Special Issue "Agricultural Machinery Design and Agricultural Engineering"

A special issue of Agriculture (ISSN 2077-0472). This special issue belongs to the section "Agricultural Technology".

Deadline for manuscript submissions: closed (15 November 2023) | Viewed by 24568

Special Issue Editor

Institute of Agricultural Engineering, Technology in Crop Production, University of Hohenheim, Garbenstr. 9, 70599 Stuttgart, Germany
Interests: no-till seeding technologies; variable rate fertilization; variable rate technologies for site-specific application of PA; FMIS; ISOBUS technology; remote sensing

Special Issue Information

Dear Colleagues,

Today’s agriculture has a crucially irreplaceable role in solving one of the most ubiquitous issues which is to meet the food demand of a rapidly increasing world population. The latest agricultural engineering, in terms of advanced machinery and technologies in agriculture, has substantial input on meeting those demands as well as fulfilling farmers’ needs.

Agriculture, also known as farming, consists of subsequent farming processes such as tilling, seeding, fertilizing (liquid and granule), irrigating, harvesting, etc. Each farming process is powered by specific agricultural implements and technologies which require experts in advanced machine design to cope with the field variability. Therefore, a thorough understanding of the latest agricultural machinery, technologies, and engineering solutions implemented in the above-mentioned farming processes is of crucial importance to eliminate the undesired effects of field applications and to enhance crop production and its sustainability. Improvements and progressive engineering solutions for agricultural machinery design can result in successful field applications.

This Special Issue aims to cover a wide range of theoretical and experimental research contents that are related to farming processes from ploughing to harvesting. This also includes the implementation of leading-edge technologies in the mentioned farming processes, and new and innovative or additional instrumentation of agricultural implements to communicate external farm data sources for better performances, relating to the fields of agricultural engineering. All types of articles, such as original research, opinions, and reviews are welcomed by this Special Issue.

Dr. Galibjon M. Sharipov
Guest Editor

Manuscript Submission Information

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Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Agriculture is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2600 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • agriculture mechanization
  • mechanization and automation in horticulture
  • agricultural machinery and equipment for precision farming
  • process control of agricultural implements
  • automation and navigation in agriculture
  • positioning technologies for agricultural vehicles
  • technologies for variable rate applications
  • unmanned aerial systems for precision farming
  • innovative design for communication with FMIS
  • soil management and conservation technology
  • harvest and post-harvest technology

Published Papers (20 papers)

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24 pages, 8213 KiB  
Article
Development of a Real-Time Tractor Model for Gear Shift Performance Verification
Agriculture 2023, 13(11), 2133; https://doi.org/10.3390/agriculture13112133 - 12 Nov 2023
Viewed by 390
Abstract
Verification of the system is essential during the development of a tractor; however, there are cost and time limitations when verification is performed on an actual tractor. To solve this problem, we developed a tractor model for real-time simulation to verify the gear [...] Read more.
Verification of the system is essential during the development of a tractor; however, there are cost and time limitations when verification is performed on an actual tractor. To solve this problem, we developed a tractor model for real-time simulation to verify the gear shift performance of the tractor and evaluate the control algorithm. This study examined and modeled a dual-clutch transmission (DCT)-type 105 kW class tractor. The proportional control valve, synchronizer, and clutch were modeled to accurately implement the shift behavior, and the developed individual model was verified based on actual individual product test data. The 45 s driving simulation was conducted to confirm whether real-time simulation of the entire developed tractor model was possible and whether it simulated the behavior of the target tractor well. The driving simulation results confirmed that the driving speed of the tractor model matched the engine speed, transmission gear ratio, and tractor specifications, and the gear shift performance of the tractor model according to the number of gears was confirmed. The simulated model thus satisfies the characteristics of the target tractor and can be used to verify the gear shift performance, indicating that the model can verify the performance of the control algorithm in real time. Full article
(This article belongs to the Special Issue Agricultural Machinery Design and Agricultural Engineering)
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28 pages, 6948 KiB  
Article
Design and Experiment of Greenhouse Self-Balancing Mobile Robot Based on PR Joint Sensor
Agriculture 2023, 13(10), 2040; https://doi.org/10.3390/agriculture13102040 - 23 Oct 2023
Viewed by 701
Abstract
To avoid issues such as the greenhouse working robot’s inability to perform normal tasks or reduced working accuracy due to the influence of uneven ground, this study designed a set of greenhouse self-balancing mobile robots. The self-balancing mobile robot system designed in this [...] Read more.
