Odometry Calibration for Precision Crop Treatment Accuracy
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Solution Overview
Problem
Conventional agricultural odometry systems, including GPS and wheel encoders, are inadequate for precise real-time plant selection due to low resolution, environmental interference, and power consumption issues, leading to inaccuracies that hinder precise in-situ treatment of crops.
Innovation Solution
A precision agriculture system that combines a detection sensor, odometry mechanism, and processing system for real-time calibration, using mechanical and visual odometry to correct distance measurements, enabling high precision treatment application to individual plants by periodically calibrating the odometry mechanism with visual odometry outputs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS remote systems are used for distance measurement, then the system can operate remotely, but the resolution is too low to determine precise plant boundaries
Solution Approach 1:
The patent replaces GPS remote measurement systems with an on-board mechanical odometry mechanism that uses wheel encoders to measure distance traveled. This mechanical substitution provides higher resolution measurements (capable of determining precise plant boundaries) while reducing system complexity and power consumption compared to remote GPS systems.
2Speed
If visual odometry mechanisms are used, then the system can provide distance measurements, but they are too slow for real-time plant treatment
Solution Approach 1:
The patent replaces visual odometry mechanisms with a mechanical odometry system using wheel encoders. This mechanical system provides faster processing speeds suitable for real-time plant treatment while maintaining sufficient measurement precision through proper encoder selection and calibration.
Solution Approach 2:
The patent implements self-calibration functionality where the odometry mechanism automatically corrects its own measurements by detecting wheel slip conditions and adjusting accordingly. This self-service approach maintains measurement accuracy without requiring external calibration systems or slowing down for manual calibration.
3Productivity
If wheel encoders are used for odometry, then the system can provide real-time measurements, but environmental interference from ground surface features causes measurement inaccuracy
Solution Approach 1:
The patent implements feedback mechanisms where the system continuously monitors wheel encoder measurements and compares them with expected values based on plant spacing and field geometry. When discrepancies indicate wheel slip or terrain interference, the system adjusts measurements in real-time to maintain accuracy while preserving real-time measurement capability.
Solution Approach 2:
The patent dynamically adjusts odometry measurement parameters based on environmental conditions. The system changes calculation parameters such as wheel rotation counts and distance corrections according to detected terrain conditions, maintaining measurement reliability across varying environmental conditions while preserving real-time performance.
Data Source
AI summary
A method including: recording a first image of a first field region; automatically treating a plant within the first region in-situ based on the first image: automatically verifying the plant treatment with a second image of the first region; and automatically treating a second region concurrently with treatment verification.