中国农业大学--农业工程导论12.ppt

Needs for Automation Spraying 6-7 times/season 2 mph Mowing 6-7 times/season 2-4 mph Transport (semi-autonomous) Pruning Thinning Site-specific sensing of trees and fruit Research Needs Priorities SOURCE: 无人驾驶在农业上的应用Autonomous Vehicles in Agriculture Identify where the capabilities of the technology meet the requirements of the customers In the TFA roadmap: Near-term – Automated guidance on harvesting platforms to assist the workforce in tree operations. Autonomous spraying and mowing for reduction in production costs. Long-term Robotic harvesting 9) 成功通过田间考核的实际系统 8) 经试验满足条件的实际系统 7) 在实际工作环境中示范的样机 6) 在相似环境下示范的样机/部件 5) 在相近环境下的工作部件 4) 实验室条件下的工作部件 3) 理论或实验工作机理 2) 技术原理和 1) 基本原理 技术成熟度 Technology Readiness Level 动态试验 UIUC Dynamic Test 动态试验 UIUC Dynamic Test GPS Receiver Pass Error (Bias) (cm) Pass Error (SD) (cm) Pass-to-Pass Error (Average) (cm) Pass-to-Pass Error (RMS) (cm) StarFire/SF2 4.8 kph (15 tests) 8.0 kph (15 tests) 12.8 kph (15 tests) 19.2 kph (16 tests) all speed (61 tests) StarFire/SF1 4.8 kph (15 tests) 8.0 kph (15 tests) 12.8 kph (15 tests) 19.2 kph (16 tests) all speed (61 tests) StarFire/WAAS 4.8 kph (2 tests) 8.0 kph (1 tests) 12.8 kph (2 tests) 19.2 kph (2 tests) all speed (7 tests) ? ? 8.2 8.1 9.3 8.9 8.6 ? 12.1 11.6 11.1 11.3 11.5 ? 5.3 9.8 9.4 9.8 8.4 ? ? ? 0.9 0.9 1.1 1.6 1.1 ? 0.6 0.5 0.6 0.8 0.6 ? 2.3 2.3 2.0 2.0 2.2 ? ? ? 0.6 0.3 0.3 0.3 0.4 ? 1.4 1.0 1.0 0.8 1.1 ? 2.2 1.7 0.9 1.1 1.5 ? ? ? 1.2 0.9 1.1 1.6 1.2 ? 1.6 1.2 1.2 1.2 1.3 ? 3.4 3.1 2.3 2.3 2.8 ? ? 动态试验 UIUC Dynamic Test 使用环境影响 Use-Environment Issues GPS solutions are not constantly available at the same accuracy level. The attached data was for the satellites available in Prosser, WA on October 1, 2002. Factors affecting solution accuracy: Number of satellites Sky position – elevation Local relief effects on view Other environmental influences. Use-Environment Issues GPS applications have focused on open-field environments, free of obstructions. There is a need for global l