Field Variation Characteristics of Sprayer Boom Height Using a Newly Designed Boom Height Detection System

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

doi:10.1109/access.2021.3053035

Cited by 12 publications

(12 citation statements)

References 22 publications

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“…the flat canopy in wheat fields is not affected by the delayed distance, but at the junction between the wheat canopy and the bare ground, a detection distance bias occurs. This conclusion is in common with the detection performance of LiDAR sensing ( Dou et al 2021a ). A further improvement in control accuracy can be achieved by using this detection distance bias as a compensation for the delay time of the spray boom height system.…”

Section: Discussionsupporting

confidence: 78%

“…The height of the spray boom at different lateral positions, as an important indicator parameter of the spray boom attitude, is the main influencing factor on the quality of the spray distribution ( Ramon and Baerdemaeker, 1997 ; Ramon et al, 1997a ; Ooms et al., 2003 ). The accuracy of the spray boom height detection directly affects the response characteristics of the spray boom height control system ( Dou et al 2021a ). Researchers at domestic and international level have conducted research on different sensing detection methods for detecting spray boom tilt heights and have also made considerable progress.…”

Section: Introductionmentioning

confidence: 99%

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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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Section: Discussionsupporting

confidence: 78%

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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“…k is the number of clusters. Our previous study contains more details on this process [30]. The flow chart of the H b calculation based on the K-means clustering algorithm is shown in Figure 6.…”

Section: Acceleration Data Processingmentioning

confidence: 99%

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

Dou

Wang

Zhai

et al. 2021

Sensors

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Sprayer boom height (Hb) variations affect the deposition and distribution of droplets. An Hb control system is used to adjust Hb to maintain an optimum distance between the boom and the crop canopy, and an Hb detection sensor is a key component of the Hb control system. This study presents a new, low-cost light detection and ranging (LiDAR) sensor for Hb detection developed based on the principle of single-point ranging. To examine the detection performance of the LiDAR sensor, a step height detection experiment, a field ground detection experiment, and a wheat stubble (WS) height detection experiment as well as a comparison with an ultrasonic sensor were performed. The results showed that the LiDAR sensor could be used to detect Hb. When used to detect the WS height (HWS), the LiDAR sensor primarily detected the WS roots and the inside of the WS canopy. HWS and movement speed of the LiDAR sensor (VLiDAR) has a greater impact on the detection performance of the LiDAR sensor for the WS canopy than that for the WS roots. The detection error of the LiDAR sensor for the WS roots is less than 5.00%, and the detection error of the LiDAR sensor for the WS canopy is greater than 8.00%. The detection value from the LiDAR sensor to the WS root multiplied by 1.05 can be used as a reference basis for adjusting Hb, and after the WS canopy height is added to the basis, the value can be used as an index for adjusting Hb in WS field spraying. The results of this study will promote research on the boom height detection method and autonomous Hb control system.

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“…Nielsen et al [1] combined ultrasonic and displacement sensors to monitor the depth of the colters from the ground and developed a corresponding control system. Patel et al [2] used a 2D LiDAR mounted on the sprayer to obtain the height of the citrus canopy to the ground to control the spraying nozzles to optimize spraying applications. Similarly, Dou et al [3] used ultrasonics to measure the height between the sprayer boom and the wheat stubble canopy to control the height of the sprayer boom during pesticide application.…”

Section: Introductionmentioning

confidence: 99%

Method for the height measurement of agricultural implements based on variable parameter Kalman filter

Gaolong,

Xiwen,

Lian

et al. 2024

International Journal of Agricultural and Biological Engineering

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To improve the GNSS receiver's accuracy, continuity, and stability in measuring the height of agricultural implements, this study proposed a variable-parameter Kalman filter (VPKF) algorithm based on GNSS and accelerometer to estimate the height of the implements optimally. The VPKF was verified, and its accuracy was evaluated by parallel rail platform and field tests. From the parallel rail test results, when the GNSS receiver was in real-time kinematic (RTK) positioning and the time delay of differential correction data (TDDCD) was less than or equal to 4 s, the root mean square error (RMSE) of the VPKF estimation was 9.82 mm. The RMSE of the GNSS measurement was 18.85 mm. When the GNSS receiver lost differential correction data within 28 s, the absolute error of VPKF was less than 30 mm, and the RMSE was 16.93 mm. The field test results showed that when the GNSS receiver was in RTK positioning and the TDDCD was less than or equal to 4 s, the RMSE of VPKF estimation was 13.43 mm, and the GNSS measurement was 14.56 mm. When the GNSS receiver lost differential correction data within 28 s, the RMSE of the VPKF estimate was 15.22 mm. These results show that VPKF can optimally estimate implement height with better accuracy. Overall, the VPKF can obtain a more accurate, continuous, and stable height of the implement, and increase the application scenarios of the GNSS receiver to measure the implement height.

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Field Variation Characteristics of Sprayer Boom Height Using a Newly Designed Boom Height Detection System

Cited by 12 publications

References 22 publications

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

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

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

Method for the height measurement of agricultural implements based on variable parameter Kalman filter

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