Computer Vision based Automated Quantification of Agricultural Sprayers Boom Displacement

TL;DR

This paper presents a computer vision system using neural networks to accurately quantify agricultural sprayer boom displacement, aiding in design improvements for better stability and application precision.

Contribution

Developed a real-time computer vision system with YOLO models to measure boom movement, validated with inclinometer data, applicable to various sprayers for improved stability.

Findings

Model detects boom target with over 90% accuracy.

Distance estimates within 0.026 meters of inclinometer data.

System applicable to different sprayer types with minor modifications.

Abstract

Application rate errors when using self-propelled agricultural sprayers for agricultural production remain a concern. Among other factors, spray boom instability is one of the major contributors to application errors. Spray booms' width of 38m, combined with 30 kph driving speeds, varying terrain, and machine dynamics when maneuvering complex field boundaries, make controls of these booms very complex. However, there is no quantitative knowledge on the extent of boom movement to systematically develop a solution that might include boom designs and responsive boom control systems. Therefore, this study was conducted to develop an automated computer vision system to quantify the boom movement of various agricultural sprayers. A computer vision system was developed to track a target on the edge of the sprayer boom in real time. YOLO V7, V8, and V11 neural network models were trained to track the boom's movements in field operations to quantify effective displacement in the vertical and transverse directions. An inclinometer sensor was mounted on the boom to capture boom angles and validate the neural network model output. The results showed that the model could detect the target with more than 90 percent accuracy, and distance estimates of the target on the boom were within 0.026 m of the inclinometer sensor data. This system can quantify the boom movement on the current sprayer and potentially on any other sprayer with minor modifications. The data can be used to make design improvements to make sprayer booms more stable and achieve greater application accuracy.