A LiDAR Sensor-Based Spray Boom Height Detection Method and the Corresponding Experimental Validation

Dou, Hanjie; Wang, Songlin; Zhai, Changyuan; Chen, Liping; Xiu, Wang; Zhao, Xueguan

doi:10.3390/s21062107

Cited by 10 publications

(4 citation statements)

References 18 publications

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“…Ultrasonic sensors can be used to obtain crop height information through non-contact methods ( Barmeier et al., 2016 ). Ultrasonic sensors’ data is easy to process, and this type of sensor is distinguished by its cost-effectiveness, ease of portable installation ( Jeon et al., 2011 ), and suitability for prolonged exposure in field environments, particularly when compared with light detection and ranging (LiDAR) ( Yuan et al., 2019 ; Dou et al., 2021 ) and unmanned aircraft system (UAS) imagery ( Gai et al., 2015 ; Jiang et al., 2016 ).…”

Section: Introductionmentioning

confidence: 99%

Calibrating ultrasonic sensor measurements of crop canopy heights: a case study of maize and wheat

Zheng,

Hui,

Cai

et al. 2024

Front. Plant Sci.

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Canopy height serves as an important dynamic indicator of crop growth in the decision-making process of field management. Compared with other commonly used canopy height measurement techniques, ultrasonic sensors are inexpensive and can be exposed in fields for long periods of time to obtain easy-to-process data. However, the acoustic wave characteristics and crop canopy structure affect the measurement accuracy. To improve the ultrasonic sensor measurement accuracy, a four-year (2018−2021) field experiment was conducted on maize and wheat, and a measurement platform was developed. A series of single-factor experiments were conducted to investigate the significant factors affecting measurements, including the observation angle (0−60°), observation height (0.5−2.5 m), observation period (8:00−18:00), platform moving speed with respect to the crop (0−2.0 m min−1), planting density (0.2−1 time of standard planting density), and growth stage (maize from three−leaf to harvest period and wheat from regreening to maturity period). The results indicated that both the observation angle and planting density significantly affected the results of ultrasonic measurements (p-value< 0.05), whereas the effects of other factors on measurement accuracy were negligible (p-value > 0.05). Moreover, a double-input factor calibration model was constructed to assess canopy height under different years by utilizing the normalized difference vegetation index and ultrasonic measurements. The model was developed by employing the least-squares method, and ultrasonic measurement accuracy was significantly improved when integrating the measured value of canopy heights and the normalized difference vegetation index (NDVI). The maize measurement accuracy had a root mean squared error (RMSE) ranging from 81.4 mm to 93.6 mm, while the wheat measurement accuracy had an RMSE from 37.1 mm to 47.2 mm. The research results effectively combine stable and low-cost commercial sensors with ground-based agricultural machinery platforms, enabling efficient and non-destructive acquisition of crop height information.

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Section: Introductionmentioning

confidence: 99%

Calibrating ultrasonic sensor measurements of crop canopy heights: a case study of maize and wheat

Zheng,

Hui,

Cai

et al. 2024

Front. Plant Sci.

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“…However, the conditions of use in the field environment are more stringent. Sudden changes in the crop canopy will reduce the accuracy of a LiDAR sensor [12]. Ground height estimation can fail when faced with dense plots without exposed soil [13], and LiDAR data require supporting processing software for subsequent data processing [14].…”

Section: Introductionmentioning

confidence: 99%

“…For an ultrasonic sensor, the distance between the object and sensor is calculated based on the time elapsed from the transmitting signal to the receiving reflected signal and the known value of the sound speed in air. For the height detection of some crops, an ultrasonic sensor offers relatively good performance and correlation [18][19][20][21][22], and it is also the main sensor used to detect the height of the spray boom [12]. Ultrasonic sensors have the advantages of high repeatability detection accuracy in the same environment [23], are more user-friendly than LiDAR sensors [14], and are less expensive.…”

