Development of a Real-Time Tillage Depth Measurement System for Agricultural Tractors: Application to the Effect Analysis of Tillage Depth on Draft Force during Plow Tillage
Abstract
:1. Introduction
2. Materials and Methods
2.1. Agricultural Tractor and Tillage Implement
2.2. Measurement of Soil Parameters
2.3. Tillage Depth Measurement
2.3.1. Tillage Depth Measurement Principle
2.3.2. Development of a Real-Time Tillage Depth Measurement System
2.4. Draft Force Measurement System
2.5. Test Procedure
2.5.1. Soil Non-Penetration Test Using Two Sensor Fusion Type
2.5.2. Field Experiments
2.6. Analysis Method
3. Results and Discussion
3.1. Soil Non-Penetration Test
3.2. Soil Properties
3.3. Analysis of Field Experiment Data
3.3.1. Tillage Depth
3.3.2. Traveling Speed
3.3.3. Draft Force
4. Discussion
5. Conclusions
- (1)
- The real-time tillage depth measurement system was developed through sensor fusion consisting of a linear potentiometer, an optical distance sensor, and an inclinometer. A simple soil non-penetration test bed was constructed considering the actual tillage depth of moldboard plow. As a result of the accuracy verification test, sensor fusion type A showed a 2% measurement error, which was 9% lower than the sensor fusion type B, using the optical distance sensor and the inclinometer, which had an 11% measurement error. In addition, sensor fusion type A showed only about 3% measurement error in actual moldboard plow operations. Therefore, sensor fusion type A is a suitable method for measuring the tillage depth during actual tillage operations. In addition, the system can only be measured with relative vertical displacement, which makes it possible to use it for any type of tillage operation.
- (2)
- To verify the accuracy of the real-time tillage depth measurement system in the plow tillage, a comparative test between the measured draft force and the predicted values based on the ASABE standard equation was conducted. In addition, soil texture analysis of the test field was performed to select Fi (dimensionless soil texture adjustment parameter), a key factor used in the draft force prediction. As a result of the soil texture analysis, the soil of the test field was classified as loam, and it was confirmed that the Fi value of 0.7 should be used when using the draft force prediction equation of ASABE standard as the soil texture of the medium texture group.
- (3)
- Field test results showed that the overall average traveling speed and draft force values of the two gear stages were similar, but are greatly affected by the tillage depth. Overall, the higher the gear selection, the deeper the tillage depths, which will result in greater soil resistance, slowing the traveling speed while increasing the average draft force. The regression analysis for system accuracy analysis showed that the deeper the tillage depth in each gear, the closer the coefficient of determination was to 1. Specifically, the lower the gear selection and the deeper the tillage depth during plow tillage, the higher the coefficient of determination as a result of the regression analysis of the measured values. This is thought to be influenced by the relatively rapid decrease in traveling speed due to greater soil resistance in the deep tillage depth section of the high gear stage M3–high. Therefore, in the case of no reduction in traveling speed due to soil resistance even in the deep tillage depth section during plow tillage, it was seen that the deeper the tillage depth and the greater the draft force, the higher the accuracy of the draft force prediction using the real-time tillage depth measurement system.
Author Contributions
Funding
Conflicts of Interest
References
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Item | Specification |
---|---|
Mass (kg) | 790 |
Length Width Height (m) | 2.8 2.15 1.25 |
Required power (kW) | 67–89 |
Working depth (m) | Up to 0.2 |
Working speed (km/h) | 5–8 |
Share type | Gunnel-type/Plain coulter with spring |
Item | Draft | Lateral | Vertical |
---|---|---|---|
Applied force (kN) | 14.7 | 9.8 | 4.9 |
Measured force (kN) | 14.5 | 9.7 | 5 |
Accuracy (%) | 98.9 | 99.2 | 97.4 |
Target Tillage Depth (m) | Sensor Fusion Type A | Sensor Fusion Type B | ||||
---|---|---|---|---|---|---|
0.05 | 0.1 | 0.15 | 0.05 | 0.1 | 0.15 | |
RMSE (m) | 0.00111 | 0.00328 | 0.00138 | 0.00555 | 0.00962 | 0.019 |
Accuracy (%) | 97.76 | 96.72 | 99.08 | 88.88 | 90.38 | 87.32 |
Gear Selection | Max. | Mean | Std. |
---|---|---|---|
M3–low | 0.188 | 0.168 | 0.0088 |
M3–high | 0.194 | 0.157 | 0.0013 |
Gear Selection | Grouped Frequency of Tillage Depth (m) | ||||||
---|---|---|---|---|---|---|---|
0.14 | 0.15 | 0.16 | 0.17 | 0.18 | 0.19 | Average | |
M3–low | 5.45 A | 5.68 B | 5.8 C | 5.73 BC | 5.51 A | 5.44 A | 5.69 |
M3–high | 5.74 e | 5.9 f | 5.63 d | 5.36 c | 5.03 b | 4.1 a | 5.58 |
Gear Selection | Grouped Frequency of Tillage Depth (m) | ||||||
---|---|---|---|---|---|---|---|
0.14 | 0.15 | 0.16 | 0.17 | 0.18 | 0.19 | Average | |
M3–low | 31.79 A | 32.08 AB | 32.31 B | 32.8 C | 33.4 D | 34.1 E | 32.76 |
M3–high | 32.2 a | 32.36 ab | 32.54 b | 33.49 c | 34.43 d | 36.51 e | 32.91 |
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Kim, Y.-S.; Kim, T.-J.; Kim, Y.-J.; Lee, S.-D.; Park, S.-U.; Kim, W.-S. Development of a Real-Time Tillage Depth Measurement System for Agricultural Tractors: Application to the Effect Analysis of Tillage Depth on Draft Force during Plow Tillage. Sensors 2020, 20, 912. https://doi.org/10.3390/s20030912
Kim Y-S, Kim T-J, Kim Y-J, Lee S-D, Park S-U, Kim W-S. Development of a Real-Time Tillage Depth Measurement System for Agricultural Tractors: Application to the Effect Analysis of Tillage Depth on Draft Force during Plow Tillage. Sensors. 2020; 20(3):912. https://doi.org/10.3390/s20030912
Chicago/Turabian StyleKim, Yeon-Soo, Taek-Jin Kim, Yong-Joo Kim, Sang-Dae Lee, Seong-Un Park, and Wan-Soo Kim. 2020. "Development of a Real-Time Tillage Depth Measurement System for Agricultural Tractors: Application to the Effect Analysis of Tillage Depth on Draft Force during Plow Tillage" Sensors 20, no. 3: 912. https://doi.org/10.3390/s20030912
APA StyleKim, Y. -S., Kim, T. -J., Kim, Y. -J., Lee, S. -D., Park, S. -U., & Kim, W. -S. (2020). Development of a Real-Time Tillage Depth Measurement System for Agricultural Tractors: Application to the Effect Analysis of Tillage Depth on Draft Force during Plow Tillage. Sensors, 20(3), 912. https://doi.org/10.3390/s20030912