scholarly journals Performance Evaluation of an Autonomously Driven Agricultural Vehicle in an Orchard Environment

Sensors ◽  
2021 ◽  
Vol 22 (1) ◽  
pp. 114
Author(s):  
Joong-hee Han ◽  
Chi-ho Park ◽  
Young Yoon Jang ◽  
Ja Duck Gu ◽  
Chan Young Kim

To address the problems of inefficient agricultural production and labor shortages, there has been active research to develop autonomously driven agricultural machines, using advanced sensors and ICT technology. Autonomously driven speed sprayers can also reduce accidents such as the pesticide poisoning of farmers, and vehicle overturn that frequently occur during spraying work in orchards. To develop a commercial, autonomously driven speed sprayer, we developed a prototype of an autonomously driven agricultural vehicle, and conducted performance evaluations in an orchard environment. A prototype of the agricultural vehicle was created using a rubber-tracked vehicle equipped with two AC motors. A prototype of the autonomous driving hardware consisted of a GNSS module, a motion sensor, an embedded board, and an LTE module, and it was made for less than $1000. Additional software, including a sensor fusion algorithm for positioning and a path-tracking algorithm for autonomous driving, were implemented. Then, the performance of the autonomous driving agricultural vehicle was evaluated based on two trajectories in an apple farm. The results of the field test determined the RMS, and the maximums of the path-following errors were 0.10 m, 0.34 m, respectively.

2020 ◽  
pp. 103-110
Author(s):  
Анна Борисовна Лепешкина

Представлен авторский взгляд на подготовку квалифицированных специалистов для сельскохозяйственного производства. Рассмотрена экономико-управленческая подготовка квалифицированных специалистов для сельскохозяйственного производства с учетом стандарта World Skills Russia по направлению подготовки «Механизация сельского хозяйства» на примере среднего профессионального образования. Описывается авторская модель подготовки квалифицированных специалистов по специальности «Механизация сельского хозяйства». Приводится спецификация стандарта World Skills по компетенции «Эксплуатация сельскохозяйственных машин». Описывается внедрение данной спецификации в образовательный процесс ОГБПОУ «Томский аграрный колледж». Рассматривается процесс организации учебных занятий. Связь преподавания с жизнью, сельскохозяйственным производством – это не только использование материалов об историческом пути сельскохозяйственной науки и практики, но и рассмотрение актуального вопроса как необходимость знания экономики, организации и планирования сельскохозяйственного производства. Задача преподавателя заключается в том, чтобы применять экономические знания на практике, например при изучении сельскохозяйственной техники, то есть машин и механизмов, уметь определять эффективность применения машин, удобрений, ядохимикатов и т. д. Таким образом, в деле профессиональной подготовки обучающихся важно, чтобы в содержание занятий включался конкретный материал, направленный на развитие у обучающихся интереса к избранной специальности. The article presents the author’s view on the training of qualified specialists for agricultural production. The economic and managerial training of qualified specialists for agricultural production is considered taking into account the World Skills Russia standard in the field of training “Agricultural mechanization” using the example of secondary vocational education. The author describes the model of training qualified specialists in the specialization «Agricultural Mechanization». The specification of the World Skills standard on the competence “Operation of agricultural machines” is given. The introduction of this specification in the educational process of OGBPOU «Tomsk Agrarian College» is described. The process of organizing training sessions is considered. The connection of teaching with life, with agricultural production is not only the use of materials about the historical path of agricultural science and practice, but the consideration of an urgent issue as the need for knowledge of the economy, organization and planning of agricultural production. The teacher’s task is to apply economic knowledge in practice, for example, in the study of agricultural machinery, that is, machines and mechanisms, to be able to determine the effectiveness of the use of machines, fertilizers, pesticides, etc. Thus, in the matter of training students, it is important that the content of classes include specific material aimed at developing students’ interest in their chosen specialty.


2020 ◽  
Vol 10 (13) ◽  
pp. 4667 ◽  
Author(s):  
Joong-hee Han ◽  
Chi-ho Park ◽  
Jay Hyoun Kwon ◽  
Jisun Lee ◽  
Tae Soo Kim ◽  
...  

The agriculture sector is currently facing the problems of aging and decreasing skilled labor, meaning that the future direction of agriculture will be a transition to automation and mechanization that can maximize efficiency and decrease costs. Moreover, interest in the development of autonomous agricultural vehicles is increasing due to advances in sensor technology and information and communication technology (ICT). Therefore, an autonomous driving control algorithm using a low-cost global navigation satellite system (GNSS)-real-time kinematic (RTK) module and a low-cost motion sensor module was developed to commercialize an autonomous driving system for a crawler-type agricultural vehicle. Moreover, an autonomous driving control algorithm, including the GNSS-RTK/motion sensor integration algorithm and the path-tracking control algorithm, was proposed. Then, the performance of the proposed algorithm was evaluated based on three trajectories. The Root Mean Square Errors (RMSEs) of the path-following of each trajectory are calculated to be 9, 7, and 7 cm, respectively, and the maximum error is smaller than 30 cm. Thus, it is expected that the proposed algorithm could be used to conduct autonomous driving with about a 10 cm-level of accuracy.


2014 ◽  
Vol 60 (Special Issue) ◽  
pp. S57-S65 ◽  
Author(s):  
P. Polák ◽  
R. Mikuš ◽  
V. Kročko

This contribution focuses on problems of monitoring the runout of tractor diesel motor parts used in agricultural operation. Crankshafts from the agricultural tractors of type Zetor 6911 are used as samples for measuring the runout and circularity. The first sample of the crankshaft is loaded in the tractor used in livestock production, and the second one is used in vegetable production. Measured values of the runout and circularity of both samples are evaluated by tables and polar diagrams. Results of the experiment show the amount of runout and the following wear of agricultural machine parts in different operating conditions of agricultural production.


