https://doi.org/10.4081/jae.2023.1355
Automatic travelling of agricultural support robot for a fruit farm. Verification of effectiveness of real-time kinematic-global navigation satellite system and developed a simulator for specification design
Published: 2 February 2023
Abstract Views: 1522
PDF: 538
Appendix: 87
HTML: 98
Appendix: 87
HTML: 98
Publisher's note
All claims expressed in this article are solely those of the authors and do not necessarily represent those of their affiliated organizations, or those of the publisher, the editors and the reviewers. Any product that may be evaluated in this article or claim that may be made by its manufacturer is not guaranteed or endorsed by the publisher.
All claims expressed in this article are solely those of the authors and do not necessarily represent those of their affiliated organizations, or those of the publisher, the editors and the reviewers. Any product that may be evaluated in this article or claim that may be made by its manufacturer is not guaranteed or endorsed by the publisher.
Authors
Labour shortages and fatal accidents in agricultural work have recently emerged as critical problems in Japan, necessitating productivity enhancement, workload reduction, and safety assurance. Therefore, in Japan and countries with similar agricultural environments, the use of small and inexpensive agricultural robots that can be employed in mountain farms and orchards is desirable. In this study, a dynamic positioning test was performed in orchards in a mountainous region to verify the positioning accuracy and stability of the global navigation satellite system (GNSS) and realtime kinematic (RTK)-GNSS. In addition, a simulator for an agricultural robot that could consider the environmental information of orchards was developed, and driving tests were conducted using the GNSS data acquired in the simulation. The error of the GNSS module was set to be higher than that for the measured value, and the robot travelling in the orchard was simulated. The results of GNSS positioning tests in an orchard near a mountainous area indicate that in the specific environmental conditions, the RTK-GNSS and stand-alone (SA)-GNSS can attain a positioning accuracy with an order of tens of centimetres and few metres, respectively. Moreover, the simulation results based on the GNSS positioning results indicate that a vehicle implementing RTK-GNSS and a simple obstacle detection sensor can travel autonomously in a farmyard without colliding with the tree rows. In contrast, a vehicle implementing SA-GNSS and a simple obstacle detection sensor cannot drive autonomously in an orchard and must realise selfpositioning using a more accurate sensor. Therefore, the proposed approach of realising simulations of autonomous agricultural robots based on GNSS data from a real orchard can facilitate the evaluation of practical agricultural robots and confirm safe travelling roots. Furthermore, the results demonstrate the possibility of developing small agricultural robots for orchards. We conducted the GNSS positioning test in an orchard at an altitude of approximately 830 m. A similar performance can be expected under alike agricultural situations because the error of the GNSS module was set to be higher than the measured value in the driving simulation test.
Allred, B., Wishart, D., Martinez, L., Schomberg, H., Mirsky, S., Meyers, G., Elliott, J., & Charyton, C. (2018). Delineation of agricultural drainage pipe patterns using ground penetrating radar integrated with a real-time kinematic global navigation satellite system. Agriculture, 8(11). https://doi.org/10.3390/agriculture8110167
DOI: https://doi.org/10.3390/agriculture8110167
Alkan, R. M., Erol, S., İlçi, V., & Ozulu, M. (2020). Comparative analysis of real-time kinematic and PPP techniques in dynamic environment. Measurement: Journal of the International Measurement Confederation, 163, 107995. https://doi.org/10.1016/j.measurement.2020.107995
