DOI：10.6041/j.issn.1000-1298.2024.04.001
摘要:果园生产管理主要包括喷药、施肥、割草、修剪、授粉、疏花和采收分级等作业环节，需要大量的人力投入，随着我国人口老龄化程度加剧，亟需果园生产管理由机械化向智能化转型升级。自主导航技术是果园机械化装备实现智能化的关键技术。本文围绕果园智能化作业装备导航控制需求，结合国内外研究现状，分别阐述了包含导航定位信息和障碍物信息的果园作业场景感知技术，导航地图构建、导航路径提取和路径规划技术，行走底盘运动学模型构建、运动控制技术，多机协同控制、远程交互控制技术等。随着智慧农业发展，智慧果园已成为果园未来发展方向，果园智能化作业装备是智慧果园建设必不可少的关键环节，在此基础上，归纳了我国果园智能化作业装备自主导航技术发展面临的问题为：环境感知能力不足、路径提取不稳定、局部路径规划不灵活、导航系统环境适应性欠缺、多机协同和远程控制不成熟等，提出了多传感器融合的环境感知与路径提取、完整路径规划、强通用性果园导航、大型果园多作业环节的多机协同与远程操作等未来发展方向。
关键词: 果园;生产管理;作业装备;自主导航;智慧果园
Survey of Research on Visual Odometry Technology for Mobile Robots
Abstract: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.
Key Words:orchard;production management;operational equipment;autonomous navigation;smart orchard
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