基于GPS和陀螺仪的水稻插秧机自动导航设计

基于GPS和陀螺仪的水稻插秧机自动导航设计

Computers and Electronics in Agriculture43(2004)223–234 Autonomous guidance for rice transplanting using global positioning and gyroscopes

Yoshisada Nagasaka?,Naonobu Umeda,Yutaka Kanetai,

Ken Taniwaki,Yasuhiro Sasaki

Department of Farm Mechanization and Engineering,National Agricultural Research Center,

3-1-1Kannondai,Tsukuba,Ibaraki3058666,Japan

Received in revised form20December2003;accepted30January2004

Abstract

There is an increasing trend in Japan towards consolidating,and thus enlarging,paddy?elds. Because this demands more ef?cient operations,the authors developed an automated six-row rice transplanter.It employs a real-time kinematic global positioning system(RTKGPS)for precise posi-tioning,?ber optic gyroscope(FOG)sensors to measure direction,and actuators to control steering, engine throttle,clutch,brake,etc.The RTKGPS achieves2cm precision at10Hz data output rate,and the FOG sensors are employed to maintain vehicle inclination.RTKGPS position data,in?uenced by vehicle inclination,are corrected by the FOG sensor data.FOG sensor drift is corrected by referring to the position data.To eliminate the in?uence of drift,deviation from the desired path,calculated from yaw angle and vehicle speed,is?rst compared with the deviation calculated using GPS data. Heading angle drift is then calculated.An experiment was conducted two days after?ooding the ?eld.The authors used a simple proportional steering controller.Root mean square deviation from the desired straight path after correcting for the yaw angle offset was approximately5.5cm at a speed of0.7m/s.The maximum deviation from the desired path is less than12cm which does not include the?rst2m after starting operation.Transplanting a10m×50m?eld was completed in15min.The autonomous operation was accurate enough for the rice transplanting.However,the authors could not obtain enough accuracy for spraying or mechanical weeding operations after rice transplanting because the vehicle must travel between the crop rows.For this to occur,it is necessary to improve the turn control algorithm and steering controller to obtain more precise operations.

©2004Elsevier B.V.All rights reserved.

Keywords:Automated operation;Paddy?elds;Rice transplanter;RTKGPS;FOG

?Corresponding author.Present address:Department of Agricultural and Biological Engineering,University of Illinois at Urbana-Champaign,1304West Pennsylvania Avenue,Urbana,IL61801,USA.

Tel.:+1-217-333-9420;fax:+1-217-244-0323.

E-mail addresses:nagasaka@uiuc.edu,zentei@affrc.go.jp(Y.Nagasaka).

0168-1699/$–see front matter©2004Elsevier B.V.All rights reserved.

doi:10.1016/pag.2004.01.005

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