Rice transplanting requires the operator to manipulate the rice transplanter in straight trajectories.Various markers are proposed to help experienced drivers in keeping straightforward and parallel to the previous pa...Rice transplanting requires the operator to manipulate the rice transplanter in straight trajectories.Various markers are proposed to help experienced drivers in keeping straightforward and parallel to the previous path,which are extremely boring in terms of large-scale fields.The objective of this research was to develop an autonomous navigation system that automatically guided a rice transplanter working along predetermined paths in the field.The rice transplanter used in this research was commercially available and originally manually-operated.An automatic manipulating system was developed instead of manual functions including steering,stop,going forward and reverse.A sensor fusion algorithm was adopted to integrate measurements of the Real-Time Kinematic Global Navigation Satellite System(RTK-GNSS)and Inertial Measurement Unit(IMU),and calculate the absolute moving direction under the UTM coordinate system.A headland turning control method was proposed to ensure a robust turning process considering that the rice transplanter featured a small turning radius and a relatively large slip rate at extreme steering angles.Experiments were designed and conducted to verify the performance of the newly developed autonomous navigation system.Results showed that both lateral and heading errors were less than 8 cm and 3 degrees,respectively,in terms of following straight paths.And headland turns were robustly executed according to the required pattern.展开更多
The research was conducted to develop a robot that can navigate a paddy in between rows or hills which were transplanted by the machine transplanter with equal distance. An initial prototype robotic battery-type weede...The research was conducted to develop a robot that can navigate a paddy in between rows or hills which were transplanted by the machine transplanter with equal distance. An initial prototype robotic battery-type weeder was manufactured and tested to navigate and control weeds in rice paddy fields, but a speed was so slow, and thus second engine-type prototype was developed. A working acreage for weed control has been attained at and up to 0.8 ha/day. Small and young weed seedlings were uprooted and destroyed by passive devices in between rows as well as hills. This robot was smoothly navigated in between rows on behalf of the guidance under camera and sensor systems and control weeds with mechanical by the use of implements such as passive rotary weeders and then weeds would be cut and buried into the soils. Also muddy water was generated during operation which was none penetrated by light for weed germination to occur. The authors concluded that the robotic was an effective alternative implement to control weeds in lowland rice paddy as long as this tool was systematically introduced into the rice fields at three time intervals, viz. 15-20 days, 25-30days, and 35-40 days after transplanting of rice seedlings.展开更多
基金This research was financially supported by National Natural Science Foundation of China(No.31501230)Shandong Province Natural Science Foundation of China for Youths(No.ZR2014CQ058)+1 种基金the National Key Research and Development Program of China Sub-project(No.2017YFD0700405)Shandong Province Science and Technology Planning Project of Higher Education(No.J17KA145).
文摘Rice transplanting requires the operator to manipulate the rice transplanter in straight trajectories.Various markers are proposed to help experienced drivers in keeping straightforward and parallel to the previous path,which are extremely boring in terms of large-scale fields.The objective of this research was to develop an autonomous navigation system that automatically guided a rice transplanter working along predetermined paths in the field.The rice transplanter used in this research was commercially available and originally manually-operated.An automatic manipulating system was developed instead of manual functions including steering,stop,going forward and reverse.A sensor fusion algorithm was adopted to integrate measurements of the Real-Time Kinematic Global Navigation Satellite System(RTK-GNSS)and Inertial Measurement Unit(IMU),and calculate the absolute moving direction under the UTM coordinate system.A headland turning control method was proposed to ensure a robust turning process considering that the rice transplanter featured a small turning radius and a relatively large slip rate at extreme steering angles.Experiments were designed and conducted to verify the performance of the newly developed autonomous navigation system.Results showed that both lateral and heading errors were less than 8 cm and 3 degrees,respectively,in terms of following straight paths.And headland turns were robustly executed according to the required pattern.
文摘The research was conducted to develop a robot that can navigate a paddy in between rows or hills which were transplanted by the machine transplanter with equal distance. An initial prototype robotic battery-type weeder was manufactured and tested to navigate and control weeds in rice paddy fields, but a speed was so slow, and thus second engine-type prototype was developed. A working acreage for weed control has been attained at and up to 0.8 ha/day. Small and young weed seedlings were uprooted and destroyed by passive devices in between rows as well as hills. This robot was smoothly navigated in between rows on behalf of the guidance under camera and sensor systems and control weeds with mechanical by the use of implements such as passive rotary weeders and then weeds would be cut and buried into the soils. Also muddy water was generated during operation which was none penetrated by light for weed germination to occur. The authors concluded that the robotic was an effective alternative implement to control weeds in lowland rice paddy as long as this tool was systematically introduced into the rice fields at three time intervals, viz. 15-20 days, 25-30days, and 35-40 days after transplanting of rice seedlings.