To avoid issues such as the greenhouse working robot’s inability to perform normal tasks or reduced working accuracy due to the influence of uneven ground, this study designed a set of greenhouse self-balancing mobile robots. The self-balancing mobile robot system designed in this study uses a quadruped mobile robot as a carrier, equipped with a three-degrees-of-freedom wheel-leg structure and is complemented with a posture control algorithm. The algorithm calculates the adjustment of each leg based on the vehicle’s tilt angle and wheel-ground pressure, achieving control over the robot’s posture angle, the center of gravity height, wheel-ground contact force, and other functions. To address the issue of over-constrained (weak legs) posture adjustment during mobile robot fieldwork, a flexible joint sensor based on the PR structure has been designed and developed. After field testing, it was verified that the greenhouse self-balancing mobile robot proposed in this study can adapt well to field environments, such as climbing hills, overcoming obstacles, crossing furrows, and so on. The response speed of the flexible joint sensor can meet the requirements of self-balancing while effectively solving the problem of weak legs. Full article
(This article belongs to the Special Issue Agricultural Machinery Design and Agricultural Engineering)
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16 pages, 4666 KiB  
Article
Optimization and Accuracy Analysis of a Soil–Planter Model during the Sowing Period of Wheat after a Rice Stubble Based Discrete Element Method
Agriculture 2023, 13(10), 2036; https://doi.org/10.3390/agriculture13102036 - 23 Oct 2023
Viewed by 635
Abstract
The soil during the sowing period of wheat after rice stubble cannot be accurately described by existing models and parameters with DEM because of its high moisture content and strong viscosity. The purpose of this study is to conduct an overall simulation of [...] Read more.
The soil during the sowing period of wheat after rice stubble cannot be accurately described by existing models and parameters with DEM because of its high moisture content and strong viscosity. The purpose of this study is to conduct an overall simulation of high-viscosity paddy soil and to analyze the accuracy of the model. Based on the results of an unconfined compression test and shear test, the range of bond parameters is preliminarily determined by a simulation test. Through the P-BD test and RSM test, the parameters with significant influence are determined to be normal stiffness per unit area (SN), shear stiffness per unit area (SS), and critical shear stress (CS), and an optimized combination of these parameters is obtained. Based on the optimized model, the error range and error generation mechanism of the model are analyzed under different operating parameters. The results show that the optimal parameter combination is SN of 1.07 × 107 N/m3, SS of 0.70 × 107 N/m3, and CS of 0.35 × 105 Pa, corresponding to a compression force of 120.1 N and a shear force of 7.70 N. With an increase in forward speed or seeding quantity or a decrease in rotary plowing speed, the model accuracy tends to increase, and the range of relative errors was found to be from 8.8% to 28.4%. The results can provide a research basis for the study of the motion state of seeds under soil. It can also further enrich parameter data of soil discrete element simulation models and provide a reference for related research studies. Full article
(This article belongs to the Special Issue Agricultural Machinery Design and Agricultural Engineering)
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21 pages, 7725 KiB  
Article
Design and Experimental Investigation of a Transplanting Mechanism for Super Rice Pot Seedlings
Agriculture 2023, 13(10), 1920; https://doi.org/10.3390/agriculture13101920 - 30 Sep 2023
Viewed by 482
Abstract
Super rice contains a variety of advantageous characteristics. However, current rice seedling transplanting machines fail to achieve the necessary trajectory and distance required for super rice mechanized transplanting. To address this issue, this study introduces a differential-speed rotary mechanism for transplanting super rice [...] Read more.
