首页|STUDY ON FLYING ROBOT WITH SMART ENVIRONMENT SENSING IN GREENHOUSES
STUDY ON FLYING ROBOT WITH SMART ENVIRONMENT SENSING IN GREENHOUSES
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NSTL
Precision agriculture technology has been applied to greenhouse production for some years; however, greenhouse cultivation nowadays usually uses only one or a few sensors to represent the environment information for the entire greenhouse area. Since the quadcopter is easy to control and has high degrees of freedom, it can be equipped with sensors to measure temperature, humidity, lighting information and vegetation indices for precision agriculture practice. In the application of quadcopter in greenhouses, position navigating, path planning and obstacle avoidance are the three major priorities. This research has developed a system to allow a flying robot to measure environmental information in greenhouses, and to establish an indoor positioning system based on ultra-wideband (UWB) technology. Since the obstacles in the greenhouse mostly are fixed structure, the decision-making system was designed to determine the flying robot's cruise path by path planning to achieve the purpose of cruising in the greenhouse. In the fixed-point positioning, the average errors of the X-axis, Y-axis, and Ea (absolute error) are 0.12 m, 0.08 m, and 0.15 m respectively, which are similar to the results under laboratory conditions. It indicates that this indoor UWB positioning system has very good applicability in the greenhouse. In the experiments of the fixed-point flying test above benches in greenhouse, the RMSE (root mean square error) errors of X-axis and Y-axis are 0.12 m and 0.13 m, which are similar to the performance of static fixed-point positioning; while the RMSE of the Z coordinate(height) is 0.05 m, showing the ability of the flying robot to stably fly above benches. This research indicates that the developed flying robot system with UWB position system has a stable flying ability to cruse in greenhouses, to collect the environment and location information in greenhouse, to transmit to cloud database and analysis, and to set up strategies for crop cultivation and environment control in greenhouses.
STUDY ON FLYING ROBOT WITH SMART ENVIRONMENT SENSING IN GREENHOUSES
GreenhousePrecision agricultureQuadcopterUltra-WidebandAutomatic navigationEnvironmental information detection
NSTL
