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Multi-Purpose Mobile Robot for Precision Farming

精准农业多用途移动机器人

基本信息

批准号：
07456110
负责人：
TERAO Hideo
金额：
$ 4.93万
依托单位：
HOKKAIDO UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
1995
资助国家：
日本
起止时间：
1995 至 1997
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-07456110/
关键词：
Agricultural mobile robot Communication system Precision farming Robot agriculture Corn resistance sensor Crop growth sensor 土壌硬度精密農業 SSCM 地磁気方位センサニューラルネットワーク

项目摘要

The purpose of the study is to develop automation system for agricultural production. We aim to build technology of an agricultural mobile robot, which is able to conduct agricultural work in the same quality with a skilled worker. The developed robot can travel alone in a field, and automatically acquire the field environmental information related to soil and crop during the travel. The results obtained in the research project are follows :1)Design and Fabrication of Model VehicleThe model vehicle, which was satisfied with requirements for utilizing a mobile robot, was developed. The specifications and basic performance were studied.2)Development of Navigation System Using a Geomagnetic Direction Sensor (GDS)To precisely control the robot using only orientation data obtained by the GDS,the navigation system using the GDS was developed. The refining method, which was able to compensate the geomagnetic warp surrounding the robot, was built using an Artificial Neural Network.3)Developmen … More t of Navigation System Using a Positioning System Based on Machine VisionThe positioning system based on machine vision was developed to know the robot position in real time. The measurement principle is triangulation by setting the two vision sensors on the field that can automatically track the robot movement and measure the angle from the base line of the field. The navigation system using the positioning system and the GDS was build, and the robot performance was investigated by field tests.4)Sensor Development of Corn Resistance and Crop GrowthThe sensor system, which could automatically measure corn resistance, was developed to evaluate soil compaction of a field by the robot. Because the sensor system attached on the mobile robot can acquire the corn resistance and the position at the same time, the spatial map of the corn resistance can be created, and the soil compaction of the field can be evaluated on a computer screen. In addition, to evaluate the crop growth variability on a field, a crop growth sensor based on machine vision was developed. The sensor can segment crop and weed areas using a Fuzzy Logic created by a Genetic Algorithm. Then, the sensor can individually predict the crop growth such as the height and the width.5)Development of Communication SystemTo utilize the field information such as corn resistance and crop growth for crop management, the communication system between the mobile robot and the base station was built. Less

本研究的目的是开发农业生产自动化系统。我们的目标是开发农业移动机器人技术，使其能够以与熟练工人相同的质量进行农业工作。开发的机器人可以在田间单独行走，并在行进过程中自动获取与土壤和作物相关的田间环境信息。本研究项目取得的成果如下：1)模型车的设计与制作开发了满足移动机器人使用要求的模型车。研究了其规格和基本性能。2)使用地磁方向传感器(GDS)的导航系统的开发为了仅利用GDS获得的方向数据来精确控制机器人，开发了使用GDS的导航系统。使用人工神经网络建立了能够补偿机器人周围地磁扭曲的精炼方法。3）使用基于机器视觉的定位系统开发导航系统基于机器视觉的定位系统被开发用于实时了解机器人位置。测量原理是三角测量，在场地上设置两个视觉传感器，可以自动跟踪机器人运动并测量距场地基线的角度。搭建了使用定位系统和GDS的导航系统，并通过现场试验考察了机器人的性能。4）玉米抗性和作物生长传感器的开发开发了自动测量玉米抗性的传感器系统，用于评估机器人对田地土壤压实的情况。由于移动机器人上附着的传感器系统可以同时获取玉米阻力和位置，因此可以创建玉米阻力的空间图，并可以在计算机屏幕上评估田间的土壤压实情况。此外，为了评估田间作物生长的变异性，开发了一种基于机器视觉的作物生长传感器。该传感器可以使用遗传算法创建的模糊逻辑来分割农作物和杂草区域。然后,传感器可以单独预测作物的生长情况,如高度和宽度。5)通信系统的开发为了利用玉米抗性和作物生长等田间信息进行作物管理,建立了移动机器人与基站之间的通信系统。较少的