果园智能化作业装备自主导航技术研究进展OA北大核心CSTPCD

Orchard production management mainly includes spraying,fertilizing,mowing,pruning,pollination,flower thinning and harvest grading and other operations,which requires a lot of manpower investment.As China's population ages,there is an urgent need to transform and upgrade orchard production management from mechanization to intelligence.Autonomous navigation technology is the key technology for realizing intelligentization of orchard mechanized equipment.Focusing on the navigation control requirements of orchard intelligent equipment,and combining with the current research status at home and abroad,the orchard operation scene perception technology,including navigation positioning information and obstacle information,navigation map construction,navigation path extraction and path planning methods,walking chassis kinematic model construction,motion control,multi-machine collaborative control technology,remote interactive control and other technologies respectively explained.With the development of smart agriculture,smart orchards have become the future development direction of orchards.Intelligent orchard operating equipment is an indispensable key link in the construction of smart orchards.On this basis,the problems faced by the development of autonomous navigation technology for intelligent operation equipment in China's orchards were summarized,such as insufficient environmental sensing ability,unstable path extraction,inflexible local path planning,lack of environmental adaptability of navigation system,immature multi-machine cooperation and remote control,etc.The future development directions were summarized,such as multi-sensor fusion of environmental sensing and path extraction,complete path planning,strong generality of orchard navigation,and multi-machine cooperation and remote operation in multi operation links of large-scale orchards.The research result can provide a reference for accelerating the research and development of orchard intelligent equipment and promote the transformation of China's orchard production management from mechanization to intelligence.