针对果园管理数字化程度低、构建方法较为单一等问题,本研究提出了一种基于激光点云的三维虚拟果园构建方法。首先采用手持式三维点云采集设备(3D-BOX)结合即时定位与地图构建-激光测距与测绘(Simultaneous Localization and Mapping-Li...针对果园管理数字化程度低、构建方法较为单一等问题,本研究提出了一种基于激光点云的三维虚拟果园构建方法。首先采用手持式三维点云采集设备(3D-BOX)结合即时定位与地图构建-激光测距与测绘(Simultaneous Localization and Mapping-Lidar Odometry and Mapping,SLAM-LOAM)算法获取果园点云数据集;然后通过统计滤波算法完成点云数据离群点与噪声点的去除,并结合布料模拟算法(Cloth Simula⁃tion Filtering,CSF)与DBSCAN(Density-Based Spatial Clustering of Applications with Noise)聚类算法,实现地面去除与果树聚类分割,进而使用VoxelGrid滤波器降采样;最后利用Unity3D引擎,构建虚拟果园漫游场景,将作业机械的实时GPS(Global Positioning System)数据从WGS-84坐标系转换为高斯投影平面坐标系,并通过LineRenderer显示实时轨迹,实现作业机械运动轨迹控制与作业轨迹的可视化展示。为验证虚拟果园构建方法的有效性,在海棠果园与芒果园开展果园构建方法测试。结果表明,所提出的点云数据处理方法对海棠果树与芒果树聚类分割的准确率分别达到了95.3%与98.2%;通过与实际芒果园的果树行距、株距对比,虚拟芒果园的平均行间误差约为3.5%,平均株间误差约为6.6%。并且将Unity3D构建出的虚拟果园与实际果园相比,该方法能够有效复现果园三维实际情况,得到了较好的可视化效果,为果园的数字化建模与管理提供了一种技术方案。展开更多
Research efforts for development of agricultural robots that can effectively perform tedious field tasks have grown significantly in the past decade.Agricultural robots are complex systems that require interdisciplina...Research efforts for development of agricultural robots that can effectively perform tedious field tasks have grown significantly in the past decade.Agricultural robots are complex systems that require interdisciplinary collaborations between different research groups for effective task delivery in unstructured crops and plants environments.With the exception of milking robots,the extensive research works that have been carried out in the past two decades for adaptation of robotics in agriculture have not yielded a commercial product to date.To accelerate this pace,simulation approach and evaluation methods in virtual environments can provide an affordable and reliable framework for experimenting with different sensing and acting mechanisms in order to verify the performance functionality of the robot in dynamic scenarios.This paper reviews several professional simulators and custom-built virtual environments that have been used for agricultural robotic applications.The key features and performance efficiency of three selected simulators were also compared.A simulation case study was demonstrated to highlight some of the powerful functionalities of the Virtual Robot Experimentation Platform.Details of the objects and scenes were presented as the proof-of-concept for using a completely simulated robotic platform and sensing systems in a virtual citrus orchard.It was shown that the simulated workspace can provide a configurable and modular prototype robotic system that is capable of adapting to several field conditions and tasks through easy testing and debugging of control algorithms with zero damage risk to the real robot and to the actual equipment.This review suggests that an open-source software platform for agricultural robotics will significantly accelerate effective collaborations between different research groups for sharing existing workspaces,algorithms,and reusing the materials.展开更多
Digital farming is the practice of modern technologies such as sensors,robotics,and data analysis for shifting from tedious operations to continuously automated processes.This paper reviews some of the latest achievem...Digital farming is the practice of modern technologies such as sensors,robotics,and data analysis for shifting from tedious operations to continuously automated processes.This paper reviews some of the latest achievements in agricultural robotics,specifically those that are used for autonomous weed control,field scouting,and harvesting.Object identification,task planning algorithms,digitalization and optimization of sensors are highlighted as some of the facing challenges in the context of digital farming.The concepts of multi-robots,human-robot collaboration,and environment reconstruction from aerial images and ground-based sensors for the creation of virtual farms were highlighted as some of the gateways of digital farming.It was shown that one of the trends and research focuses in agricultural field robotics is towards building a swarm of small scale robots and drones that collaborate together to optimize farming inputs and reveal denied or concealed information.For the case of robotic harvesting,an autonomous framework with several simple axis manipulators can be faster and more efficient than the currently adapted professional expensive manipulators.While robots are becoming the inseparable parts of the modern farms,our conclusion is that it is not realistic to expect an entirely automated farming system in the future.展开更多
