中國(guó)農(nóng)業(yè)大學(xué)--農(nóng)業(yè)工程導(dǎo)論(十二)

1、中國(guó)農(nóng)業(yè)大學(xué)-農(nóng)業(yè)工程導(dǎo)論(十二)一、農(nóng)業(yè)裝備設(shè)施自動(dòng)控制二、農(nóng)業(yè)生產(chǎn)過(guò)程自動(dòng)化三、農(nóng)業(yè)信息技術(shù)四、精細(xì)農(nóng)業(yè)系統(tǒng)集成一、農(nóng)業(yè)裝備設(shè)施自動(dòng)控制農(nóng)業(yè)機(jī)械系統(tǒng)控制農(nóng)機(jī)作業(yè)自動(dòng)監(jiān)控設(shè)施環(huán)境系統(tǒng)監(jiān)控農(nóng)機(jī)系統(tǒng)控制復(fù)雜性、動(dòng)態(tài)性、可靠性執(zhí)行機(jī)構(gòu)控制 運(yùn)動(dòng)、方向、順序動(dòng)力系統(tǒng)控制 轉(zhuǎn)速、馬力、過(guò)載操作系統(tǒng)控制 操向、調(diào)節(jié)、魯棒機(jī)器狀態(tài)監(jiān)測(cè) 檢測(cè)、顯示、報(bào)警、自動(dòng)處理農(nóng)機(jī)作業(yè)自動(dòng)監(jiān)控復(fù)雜性、動(dòng)態(tài)性、可靠性作業(yè)工況監(jiān)控 速度、溫度、負(fù)荷、作業(yè)量作業(yè)質(zhì)量監(jiān)測(cè) 精度、損失、重漏動(dòng)力能耗監(jiān)測(cè) 輸出、燃油、電耗作業(yè)效率監(jiān)測(cè) 幅寬、處理量安全失效監(jiān)控 發(fā)動(dòng)機(jī)、工作部件、易損、潤(rùn)滑、防護(hù)部位設(shè)施環(huán)境系統(tǒng)監(jiān)控集約化、高度依賴人

2、工氣候、敏感環(huán)境參數(shù)監(jiān)測(cè) 溫濕度、氣體濃度、養(yǎng)分環(huán)境調(diào)控 光、溫、水、氣、肥生產(chǎn)系統(tǒng)控制 栽植、管理、摘收、飼喂、廢棄物處理二、農(nóng)業(yè)生產(chǎn)過(guò)程自動(dòng)化自動(dòng)化機(jī)器或裝置在無(wú)人干預(yù)的情況下按規(guī)定的程序或指令自動(dòng)進(jìn)行操作或控制的過(guò)程，其目標(biāo)是“穩(wěn)，準(zhǔn)，快”。生產(chǎn)過(guò)程自動(dòng)化生產(chǎn)系統(tǒng)自動(dòng)化智能化-農(nóng)業(yè)機(jī)器人技術(shù)三、農(nóng)業(yè)信息技術(shù)信息技術(shù)有關(guān)數(shù)據(jù)與信息的應(yīng)用技術(shù)。其內(nèi)容包括：數(shù)據(jù)與信息的采集、表示、處理、安全、傳輸、交換、顯現(xiàn)、管理、組織、存儲(chǔ)、檢索等。農(nóng)業(yè)信息技術(shù)農(nóng)村信息化四、精細(xì)農(nóng)業(yè)系統(tǒng)集成機(jī)械化、自動(dòng)化、智能化、信息化空間信息空間定位與自動(dòng)行駛實(shí)時(shí)變量作業(yè)無(wú)人系統(tǒng)Autonomous Systems智能系

3、統(tǒng)Intelligent Systems輔助駕駛Operator-Assist20002000+x2000+2x農(nóng)機(jī)駕駛系統(tǒng)發(fā)展輔助轉(zhuǎn)向 Turning Assistance多機(jī)組協(xié)同 Multi-vehicle cooperation記錄-重放 Record-Playback遠(yuǎn)程操縱系統(tǒng) Tele-operated Systems功能擴(kuò)展 Human Function Augmentation全自動(dòng)導(dǎo)航 Fully Autonomous精確導(dǎo)向 Precision Guidance非接觸式作物探測(cè) Non-Contact Crop Detection對(duì)行系統(tǒng) Swath Tracking S

4、ystems自動(dòng)駕駛 Autoguidance定位系統(tǒng) Positioning systems平行跟蹤 Parallel Tracking輔助操縱 Operator-Assisted 基于GPS GPS-based基于傳感 Perception-based自動(dòng)導(dǎo)航 Autonomous VehiclesGPS定位 GPS Positioning定位接收裝置 System Options:WAAS ，靜態(tài)精度 75 cmSingle Frequency receivers 收費(fèi)$500/yr，靜態(tài)精度 75 cmDual Frequency GPS receivers 收費(fèi)$800/yr，靜態(tài)精