Super rice contains a variety of advantageous characteristics. However, current rice seedling transplanting machines fail to achieve the necessary trajectory and distance required for super rice mechanized transplanting. To address this issue, this study introduces a differential-speed rotary mechanism for transplanting super rice pot seedlings. The developed mechanism operates using a non-uniform speed differential gear train, which enables the transplanting arm components to mimic the specific trajectory and posture necessary for transplanting super rice pot seedlings. The kinematic model of the differential-speed rotary super rice pot seedling transplanting mechanism (PSTM) was established, and optimization design software was developed. This software facilitated the determination of a set of mechanism parameters optimized for super rice pot seedling transplantation. The results obtained from virtual simulations were found to be in alignment with those from the optimization software, thereby verifying the accuracy of the theoretical analysis and simulation. A testing bench for the rice PSTM was also developed and used for pot seedling pickup experiments. The bench tests demonstrated that the designed super rice PSTM yielded a seedling pickup success rate of 97% and a seedling injury rate of 1.8% when operating at an efficiency of 200 times/min. Full article
(This article belongs to the Special Issue Agricultural Machinery Design and Agricultural Engineering)
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18 pages, 9759 KiB  
Article
Design and Test of a Tractor Electro-Hydraulic-Suspension Tillage-Depth and Loading-Control System Test Bench
Agriculture 2023, 13(10), 1884; https://doi.org/10.3390/agriculture13101884 - 27 Sep 2023
Viewed by 553
Abstract
Electro-hydraulic suspension systems are one of the key working systems of tractors. Due to the complex and changeable working conditions in the field, it is of great significance to shorten the development cycle of the control strategy and reduce the development cost by [...] Read more.
Electro-hydraulic suspension systems are one of the key working systems of tractors. Due to the complex and changeable working conditions in the field, it is of great significance to shorten the development cycle of the control strategy and reduce the development cost by using the indoor bench for test verification at the beginning of the study. Based on this, this paper has proposed a complete set of tractor hydraulic-suspension tillage-depth and loading-control test-bench designs. The system was mainly composed of three parts: an industrial computer, a suspension electro-hydraulic control system, and a loading electro-hydraulic control and data-acquisition system. The human–computer interaction interface of the test-bench measurement and control system was built, and the loading-force control system and suspension tillage-depth and loading integrated-control system were built based on PID and fuzzy PID control algorithms, respectively. The system can realize the control of suspension tillage depth and loading during the operation process and has the functions of the real-time acquisition, display, and data storage of related sensor signals during the working process. The test results showed that the response time of the loading-control system was less than 1.2 s, and the maximum steady-state error was less than 0.8%. The response time of the suspension control system was less than 2.3 s, and the maximum steady-state error was less than 1%. The system has good responsiveness and stability. These research results can provide platform and method of support for the development and test of tractor electro-hydraulic suspension systems. Full article
(This article belongs to the Special Issue Agricultural Machinery Design and Agricultural Engineering)
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21 pages, 4705 KiB  
Article
Research on Differential Steering Dynamics Control of Four-Wheel Independent Drive Electric Tractor
Agriculture 2023, 13(9), 1758; https://doi.org/10.3390/agriculture13091758 - 04 Sep 2023
Viewed by 567
Abstract
Traditional tractors can only achieve steering through mechanical structures such as steering knuckles and steering trapezoids. Among them, the mechanical structure is more complex, and various parts are easily damaged, making the tractor malfunction. The four-wheel independent drive differential steering mode differs from [...] Read more.
