Online Detection of Loading Capacity in Mechanized Pepper Harvesting Using Ultrasonic Sensors
Abstract
:1. Introduction
2. Materials and Methods
2.1. Construction of a Bench Test for the Detection of Pepper Loading Capacity
2.2. Pepper Loading Capacity Detection Software Design
2.3. Sensor Calibration and Accuracy Tests
2.3.1. Sensor Calibration
2.3.2. Accuracy Tests for the Detection of Pepper Stacking Height
2.4. Detection Tests of Pepper Stacking Height in the Hopper
2.5. Construction Method of the Pepper Loading Capacity Detection Model
3. Results and Discussion
3.1. Adaptability Test Results for Pepper Loading Capacity Detection Sensors
3.1.1. Sensor Calibration Test Results
3.1.2. Comparison Results of the Detection Accuracy of Pepper Stacking Height
3.2. Construction and Validation of the Detection Model for Pepper Loading Capacity
3.2.1. Detection Results of Pepper Stacking Height
3.2.2. Construction of the Pepper Loading Capacity Detection Model
3.2.3. Validation Results of the Pepper Loading Capacity Detection Model
4. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Sensors | Relational Expressions | R2 | |
---|---|---|---|
Ultrasonic sensor | 1 | − 745.56 | 0.9999 |
2 | − 746.72 | 0.9999 | |
3 | − 743.86 | 0.9999 | |
Infrared distance sensor | 1 | − 1.007 | 0.9982 |
2 | − 1.038 | 0.9983 | |
3 | − 1.037 | 0.9987 |
Sensors | Detection Values (mm) | Difference (mm) | ||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Maximum | Minimum | RMSE | ||||||||||||||||
Ultrasonic sensor | 1 | 209 | 400 | 605 | 803 | 1005 | 1207 | 1407 | 1596 | 1798 | 1998 | 2196 | 2395 | 2600 | 2798 | 9 | 0 | 4.7 |
2 | 208 | 410 | 611 | 809 | 1009 | 1208 | 1403 | 1606 | 1808 | 2006 | 2209 | 2410 | 2611 | 2808 | 11 | 3 | 8.5 | |
3 | 203 | 400 | 603 | 804 | 1002 | 1203 | 1401 | 1592 | 1798 | 1995 | 2198 | 2398 | 2596 | 2800 | 8 | 0 | 3.4 | |
Laser radar sensor | 1 | 216 | 407 | 613 | 815 | 1010 | 1214 | 1410 | 1609 | 1810 | 2010 | 2220 | 2421 | 2617 | 2811 | 23 | 7 | 13.7 |
2 | 227 | 417 | 616 | 816 | 1018 | 1211 | 1412 | 1597 | 1802 | 1996 | 2197 | 2396 | 2591 | 2795 | 21 | 2 | 12.8 | |
3 | 206 | 419 | 624 | 818 | 1017 | 1215 | 1419 | 1613 | 1814 | 2004 | 2211 | 2419 | 2617 | 2819 | 24 | 4 | 16.2 | |
Infrared distance sensor | 1 | 226 | 280 | 363 | 458 | 559 | 665 | 764 | 873 | 981 | 1085 | 1194 | 1320 | 1427 | 1504 | 42 | 4 | 27.9 |
2 | 234 | 276 | 359 | 450 | 545 | 640 | 744 | 840 | 923 | 1059 | 1140 | 1281 | 1375 | 1446 | 77 | 19 | 49.6 | |
3 | 234 | 287 | 378 | 476 | 583 | 688 | 786 | 897 | 1007 | 1120 | 1206 | 1324 | 1420 | 1510 | 34 | 3 | 18.1 |