DOI: https://doi.org/10.1016/j.measurement.2020.107995
Barawid Jr., C. O. & Noguchi, N. (2008). Automatic guidance system in real-time orchard application (Part 1). Journal of the Japanese Society of Agricultural Machinery, 70(6), 76–84. https://www.jstage.jst.go.jp/article/jsam1937/70/6/70_76/_pdf/-char/en
Barawid Jr., C. O. & Noguchi, N. (2010). Automatic guidance system in real-time orchard application (Part 2). Journal of the Japanese Society of Agricultural Machinery, 72(3), 243–250. https://www.jstage.jst.go.jp/article/jsam/72/3/72_243/_article/-char/ja
Blok, P. M., Boheemen, K., V., Evert, F. K., V., IJsselmuiden, J., & Kim, G. H. (2019). Robot navigation in orchards with localization based on Particle filter and Kalman filter. Computers and Electronics in Agriculture, 157, 261–269. https://doi.org/10.1016/j.compag.2018.12.046
DOI: https://doi.org/10.1016/j.compag.2018.12.046
Catania, P., Comparetti, A., Febo, P., Morello, G., Orlando, S., Roma, E., & Vallone, M. (2020). Positioning accuracy comparison of GNSS receivers used for mapping and guidance of agricultural machines. Agronomy, 10(7). https://doi.org/10.3390/agronomy10070924
DOI: https://doi.org/10.3390/agronomy10070924
Cheein, F. A., Steiner, G., Paina, G. P., & Carelli, R. (2011). Optimized EIF-SLAM algorithm for precision agriculture mapping based on stems detection. Computers and Electronics in Agriculture, 78(2), 195-207. https://doi.org/10.1155/2019/4687819
DOI: https://doi.org/10.1016/j.compag.2011.07.007
Chosa, T., Omine, M., & Itani, K. (2007). Dynamic performance of global positioning system velocity sensor for extremely accurate positioning. Biosystems Engineering, 97(1), 3–9. https://doi.org/10.1016/j.biosystemseng.2007.01.010
DOI: https://doi.org/10.1016/j.biosystemseng.2007.01.010
Freeland, R., Allred, B., Eash, N., Martinez, L., & Wishart, D. (2019). Agricultural drainage tile surveying using an unmanned aircraft vehicle paired with Real-Time Kinematic positioning—A case study. Computers and Electronics in Agriculture, 165, 104946. https://doi.org/10.1016/j.compag.2019.104946
DOI: https://doi.org/10.1016/j.compag.2019.104946
Guevara, J., Cheein, F., A., A., Gené-Mola, J., Rosell-Polo, J. R., & Gregorio, E. (2020). Analyzing and overcoming the effects of GNSS error on LiDAR based orchard parameters estimation. Computers and Electronics in Agriculture, 170, 105255. https://doi.org/10.1016/j.compag.2020.105255
DOI: https://doi.org/10.1016/j.compag.2020.105255
Guo, J., Li, X., Li, Z., Hu, L., Yang, G., Zhao, C., Fairbairn, D., Watson, D., & Ge, M. (2018). Multi-GNSS precise point positioning for precision agriculture. Precision Agriculture, 19(5), 895–911. https://doi.org/10.1007/s11119-018-9563-8
DOI: https://doi.org/10.1007/s11119-018-9563-8
Han, J. H., Park, C. H., Park, Y. J., & Kwon, J. H. (2019). Preliminary results of the development of a single-frequency GNSS RTK-based autonomous driving system for a speed sprayer. Journal of Sensors, 2019, 9. https://doi.org/10.1155/2019/4687819
DOI: https://doi.org/10.1155/2019/4687819
Hossein, M. (2013). A Technical Review on Navigation Systems of Agricultural Autonomous Off-road Vehicles. Journal of Terramechanics, 50(3), 211–232. https://doi.org/10.1016/j.jterra.2013.03.004
DOI: https://doi.org/10.1016/j.jterra.2013.03.004
Iida, M., Uchida, R., Zhu, H., Suguri, M., Kurita, H., & Masuda, R. (2013). Path-Following Control of a Head-Feeding Combine Robot. Engineering in Agriculture, Environment and Food, 6(2), 61–67. https://doi.org/10.1016/S1881-8366(13)80028-6
DOI: https://doi.org/10.1016/S1881-8366(13)80028-6
Japan Ministry of Agriculture. (2020). Forestry and fisheries. A new policy package to accelerate smart agriculture. https://www.maff.go.jp/j/press/kanbo/kihyo03/attach/pdf/201001-1.pdf. Retrieved June 24, 2021
Japan Ministry of Agriculture. (2021). Summary of findings. Forestry and fisheries, 2020 Census of Agriculture and Forestry, Government Statistical Codes: No.00500209,1-10.
