基于PID控制的复杂地形自适应助农机器人
PID control based complex terrain adaptive agricultural assistance robot
摘要
Abstract
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.关键词
STM32F103C8T6单片机/PID算法/蓝牙通信/复杂地形自适应Key words
STM32F103C8T6 microcontroller/PID algorithm/Bluetooth communication/adaptation to complex terrain分类
信息技术与安全科学引用本文复制引用
吴梓豪,刘元林,李扬,张子杰,陈锐涛,赵曼伶,金扬印..基于PID控制的复杂地形自适应助农机器人[J].物联网学报,2026,10(2):92-100,9.基金项目
2023年国家级大学生创新训练计划项目(No.202410582002) （No.202410582002）
2023年度广东省教育科学规划课题专项(No.2023GXJK490) （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) （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) （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) （No.425A3201）
嘉应学院教学质量与教学改革工程项目(No.ZLGC2023301) （No.ZLGC2023301）
2024年度校企合作共建课程项目(嘉院教[2024]39号,No.16) （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) （No.2024RC18）