Elevator Transport Speed (m min−1) | Pepper Volume (m3) | Pepper Stacking Height Value (mm) | ||
---|---|---|---|---|
Ultrasonic Sensor-1 | Ultrasonic Sensor-2 | Ultrasonic Sensor-3 | ||
50 | 0.1 | 248 | 163 | 15 |
0.2 | 377 | 282 | 126 | |
0.3 | 486 | 365 | 244 | |
0.4 | 622 | 479 | 353 | |
0.5 | 698 | 598 | 448 | |
0.6 | 824 | 680 | 544 | |
0.7 | 964 | 772 | 643 | |
0.8 | 1049 | 889 | 755 | |
75 | 0.1 | 250 | 185 | 13 |
0.2 | 369 | 285 | 129 | |
0.3 | 494 | 394 | 246 | |
0.4 | 612 | 480 | 349 | |
0.5 | 695 | 576 | 441 | |
0.6 | 806 | 723 | 521 | |
0.7 | 936 | 812 | 635 | |
0.8 | 1039 | 880 | 756 | |
100 | 0.1 | 248 | 188 | 14 |
0.2 | 346 | 302 | 129 | |
0.3 | 491 | 403 | 250 | |
0.4 | 609 | 488 | 345 | |
0.5 | 679 | 604 | 447 | |
0.6 | 816 | 689 | 531 | |
0.7 | 920 | 780 | 636 | |
0.8 | 1033 | 896 | 765 | |
125 | 0.1 | 242 | 194 | 54 |
0.2 | 353 | 293 | 152 | |
0.3 | 469 | 384 | 246 | |
0.4 | 595 | 471 | 350 | |
0.5 | 666 | 621 | 445 | |
0.6 | 792 | 695 | 526 | |
0.7 | 919 | 799 | 643 | |
0.8 | 1031 | 900 | 828 | |
150 | 0.1 | 217 | 185 | 59 |
0.2 | 337 | 304 | 164 | |
0.3 | 461 | 394 | 261 | |
0.4 | 574 | 483 | 379 | |
0.5 | 663 | 622 | 478 | |
0.6 | 757 | 685 | 566 | |
0.7 | 902 | 814 | 650 | |
0.8 | 1018 | 906 | 758 | |
175 | 0.1 | 210 | 187 | 106 |
0.2 | 316 | 304 | 218 | |
0.3 | 462 | 428 | 309 | |
0.4 | 573 | 500 | 395 | |
0.5 | 649 | 606 | 505 | |
0.6 | 771 | 711 | 580 | |
0.7 | 892 | 824 | 661 | |
0.8 | 1003 | 919 | 767 | |
200 | 0.1 | 198 | 189 | 132 |
0.2 | 300 | 304 | 226 | |
0.3 | 437 | 422 | 349 | |
0.4 | 556 | 520 | 401 | |
0.5 | 634 | 610 | 541 | |
0.6 | 748 | 722 | 612 | |
0.7 | 857 | 829 | 689 | |
0.8 | 974 | 918 | 765 | |
225 | 0.1 | 180 | 179 | 141 |
0.2 | 299 | 294 | 250 | |
0.3 | 429 | 415 | 374 | |
0.4 | 526 | 540 | 444 | |
0.5 | 608 | 621 | 560 | |
0.6 | 707 | 718 | 625 | |
0.7 | 851 | 841 | 750 | |
0.8 | 964 | 937 | 815 | |
250 | 0.1 | 122 | 170 | 165 |
0.2 | 272 | 299 | 260 | |
0.3 | 387 | 418 | 371 | |
0.4 | 513 | 515 | 488 | |
0.5 | 596 | 609 | 570 | |
0.6 | 714 | 729 | 652 | |
0.7 | 823 | 841 | 770 | |
0.8 | 935 | 945 | 853 | |
275 | 0.1 | 119 | 168 | 159 |
0.2 | 254 | 292 | 271 | |
0.3 | 363 | 394 | 386 | |
0.4 | 465 | 515 | 499 | |
0.5 | 563 | 619 | 589 | |
0.6 | 684 | 710 | 666 | |
0.7 | 806 | 837 | 773 | |
0.8 | 917 | 938 | 867 | |
300 | 0.1 | 83 | 141 | 192 |
0.2 | 225 | 268 | 267 | |
0.3 | 316 | 388 | 373 | |
0.4 | 459 | 506 | 497 | |
0.5 | 542 | 593 | 580 | |
0.6 | 638 | 697 | 679 | |
0.7 | 788 | 831 | 811 | |