Kabir, M., S., N., Song, M., Sung, N., Chung, S., Kim, Y., Noguchi, N., & Hong, S. (2016). Performance comparison of single and multi-GNSS receivers under agricultural fields in Korea. Engineering in Agriculture, Environment and Food, 9(1), 27–35. https://doi.org/10.1016/j.eaef.2015.09.002
DOI: https://doi.org/10.1016/j.eaef.2015.09.002
Kaizu, Y., Tsutsumi, T., Igarashi, S., & Imou, K. (2018). Development of autonomous driving control system for a robot mower using a low-cost single-frequency GNSS and a low-cost IMU. Journal of the Japanese Society of Agricultural Machinery and Food Engineering, 80(5), 271–279. https://www.jstage.jst.go.jp/article/jsamfe/80/5/80_271
Kawase, K. (2011). A More Concise Method of Calculation for the Coordinate Conversion between Geographic and Plane Rectangular Coordinates on the Gauss-Kruger Projection. Journal of the Geospatial Information Authority of Japan, 109–124. https://www.jstage.jst.go.jp/article/jsamfe/80/5/80_271
Kayacan, E., Kayacan, E., Ramon, H., & Saeys, W. (2014). Nonlinear modeling and identification of an autonomous tractor–trailer system. Computers and Electronics in Agriculture, 106, 1–10. https://doi.org/10.1016/j.compag.2014.05.002
DOI: https://doi.org/10.1016/j.compag.2014.05.002
Keicher, R., & Seufert, H. (2000). Automatic guidance for agricultural vehicles in Europe. Computers and Electronics in Agriculture, 25(1-2), 169–194. https://doi.org/10.1016/S0168-1699(99)00062-9
DOI: https://doi.org/10.1016/S0168-1699(99)00062-9
Kise, M., Noguchi, N., Ishii, K., & Terao, H. (2002). Field Mobile Robot Navigated by RTK-GPS and FOG (Part 3). Journal of the Japanese Society of Agricultural Machinery, 64(2), 102–110. https://doi.org/10.11357/jsam1937.64.2_102
Li, M., Imou, K., Wakabayashi, K., & Ykoyama, S. (2009). Review of research on agricultural vehicle autonomous guidance. International Journal of Agricultural and Biological Engineering, 2(3), 1-16. DOI: 10.3965/j.issn.1934-6344.2009.03.001-016 ; http://ijabe.org/index.php/ijabe/article/view/160
Madgwick, O.H.S., (2010). An efficient orientation filter for inertial and inertial/magnetic sensor arrays, Report x-io and University of Bristol (UK), 25, 113-118. https://forums.parallax.com/uploads/attachments/41167/106661.pdf
Matsuo, Y., Yukumoto, O., Yamamoto, S., Noguchi, N., & Hara, Y. (2009). Improvement of Adaptability and Reliability of Tilling Robot (Part 3). Journal of the Japanese Society of Agricultural Machinery, 71(3), 85–93. https://doi.org/10.11357/jsam.71.3_85
Miyamoto, J., Naomoto, T., Kubota, Y., Yoshida, K., & Ishimi, K. (2017). Rice Transplanter with Straight Keeping System. The Proceedings of Conference of Kansai Branch 2017.92,301. https://doi.org/10.1299/jsmekansai.2017.92.301
DOI: https://doi.org/10.1299/jsmekansai.2017.92.301
Nagasaka, Y., Taniwaki, K., Otani, R., Shigeta, K., & Sasaki, Y. (2000). The Development of Autonomous Rice Transplanter (Part 1). Journal of the Japanese Society of Agricultural Machinery, 61(6), 179–186. https://doi.org/10.11357/jsam1937.61.6_179
National Agriculture and Food Research Organization (2019). The number of deaths per 100,000 workers over 10 years. http://www.naro.affrc.go.jp/org/brain/anzenweb/shibou/pdf/20210216press-ref.pdf. Retrieved June 24, 2021.
