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

基于精通农耕的决策逻辑的农业机器人平台

基本信息

批准号：
16580215
负责人：
MURAKAMI Noriyuki
金额：
$ 1.98万
依托单位：
National Agriculture and Food Research Organization
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2004
资助国家：
日本
起止时间：
2004 至 2006
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-16580215/
关键词：
Robot Remote operation Task support GPS Inter net Autonomous control Image processing Agricultural materials 注視点全方位カメラパス分析環境認識

项目摘要

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.

研究表明，从车辆控制机构和数据通信两方面提出了时滞补偿方法，解决了农业机器人遥操作困难的问题。此外，还开发了使用卫星图像地图的用户界面，向操作员显示精确的现场信息，以便更安全地操作。现场测试表明所开发方法的可用性。这些方法的细节描述如下。(1)非线性系统的控制方法研究了hst杠杆机构的非线性，并利用该方法对hst杠杆机构的死区进行了补偿。(2)现场图像查看器，提高操作安全性1)所开发的图像映射方法可以将变形的全视图像生成平面图像。实验结果表明，在距相机中心10m范围内，最大位置误差为0.6m。2)基于2- d和3-D卫星影像地图的用户界面2- d用户界面采用谷歌地图API，以1Hz的频率更新车辆位置。利用OpenSceneGraph开发了三维虚拟野外地图用户界面，有效地减小了机器人与客户端之间的数据包大小，并成功实现了机器人车辆在美国的操作。从问卷调查的结果来看，年轻（不熟练）的农民比老年（熟练）的农民更容易引入农业机器人等IT，但是年轻农民在做出农业决策时往往比老年农民需要更多的信息。在拖拉机操作方面，熟练驾驶员的眼球运动比业余驾驶员的眼球运动更锐利。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推荐观点指示器。