Section: Introductionmentioning

confidence: 99%

Model for Detecting Boom Height Based on an Ultrasonic Sensor for the Whole Growth Cycle of Wheat

Wu,

Li,

Pan

et al. 2023

Agriculture

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Ultrasonic feedback energy is affected by the variety, planting, and growth state of crops; therefore, it is difficult to find applications for this energy in precision agriculture systems. To this end, an ultrasonic sensor was mounted in a spray boom height detection system. Winter wheat was used as the test object to obtain feedback energy values for the spray boom height from the top of the wheat in the field during six critical growth stages: the standing stage, the jointing stage, the booting stage, the heading stage, the filling stage, and the maturity stage. The relationship between the actual value of the height from the spray boom at the top of the wheat (Habw) and the detected value of the height from the spray boom at the top of the wheat (Hdbw) was analyzed. A spray boom height detection model based on the ultrasonic sensor during the full growth cycle of wheat was determined. Field validation tests showed that the applicability of the spray boom height detection distance (Dd) of the spray boom height detection model proposed in the present study was 450~950 mm. Within the applicable Dd range, the detection error of the detection model was ≤50 mm during the full growth cycle. This study provides a method for constructing a boom height detection model based on the whole growth cycle of wheat, which improves the reliability and accuracy of ultrasonic boom height detection for different wheat growth stages. The proposed method solves the problem of low accuracy of repeated detection of low-cost ultrasonic sensors in different environments and can provide technical support for improving field applications of the boom height control system based on ultrasonic sensors.

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“…The findings provide a basis for height detection in field crops, but it is difficult to extend to other crops due to the differences in canopy structure between crops. Those spray boom height detection systems performed relatively well on flat bare ground ( Dou et al 2021b ), with larger leaf canopies (cotton, maize). The suitability and effectiveness of detection for sparse canopies in wheat is unclear.…”

Section: Introductionmentioning

confidence: 99%

Sprayer boom height measurement in wheat field using ultrasonic sensor: An exploratory study

Zhao¹,

Zhai²,

Wang³

et al. 2022

Front. Plant Sci.

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In order to explore the influencing factors and laws of ultrasonic sensor detecting wheat canopy height, designed an ultrasonic sensor detection height test platform with speed adjustable function. Taking step surface, bare soil and wheat canopy as the research objects, a canopy height calculation method based on K-mean clustering is proposed, and the response characteristics of ultrasonic detection to three media under different operating speeds are explored. Firstly, the step detection test results show that the average detection error of ultrasonic sensor is 1.35%. When the sensor detection distance is switched at the step, with the increase of detection distance, the actual offset at the step increases first and then tends to be stable, and the maximum offset is 10.4cm. The test results of bare soil slope show that the relative error between the detection distance and the manual measurement distance is 1.4% under quasi-static conditions. The leading or lagging of detection under moving conditions is affected by multiple factors such as terrain undulation, speed and detection range. The detection test results of wheat canopy showed that the detection distance was larger than the manual measurement distance, and the smaller the canopy density, the greater the detection error and error variance. When the moving speed is 0.3m/s-1.2m/s, the average detection deviation of the ultrasonic sensor for five kinds of wheat canopy density is 0.14m, and the maximum variance of the detection deviation is 0.07cm2. In this paper, the research on the response characteristics of ultrasonic to the detection of bare soil and sparse canopy in wheat field can provide technical support for the detection of crop canopy in the field.

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A LiDAR Sensor-Based Spray Boom Height Detection Method and the Corresponding Experimental Validation

Cited by 10 publications

References 18 publications

Calibrating ultrasonic sensor measurements of crop canopy heights: a case study of maize and wheat

Calibrating ultrasonic sensor measurements of crop canopy heights: a case study of maize and wheat

Model for Detecting Boom Height Based on an Ultrasonic Sensor for the Whole Growth Cycle of Wheat

Sprayer boom height measurement in wheat field using ultrasonic sensor: An exploratory study

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