[논문]사과 과원 무인 제초를 위한 작업 경로 생성 및 경로 제어 시스템 개발

전진택; 장호승; 양창주; 권경도; 홍영기; 김국환

doi:10.7839/ksfc.2023.20.4.027

사과 과원 무인 제초를 위한 작업 경로 생성 및 경로 제어 시스템 개발
Development of the Path Generation and Control System for Unmanned Weeding Robot in Apple Orchards 원문보기

드라이브ㆍ컨트롤 = Journal of drive and control, v.20 no.4, 2023년, pp.27 - 34

전진택 (Department of Agricultural Engineering, National Institute of Agricultural Sciences) , 장호승 (Department of Agricultural Engineering, National Institute of Agricultural Sciences) , 양창주 (Department of Agricultural Engineering, National Institute of Agricultural Sciences) , 권경도 (Department of Agricultural Engineering, National Institute of Agricultural Sciences) , 홍영기 (Department of Agricultural Engineering, National Institute of Agricultural Sciences) , 김국환 (Department of Agricultural Engineering, National Institute of Agricultural Sciences)

Abstract ▼ AI-Helper

Weeding in orchards is closely associated with productivity and quality. The customary weeding process is both labor-intensive and time-consuming. To solve the problems, there is need for automation of agricultural robots and machines in the agricultural field. On the other hand, orchards have complicated working areas due to narrow spaces between trees and amorphous terrain. Therefore, it is necessary to develop customized robot technology for unmanned weeding work within the department. This study developed a path generation and path control method for unmanned weeding according to the orchard environment. For this, the width of the weeding span, the number of operations, and the width of the weeding robot were used as input parameters for the orchard environment parameters. To generate a weeding path, a weeding robot was operated remotely to obtain GNSS-based location data along the superheated center line, and a driving performance test was performed based on the generated path. From the results of orchard field tests, the RMSE in weeding period sections was measured at 0.029 m, with a maximum error of 0.15 m. In the steering period within row and steering to the next row sections, the RMSE was 0.124 m, and 0.047 m, respectively.

주제어

표/그림 (11)

그림 Fig. 1 Platform of weeding robot
표 Table 1 Specification of weeding robot
그림 Fig. 2 Schematic of GNSS module installation top view (a), side view (b)
그림 Fig. 3 Kinematic skid steering model of weeding robot
그림 Fig. 4 Concept of follow-the-carrot path tracking
그림 Fig. 5 Example of path generation method
그림 Fig. 6 Flowchart of regeneration path algorithm from center of fruit tree row path
그림 Fig. 7 Case of regeneration path method and division of the weeding section (a), steering section (b) and (c) to Path A and Path B
그림 Fig. 8 Generated path and driven path of weeding section (a), steering section within tree row (b), steering to next row (c) in orchard
그림 Fig. 9 Lateral position error of weeding section (a), steering section within tree row (b), steering to next row (c) in orchard
표 Table 2 Lateral deviation of Path A and Path B according to section (a), (b), (c)

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