low-cost smart tractor control options - mcgill...
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LowLow--Cost Smart Tractor Cost Smart Tractor Control OptionsControl Options
AgriControlAgriControl 2016 2016 (Seattle, Washington)(Seattle, Washington)
Viacheslav AdamchukFrederic Rene-Laforest
Antoine PouliotTrevor Stanhope
Department of Bioresource Engineering McGill University
James LenzJames LenzConsultantConsultant
Philipp Philipp MMüünchnchEuropean Technology Innovation CenterEuropean Technology Innovation Center
John DeereJohn Deere
August 15, 2016August 15, 2016
Macdonald CampusMacdonald CampusMcGill University
Est. 1821
McGill UniversityEst. 1821
Faculty of Agricultural and Environmental
Sciences
Precision Agriculture and Precision Agriculture and Sensor Systems TeamSensor Systems Team
• Development of Proximal Soil and Plant Sensing Systems
• Geospatial Data Processing and Management
• Practical Implementation of Precision Agriculture
State of AdoptionState of Adoption
Simon Blackmore
TwoTwo--Level ControlLevel Control• Advisory service to define site-specific needs
– Cultivar and soil
– Weather and economics
– Risk management
• Variable rate technology– Distinct difference in site-specific needs
– Means to recognize the variability
– Responsive application tools
The SmartThe Smart Tractor ConceptTractor Concept• Match tractor operation with local conditions according
to operator-defined rules or direct operator input
• Use of internal or external sensors to replicate appropriate operation settings
External SensorsExternal Sensors
Internal SensorsInternal Sensors
Map Prescriptions
Map Prescriptions
Operator configuration links inputs to outputs
Tractor Commands
Tractor Commands
Operator Input
Operator Input
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ISOBUS ImplementationISOBUS Implementation
Sensor 2
Termination
Implement ECU
IBBC IBBC
Implement Bus
TECU
SCV (1-6) Hitch
Vehicle Speed
Drive-strategy
Steering
Tractor Bus
Diff LockMFWD PTO
iTEC
VI appGPS
VT
Sensor 1
Principle of the AlgorithmPrinciple of the Algorithm
Field
Travel path
C
B A A
C
Sensor Data
CCB
A A
Sensor 1
Sensor 2
Stage ControlStage ControlVariable Rate Liquid Cattle Manure ManagementVariable Rate Liquid Cattle Manure Management
Allowed environmentally safe discharge of additional 30 %
(150 m3) of liquid manure in this 11.1-ha alfalfa field
Sensor Input (Elevation)
Co
ntr
ol
Ou
tpu
t (S
pee
d)
Sa
Sb
Sc
Ea Eb
Sensor Input (Elevation)
Co
ntr
ol
Ou
tpu
t (S
pee
d) Smax
Smin
Sa
Sb
Ea Eb
Sensor Input (Elevation)
Co
ntr
ol
Ou
tpu
t (S
pee
d) Smax
Smin
Sa
Sb
Ea Eb
Allowed environmentally safe discharge of additional 20 % (80 m3) of liquid manure in
this 12.4-ha corn field
Proportional ControlProportional ControlVariable Rate Liquid Cattle Manure ManagementVariable Rate Liquid Cattle Manure Management
A
B
Input Shape File
4
5
6
7
8
1100 1200 1300 1400 1500
Speed (km/h)
Time (s)
GNSS ReceiverSpeed(raw)
PrescribedZoneSpeed
MapMap--Based ControlBased ControlVariable Rate Liquid Cattle Manure ManagementVariable Rate Liquid Cattle Manure Management
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Variable Depth PlantingVariable Depth Planting
Planting Depth Control
Soil Water Content Sensing
New OnNew On--Line Soil Moisture SensorLine Soil Moisture Sensor
SE = 3.8%
SensorSensor--Based Speed ControlBased Speed Control
Poor vegetation
Strong vegetation
Active crop canopy sensor
Normalized Difference Red Edge (NDRE)
vegetation index
Ultrasonic proximity
sensor
Crop height
0
20
40
60
80
100
120
0.0
0.5
1.0
1.5
2.0
2.5
0 10 20 30 40 50 60 70 80 90
Veg
etat
ion
Hei
gh
t, c
m
Tra
vel s
pee
d, m
/s
Time, s
Speed (1.5s offset)
Vegetation height
CropCrop HeightHeight Tractor Speed ControlTractor Speed Control
Short vegetationTall vegetation
Machine Vision Cultivator GuidanceMachine Vision Cultivator Guidance QuickQuick--Attach Steering MechanismAttach Steering Mechanism
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System PrototypeSystem Prototype Trajectory AssessmentTrajectory Assessment
System EvaluationSystem Evaluation Test TrackTest Track
Straight Curved
Test ResultTest Result
http://adamchukpa.mcgill.caE:mail: [email protected]