Traditional tractors can only achieve steering through mechanical structures such as steering knuckles and steering trapezoids. Among them, the mechanical structure is more complex, and various parts are easily damaged, making the tractor malfunction. The four-wheel independent drive differential steering mode differs from the traditional Ackermann steering mode, which realizes steering by controlling the inner and outer wheel torque, which can accurately steer the working state of high-end agricultural machinery equipment and improve the operating efficiency of agricultural machinery equipment. Aiming at the dynamic control problem in the steering of electric tractor four-wheel independent drive, a layered control strategy based on the sliding mode control of yaw torque at the upper level and the optimal torque distribution level based on the mean load rate of vehicle tires at the lower was proposed. By analyzing the differential steering mechanism of a four-wheel independent drive, a dynamic model of differential steering of the electric tractor is established, and a dynamic controller of a four-wheel independent drive is designed according to the layered control strategy. The upper controller tracks and controls the expected yaw speed on the basis of the sliding mode control to track the driver’s intention, and the lower controller realizes the optimal torque distribution based on the principle of the optimal average load rate of the vehicle tire to ensure the steering stability of the electric tractor. The effect of the controller was simulated and analyzed under typical conditions of double line shift, serpentine, and step. The results showed that the sliding mode controller is better than the PID controller in driver intention tracking. Compared with the average allocation strategy, the average maximum load rate of the vehicle tire under the three working conditions is reduced by 16.9%, 13.8%, and 17.3%, respectively, which proves the effectiveness of the layered control strategy. In the real car test, the sliding mode controller is better than the PID controller in the driver intention tracking. This study has important guiding significance for improving the maneuverability and stability of electric tractors. Full article
(This article belongs to the Special Issue Agricultural Machinery Design and Agricultural Engineering)
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18 pages, 6302 KiB  
Article
The Results of Experimental Studies of the Physical and Mechanical Properties of an Elastic-Plastic Material for Tribological Properties during Separation
Agriculture 2023, 13(9), 1735; https://doi.org/10.3390/agriculture13091735 - 01 Sep 2023
Viewed by 508
Abstract
The obtained results of experimental studies on the influence of the physical and mechanical properties of an elastoplastic material (clods of soil and potato tubers) on the factors of its destruction when interacting with an absolutely solid body (separating working body) established that [...] Read more.
The obtained results of experimental studies on the influence of the physical and mechanical properties of an elastoplastic material (clods of soil and potato tubers) on the factors of its destruction when interacting with an absolutely solid body (separating working body) established that an increase in the density of a soil clod leads to an increase in the effort expended on dynamic destruction, regardless of the size fraction. Within one fractional group, the increase in force from the minimum value necessary for the destruction of the soil clod in the density range from 1300 to 1700 kg/m3 is on average 56–67 N. However, there is a tendency to increase the effort to destroy the soil clod with an increase in the size fraction, including identical density, by 7–8 N, which is 4–5% of the initial value of the destruction force of a given density. The greatest destruction of soil clods is provided at a moisture content of 22–24%, which should be explained by the formation of the physical ripeness of the leached chernozem. In addition, a decrease in soil moisture leads to a more intense adhesion of soil particles to each other and, consequently, to an increase in the force on the soil clod to destroy it. Full article
(This article belongs to the Special Issue Agricultural Machinery Design and Agricultural Engineering)
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25 pages, 11658 KiB  
Article
Design and Experiment of Sweet Potato Ridging and Forming Machine
Agriculture 2023, 13(8), 1641; https://doi.org/10.3390/agriculture13081641 - 21 Aug 2023
Viewed by 737
Abstract
To address the problem of poor ridging effect, a sweet potato ridging and shaping machine was designed and its overall structure and working principles were described. The design parameters of rotary tillage device, furrowing and shaping device and pressing and shaping device were [...] Read more.
To address the problem of poor ridging effect, a sweet potato ridging and shaping machine was designed and its overall structure and working principles were described. The design parameters of rotary tillage device, furrowing and shaping device and pressing and shaping device were determined. The motion model of soil particles on the furrowing and shaping device was analyzed, the force model of the furrowing and shaping device was established. A response surface Box–Behnken Design test was carried out to obtain the better working parameters of the sweet potato ridging and shaping machine as follows: the embedded depth is 196 mm, the forward speed is 0.82 m/s, and the soil moisture is 18%. At this time the stability coefficient of the ridge height was 99.84%. The comparative test showed that the operation performance and fuel consumption of the ridge shaping machine were better than 1GQL-2 sweet potato two rows rotary plowing and ridging machine, which met the agronomic requirements and created a good soil environment for sweet potato. The research can provide a design reference for the development and application of sweet potato transplanting machinery and ridging machinery in hilly areas. Full article
(This article belongs to the Special Issue Agricultural Machinery Design and Agricultural Engineering)
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14 pages, 3502 KiB  
Article
Design and Test of a Low-Loss Soybean Header Based on Synchronous Profiling
Agriculture 2023, 13(8), 1580; https://doi.org/10.3390/agriculture13081580 - 08 Aug 2023
Viewed by 592
Abstract
A synchronous-profiling, low-position-cutting, flexible-reel-belt-conveyor, low-loss soybean header was designed to address the problems of a lack of soybean harvesting machines supporting soybean-corn strip intercropping, the few existing soybean headers, and the high loss rate of soybean headers. By establishing a dynamic model of [...] Read more.
