Total station data assessment using an industrial robotic arm for dynamic 3D in-field positioning with sub-centimetre accuracy

Paraforos, Dimitrios S.; Reutemann, Marcus; Sharipov, Galibjon M.; Werner, Roland A.; Griepentrog, Hans W.

doi:10.1016/j.compag.2017.03.009

Cited by 19 publications

(10 citation statements)

References 16 publications

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“…Furthermore, the use of more accurate positioning and data acquisition instrumentation is recommended when a higher level of accuracy is required. One possibility would be using real time kinematic GNSS and robotic total stations [25]. Another option would be fusing information from GNSS receivers and inertial sensors, a technology which is already implemented in commercial automated steering systems.…”

Section: Discussionmentioning

confidence: 99%

Determination of Cultivated Area, Field Boundary and Overlapping for A Plowing Operation Using ISO 11783 Communication and D-GNSS Position Data

2019

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Easily available and detailed area-related information is very valuable for the optimization of crop production processes in terms of, e.g., documentation and invoicing or detection of inefficiencies. The present study dealt with the development of algorithms to gain sophisticated information about different area-related parameters in a preferably automated way. Rear hitch position and wheel-based machine speed were recorded from ISO 11783 communication data during plowing with a mounted reversible moldboard plow. The data were georeferenced using the position information from a low-cost differential global navigation satellite system (D-GNSS) receiver. After the exclusion of non-work sequences from continuous data logs, single cultivated tracks were reconstructed, which represented as a whole the cultivated area of a field. Based on that, the boundary of the field and the included area were automatically detected with a slight overestimation of 1.4%. Different field parts were distinguished and single overlaps between the cultivated tracks were detected, which allowed a distinct assessment of the lateral and headland overlapping (2.05% and 3.96%, respectively). Incomplete information about the work state of the implement was identified as the main challenge to get precise results. With a few adaptions, the used methodology could be transferred to a wide range of mounted implements.

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Section: Discussionmentioning

confidence: 99%

Determination of Cultivated Area, Field Boundary and Overlapping for A Plowing Operation Using ISO 11783 Communication and D-GNSS Position Data

2019

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“…According to the authors of the work [17], the accuracy obtained for a modern RTS Trimble SPS930 (frequency of up to 20 Hz) was within the range 2-13 millimeters, which made it a significantly better result than in the case of older designs. However, the results obtained for the total station of a similar class: Leica MS50, carried out for the purpose of positioning UAV [18], demonstrated the existence of time delays for which the errors reached the values of up to 75 mm.…”

Section: Distance Measuring Systemmentioning

confidence: 99%

“…In a series of subsequent research papers, various authors pointed to the influence of non-simultaneous measurements of distances and angles on the accuracy of kinematic survey results. The tests were most frequently performed on a circular base or rectilinear test section [19,20,21,13,17,14]. Some of the tests were performed based on complex test devices.…”

Section: Distance Measuring Systemmentioning

confidence: 99%

“…In [3], the test procedure was based on an electrodynamic shaker, which was designed to study the dynamic response characteristics of structures in the frequency range of 0 ÷ 200 Hz. In [17], the prism placed on the robot arm moved at different speeds: along the straight line, along the shape of the letter U and along the shape of the figure eight. During the tests, the total station was set both along the trajectory of the prism motion and transversely to it.…”

Section: Distance Measuring Systemmentioning

confidence: 99%

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Influence of Time Delays of Robotic Total Stations Witch High Sampling Frequency on Accuracy of Measurements to Moving Prisms

Lenda

Uznański

Strach

2019

Archives of Civil Engineering

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Robotic total stations are a group of surveying instruments that can be used to measure moving prisms. These devices can generate significant errors during kinematic surveys. This is due to the different speeds of the total station’s measurement subsystems, which results in the observations of the point location being performed in different places of the space. Total stations which are several years old may generate errors of up to a few dozen centimeters. More modern designs, with much lower delays of the mechanical and electronic subsystems, theoretically allow to significantly reduce the values of the errors. This study involved the performance of kinematic tests on the modern robotic total station Leica MS50 in order to determine the values of measurement errors, and also to define the possibility of using them for the above-mentioned applications.

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“…With the development of measurement devices, Total Station Position System (TPS) integrated electro-motor and embedded software become an automated measurement system based on laser and CCD technologies Paraforos et al, 2017). It can automatically target recognition (ATR), automatic aiming, automatic angle measurement, automatic recording, working like a robot, observing hundreds of prisms continuously and repeatedly in construction surveying and deformation monitoring application (Gumilar et al, 2017).…”

Section: Introductionmentioning

confidence: 99%

Design and Implementation of Electronically Controlled On-off Prism based on WSNs

et al. 2018

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Aiming at the problem of multiple prisms recognition in a narrow field angle in the application of TPS automatic measurement, a novel prism node is designed and implemented. Based on WSNs, measuring prism and electrically controlled dimming glass are grouped together as a prism node. It can easily switch between the fuzzy or the transparent state, to help TPS search and observe the correct prism automatically. Its feasibility is verified by experiments, which greatly simplifies the complexity of engineering installation and operation.

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Total station data assessment using an industrial robotic arm for dynamic 3D in-field positioning with sub-centimetre accuracy

Cited by 19 publications

References 16 publications

Determination of Cultivated Area, Field Boundary and Overlapping for A Plowing Operation Using ISO 11783 Communication and D-GNSS Position Data

Determination of Cultivated Area, Field Boundary and Overlapping for A Plowing Operation Using ISO 11783 Communication and D-GNSS Position Data

Influence of Time Delays of Robotic Total Stations Witch High Sampling Frequency on Accuracy of Measurements to Moving Prisms

Design and Implementation of Electronically Controlled On-off Prism based on WSNs

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