• EI
    • CSA
    • CABI
    • 卓越期刊
    • CA
    • Scopus
    • CSCD
    • 核心期刊
HU Lian, WANG Zhimin, WANG Pei, HE Jie, JIAO Jinkang, WANG Chenyang, LI Mingjin. Agricultural robot positioning system based on laser sensing[J]. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE), 2023, 39(5): 1-7. DOI: 10.11975/j.issn.1002-6819.202211144
Citation: HU Lian, WANG Zhimin, WANG Pei, HE Jie, JIAO Jinkang, WANG Chenyang, LI Mingjin. Agricultural robot positioning system based on laser sensing[J]. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE), 2023, 39(5): 1-7. DOI: 10.11975/j.issn.1002-6819.202211144

Agricultural robot positioning system based on laser sensing

More Information
  • Received Date: November 13, 2022
  • Revised Date: January 15, 2023
  • Published Date: March 14, 2023
  • In order to solve the positioning problem of global navigation satellite system (GNSS) based robots and autonomous agricultural machinery, which is low accuracy or even unable to locate under the environment of weak or no satellite signals such as hangars and greenhouses. This research proposes an agricultural robot positioning system based on laser sensing. The system is designed by using two-dimensional laser scanner and laser receiver, which obtains the point cloud of the laser receiver on the robot through the scanning laser emitted by the two-dimensional laser scanner , and the laser receiver inductively scans by the laser scanner, the location of mobile laser receiver (i.e. agricultural robot) is obtained by fusing the time difference of laser scanning induction and the point cloud characteristics of mobile laser receiver. The agricultural robot positioning system based on laser sensing consists of mobile laser receiver, processor, fixed laser receiver and two-dimensional laser scanner. The mobile laser receiver and processor are installed on the robot, and the fixed laser receiver and two-dimensional laser radar are fixed at the known geodetic coordinate position. According to the position relationship between the laser scanner coordinate system and the known geodetic coordinate system. The laser scanner scanning at a certain period to obtain a known number of fixed-order point cloud data. The fixed laser receiver senses the periodic irradiation of the laser scanner to generate the base station laser signal, and the serial number of the fixed laser receiver shell in the point cloud is known. The mobile laser receiver senses the periodic irradiation of the laser radar to generate the mobile laser signal during the movement of the robot. According to the trigger time difference between the fixed laser signal and the mobile laser signal, the angle between the laser rays that are irradiated to the mobile laser receiver and the laser rays that are irradiated to the fixed laser receiver can be obtained in a scanning period of the laser scanner. And the scattered point set of the mobile laser receiver in the laser radar point cloud can be found, and the center coordinate of the mobile laser receiver can be obtained by combining the point cloud feature matching algorithm. The robot positioning can be calculated by combined with the geodetic coordinates of the laser scanner and the position relationship between the laser scanner coordinate system and the geodetic coordinate system, the central coordinates of the mobile laser receiver under the geodetic coordinate system. The geodetic coordinates of the robot are calculated by the positioning algorithm based on laser sensing, and the geodetic coordinates of the robot without GNSS signal are supplemented without changing the positioning solution and control algorithm of the existing robot unmanned system. For example, when the robot leaves the hangar, it switches to the GNSS positioning system for positioning and navigation in the area with both the positioning signals of the robot positioning system based on laser perception and the GNSS signal. When entering the hangar, switch to the robot positioning system based on laser sensing for positioning and navigation in the area cover with both the positioning signal of the robot positioning system based on laser perception and the GNSS signal. The verification test is carried out with the reference of total station which shows that within the scanning range of laser radar, when the robot is at a speed of 0.8 m/s, the absolute average value of the maximum deviation of the positioning error in a straight line is 4.1 cm, and the maximum root mean square error is 1.5 cm; when the robot driving on a curve, the absolute average value of the maximum deviation of positioning error is 6.2 cm , and the maximum root mean square error is 2.6 cm. The result shows that this method can achieve accurate robot positioning and meets the positioning accuracy requirements for automatic navigation of agricultural robots in agricultural machinery warehouses and other environments.
