Agricultural robot platform based on decision-making logic by proficient in farming

研究表明，针对农业机器人遥操作中存在的问题，提出了在机器人控制机构和数据通信两方面进行时滞补偿的方法。此外，还开发了使用卫星图像地图的用户界面，以向操作员指示精确的现场信息，从而更安全地操作。现场试验表明，开发的方法的可用性。方法的细节描述如下。(1)非线性系统的控制方法对HST杠杆机构的非线性进行了求解，并利用所提出的方法对HST杠杆机构的死区进行了补偿。(2)1）所开发的图像映射方法可以从失真的全景图像生成平面图像。实验结果表明，在距摄像机中心10 m范围内，最大定位误差为0.6 m。2）基于卫星图像地图的2-D和3-D用户界面2-D用户界面使用Google map API，可以以1Hz的频率更新车辆的位置。使用OpenSceneGraph开发了三维虚拟农田地图用户界面，有效地减少了机器人与客户端之间的数据包大小，并成功地操作了来自美国的机器人车辆。作为问卷调查的结果，农业机器人等IT的引入更容易年轻（非熟练）农民比老年农民（熟练）需要更多的信息，但年轻农民比老年农民需要更多的信息来做出农业决策。在拖拉机操作方面，熟练驾驶者的眼纹运动比业余驾驶者的眼纹运动更锐利。这些结果表明，农业机器人需要为不熟练的农民提供辅助功能，如天气和操作方法信息系统以及操作的推荐视点指示器。

This research shows that compensation methods of time-lag both in the control mechanism of the vehicle and data communication were developed to resolve the difficulty in the teleoperation of the agricultural robots. Besides, user interfaces using satellite image map are developed to indicate precise field information to an operator for safer operations. Filed tests denoted the availability of the developed methods. The details of the methods are described as below.(1) Control method for non-liner systemNon-linearity of HST-lever mechanism was figured out, and the dead zone of it was compensated by the developed method.(2) Field image viewers for safer operations1) The developed image mapping method can generate flat images from distorted omni-vision images. As a result of experiment, maximum position errors are 0.6m within 10m from camera center.2) 2-D and 3-D A satellite image map based user interfacesThe 2-D user interface is used Google map API, and it can update the position of the vehicle by 1Hz. The 3-D virtual field map user interface was developed using the OpenSceneGraph, it was effective to reduce the data packet size between the robot and a client, and the robotic vehicle was operated by it from U.S.A successfully.As results of questionnaire surveys, introduction of IT such as agricultural robot is easier young (unskilled) farmers than aged farmers (proficients), however young farmers tend to need more information for making decision of farming than aged farmers. In terms of tractor operations, movements of proficient's eye marks are sharper than amateur's movements while driving. Those results suggest that agricultural robots need assist functions for unskilled farmers such as weather and operational methods information system and a recommending viewpoint indicator for operations.