5、度 25 cmRTK GPS receiver需要設(shè)基站高解析精度 2 cm(Static accuracy estimated over a short time period)農(nóng)機(jī)導(dǎo)航 Agricultural Vehicle Navigation行走速度 犁地：旋 耕: 2-7 km/hr鑿式犁: 5-10 km/hr割草: 5-10 km/hr噴霧:3-7 km/hr施肥施藥: 5-11 km/hr操向精度普通精度: 12-40 cm (適合耕地)較好精度: 4-12 cm (適合施肥施藥)高精度: 2-4 cm (適合播種、中耕、收獲)24小時(shí)WAAS靜態(tài)精度測(cè)定StarfireOu

6、tback OSU Study on Static Accuracy of WAAS Performance Metrics for positioning systems (RMS error) 靜態(tài)精度 OSU Study on Static Accuracy of WAAS兩個(gè)精度概念絕對(duì)精度 Accuracy The accuracy is calculated from the measurement errors compared to the absolute true location 相對(duì)精度 Precision Precision is determined from th

7、e measurement errors compared to the estimated true location, which is the average of the measurements. 靜態(tài)誤差分布試驗(yàn) UIUC靜態(tài)誤差分布試驗(yàn) UIUCGPS ReceiverAccuracy (one-sigma)Precision (one-sigma)(m)(inch)(m)(inch)StarFire/SF2StarFire/SF1StarFire/WAASAgGPS132/OmniStarAgGPS132/BeaconAgGPS132/WAASOutback/WAASGarmi

8、nGPS17N/WAAS0.881.921.341.100.810.851.012.3035755343323340900.451.101.170.580.560.570.611.941843462322222476田間動(dòng)態(tài)精度 Pass-to-Pass Accuracy行間精度 Pass-to-Pass AccuracyPerformance Metric Pass-to-pass accuracyUIUC 動(dòng)態(tài)試驗(yàn)1000 ft Passes動(dòng)態(tài)精度 Dynamic Accuracy動(dòng)態(tài)試驗(yàn) UIUC Dynamic Test動(dòng)態(tài)試驗(yàn) UIUC Dynamic Test動(dòng)態(tài)試驗(yàn) UIUC

9、Dynamic TestGPS ReceiverPass Error(Bias)(cm)Pass Error(SD)(cm)Pass-to-Pass Error(Average)(cm)Pass-to-Pass Error(RMS)(cm)StarFire/SF24.8 kph (15 tests)8.0 kph (15 tests)12.8 kph (15 tests)19.2 kph (16 tests)all speed (61 tests)StarFire/SF14.8 kph (15 tests)8.0 kph (15 tests)12.8 kph (15 tests)19.2 kp

10、h (16 tests)all speed (61 tests)StarFire/WAAS4.8 kph (2 tests)8.0 kph (1 tests)12.8 kph (2 tests)19.2 kph (2 tests)all speed (7 tests)8.28.19.38.98.612.111.611.111.311.55.39.89.49.88.40.90.91.11.61.10.60.50.60.80.62.32.32.02.02.20.60.30.30.30.41.41.01.00.81.12.21.70.91.11.51.20.91.11.61.21.61.21.21.

11、21.33.43.12.32.32.8動(dòng)態(tài)試驗(yàn) UIUC Dynamic Test使用環(huán)境影響Use-Environment Issues GPS solutions are not constantly available at the same accuracy level. The attached data was for the satellites available in Prosser, WA on October 1, 2002. Factors affecting solution accuracy:Number of satellitesSky position elev

12、ationLocal relief effects on viewOther environmental influences.Use-Environment Issues GPS applications have focused on open-field environments, free of obstructions. There is a need for global localization systems in more difficult agricultural production systems:Trimble RTKTree spacing .5m by 2m4-

13、5m Tree heightSatellite availability: 7SV:Green: 7Orange: 6Blue: 5Red: 4PurposeProvide the operator with guidance cues for manual steering of the vehicleComponentsLocalization sensorGPSVehicle ControllerPrecision farming system for crop yield mapping with integrated user-interfaceStand-alone system

14、for guidance functionUser-Interface for Position ControlGraphical DisplayAudible TonesLightBars平行跟蹤 Parallel Tracking Systems產(chǎn)品:Deere Parallel TrackingTrimble EZ-Guide with AgGPS 110軟件：直行/等高行駛位置刷新 (5-10Hz)尋徑人機(jī)界面-LightbarsGraphical displaysAudible tones Parallel Tracking Systems平行跟蹤 Parallel Tracking

