Orchard Vehicle Navigation Using Tree Sensing in GPS-Denied Rows
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Solution Overview
Problem
Conventional orchard harvesting and pruning methods are inefficient and labor-intensive, especially in GPS-denied environments, and there is a need for a more effective and efficient automated navigation system to manage the harvesting and pruning of tree crops.
Innovation Solution
An autonomous agricultural vehicle equipped with a processing unit, perception sensors, and a global positioning satellite receiver, capable of navigating using signals from both GPS and perception sensors, allowing for autonomous operation in GPS-denied environments, and incorporating a system for tree detection and control of shaker machines and pruning machines for optimized harvesting and pruning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If conventional mechanized harvesters are used to rapidly harvest tree crops, then harvesting speed is improved, but the system requires human operators and cannot operate autonomously in GPS-denied environments
Solution Approach 1:
The patent replaces GPS-based mechanical navigation systems with a vision-based autonomous navigation system. The system uses multiple cameras (depth camera, RGB camera) and sensors (LIDAR, ultrasonic sensors) to detect environmental features and navigate without GPS signals, enabling autonomous operation in GPS-denied orchard environments while maintaining high harvesting speed
Solution Approach 2:
The patent introduces perception sensors and depth cameras as intermediary systems between the harvester and the environment. These sensors detect environmental features, tree positions, and spatial relationships, providing the autonomous navigation system with the information needed to operate without human operators or GPS signals
2Reliability
If dual-vehicle harvest system with catching frames is used to prevent crop from touching ground, then crop quality is improved, but the system complexity and coordination requirements increase
Solution Approach 1:
The patent merges the functions of multiple vehicles into a single autonomous harvester equipped with both shaking mechanisms and catching frames. This single vehicle can independently perform harvesting and crop collection, eliminating the need for complex coordination between dual vehicles while maintaining crop quality protection
Solution Approach 2:
The autonomous harvester is designed with multi-functionality, incorporating both the shaker head for harvesting and catching frames for crop collection. This universal design allows one vehicle to perform multiple functions that previously required two separate vehicles, reducing system complexity
3Productivity
If chemical blossom thinners are used for crop load management, then pruning efficiency is improved, but environmental harm and organic certification limitations increase
Solution Approach 1:
The patent replaces chemical blossom thinners with an autonomous mechanical pruning system. The system uses vision sensors to detect blossoms and robotic mechanisms to mechanically remove them, achieving pruning efficiency without environmental harm or chemical usage, making it suitable for organic certification
Data Source
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AI summary
An autonomous agricultural vehicle including a wheel-set operably connected with a power source, a processing unit having a memory unit, and a controller operable to receive and transmit signals to the processing unit, wherein the controller is operable to control the wheel- set. The autonomous agricultural vehicle further including a wireless communication system electrically connected with the processing unit, a global positioning satellite receiver electrically connected with the processing unit, a first perception sensor electrically connected with the processing unit, wherein the first perception sensor is operable to detect environmental features, and a second perception sensor electrically connected with the processing unit, wherein the second perception sensor is operable to detect a feature of a tree. Wherein the processing unit is operable to navigate an environment utilizing signals from the global positioning satellite receiver, and wherein the processing unit is operable to navigate the environment utilizing signals from the first and second perception sensors in a GPS denied environment.