Heading Estimation of Robot Combine Harvesters during Turning Maneuveres

Rahman, M. M.; Ishii, Kazunobu

doi:10.3390/s18051390

Cited by 8 publications

(7 citation statements)

References 16 publications

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“…It can be seen from Figure 9 that the preliminary coverage path planning does not consider the combine harvester's turning at the edge of farmland and when encountering obstacles. Therefore, it is necessary to study the turning mode and path generation algorithm of the combine harvester [21] .…”

Section: Figure 8 Flow Chart Of Preliminary Coverage Path Planningmentioning

confidence: 99%

Modeling of working environment and coverage path planning method of combine harvesters

Lu¹,

Xu²,

Li³

et al. 2020

International Journal of Agricultural and Biological Engineering

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This paper mainly studied the working environment modeling and coverage path planning of combine harvesters. The boundaries of the farmland to be harvested were extracted through the farmland satellite imagery and canny algorithm. The polygon approximation method was used to fit the extracted boundaries as polygons. The edge offset of the farmland and obstacles was realized based on the principle of straight skeleton. According to the structure data of the split points which were obtained through the improved scan line algorithm, the coverage path planning of the combine harvester was realized. Moreover, the circular arc transition algorithm was used to optimize the harvesting paths to achieve the smooth turning of the combine harvester at the edge of farmland and when encountering obstacles. The simulation results show that the proposed the proposed polygon approximation method can accurately depict the boundaries of the farmland to be harvested, and reduce the amount of data to be stored. Additionally, the designed path planning method can realize the coverage path planning of the combine harvester in irregular and internal obstacle farmland.

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Section: Figure 8 Flow Chart Of Preliminary Coverage Path Planningmentioning

confidence: 99%

Modeling of working environment and coverage path planning method of combine harvesters

Lu¹,

Xu²,

Li³

et al. 2020

International Journal of Agricultural and Biological Engineering

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“…One of the autonomous agricultural machine developments was carried out on a combine harvester. Several studies on combine harvester: combine harvester guidance system by detecting cutting edges using machine vision [1], combine harvester robot trajectory control [2], development of laser navigation system for combine harvester [3], detecting the cutting edge of a combine harvester using multiple sensors [4], estimating the heading position of the combine harvester during turning maneuvers [5], and developing an automatic guidance system for the combine harvester [6]. These various studies use different methods but have the same ultimate goal to get a combine harvester that can operate autonomously.…”

Section: Introductionmentioning

confidence: 99%

Development of the turn algorithm of an autonomous combine harvester at the corner of paddy fields

Sutisna

Subrata

Setiawan

et al. 2022

IOP Conf. Ser.: Earth Environ. Sci.

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One of the problems that occur in harvesting rice using a combine harvester is when at the corner of the paddy field, especially in harvesting the outermost path. The outer harvesting path is very close to the edge of the paddy field, so that the free space for its maneuverer is very limited. This study aims to develop an algorithm to overcome difficulties when the combine harvester turns at the corner of the paddy field. The turning algorithm was designed using two methods: turning 90° without backward movement and turning 90° with backward movement. The first method is applied to several paths closest to the paddy field bunds, while the second method is applied to the remaining paths close to the midpoint of the paddy fields. The reason for applying the second method in the middle of the paddy field is that there is sufficient free space for backward movement. The combination of the two methods was tested on a simulated paddy field area of 225 m2. The test results of the combination of the two turning methods showed that the total area of the plant that was not cut was 3.25 m2, with an average turning time of 12.4 seconds.

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“…Researchers observed to estimate the absolute heading of robot combine harvesters by compensating this gyro measurement bias during non-linear turning maneuvers. Therefore, this estimation method can be used to estimate the absolute heading when the tracked combine harvester will makes turn at high speed and with high order steering commands in order to cut wheat and paddy rice near headlands to calculate the exact crop periphery for the development of a harvesting map [8].…”

Section: Introductionmentioning

confidence: 99%

Wheat harvesting by combine with GPS receiver and grain sensor

et al. 2021

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This research describes the result of study and analyze the working process of the harvester combine with GPS receiver and grain level sensor in wheat harvesting. GPS receiver and grain level sensor showed that the combine harvester was working with what level of velocity in the real time regime and how much grain was being uploaded into grain tank. According to results when the yield increased from 2.62 t/ha to 6.22 t/ha, because of decreasing the work-velocity of the combine harvester, the work efficiency of the combine harvester decreased from 1.96 ha/hour till 1.30 ha/hour, and grain loss rose from 2.03 per cent till 3.76 per cent. In the field where the weeds had covered 16.8 per cent, the work efficiency of the combine was 1.74 ha/hour, in another field where weeds level was 56.7 the work efficiency of the combine decreased almost 1.7 times, made up 1.07 ha/hour, the grain loss was observed that it increased from 2.1 per cent till 7.42 per cent. When the moisture of the cereal decreased it was defined that the combine work efficiency increased, however the rate of grain loss in the header rose too.

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Heading Estimation of Robot Combine Harvesters during Turning Maneuveres

Cited by 8 publications

References 16 publications

Modeling of working environment and coverage path planning method of combine harvesters

Modeling of working environment and coverage path planning method of combine harvesters

Development of the turn algorithm of an autonomous combine harvester at the corner of paddy fields

Wheat harvesting by combine with GPS receiver and grain sensor

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