Design And Implementation Of Agricultural Machinery Automatic Driving System Based On Stm32

In recent years,with the continuous development and progress of Beidou satellite positioning technology and automation technology,it provides a technical basis for the research and development of agricultural machinery autopilot equipment.Agricultural machinery automatic driving control technology include embedded technology,Modern Agricultural Science and Technology based on data Communication,Satellite Positioning,automatic Control and Network Technology.Through the analysis of the theory knowledge of the automatic driving technology of agricultural machinery,and the design of embedded software and hardware,the development of control terminal,this article design the Automatic driving Control system with the function of Interface display and Control of automatic driving,route setting,mode setting,positioning and tracking.And through the field test,meets the design technical index,it has the very good practical value.Based on the analysis of functional requirements of agricultural automatic driving system,this paper designs a solution based on STM32 embedded processor + C/OS-III operation system.In the hardware design,the stm32f767 microcontroller is used as the control core of the system.The positioning module of Beidou system is used to collect the position information of agricultural machinery,and the angle sensor module is used to collect the front wheel angle information of agricultural machinery.The serial port acquisition module is designed to meet the needs of the whole hardware system.In the software design,the embedded operating system C/OS-III is installed to ensure the real-time and operability of the system.The hierarchical design of the main control software is carried out by using C language.Under the control of the main control software,the agricultural machinery completes the path tracking and course tracking,and finally achieves the function of automatic driving according to the set route.The lateral error is within 3.2 cm.The agricultural automatic driving system designed in this paper has the characteristics of low cost,high real-time and high performance.Based on the test platform of spring ploughing tractor,through cement pavement test and field operation test,the results show that the design of the system meets the actual requirements,the overall system runs stably and reliably,the design is reasonable and effective,and ultimately realizes the function of automatic driving.At the same time,the related research work of this paper has laid a good foundation for the further development of automatic driving technology.