A synchronous-profiling, low-position-cutting, flexible-reel-belt-conveyor, low-loss soybean header was designed to address the problems of a lack of soybean harvesting machines supporting soybean-corn strip intercropping, the few existing soybean headers, and the high loss rate of soybean headers. By establishing a dynamic model of the synchronous-profiling cutting device, the key structure and operation parameters that affect the performance of synchronous profiling were determined, while the key parameters of the flexible-reel-belt conveyor device were determined by theoretical analysis. Based on ADAMS rigid-flexible coupling, simulation analysis was conducted on the working process of the synchronous-profiling cutting device, verifying that the profiling cutting device can effectively control the height of the cutter off the ground with undulating ground and that the cutting device can accurately and quickly respond to ground excitation, meeting the requirements of synchronous-profiling, low-position cutting. Field tests showed that the loss rate and stubble height of the soybean headers are 1.34% and 70.36 mm, respectively, which are 55% and 22.7% lower than the existing reel-type rigid soybean headers, meeting the actual production requirements. This study can provide a reference for the structural design of soybean harvesting headers and the reduction of header losses. Full article
(This article belongs to the Special Issue Agricultural Machinery Design and Agricultural Engineering)
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15 pages, 3813 KiB  
Article
Development and Experimental Validation of an Agricultural Robotic Platform with High Traction and Low Compaction
Agriculture 2023, 13(8), 1510; https://doi.org/10.3390/agriculture13081510 - 28 Jul 2023
Viewed by 673
Abstract
Some researchers expect that future agriculture will be automated by swarms of small machines. However, small and light robots have some disadvantages. They have problems generating interaction forces high enough to modify the environment (lift a stone, cultivate the soil, or transport high [...] Read more.
Some researchers expect that future agriculture will be automated by swarms of small machines. However, small and light robots have some disadvantages. They have problems generating interaction forces high enough to modify the environment (lift a stone, cultivate the soil, or transport high loads). Additionally, they have limited range and terrain mobility. One option to change this paradigm is to use spikes instead of wheels, which enter the soil to create traction. This allows high interaction forces with the soil, and the process is not limited by the weight of the vehicle. We designed a prototype for mechanical soil cultivation and weeding in agricultural fields and evaluated its efficiency. A static and dynamic test was performed to compare the energy input of the electrical motor with precise measurements of the forces on the attached tool. The results indicate that the prototype can create interaction forces of up to 2082 N with a robot weight of 90 kg. A net traction ratio of 2.31 was reached. The dynamic performance experiment generated pull forces of up to 1335 N for a sustained net traction ratio of 1.48. The overall energy efficiency ratio for the machine reached values of up to 0.54 based on the created draft force and the measured input energy consumption. Full article
(This article belongs to the Special Issue Agricultural Machinery Design and Agricultural Engineering)
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24 pages, 8644 KiB  
Article
Simulation Research on Cotton Stalk Cutting and Crushing Based on ANSYS/LS-DYNA and Field Experiments
Agriculture 2023, 13(6), 1268; https://doi.org/10.3390/agriculture13061268 - 19 Jun 2023
Viewed by 864
Abstract
In order to solve the problem of high straw content in recovered residual film and the low rate of qualified straw crushing in combination with a front-mounted cotton-straw-crushing device, the cutting and crushing mechanisms of cotton stalks were studied based on ANSYS/LS-DYNA. The [...] Read more.
