农用无人车设计与实现[J].现代农业装备,2022,43(1):30-37. |
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| 作者姓名： | 刘婷婷 郭佩佩 高翔 洪志鹏 孟祥宝 黄家怿 |
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| 作者单位： | 广州市健坤网络科技发展有限公司,广东 广州 510630,广州市健坤网络科技发展有限公司,广东 广州 510630;广东省现代农业装备研究所,广东 广州 510630;深圳市现代农业装备研究院,广东 深圳 518038,广东省现代农业装备研究所,广东 广州 510630 |
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| 基金项目： | 广东省乡村振兴战略专项;广东省现代农业产业技术体系创新团队项目 |
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| 摘 要： | 为有效提高农业生产作业效率,降低劳动力成本,设计并实现了一种基于北斗卫星导航系统的农用无人车,包括履带底盘设计与实现、控制系统设计与实现。该无人车以树莓派、TX2、STM32为核心控制器,通过STM32与TX2采集无人车位置、状态等数据上传至树莓派,由树莓派进行综合分析决策。根据无人车的经纬度信息,针对非标准化果园进行循迹示教路径规划,针对标准化果园进行标准路径规划。利用距离与角度偏移量,可使无人车自适应调整回归到规划路径上。试验表明,该农用无人车具有良好的速度性能与行走转向性能,便于精确控制,对推广应用无人农机、提高农机自动化和智能化水平具有积极的促进作用。
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| 关 键 词： | 北斗导航 农用无人车 树莓派 STM32 自适应行走 自动避障 |
Design and Implementation of Agricultural Unmanned Vehicle based on Beidou-RTK |
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| Liu Tingting,Guo Peipei,Gao Xiang,Hong Zhipeng,Meng Xiangbao,Huang Jiayi.Design and Implementation of Agricultural Unmanned Vehicle based on Beidou-RTK[J].Modern Agricultural Equipments,2022,43(1):30-37. |
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| Authors: | Liu Tingting Guo Peipei Gao Xiang Hong Zhipeng Meng Xiangbao Huang Jiayi |
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| Institution: | (Guangzhou Joinken Network Technology Development Co.,Ltd.,Guangzhou 510630,China;Guangdong Institute of Modern Agricultural Equipment,Guangzhou 510630,China;Shenzhen Institute of Modern Agricultural Equipment,Shenzhen 518038,China) |
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| Abstract: | In order to effectively improve the efficiency of agricultural production and reduce labor cost,an agricultural unmanned vehicle based on Beidou satellite navigation system is designed and implemented,including the design and implementation of crawler chassis and control system.The unmanned vehicle takes Raspberry Pi,TX2 and STM32 as core controllers.Through STM32 and TX2 collect the position and status data of unmanned vehicle,and upload them to Raspberry pi for comprehensive analysis and decision-making.According to the longitude and latitude information of unmanned vehicles,it can plan the tracking and teaching path for non-standardized orchards.,and plan the standard path for standardized orchards.Using distance and angle offset,the direction is adjusted adaptively to make the unmanned vehicle return to the planned path.Experiments show that the agricultural unmanned vehicle has good speed performance and steering performance,and is convenient for precise control,which plays a positive role in promoting the popularization and application of unmanned agricultural machinery and improving the level of automation and intelligence of agricultural machinery. |
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| Keywords: | Beidou navigation agricultural unmanned vehicles raspberry Pi STM32 adaptive walk automatic obstacle avoidance |
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