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Delay times of a LiDAR-guided precision sprayer control system

Published by the American Society of Agricultural and Biological Engineers, St. Joseph, Michigan www.asabe.org

Citation:  Paper number  131594649,  2013 Kansas City, Missouri, July 21 - July 24, 2013. (doi: http://dx.doi.org/10.13031/aim.20131594649) @2013
Authors:   Yue (or initial) Shen, Heping (or initial) Zhu, Hui (or initial) Liu, Yu (or initial) Chen, Erdal H. Ozkan
Keywords:   Precision sprayer Lag time Laser sensor Photoelectric sensor Tree crop.

Abstract. Accurate flow control systems in triggering sprays against detected targets are needed for precision variable-rate sprayer development. System delay times due to the laser-sensor data buffer, software operation, and hydraulic-mechanical component response were determined for a control system used for a LiDAR-guided air-assisted variable-rate sprayer. The delay times were used to determine how far the laser sensor should be mounted ahead of spray nozzles to ensure sufficient time for the sprayer to discharge desired amounts of sprays to the target in real time. A photoelectric detection unit was designed to measure the lag times between when the target was detected by the laser sensor and when the liquid was discharged from the nozzle at various sprayer travel speeds. An algorithm was also developed to compensate the system delay times for the spray outputs to match the detected targets at different travel speeds in real time.

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