15、Steering IndicatorHorizontal line located above vehicle iconlooks ahead some amount of time (eg., six seconds)Points in the direction of the approaching turn Length of indicator represents sharpness of the turn輔助進(jìn)地 Operator-Assisted Field Entry GPS Track Adjustment/Realignment Adjusts Track 0Moves a

16、ll subsequent tracks Moves in increments of 0.1 foot1 button moves left3 button moves right2 button centers track on vehicles current position駕駛員輔助導(dǎo)向Operator-Assisted GuidancePurposeProvides for control of the steering of the vehicle to assist the operator in in-field operationsComponentsLocalizatio

17、n sensorGlobal sensorDGPS-basedRTK-GPS-basedCrop-referenced guidanceMechanical FeelersLaser-row trackingMachine Vision GuidanceVehicle ControllerPrecision farming system used for crop yield mapping with integrated user-interfaceStand-alone system for guidance functionVehicle Control SystemIntegrated

18、 into the vehicleAftermarket solutionDGPS-basedCommercial Systems (decimeter/submeter)Deere AutoTrac Trimble Autopilot with DGPS receiverBEELINE Navigator BroadAcre 20 cmBEELINE Arro Steering Assist GPS and INS ApplicationsOperations at nightOperations in poor visibilityConsistent skill levelIncreas

19、ed operation efficiencyRTK-GPS SystemsCommercial Systems (cm):IntegriNautics AutoFarm RTK-GPS5 mile range from base stationmultiple antennae to give vehicle postureTrimble Autopilot with AgGPS 214BEELINE Technologies Navigator - RowCropRTK-GPS (2 cm)ApplicationsPrecision Guidance operations (e.g. on

20、 drip tape, bedded crops).定位問(wèn)題 Localization ProblemsOther Localization ProblemsVehicle posture is difficult to measure in stationary vehicles. GPS is affected by location and topography effects. Unaided GPS navigation does not account for terrain variations.Current product works well for fields with

21、 3% slopeCustomers work around for constant slopesProblems in moderate, variable, and steep terrain姿態(tài)補(bǔ)償 Attitude CompensationGPS bias error created by antennae inclination (roll, pitch, yaw) on sloped terrain.NREC and Hokkaido University- solutions involving INS.Stanford, IntegriNautics multiple ant

22、ennae solutionsROLL+-PITCH+-YAW+-OtherLimitationsGuidance of the tractor and not of the tractor/implement systemControl systems variation among vehicles configuration, soil conditions, tire inflationsPotential developmentsPath-planning and optimization for operator-assisted field operations輔助導(dǎo)向 Oper

23、ator-Assisted GuidanceCrop-Referenced Guidance SystemsMechanical FeelersLaser scanningMachine visionOthers not reviewed:Implement guidance relative to the tractorMechanical FeelersMachine Vision作物行探測(cè) Swath-Edge TrackingLaser-based crop edge trackingClaas-developedSensor mounts on harvester head機(jī)器視覺(jué)導(dǎo)

24、航Machine Vision GuidanceDetection of crop row or other structured information for vehicle navigation.NIR Image of weeds & crop中耕除草駕駛輔助系統(tǒng)Front CameraImplement Camera增加機(jī)手的工作能力Cultivation up to 20 kphfarmer typically at 11 kph Productivity enhancementHigher speedIncreased accuracySimplistic Operationen

25、gage with 1 buttondisengage via brakes/steering action18 kph11 kph延長(zhǎng)作業(yè)時(shí)間Nightime guidanceIllumination sourceStandard vehicle lightsSensorFixed gain CCD with NIR bandpass filter (800 nm)基于機(jī)器視覺(jué)的對(duì)行系統(tǒng)無(wú)人駕駛 Autonomous GuidancePrimary developments have been university and government sponsored work (particu

26、larly in Japan).Requirements:NavigationControl of the machine functionMission planningVehicle safeguardingLongitudeLatitudeRotary tillageTravel velocities1.5m/sTillingturning0.2m/stransferring0.5m/s無(wú)人操作田間作業(yè)3421路徑規(guī)劃 Mission PlanningDevelops the field path plansHandles the events that may interrupt fi

27、eld operationProvides an interface to for machine management(BRIAN-IAM: O. Yukumoto, Y. MatsuoHokkaido University: Noboru Noguchi)安全要求Safeguarding is the major cost-factor in making a vehicle autonomousNeed to protect certain discrete obstacles: people, trees, fence, equipments etc., even though they might not be hazardous to the vehicleNeed to protect the vehicle: slope, high centering hazards, rough terrain etc.NREC 安全系統(tǒng)StereoCamerasScanningverticalladarScanninghorizontalla