Abstract
A spread spectrum sound-based local positioning system (SSSLPS) has been developed for indoor agricultural robots by our research group. Such an SSSLPS has several advantages, including effective propagation, low cost, and ease of use. When using sound velocity for field position measurements in a greenhouse, spatial and temporal variations in temperature during the day can have a major effect on sound velocity and subsequent positioning accuracy. In this research, a temperature-compensated sound velocity positioning was proposed and evaluated in comparison to a conventional temperature sensor method. Results indicate that this new proposed method has a positioning accuracy to within 20 mm in a 3 m × 9 m ridged greenhouse. It has the potential to replace the current system of using the temperature sensors in a greenhouse.
Highlights
In recent years, agriculture has seen a sustained effort to improve the technology of field robotics [1,2]
The results demonstrate that the estimated method better reflects distributed, the result shows that it can tolerate uneven sound velocity generated by large actual sound velocities within the greenhouse, and provides more accurate positioning results temperature differences within a small-sized greenhouse
This research proposed a new temperature compensation method that can be used with localization systems that estimate position using sound for accurate positioning inside small-sized greenhouses
Summary
Agriculture has seen a sustained effort to improve the technology of field robotics [1,2]. A new concept of Internet of Things (IoT) [6] that is based on building networks of devices and sensors has been developed In many cases, these networks will require a localization system, which provides positioning information and controls the movement of the robots. The concept of using the spread spectrum sound (SSSound) enables indoor localization using only relatively inexpensive speakers and microphones Such an SSSound system does not require a laser emitter, nor a photodetector to detect the pulse compared with a laser emitter system, and requires less. The objective is to to develop develop aa new new temperature temperature compensation compensation method using an estimated sound velocity algorithm embedded in the spread spectrum sound-based local positioning system.
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