Precision Variable-Rate Spraying Robot by Using Single 3D LIDAR in Orchards

Automatic navigation (AN) is an essential component to ensure the safety of pesticide application in orchards, whereas precision variable-rate spraying (PVS) serves as indispensable technology for reducing pesticides and protecting environment. At present, AN PVS are not closely combined. In this case, a single three-dimension (3D) light detection ranging (LIDAR) sensor hereby adopted sense information fruit trees around robot determine region interest (ROI). Moreover, two-dimensional (2D) processing conducted over point clouds within ROI obtain center-of-mass coordinates trees, vertical distance center line tree row (FTR) based on FTR both sides using Random Sample Consensus (RANSAC) algorithm. Then, controlled drive along FTR. same time, speed position determined by encoder inertial measurement unit (IMU), IMU corrects collected from zoned canopy trees. The results present lateral deviation (LD) less than 22 cm course (CD) 4.02° during AN. Compared with traditional (TS), applies 32.46%, 44.34% 58.14% application, air drift ground loss, respectively. With effect guaranteed, 3D LIDAR, realize robot, reduce volume loss drift, effectively control pollution caused