农业轮式机器人三维环境感知技术研究进展  

Three-Dimensional Environment Perception Technology for Agricultural Wheeled Robots:A Review

作　　者：陈睿韵 田文斌 鲍海波 李端 谢鑫浩 郑永军[1] 谭彧[1] CHEN Ruiyun;TIAN Wenbin;BAO Haibo;LI Duan;XIE Xinhao;ZHENG Yongjun;TAN Yu(College of Engineering,China Agricultural University,Beijing 100083,China;School of Instrumentation and Optoelectronic Engineering,Beihang University,Beijing 100191,China;The 54th Research Institute of CETC,Shijiazhuang 050081,China)

机构地区：[1]中国农业大学工学院,北京100083 [2]北京航空航天大学仪器科学与光电工程学院,北京100191 [3]中国电子科技集团公司第五十四研究所,河北石家庄050081

出　　处：《智慧农业（中英文）》2023年第4期16-32,共17页Smart Agriculture

基　　金：国家自然科学基金(61901023,32171901)。

摘　　要：[目的/意义]作为未来农机装备的研究重点,农业轮式机器人正向着智能化与多功能化的方向发展。三维环境感知技术因其获取的信息量丰富、复杂环境下的鲁棒性和适应性好,成为了农业轮式机器人智能化无人作业的基础与关键,其发展水平直接影响到包括农业轮式机器人在内的无人农机的作业质量与效率。[进展]本文首先总结了农业轮式机器人和农业环境感知技术的发展现状,分析了不同类型农业轮式机器人的使用特点和应用现状。其次分析了在农业轮式机器人上实现三维环境感知所主要使用的感知设备及其对应的关键技术,重点阐述了基于激光雷达、视觉传感器和多传感器融合的农业轮式机器人三维环境感知技术的研究进展。[结论/展望]结合农业作业特点与实际需求,指出了农业轮式机器人三维环境感知技术在适用性、环境信息处理和感知效果等方面存在的一些问题,并提出了提升传感器的农业适用性、发展基于深度学习的农业环境感知技术、发展智能化的高速在线多传感器信息融合技术三个方面的建议,以期为农业轮式机器人三维环境感知技术发展提供参考与借鉴。[Significance]As the research focus of future agricultural machinery,agricultural wheeled robots are developing in the direction of intelligence and multi-functionality.Advanced environmental perception technologies serve as a crucial foundation and key components to promote intelligent operations of agricultural wheeled robots.However,considering the non-structured and complex environments in agricultural on-field operational processes,the environmental information obtained through conventional 2D perception technologies is limited.Therefore,3D environmental perception technologies are highlighted as they can provide more dimensional information such as depth,among others,thereby directly enhancing the precision and efficiency of unmanned agricultural machinery operation.This paper aims to provide a detailed analysis and summary of 3D environmental perception technologies,investigate the issues in the development of agricultural environmental perception technologies,and clarify the future key development directions of 3D environmental perception technologies regarding agricultural machinery,especially the agricultural wheeled robot.[Progress]Firstly,an overview of the general status of wheeled robots was introduced,considering their dominant influence in environmental perception technologies.It was concluded that multi-wheel robots,especially four-wheel robots,were more suitable for the agricultural environment due to their favorable adaptability and robustness in various agricultural scenarios.In recent years,multi-wheel agricultural robots have gained widespread adoption and application globally.The further improvement of the universality,operation efficiency,and intelligence of agricultural wheeled robots is determined by the employed perception systems and control systems.Therefore,agricultural wheeled robots equipped with novel 3D environmental perception technologies can obtain high-dimensional environmental information,which is significant for improving the accuracy of decision-making and control.Moreover

关 键 词：轮式机器人 三维环境感知 激光雷达 视觉传感器 多传感器融合 自主导航 

分 类 号：S24[农业科学—农业电气化与自动化] S-1[农业科学—农业工程]