In order to solve the problem of high straw content in recovered residual film and the low rate of qualified straw crushing in combination with a front-mounted cotton-straw-crushing device, the cutting and crushing mechanisms of cotton stalks were studied based on ANSYS/LS-DYNA. The height h and dip angle α of the fixed blade were determined to be 30 mm and 75° through a finite element analysis. On the basis of the device design, explicit dynamic models of the cutting and crushing of a single cotton stalk were established based on ANSYS/LS-DYNA. The results of the dynamic analysis revealed the cutting mechanism of the cotton stalk, and the influences of the cutting edge angle γ and front baffle height h1 on cotton stalk cutting were studied by using single-factor simulation tests. An edge angle of γ = 45° and a height of h1 = 265 mm were determined. Meanwhile, the mechanism of cotton straw crushing was revealed, and the motion states of the straw were studied at different times. The results of the simulation experiments on the influence of the cutter shaft’s rotational speed showed that with an increase in the cutter shaft’s speed, the rate of qualified crushing and the removal rate were both increased. At the design speed of n = 1800 RPM, the rate of qualified crushing was 84.6%, and the removal rate was 95.1%. Then, field experiments were carried out. The test results were as follows: the stubble height was 8.0 cm, the rate of qualified straw crushing was 91.8%, the clearance rate of film-surface impurities was 92.3%, and the film content was 3.6%, which met the working quality requirements (not less than 85%) of NYT 500-2015: “Operating quality for straw-smashing machines”. Full article
(This article belongs to the Special Issue Agricultural Machinery Design and Agricultural Engineering)
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13 pages, 3692 KiB  
Article
Design of a Small-Scale Hydroponic System for Indoor Farming of Leafy Vegetables
Agriculture 2023, 13(6), 1191; https://doi.org/10.3390/agriculture13061191 - 03 Jun 2023
Viewed by 5613
Abstract
The reduction of the population and labour force in rural areas, adverse climate changes, soil pollution and degradation, and reduced soil fertility necessitate new and intensive approaches to and methods of vegetable production. In this study, a new high-tech, small-scale hydroponic system based [...] Read more.
The reduction of the population and labour force in rural areas, adverse climate changes, soil pollution and degradation, and reduced soil fertility necessitate new and intensive approaches to and methods of vegetable production. In this study, a new high-tech, small-scale hydroponic system based on the Internet of Things (IoT) for growing leafy vegetables was designed. For the assembly of the high-tech small-scale hydroponic system, low-cost materials and sensors are used, allowing remote monitoring and process automation during the cultivation of leafy vegetables and seedlings. Experimental investigations of the installation were conducted, with lettuce as the grown crop. The environmental and technological parameters of the system were monitored and analysed in order to assess the suitability of the system. The obtained results confirm that the small-scale hydroponic system maintained the set parameters of air temperature, air humidity and pH of the nutrient solution within the optimal limits for growing lettuce. Other parameters, such as temperature and electrical conductivity of the nutrient solution, had small deviations from the required optimal limits. In the initially set experiment, 75% germination of the lettuce seeds was achieved. The main advantages of the proposed hydroponic system are the simplicity of its management and easy installation. Furthermore, it offers the possibility for remote monitoring and control without any high requirements towards the experience of the user with such facilities. The designed and implemented small hydroponic system can help small and medium-sized vegetable growers achieve indoor sustainable farming of leafy vegetables year-round. Full article
(This article belongs to the Special Issue Agricultural Machinery Design and Agricultural Engineering)
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20 pages, 5592 KiB  
Article
Design and Experiment of Lightweight Dual-Mode Automatic Variable-Rate Fertilization Device and Control System
Agriculture 2023, 13(6), 1138; https://doi.org/10.3390/agriculture13061138 - 29 May 2023
Viewed by 764
Abstract
China’s agricultural facilities are developing rapidly and are mainly operated through household contracting. Due to a lack of suitable variable-rate fertilization devices, manual and blind fertilization still widely exists, resulting in fertilizer waste and environmental pollution. Meanwhile, existing fertilization devices cannot simultaneously meet [...] Read more.
