Table 3 Examples of variable rate spraying technology applications in different agricultural platforms.
Platform type | Main sensing technology | Crop(Scenario) | Variable decision and Control method | Reference |
|---|---|---|---|---|
Tracked Chassis | LiDAR LMS291-S05 and Azure Kinect Dk Stereo Vision Sensor | Orchard | Image analysis and canopy data extraction | |
Tracked Chassis | 3D LiDAR sensor | Citrus orchard | PWM dosing model based on α-shape algorithm for canopy volume | |
UAV | Ultrasonic sensor | Rice paddy | Closed-loop PID + PWM control technology | |
Boom sprayer | R-Fans-16 3D LiDAR | Corn field | LiDAR-based method | |
Crop protection boom sprayer | SY002HD vision sensor and AD300 GNSS RTK positioning system | Wheat field | BeiDou positioning system + machine vision density | |
Small tracked chassis | R-Fans-32 LiDAR | Tomato | 3D LiDAR point cloud | |
3WF-1000 type trailer - mounted sprayer | Speed, Pressure, and Flow sensors | Potato field | Neural network - tuned PID flow adaptive control | |
3WF-400Z type wind - assisted orchard sprayer | Stereo vision camera | Grape orchard | Stereo camera real - time detection of grape canopy depth combined with sprayer speed to calculate canopy volume | |
JMR-V1000 Hexacopter UAV | Flow sensor | Field | BP neural network PID + PWM control | |
DJI MG-1 plant protection UAV | Hyper-spectral camera | Rice paddy | ARM variable prescription map parsing + GNSS positioning | |
Tracked chassis - mounted wind - assisted sprayer | TUM-30LX 2D LiDAR | Orchard | LiDAR + PWM duty cycle control | |
Electromagnetic guide rail test platform | LMS111 2D laser radar | Indoor Test Bench | 3D point cloud leaf area density control | |
Boom sprayer | R-Fans-16 laser radar | Sugarcane Field | Real - time detection of crop 3D information map + PWM control | |
JMR-V1000 Hexacopter UAV | Flow sensor | Field | BP neural network PID + PWM control | |
DJI MG-1 plant protection UAV | Hyper-spectral camera | Rice Paddy | ARM variable prescription map parsing + GNSS positioning | |
Tracked chassis - mounted wind - assisted sprayer | TUM-30LX 2D LiDAR | Orchard | LiDAR + PWM duty cycle control |
