果园机器人自动导航技术研究进展
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摘要
依赖智能装备实现精准化、自动化和智能化的农业生产,提高劳动生产率,是解决今后果园劳动力缺乏状况的一个重要途径。在果园的自动化生产管理过程中,果树的挖沟、施肥、灌溉、除杂草等作业都可以采用自动导航技术。在果园中作业时要求机器人首先进行自身定位,定位信息可以帮助机器人预判地头和规划路径,实现地头转向,自主驶向下一行。果园机器人自动导航技术便成为了果园自动作业的关键,是果园生产自动化、智能化的前瞻性技术。果园自动导航技术应用是现代果园自动种植技术的集中体现和未来的发展趋势,对未来果园的规模化、标准化运营具有重大意义。论文介绍了现代果园中的自动导航系统,综述了果园机器人自动导航系统的核心技术,提出了现阶段仍然存在的问题,并指出来果园机器人自动导航技术的发展趋势是智能控制方法应用于果园自动导航控制和三维自主导航。
Relying on intelligent equipment to realize accurate,automatic and intelligent agricultural production can improvelabor productivity. Automatic navigation is an important way to solve the shortage of labor in the orchard in the future. In the processof automation production and management in the orchard,fruit trees of digging ditches,fertilization,irrigation,weeding,sprayingand pruning operation can use automatic navigation. In the automatic navigation progress in orchard,the first task is positioning ofrobot. Orchard robot automatic navigation technology is the key to the orchard automatic operation. Automatic navigation is a prospective technology for automation and intelligence for orchard production. Application of automatic navigation technology has become the focus of modern orchard automatic planting technology and the future development trend. This article introduces the automatic navigation system in the modern orchards. The core technology for automatic navigation system in orchard is summarized. Thedevelopment direction of robotic navigation technology in orchard is three-dimensional navigation.
Relying on intelligent equipment to realize accurate,automatic and intelligent agricultural production can improvelabor productivity. Automatic navigation is an important way to solve the shortage of labor in the orchard in the future. In the processof automation production and management in the orchard,fruit trees of digging ditches,fertilization,irrigation,weeding,sprayingand pruning operation can use automatic navigation. In the automatic navigation progress in orchard,the first task is positioning ofrobot. Orchard robot automatic navigation technology is the key to the orchard automatic operation. Automatic navigation is a prospective technology for automation and intelligence for orchard production. Application of automatic navigation technology has become the focus of modern orchard automatic planting technology and the future development trend. This article introduces the automatic navigation system in the modern orchards. The core technology for automatic navigation system in orchard is summarized. Thedevelopment direction of robotic navigation technology in orchard is three-dimensional navigation.
引文
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[10]慕军营.基于激光扫描信息的视觉标定方法研究[D].杨凌:西北农林科技大学,2014:15-22.MU Junying. Visual calibration method based on laserscanning information[D]. Yangling:Northwest A&F University,2014:15-22.
[11]唐伟,刘军安.基于激光导航的机器人自动装配控制[J].激光杂志,2017,38(5):67-71.TANG Wei,LIU Junan. Automatic assembly control of robot based on laser navigation[J]. Laser Journal,2017,38(5):67-71.
[12]周俊,胡晨.密植果园作业机器人行间定位方法[J].农业机械学报,2015,46(11):22-28.ZHOU Jun,HU Chen. Inter-row Localization Method forAgricultural Robot Working in Close Planting Orchard[J]. Transactions of The Chinese Society of AgriculturalMachinery,2015,46(11):22-28.
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[15]Kim Hongryel,Son Jubum,Lee Jangmyung.A highspeedslidingmode observer for the sensorless speed control of aPMSM[J]. IEEE on Industrial Electronics,2011,58(9):4069-4077.
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[18]张莹莹,周俊.基于激光雷达的果园树干检测[J].中国农业大学学报,2015,20(5):249-255.ZHANG Yingying,ZHOU Jun. Laser radar based orchardtrunk detection[J]. Journal of China Agricultural University,2015,20(5):249-255.
[19]李延华.自主移动果园作业机器人地头转向与定位研究[D].南京:南京农业大学,2016:31-43.LI Yanhua. Research on Headland Turning and Locationfor Autonomous Robot Operating in Orchard[D]. Nanjing:Nanjing Agricultural University,2016:31-43
[20]封永,张欣欣,黄林青,等.激光雷达机器人车辆地头转向路径规划[J].传感器与微系统,2017,36(2):28-34.FENG Yong,ZHANG Xinxin,HUANG Linqing,et al.Path planning of end-of-row turning for robot vehiclebased on laser radar[J]. Transducer and MicrosystemTechnologies 2017,36(2):28-3.
[21]刘春阁.基于Hough变换的直线提取与匹配[D].阜新:辽宁工程科技大学,2009:41-53.LIU Chunge. Line Extraction and Matching Based onHough transformation[D]. Buxin:Liaoning University ofscience and technology,2009:41-53.
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