2017 ◽  
Vol 865 ◽  
pp. 429-433
Author(s):  
Sung Bum Park ◽  
Hyeok Chan Kwon ◽  
Dong Hoon Lee

Autonomous cars recognize the surroundings through multiple sensors and make decisions to control the car in order to arrive at destination without driver's interventions. In such environment, if sensor data forgery occurs, it could lead to a big (critical) accident that could threaten the life of the driver. In the paper, a research on a way to get accurate driving information through sensor fusion algorithm that has resilience against data forgery and modulation will be discussed.


2017 ◽  
Vol 12 (2) ◽  
pp. 121-125
Author(s):  
Фарит Мухаметгалиев ◽  
Farit Mukhametgaliev ◽  
Фидания Садриева ◽  
Fidaniya Sadrieva

Technical supply of enterprises of agro-industrial complex is one of the important factors of their industrial and economic development. This factor takes place when processing soils, harvesting and selling agricultural products. So, the crop production directly depends on the technical provision of the village with tractors, combines and other agricultural machines, which make it possible to apply and timely fulfill all agronomic requirements. The main reason of deterioration of the material and technical base is the lack of financial means for farms to purchase machinery and equipment, as well as weakened government support, and reduced investment in the development of agriculture. The volume of agricultural production and results of agricultural organizations depend from the timely and full provision of agriculture with material and technical resources, as well as the effectiveness of their use. Optimal formation and rational use of the material and technical base of agriculture has a direct impact on the performance of the entire agro-industrial complex. Effective use of agricultural resources is possible with increasing intensity of agricultural production on the basis of a highly developed material and technical base. At present, agricultural enterprises do not have a complex of machines for mechanizing agricultural production, that corresponds to the achievements of science and technology in this field, and it is very difficult to use the existing outdated material and technical base as the basis for increasing the intensity of agricultural production in modern conditions. In this connection, a particular urgency in modern conditions acquires the ways of technical re-equipment and integrated mechanization of agriculture.


Author(s):  
Szilvia Erdeiné Késmárki-Gally ◽  
Renáta Rák

One of the most important factors of competitive production is mechanization, which enables tasks to be done on time and in a high-quality manner. Nowadays, in Hungary, many distributors deal with the trading of agricultural machines and spare parts. The operating costs of these machines constitute a significant proportion of the expenses involved in agricultural production, and thus the appropriate and inappropriate use of machinery can significantly influence the efficiency of farming. The goal of this study is to present the market of agricultural power machines, examine the operating costs and analyse the causes of changes in the Hungarian machinery market during the past few years. In our research, it can be seen that EU co-financed support for machinery and equipment investment have a great impact on the replacement of power machines and average annual usage, since after EU subsidies are no longer incoming, the number of agricultural machines sold has decreased.


2014 ◽  
Vol 511-512 ◽  
pp. 958-962 ◽  
Author(s):  
Miao Miao Quan ◽  
Yong Zhai ◽  
Yan Jiang ◽  
Yin Jian Sun ◽  
Da Lu Xu ◽  
...  

An improved pure pursuit path tracking algorithm is presented for a four-wheel steering (4WS) carrier vehicle to follow a desired path automatically. A bicycle vehicle model considering the 4WS carrier vehicles structural and steering features is applied in the method. Real vehicle tests in an open large outdoor warehouse showed that the lateral tracking error was less than 0.56m at 20km/h. And we can conclude that the enhanced method for 4WS vehicle has good tracking ability on flat road.


Sensors ◽  
2019 ◽  
Vol 19 (13) ◽  
pp. 2867 ◽  
Author(s):  
Huaikun Gao ◽  
Xu Li

Reliable and precise vehicle positioning is essential for most intelligent transportation applications as well as autonomous driving. Due to satellite signal blocking, it can be challenging to achieve continuous lane-level positioning in GPS-denied environments such as urban canyons and crossroads. In this paper, a positioning strategy utilizing ultra-wide band (UWB) and low-cost onboard sensors is proposed, aimed at tracking vehicles in typical urban scenarios (such as intersections). UWB tech offers the potential of achieving high ranging accuracy through its ability to resolve multipath and penetrate obstacles. However, not line of sight (NLOS) propagation still has a high occurrence in intricate urban intersections and may significantly deteriorate positioning accuracy. Hence, we present an autoregressive integrated moving average (ARIMA) model to first address the NLOS problem. Then, we propose a tightly-coupled multi sensor fusion algorithm, in which the fuzzy calibration logic (FCL) is designed and introduced to adaptively adjust the dependence on each received UWB measurement to effectively mitigate NLOS and multipath interferences. At last, the proposed strategy is evaluated through experiments. Ground test results validate that this low-cost approach has the potential to achieve accurate, reliable and continuous localization, regardless of the GPS working statue.


2004 ◽  
Vol 49 (2) ◽  
pp. 179-185 ◽  
Author(s):  
Bosko Gajic ◽  
Goran Dugalic ◽  
Zorica Sredojevic

Long-standing utilization of agricultural machines in agricultural production leads to a significant increase of compaction in noncarbonate, slightly smonitza - like meadow black soils, in the Kolubara river valley. A substantial increase of compaction in the investigated soils was found in arable and subarable horizons down to the depth of 30 cm. The compaction increase induced negative changes in other most important physical properties of soil, like the increase of bulk density and packing density of soil particles, and the decrease of total porosity, content of pores > 30 mm and void ratio.


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