Nagano Prefecture. (2020). Overview of the governor’s special area for direct agricultural payment scheme in mountainous areas. https://www.pref.nagano.lg.jp/noson/nosonshinko/documents/siryou2tokuningaiyou.pdf Retrieved June 24, 2021
Nørremark, M., Griepentrog, H. W., Nielsen, J., & Søgaard, H. T. (2008). The development and assessment of the accuracy of an autonomous GPS-based system for intra-row mechanical weed control in row crops. Biosystems Engineering, 101(4), 396–410. https://doi.org/10.1016/j.biosystemseng.2008.09.007
DOI: https://doi.org/10.1016/j.biosystemseng.2008.09.007
Ogura, Y. (2017). John Deere's Auto Trac Technology for Agriculture Vehicle. Journal of the Japanese Society of Agricultural Machinery and Food Engineers, 71(3), 85–93. https://doi.org/10.11357/jsamfe.79.6_457
Pérez-Ruiz, M., Carballido, J., Agüera, J., & Gil, J. A. (2011). Assessing GNSS correction signals for assisted guidance systems in agricultural vehicles. Precision Agriculture, 12(5), 639–652. https://doi.org/10.1007/s11119-010-9211-4
DOI: https://doi.org/10.1007/s11119-010-9211-4
Pérez-Ruiz, M., Martínez-Guanter, J., & Upadhyaya, K. S. (2021). Chapter 15 - High-precision GNSS for agricultural operations. GPS and GNSS Technology in Geosciences, 299–335. https://doi.org/10.1016/B978-0-12-818617-6.00017-2
DOI: https://doi.org/10.1016/B978-0-12-818617-6.00017-2
Pini, M., Marucco, G., Falco, G., Nicola, M., & Wilde, W. D. (2020). Experimental Testbed and Methodology for the Assessment of RTK GNSS Receivers Used in Precision Agriculture. IEEE Access, 8, 14690–14703. https://doi.org/10.1109/ACCESS.2020.2965741
DOI: https://doi.org/10.1109/ACCESS.2020.2965741
Rovira-Más, F., Chatterjee, I., & Sáiz-Rubio, V. (2015). The role of GNSS in the navigation strategies of cost-effective agricultural robots. Computers and Electronics in Agriculture, 112, 172–183. https://doi.org/10.1016/j.compag.2014.12.017
DOI: https://doi.org/10.1016/j.compag.2014.12.017
Santos, A. F., Silva, R. P., Zerbato, C., Menezes, P. C., Kazama, E. H., Paixão, C. S. S., & Voltarelli, M. A. (2019). Use of real-time extend GNSS for planting and inverting peanuts. Precision Agriculture, 20(4), 840–856. https://doi.org/10.1007/s11119-018-9616-z
DOI: https://doi.org/10.1007/s11119-018-9616-z
Søgaard, H., T., & Lund, I. (2000). Application Accuracy of a Machine Vision-controlled Robotic Micro-dosing System. Biosystems Engineering, 96(3), 315–322. https://doi.org/10.1016/j.biosystemseng.2006.11.009
DOI: https://doi.org/10.1016/j.biosystemseng.2006.11.009
Weise, G., Nagasaka, Y., & Taniwaki, K. (2000). Research Note (PM—Power and Machinery): An Investigation of the Turning Behaviour of an Autonomous Rice Transplanter. Journal of Agricultural Engineering Research, 77(2), 233–237. https://doi.org/10.1006/jaer.2000.0553
DOI: https://doi.org/10.1006/jaer.2000.0553
Zhang, Z., Noguchi, N., & Ishii, K. (2015). Development of a Robot Combine Harvester. Journal of the Japanese Society of Agricultural Machinery and Food Engineers, 77(1), 45–50. https://doi.org/10.11357/jsamfe.77.1_45
How to Cite
Hiraoka, R., Aoyagi, Y. and Kobayashi, K. (2023) “Automatic travelling of agricultural support robot for a fruit farm. Verification of effectiveness of real-time kinematic-global navigation satellite system and developed a simulator for specification design”, Journal of Agricultural Engineering, 54(1). doi: 10.4081/jae.2023.1355.
