Crop-Row Robot Navigation Using Sensor Fusion Centerline Detection
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Solution Overview
Problem
Autonomous navigation of agricultural robots between two rows of plants is challenging due to varying environmental conditions such as wind, soil, and illumination, especially in orchards and groves where GPS signals are unreliable due to dense canopies, leading to potential collisions.
Innovation Solution
A method and system utilizing two sensing devices, sensor A and sensor B, which detect electromagnetic or sound waves, to create a two-dimensional grid for data point collection and fusion, allowing the robot to autonomously navigate by calculating fusion function values and classifying activation levels of grid cells to determine the centerline path, thereby avoiding collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS-based autonomous guidance is used for agricultural equipment, then navigation uniformity is improved, but GPS signal visibility deteriorates in dense canopies causing multipath errors
Solution Approach 1:
The patent introduces an intermediary system consisting of multiple sensors (cameras, LIDAR, GPS-RTK, IMU) that mediate between the unreliable GPS signals and the navigation system. These sensors capture environmental data and process it to determine the robot's position and orientation, especially when GPS signals are blocked by dense canopies, thus resolving the contradiction between navigation precision and GPS reliability
Solution Approach 2:
The navigation system is segmented into multiple independent sensing and processing modules, each handling specific aspects of navigation. The GPS-RTK module provides global positioning when available, while camera and LIDAR modules provide local feature-based positioning, and the IMU provides inertial reference. This segmentation allows the system to maintain navigation precision by switching between or combining different modules based on GPS signal reliability
2Adaptability or versatility
If environmental conditions such as wind, soil, and illumination change, then navigation adaptability is tested, but collision avoidance reliability deteriorates
Solution Approach 1:
The navigation system dynamically adapts to changing environmental conditions by continuously adjusting its sensor fusion weights and processing parameters. The system monitors environmental factors such as illumination changes and wind conditions, and dynamically modifies its navigation strategy and sensor utilization to maintain collision avoidance reliability despite environmental variability
Solution Approach 2:
The system employs continuous feedback loops where sensor data from cameras, LIDAR, and other sensors is processed to detect environmental changes and navigation deviations. This feedback is used to adjust the robot's path in real-time, maintaining collision avoidance reliability by compensating for environmental disturbances through active control
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system enables reliable autonomous navigation of robots between rows of plants by accurately determining the centerline path, even in changing environmental conditions, reducing the risk of collisions and improving navigation precision.
Implementation Method 1
each sensing device is a device which detects electromagnetic waves or detects sound waves
Implementation Method 2
each sensing device is a device which detects electromagnetic waves or detects sound waves
Implementation Method 3
sensor A detects said waves at a frequency and/or field-of-view different from that of the waves detected by sensor B
Data Source
AI summary
A method, system and robot, wherein the robot includes two or more sensing devices, sensor A and sensor B, mounted thereon and moves forward along an axis parallel to the rows of plants, being autonomously steered by exerting angular corrections to place the robot as close as possible to the centerline between the rows of plants, wherein the method and system includes the following:(ii) dividing a two-dimensional grid of square cells into groups of cells;(iii) obtaining data points using sensor A and sensor B;(vii) moving the robot:(a) by turning right; or(b) by turning left; or(c) forward without turning,depending on whether each group of cells is calculated as low-activated, high-activated or not activated using the data points.