  • [1]
    宫金良,王伟,张彦斐,等. 基于农田环境的农业机器人群协同作业策略[J]. 农业工程学报,2021,37(2):11-19.GONG Jinliang, WANG Wei, ZHANG Yanfei, et al. Cooperative working strategy for agricultural robot groups based on farmland environment[J]. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE), 2021, 37(2): 11-19. (in Chinese with English abstract)
    [2]
    陈瑜,张铁民,孙道宗,等. 基于无线传感器网络的设施农业车辆定位系统设计与试验[J]. 农业工程学报,2015,31(10):190-197.CHEN Yu, ZHANG Tiemin, SUN Daozong, et al. Design and experiment of locating system for facilities agricultural vehicle based on wireless sensor network[J]. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE), 2015, 31(10): 190-197. (in Chinese with English abstract)
    [3]
    何杰,朱金光,张智刚,等. 水稻插秧机自动作业系统设计与试验[J]. 农业机械学报,2019,50(3):17-24.HE Jie, ZHU Jinguang, ZHANG Zhigang, et al. Design and experiment of automatic operation systemfor rice transplanter[J]. Transactions of the Chinese Society for Agricultural Machinery, 2019, 50(3): 17-24. (in Chinese with English abstract)
    [4]
    何杰,高维炜,王辉,等. 基于MEMS陀螺仪的农机转向轮角测量方法[J]. 中国农机化学报,2020,41(4):123-129.HE Jie, GAO Weiwei, WANG Hui, et al. Steering wheel angle measurement method of agricultural machinery based on dual MEMS gyroscope[J]. Journal of Chinese Agricultural Mechanization, 2020, 41(4): 123-129. (in Chinese with English abstract)
    [5]
    张雁,李彦明,刘翔鹏,等. 水田环境下水稻直播机自动驾驶控制方法[J]. 农业机械学报,2018,49(11):15-22.ZHANG Yan, LI Yanming, LIU Xiangpeng, et al. An automatic drive control technique for rice drill seeder in uneven paddy fields[J]. Transactions of the Chinese Society for Agricultural Machinery, 49(11): 15-22. (in Chinese with English abstract)
    [6]
    钟银,薛梦琦,袁洪良. 智能农机GNSS/INS组合导航系统设计[J]. 农业工程学报,2021,37(9):40-46.ZHONG Yin, XUE Mengqi, YUAN Hongliang. Design of the GNSS/INS integrated navigation system for intelligent agricultural machinery[J]. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE), 2021, 37(9): 40-46. (in Chinese with English abstract)
    [7]
    潘新宇,赵英策,李建勋. GNSS/INS组合导航的随机时延卡尔曼滤波[J]. 指挥控制与仿真,2022,44(1):26-31.PAN Xinyu, ZHAO Yingce, LI Jianxun. Random Delay Kalman Filtering of GNSS/INS integrated navigation[J]. Command Control & Simulation, 2022, 44(1): 26-31. (in Chinese with English abstract)
    [8]
    李道亮,李震. 无人农场系统分析与发展展望[J]. 农业机械学报,2020,51(7):1-12.LI Daoliang, LI Zhen. System analysis and development prospect of unmanned farming[J]. Transactions of the Chinese Society for Agricultural Machinery, 2020, 51(7): 1-12. (in Chinese with English abstract)
    [9]
    刘兆朋,张智刚,罗锡文,等. 雷沃ZP9500高地隙喷雾机的GNSS自动导航作业系统设计[J]. 农业工程学报,2018,34(1):15-21.LIU Zhaopeng, ZHANG Zhigang, LUO Xiwen, et al. Design of automatic navigation operation system for Lovol ZP9500 high clearance boom sprayer based on GNSS[J]. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE), 2018, 34(1): 15-21. (in Chinese with English abstract)
    [10]
    张宜宝,孙经纬,石绍军,等. 自动驾驶插秧机控制系统的设计与试验[J]. 农机化研究,2023,45(7):71-78.ZHANG Yibao, SUN Jingwei, SHI Shaojun, et al. Design and experiment of control system for automatic driving transplanter[J]. Journal of Agricultural Mechanization Research, 2023, 45(7): 71-78. (in Chinese with English abstract)
    [11]
    罗锡文,廖娟,胡炼,等. 我国智能农机的研究进展与无人农场的实践[J]. 华南农业大学学报,2021,42(6):8-17.LUO Xiwen, LIAO Juan, HU Lian, et al. Research progress of intelligent agricultural machinery and practice of unmanned farm in China[J]. Journal of South China Agricultural University, 2021, 42(6): 8-17. (in Chinese with English abstract)
    [12]
    陈沛宇,袁勤政,戴鹏飞,等. 多技术融合的室内无线定位方法发展综述[J]. 导航定位学报,2022,10(3):9-13.CHEN Peiyu, YUAN Qinzheng, DAI Pengfei, et al. Overview of the development of indoor wireless positioning methods based onmulti-technology integration[J]. Journal of Navigation and Positioning, 2022, 10(3): 9-13. (in Chinese with English abstract)
    [13]