Copyright (c) 2023 the Author(s)
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.
PAGEPress has chosen to apply the Creative Commons Attribution NonCommercial 4.0 International License (CC BY-NC 4.0) to all manuscripts to be published.
Similar Articles
- Ayodeji Nathaniel Oyedeji, Umar Ali Umar, Laminu Shettima Kuburi, Albright Abu Edet, Yau Mukhtar, Development and performance evaluation of an oil palm harvesting robot for the elimination of ergonomic risks associated with oil palm harvesting , Journal of Agricultural Engineering: Vol. 53 No. 3 (2022)
- Danilo Monarca, Massimo Cecchini, Abstracts of the 10th Conference of the Italian Society of Agricultural Engineering , Journal of Agricultural Engineering: Vol. 44 No. s1 (2013): Abstract Book
- Xin Du, Cailing Liu, Changqing Liu, Qixin Sun, Shufa Chen, A novel method for measurement of the angle of repose of granular seeds in discrete element methods , Journal of Agricultural Engineering: Vol. 54 No. 2 (2023)
- Timothy Denen Akpenpuun, Qazeem Opeyemi Ogunlowo, Wook-Ho Na, Prabhat Dutta, Anis Rabiu, Misbaudeen Aderemi Adesanya, Mohammadreza Nariman, Ezatullah Zakir, Hyeon Tae Kim, Hyun-Woo Lee, Dynamic neural network modeling of thermal environments of two adjacent single-span greenhouses with different thermal curtain positions , Journal of Agricultural Engineering: Vol. 55 No. 2 (2024)
- Maile Zhou, Jiajia Yang, Tingbo Xu, Jianjun Yin, Xinzhong Wang, Optimal design of transplanting mechanism with differential internal engagement non-circular gear trains , Journal of Agricultural Engineering: Vol. 53 No. 3 (2022)
- Qazeem Opeyemi Ogunlowo, Adedayo Afeez Azeez, Wook Ho Na, Anis Rabiu, Misbaudeen Aderemi Adesanya, Ezatullah Zakir, John Ademola Ijadunola, Bukola Olanrewaju Afolabi, Babajide Saheed Kosemani, Titus Adeyinka Ilori, Hyun-Woo Lee, Analysis of microclimate temperature and relative humidity distribution of local poultry house in a subtropical area of Nigeria , Journal of Agricultural Engineering: Vol. 55 No. 2 (2024)
- Giulio Senes, Natalia Fumagalli, Paolo Stefano Ferrario, Daniele Gariboldi, Roberto Rovelli, Municipal community gardens in the metropolitan area of Milano. Assessment and planning criteria , Journal of Agricultural Engineering: Vol. 47 No. 2 (2016)
- Markus Lips, Repair and maintenance costs of hill-farm tractors and transporters for upland mechanisation , Journal of Agricultural Engineering: Vol. 44 No. 3 (2013)
- Simone Pascuzzi, Ileana Blanco, Alexandros Sotirios Anifantis, Giacomo Scarascia-Mugnozza, Hazards assessment and technical actions due to the production of pressured hydrogen within a pilot photovoltaic-electrolyser-fuel cell power system for agricultural equipment , Journal of Agricultural Engineering: Vol. 47 No. 2 (2016)
- Roberto Fanigliulo, Marcello Biocca, Daniele Pochi, Effects of six primary tillage implements on energy inputs and residue cover in Central Italy , Journal of Agricultural Engineering: Vol. 47 No. 3 (2016)
<< < 4 5 6 7 8 9 10 11 12 13 > >>
You may also start an advanced similarity search for this article.