文摘针对果园管理数字化程度低、构建方法较为单一等问题,本研究提出了一种基于激光点云的三维虚拟果园构建方法。首先采用手持式三维点云采集设备(3D-BOX)结合即时定位与地图构建-激光测距与测绘(Simultaneous Localization and Mapping-Lidar Odometry and Mapping,SLAM-LOAM)算法获取果园点云数据集;然后通过统计滤波算法完成点云数据离群点与噪声点的去除,并结合布料模拟算法(Cloth Simula⁃tion Filtering,CSF)与DBSCAN(Density-Based Spatial Clustering of Applications with Noise)聚类算法,实现地面去除与果树聚类分割,进而使用VoxelGrid滤波器降采样;最后利用Unity3D引擎,构建虚拟果园漫游场景,将作业机械的实时GPS(Global Positioning System)数据从WGS-84坐标系转换为高斯投影平面坐标系,并通过LineRenderer显示实时轨迹,实现作业机械运动轨迹控制与作业轨迹的可视化展示。为验证虚拟果园构建方法的有效性,在海棠果园与芒果园开展果园构建方法测试。结果表明,所提出的点云数据处理方法对海棠果树与芒果树聚类分割的准确率分别达到了95.3%与98.2%;通过与实际芒果园的果树行距、株距对比,虚拟芒果园的平均行间误差约为3.5%,平均株间误差约为6.6%。并且将Unity3D构建出的虚拟果园与实际果园相比,该方法能够有效复现果园三维实际情况,得到了较好的可视化效果,为果园的数字化建模与管理提供了一种技术方案。
文摘Research efforts for development of agricultural robots that can effectively perform tedious field tasks have grown significantly in the past decade.Agricultural robots are complex systems that require interdisciplinary collaborations between different research groups for effective task delivery in unstructured crops and plants environments.With the exception of milking robots,the extensive research works that have been carried out in the past two decades for adaptation of robotics in agriculture have not yielded a commercial product to date.To accelerate this pace,simulation approach and evaluation methods in virtual environments can provide an affordable and reliable framework for experimenting with different sensing and acting mechanisms in order to verify the performance functionality of the robot in dynamic scenarios.This paper reviews several professional simulators and custom-built virtual environments that have been used for agricultural robotic applications.The key features and performance efficiency of three selected simulators were also compared.A simulation case study was demonstrated to highlight some of the powerful functionalities of the Virtual Robot Experimentation Platform.Details of the objects and scenes were presented as the proof-of-concept for using a completely simulated robotic platform and sensing systems in a virtual citrus orchard.It was shown that the simulated workspace can provide a configurable and modular prototype robotic system that is capable of adapting to several field conditions and tasks through easy testing and debugging of control algorithms with zero damage risk to the real robot and to the actual equipment.This review suggests that an open-source software platform for agricultural robotics will significantly accelerate effective collaborations between different research groups for sharing existing workspaces,algorithms,and reusing the materials.
文摘Digital farming is the practice of modern technologies such as sensors,robotics,and data analysis for shifting from tedious operations to continuously automated processes.This paper reviews some of the latest achievements in agricultural robotics,specifically those that are used for autonomous weed control,field scouting,and harvesting.Object identification,task planning algorithms,digitalization and optimization of sensors are highlighted as some of the facing challenges in the context of digital farming.The concepts of multi-robots,human-robot collaboration,and environment reconstruction from aerial images and ground-based sensors for the creation of virtual farms were highlighted as some of the gateways of digital farming.It was shown that one of the trends and research focuses in agricultural field robotics is towards building a swarm of small scale robots and drones that collaborate together to optimize farming inputs and reveal denied or concealed information.For the case of robotic harvesting,an autonomous framework with several simple axis manipulators can be faster and more efficient than the currently adapted professional expensive manipulators.While robots are becoming the inseparable parts of the modern farms,our conclusion is that it is not realistic to expect an entirely automated farming system in the future.