0.8 | 908 | 939 | 898 |
Sensors | Pepper Volume (m3) | Pepper Stacking Height Average Value (mm) | Root Mean Squared Error (mm) | |
---|---|---|---|---|
Maximum | Minimum | |||
1 and 2 | 0.1 | 218 | 112 | 34.1 |
0.2 | 329 | 246 | 25.1 | |
0.3 | 447 | 352 | 28.4 | |
0.4 | 550 | 483 | 21.6 | |
0.5 | 648 | 567 | 24.2 | |
0.6 | 764 | 668 | 26.6 | |
0.7 | 874 | 809 | 18.9 | |
0.8 | 969 | 923 | 15.1 | |
1 and 3 | 0.1 | 165 | 131 | 11.7 |
0.2 | 274 | 237 | 10.4 | |
0.3 | 402 | 344 | 16.1 | |
0.4 | 500 | 473 | 6.9 | |
0.5 | 587 | 555 | 9.7 | |
0.6 | 684 | 658 | 9.2 | |
0.7 | 804 | 773 | 10.7 | |
0.8 | 929 | 870 | 13.8 | |
2 and 3 | 0.1 | 168 | 89 | 28.7 |
0.2 | 281 | 204 | 28.6 | |
0.3 | 395 | 304 | 34.7 | |
0.4 | 507 | 411 | 37.8 | |
0.5 | 604 | 508 | 31.3 | |
0.6 | 690 | 610 | 31.9 | |
0.7 | 821 | 707 | 40.8 | |
0.8 | 918 | 818 | 33.6 | |
1, 2, and 3 | 0.1 | 173 | 139 | 10.5 |
0.2 | 281 | 253 | 8.8 | |
0.3 | 402 | 365 | 11.5 | |
0.4 | 505 | 472 | 9.6 | |
0.5 | 596 | 570 | 8.7 | |
0.6 | 698 | 669 | 8.9 | |
0.7 | 814 | 778 | 11.0 | |
0.8 | 919 | 886 | 9.8 |
Actual Volume (m3) | Detection Volume (m3) | Relative Error (%) | ||||||
---|---|---|---|---|---|---|---|---|
50 | 100 | 150 | 200 | 250 | 300 | Maximum | Average | |
0.1 | 0.090 | 0.108 | 0.106 | 0.091 | 0.074 | 0.070 | 31.00 | 14.55 |
0.2 | 0.194 | 0.200 | 0.215 | 0.211 | 0.190 | 0.173 | 13.50 | 5.41 |
0.3 | 0.291 | 0.292 | 0.305 | 0.306 | 0.292 | 0.272 | 9.33 | 3.33 |
0.4 | 0.401 | 0.402 | 0.395 | 0.404 | 0.406 | 0.380 | 5.00 | 1.93 |
0.5 | 0.514 | 0.504 | 0.491 | 0.505 | 0.508 | 0.490 | 3.20 | 1.50 |
0.6 | 0.599 | 0.596 | 0.595 | 0.606 | 0.614 | 0.609 | 2.30 | 1.10 |
0.7 | 0.699 | 0.697 | 0.694 | 0.702 | 0.710 | 0.702 | 1.70 | 0.66 |
0.8 | 0.796 | 0.788 | 0.788 | 0.794 | 0.805 | 0.810 | 2.50 | 1.07 |
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Liu, H.; Wang, X.; Song, J.; Chen, M.; Li, C.; Zhai, C. Online Detection of Loading Capacity in Mechanized Pepper Harvesting Using Ultrasonic Sensors. Agronomy 2024, 14, 1955. https://doi.org/10.3390/agronomy14091955
Liu H, Wang X, Song J, Chen M, Li C, Zhai C. Online Detection of Loading Capacity in Mechanized Pepper Harvesting Using Ultrasonic Sensors. Agronomy. 2024; 14(9):1955. https://doi.org/10.3390/agronomy14091955
Chicago/Turabian StyleLiu, Haowei, Xiu Wang, Jian Song, Mingzhou Chen, Cuiling Li, and Changyuan Zhai. 2024. "Online Detection of Loading Capacity in Mechanized Pepper Harvesting Using Ultrasonic Sensors" Agronomy 14, no. 9: 1955. https://doi.org/10.3390/agronomy14091955