China’s agricultural facilities are developing rapidly and are mainly operated through household contracting. Due to a lack of suitable variable-rate fertilization devices, manual and blind fertilization still widely exists, resulting in fertilizer waste and environmental pollution. Meanwhile, existing fertilization devices cannot simultaneously meet the needs of different fertilization methods for crop cultivation, increasing the cost of mechanized fertilization. This study developed a lightweight dual-mode automatic variable-rate fertilization device and control system for strip fertilization and spreading fertilization. The least squares method was used to analyze the amount of fertilizer discharged per second at different volumes and rotational speeds of the fertilization device. The quadratic polynomial model fits well, with determination coefficients greater than 0.99. The automatic variable strip fertilization and spreading fertilization control models were established. Experiments with strip fertilization and spreading fertilization were carried out. The results of strip fertilization experiments show that the maximum relative error (Re) for granular nitrogen fertilizer (NF) was 6.81%, compound fertilizer (CF) was 6.2%, organic compound fertilizer (OCF) was 6.83%, and the maximum coefficient of variation (Cv) of uniformity was 8.91%. The results of spreading fertilization experiments show that the maximum Re of granular NF was 7.31%, granular CF was 6.76%, granular OCF was 7.43%, the Cv of lateral uniformity was 9.88%, and the Cv of total uniformity was 14.17%. The developed fertilization device and control system can meet the needs of different fertilization amounts, types, and methods for facility crop cultivation at different stages. This study’s results can provide a theoretical basis and technical support for designing and optimizing multifunctional precision variable-rate fertilization devices and control systems. Full article
(This article belongs to the Special Issue Agricultural Machinery Design and Agricultural Engineering)
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15 pages, 7316 KiB  
Article
Double Disc Colter for a Zero-Till Seeder Simultaneously Applying Granular Fertilizers and Wheat Seeds
Agriculture 2023, 13(5), 1102; https://doi.org/10.3390/agriculture13051102 - 22 May 2023
Viewed by 1367
Abstract
The application method of granular fertilizers and wheat seeds depends on the colter design and parameters. In this research, a new double disc colter is studied to apply the wheat seeds to the horizontal band 12 cm in width and apply granular fertilizers [...] Read more.
The application method of granular fertilizers and wheat seeds depends on the colter design and parameters. In this research, a new double disc colter is studied to apply the wheat seeds to the horizontal band 12 cm in width and apply granular fertilizers deeper 2 cm than the wheat seed level precisely to the middle of the band. Applying granular fertilizers and wheat seeds at different levels increases the granular fertilizer dose without harm to the wheat seeds. Furthermore, applying high doses of wheat seeds to the horizontal band decreases the competition between the seeds and suppresses the weeds. Therefore, preparing a plain seedbed after applying the fertilizers and distributing wheat seeds to the horizontal band was the research objective. The comparison experiments of the base and designed double disc colters were provided in the soil bin determining the horizontal and vertical forces and the placement of the fertilizers and seeds. The discrete element method (DEM) was used to track the soil particle behavior interacting with the double-disc colter. The simulation results and actual experiment results were satisfactory when the AB length of the wing orifice was 60 mm. Full article
(This article belongs to the Special Issue Agricultural Machinery Design and Agricultural Engineering)
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17 pages, 6641 KiB  
Article
Design and Test of Dislocation Baffle Roller Bionic Picking Device for Fresh Corn
Agriculture 2023, 13(5), 991; https://doi.org/10.3390/agriculture13050991 - 29 Apr 2023
Cited by 3 | Viewed by 1088
Abstract
Considering the problems of the low mechanical work rate and the high picking damage rate of baffle roller bionic picking devices in the harvesting process of fresh corn in China, a method of fresh corn harvesting based on dislocation baffle roller bionic picking [...] Read more.
