Development of High-efficiency Spray Control Algorithm based on Gaussian Filter for Orchard Robot Speed-sprayer using LiDAR

摘要

In general, control work carried out by farmers in orchards causes environmental pollution problems due to residual pesticides generated in the process of excessive spraying, and is directly exposed to the skin and respiratory tract, adversely affecting the health of farmers. As a countermeasure to this problem, a technology to automatically control machinery used in agriculture is required, and this study proposes a control algorithm for a control robot system that can spray high-efficiency pesticides in an orchard environment. The shape and presence or absence of the fruit tree were checked using the LiDAR sensor, and a Gaussian filter-based control signal algorithm was designed and simulated. The main techniques used in the algorithm were gaussian filtering, down sampling, threshold processing, and sequential data delay techniques, and the effect was confirmed through simulation.