    闫大禹,宋伟,王旭丹,等. 国内室内定位技术发展现状综述[J]. 导航定位学报,2019,7(4):5-12.YAN Dayu, SONG Wei, WANG Xudan, et al. Review of development status of indoor location technology in China[J]. Journal of Navigation and Positioning, 2019, 7(4): 5-12. (in Chinese with English abstract)
    [14]
    姚立健,Santosh K Pitla,杨自栋,等. 基于超宽带无线定位的农业设施内移动平台路径跟踪研究[J]. 农业工程学报,2019,35(2):17-24.YAO Lijian, Santosh K Pitla, YANG Zidong, et al. Path tracking of mobile platform in agricultural facilities based on ultra wideband wireless positioning[J]. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE), 2019, 35(2): 17-24. (in Chinese with English abstract)
    [15]
    DONG F C, IENG S H, SAVATIER X, et al. Plenoptic cameras in real-time robotics[J]. International Journal of Robotics Research, 2013, 32(2): 206-217.
    [16]
    GUALTIERI M, PLATT R. Robotic pick-and-place with uncertain object instance segmentation and shape completion[J]. IEEE Robotics and Automation Letters, 2021, 6(2): 1753-1760.
    [17]
    KIM A, EUSTICE R M. Real-time visual SLAM for autonomous underwater hull inspection using visual saliency[J]. IEEE Transactions on Robotics, 2013, 29(3): 719-733.
    [18]
    LU T T, YEH S C, CHEN C Y. A study of indoor positioning systems using iBeacons with different transmission power levels[J]. Journal of the Chinese Institute of Engineers, 2017, 40(6): 525-535.
    [19]
    王世峰,戴祥,徐宁,等. 无人驾驶汽车环境感知技术综述[J]. 长春理工大学学报(自然科学版),2017,40(1):1-6.WANG Shifeng, DAI Xiang, XU Ning, et al. Overview on environment perception technology for unmanned ground vehicle[J]. Journal of Changchun University of Science and Technology (Natural Science Edition), 2017, 40(1): 1-6. (in Chinese with English abstract)
    [20]
    胡广锐,孔微雨,齐闯,等. 果园环境下移动采摘机器人导航路径优化[J]. 农业工程学报,2021,37(9):175-184.HU Guangrui, KONG Weiyu, QI Chuang, et al. Optimization of the navigation path for a mobile harvesting robot in orchard environment[J]. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE), 2021, 37(9): 175-184. (in Chinese with English abstract)
    [21]
    杨继之,乐毅,张加波,等. 移动机器人定位精度实时补偿策略研究[J]. 机械工程学报,2022,58(14):44-53.YANG Jizhi, LE Yi, ZHANG Jiabo, et al. Real-time compensation strategy of mobile robot positioning accuracy[J]. Journal of Mechanical Engineering, 2022, 58(14): 44-53. (in Chinese with English abstract)
    [22]
    陈艳,张漫,马文强,等. 基于GPS和机器视觉的组合导航定位方法[J]. 农业工程学报,2011,27(3):126-130.CHEN Yan, ZHANG Man, MA Wenqiang, et al. Positioning method of integrated navigation based on GPS and machine vision[J]. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE), 2011, 27(3): 126-130. (in Chinese with English abstract)
    [23]
    王柯赛,姚锡凡,黄宇,等. 动态环境下的视觉SLAM研究评述[J]. 机器人,2021,43(6):715-732.WANG Kesai, YAO Xifan, HUANG Yu, et al. Review of visual SLAM in dynamic environment[J]. Robot, 2021, 43(6): 715-732. (in Chinese with English abstract)
    [24]
    李晨阳,彭程,张振乾,等. 融合里程计信息的农业机器人定位与地图构建方法[J]. 农业工程学报,2021,37(21):16-23.LI Chenyang, PENG Cheng, ZHANG Zhenqian, et al. Positioning and map construction for agricultural robots integrating odometer information[J]. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE), 2021, 37(21): 16-23. (in Chinese with English abstract)
    [25]
    刘凌云,蔡成林,吴芊. 室外光照易变场景下的回环检测方法[J]. 传感器与微系统,2022,41(4):121-124.LIU Lingyun, CAI Chenglin, WU Qian. Loop closure detection method in outdoor scene with variable illumination[J]. Transducer and Microsystem Technologies, 2022, 41(4): 121-124. (in Chinese with English abstract)
    [26]
    孙曼晖,杨绍武,易晓东,等. 基于GIS和SLAM的机器人大范围环境自主导航[J]. 仪器仪表学报,2017,38(3):586-592.SUN Manhui, YANG Shaowu, YI Xiaodong, et al. Autonomous navigation of robot in large-scale environments based on GIS and SLAM[J]. Chinese Journal of Scientific Instrument, 2017, 38(3): 586-592. (in Chinese with English abstract)
    [27]
    单吉超,李秀智,张祥银,等. 室内场景下实时地三维语义地图构建[J]. 仪器仪表学报,2019,40(5):240-248.SHAN Jichao, LI Xiuzhi, ZHANG Xiangyin, et al. Real-time 3D semantic map building in indoor scene[J]. Chinese Journal of Scientific Instrument, 2019, 40(5): 240-248. (in Chinese with English abstract)
    [28]
    ZANG Y, MENG S, HU L, et al. Optimization design and experimental testing of a laser receiver for use in a laser levelling control system[J]. Electronics, 2020, 9(3): 536. (in Chinese with English abstract)

Catalog

    Article views (682) PDF downloads (2729) Cited by()
    Related

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return