Development of uncut crop edge detection system based on laser rangefinder for combine harvesters
Keywords:
laser rangefinder technology, crop edge detection, combine harvester, navigation, field profile modelingAbstract
The objective of this research was to develop an uncut crop edge detection system for a combine harvester. A laser rangefinder (LF) was selected as a primary sensor, combined with a pan-tilt unit (PTU) and an inertial measurement unit (IMU). Three-dimensional field information can be obtained when the PTU rotates the laser rangefinder in the vertical plane. A field profile was modeled by analyzing range data. Otsu’s method was used to detect the crop edge position on each scanning profile, and the least squares method was applied to fit the uncut crop edge. Fundamental performance of the system was first evaluated under laboratory conditions. Then, validation experiments were conducted under both static and dynamic conditions in a wheat field during harvesting season. To verify the error of the detection system, the real position of the edge was measured by GPS for accuracy evaluation. The results showed an average lateral error of ±12 cm, with a Root-Mean-Square Error (RMSE) of 3.01 cm for the static test, and an average lateral error of ±25 cm, with an RMSE of 10.15 cm for the dynamic test. The proposed laser rangefinder-based uncut crop edge detection system exhibited a satisfactory performance for edge detection under different conditions in the field, and can provide reliable information for further study. Keywords: laser rangefinder technology, crop edge detection, combine harvester, navigation, field profile modeling DOI: 10.3965/j.ijabe.20160902.1959 Citation: Zhao T, Noguchi N, Yang L L, Ishii K, Chen J. Development of uncut crop edge detection system based on laser rangefinder for combine harvesters. Int J Agric & Biol Eng, 2016; 9(2): 21-28.References
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[21] Kondo N, Monta M, Noguchi N. Agricultural Robots (I): Fundamentals and Theory. Beijing: China Agricultural University Press, 2009; 140p.
[2] Zhang C, Yang L L, Noguchi N. Development of a robot tractor controlled by a human-driven tractor system. Engineering in Agriculture, Environment and Food, 2015; 8(1): 7–12.
[3] Yang Liangliang. 2013. Development of a Robot Tractor Implemented an Omni-directional Safety System. PhD Thesis. Graduation School of Agriculture, Hokkaido University, Sapporo, Japan.
[4] Yin X. Development of in field transportation robot vehicle using multiple sensors. PhD thesis. Graduation School of Agriculture, Hokkaido University, Sapporo, Japan. 2013.
[5] Subramanian V, Burks T F, Arroyo A A. Development of
machine vision and laser radar based autonomous vehicle guidance systems for citrus grove navigation. Computers and Electronics in Agriculture, 2006; 53: 130–143.
[6] Takai R, Yang L L, Noguchi N. Development of a crawler-type robot tractor using RTK-GPS and IMU. Engineering in Agriculture, Environment and Food, 2014; 7(4): 143–147.
[7] Hiremath S, Frits K. van Evert, Braak C T, Stein A, Heijden G V D. Image-based particle filtering for navigation in a semi-structured agricultural environment. Biosystems Engineering, 2014; 121: 85–95.
[8] Li M, Imou K, Wakabayashi K, Yokoyama S. Review of research on agricultural vehicle autonomous guidance. Int J Agric & Biol Eng, 2009; 2(2): 1–16.
[9] Iida M, Yamada Y. Rice harvesting operation using an autonomous combine with a GPS and a FOG. Proceedings of the Conference of Automation Technology for Off-road Equipment, ASAE, 2006. pp.125–131.
[10] Ding Youchun, Wang Shumao, Chen Du. Navigation Line Detection Arithmetic Based on Image Rotation and Projection. Transactions of the CSAM, 2009; 40(8): 155–160. (in Chinese with English abstract )
[11] Chateau T, Debain C, Collange F, Trassoudaine L, Alizon J. Automatic guidance of agricultural vehicles using a laser sensor. Computers and Electronics in Agriculture, 2000; 28: 243–257.
[12] Choi J M, Yin X, Yang L L, Noguchi N. Development of a laser scanner-based navigation system for a combine harvester. Engineering in Agriculture, Environment and Food, 2014; 7(1): 7–13.
[13] Barawid O C, Mizushima A, Ishii K, Noguchi N. Development of an autonomous navigation system using a two-dimensional laser scanner in an orchard application.
Biosystems Engineering, 2007; 96(2): 139–149.
[14] Liu P, Chen J, Zhang M Y. Automatic control system of orchard tractor based on laser navigation. Transactions of the CSAE, 2006; 27(3): 196–199. (in Chinese with English abstract)
[15] Chen J, Jiang H R, Liu P, Zhang Q. Navigation Control for Orchard Mobile Robot in Curve Path. Transactions of the CSAM, 2012; 43(4): 179–182. (in Chinese with English abstract )
[16] Cho W J, Iida M, Suguri M, Masuda R, Kurita H. Vision-based uncut crop edge detection for automated guidance of head-feeding combine. Engineering in Agriculture, Environment and Food, 2014; 7(2): 97–102.
[17] Cho W J, Iida M, Suguri M, Masuda R, Kurita H. Using multiple sensors to detect uncut crop edges for autonomous guidance systems of head-feeding combine harvesters. Engineering in Agriculture, Environment and Food, 2014; 7(3): 115–121.
[18] Ehlert D, Heisig M. Sources of angle-dependent errors in terrestrial laser scanner-based crop stand measurement. Computers and Electronics in Agriculture, 2013; 93: 10–16.
[19] Choi J M. Development of guidance system using local sensors for an agricultural machinery. PhD thesis. Graduation School of Agriculture, Hokkaido University, Sapporo, Japan, 2014.
[20] Debain C, Chateau T, Berducat M, Martinet P, Bonton P. A guidance-assistance system for agricultural vehicles. Computers and Electronics in Agriculture, 2000; 25(1-2): 29–51.
[21] Kondo N, Monta M, Noguchi N. Agricultural Robots (I): Fundamentals and Theory. Beijing: China Agricultural University Press, 2009; 140p.
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Published
2016-03-31
How to Cite
Teng, Z., Noguchi, N., Liangliang, Y., Ishii, K., & Jun, C. (2016). Development of uncut crop edge detection system based on laser rangefinder for combine harvesters. International Journal of Agricultural and Biological Engineering, 9(2), 21–28. Retrieved from https://ijabe.migration.pkpps03.publicknowledgeproject.org/index.php/ijabe/article/view/1959
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Power and Machinery Systems
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