Field crop phenotype monitoring robot and navigation method thereof

Abstract

The invention discloses a field crop phenotype monitoring robot and a navigation method thereof. The robot comprises a vehicle body platform, a power supply device, a motion control device, an environment information sensor device and a crop growth information sensor device. The navigation method of the robot comprises the steps that the positions of GPS waypoints are pre-marked; coordinate conversion is carried out on geodetic coordinates of the waypoints and the route position and direction between the adjacent waypoints are calculated according to a waypoint sequence; real-time position andattitude information of the robot is acquired, and a lateral deviation and an angle deviation between the position and attitude of the robot and a route are calculated; and by analyzing influences offactors including the field straw coverage degree, the soil water content and the soil density on the wheel speed, a mathematical model of the influences of the straw and soil factors on the wheel speed is built, and a robot path tracking algorithm is established according to the model so as to realize inertial navigation deviation correction. The robot can realize real-time, accurate and high-throughput acquisition of crop growth information.

Description

technical field [0001] The invention relates to the technical field of agricultural engineering, in particular to a field crop phenotype monitoring robot and a navigation method thereof. Background technique [0002] In recent years, large-scale agricultural machinery has been popularized in my country's agricultural production, and it has demonstrated the irreplaceable advantages of manpower such as speed and efficiency in agricultural operations such as land preparation, sowing, irrigation, and harvesting. However, with the development of precision agriculture, high-throughput, accurate and real-time acquisition of crop growth information during crop growth has become a new focus of agricultural research. At present, some units at home and abroad have carried out research on large-scale agricultural machinery equipped with crop phenotype monitoring sensors, and achieved good test results. However, due to the large weight and volume of these machines, field operations duri...

AI Technical Summary

Problems solved by technology

However, due to the lack of consideration of factors such as field crop straw coverage, soil moisture content, and soil compaction, these platforms often have a large difference from the expected effect in the actual operation process. Therefore, the present invention proposes a field crop table The navigation method and device of the phenotype monitoring robot can effectively improve the inertial navigation accuracy of the crop phenotype monitoring robot under the influence of straw and soil factors

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