Considering the problems of the low mechanical work rate and the high picking damage rate of baffle roller bionic picking devices in the harvesting process of fresh corn in China, a method of fresh corn harvesting based on dislocation baffle roller bionic picking is proposed. When the picking device is in operation, the dislocation baffle roller assists with picking by applying deflecting torque to the corn cob. The mechanical properties of the bottom kernel were significantly better than those of the top kernel, according to the results of a triaxial compression test on fresh corn kernels, and the force applied by the picking device from the bottom kernel’s side could successfully prevent cob breakage. To determine the optimal combination of operating parameters for the bionic picking device, a three-factor, three-level virtual response surface optimization test was conducted using Box–Behnken’s central combination method with the baffle roller tilt angle, the baffle roller gap, and the stalk speed as the test factors, and the maximum contact force as the test indexes. Based on the theoretical analysis results, a test bench of the dislocation baffle roller bionic picking device was made. When the picking damage rate was 0.32%, the baffle roller dislocation was 5 mm, the baffle roller tilt angle was 41°, the baffle roller gap was 25 mm, and the stalk speed was 338 mm/s. This study can provide a reference for researching low-damage picking of fresh corn cob. Full article
(This article belongs to the Special Issue Agricultural Machinery Design and Agricultural Engineering)
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25 pages, 7823 KiB  
Article
Design and Test of an Automatic Navigation Fruit-Picking Platform
Agriculture 2023, 13(4), 882; https://doi.org/10.3390/agriculture13040882 - 17 Apr 2023
Cited by 2 | Viewed by 1340
Abstract
With the development in agricultural mechanization and information technology, orchard agricultural machinery is also constantly pursuing the goal of intelligence and efficiency. Fruit picking is the most labor-intensive part of the orchard harvesting process. In order to resolve the problems of high labor [...] Read more.
With the development in agricultural mechanization and information technology, orchard agricultural machinery is also constantly pursuing the goal of intelligence and efficiency. Fruit picking is the most labor-intensive part of the orchard harvesting process. In order to resolve the problems of high labor intensity, low picking efficiency, and labor shortage when harvesting dwarf high-density orchards, an automatic navigation fruit-picking platform with voice control was developed in the present study. First, the platform utilized a voice-controlled high-level extendable working platform and a fruit-box-lifting device to adapt to varying orchard planting row spacing and enable convenient fruit box loading and unloading. Second, an automatic navigation system, which employed China’s Beidou navigation satellite system to acquire positional data and the Stanley algorithm for path-tracking control, was implemented. Third, the fruit-picking platform with automatic navigation system was fabricated and assembled, its outer wheel steering was measured to have a maximum angle of 30.3° and an average minimum turning radius of 4.5 m, meeting the turning radius requirements under orchard conditions. Finally, automatic navigation tests of the developed platform were performed in the orchard conditions. The results indicated that the platform could maintain a straight-line path with a maximum lateral deviation of 101.5 mm and a maximum absolute average deviation of 44.1 mm at 0.4 m/s. Under the U-shaped paths, the measured maximum lateral deviation was 148.6 mm and the maximum absolute average deviation was 57.2 mm. The navigation accuracy was sufficient to meet the requirements for the harvesting platform’s routine operation in the orchards. Full article
(This article belongs to the Special Issue Agricultural Machinery Design and Agricultural Engineering)
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16 pages, 4396 KiB  
Article
Design and Experimentation of a Longitudinal Axial Flow Sunflower Oil Threshing Device
Agriculture 2023, 13(4), 876; https://doi.org/10.3390/agriculture13040876 - 15 Apr 2023
Viewed by 959
Abstract
To address the problems of threshing loss and high impurity rate during sunflower oil harvesting, a vertical axial flow sunflower oil threshing device was designed. To reduce severe breakage of the sunflower plate and high entrainment loss rate when threshing by the traditional [...] Read more.
To address the problems of threshing loss and high impurity rate during sunflower oil harvesting, a vertical axial flow sunflower oil threshing device was designed. To reduce severe breakage of the sunflower plate and high entrainment loss rate when threshing by the traditional grating gravure sieve, a circular tube-type gravure screen was designed, and a contact model describing the grain rod, sunflower pan, and gravure screen was analyzed. The results show that reducing the diameter of the gravure screen round tubes can effectively reduce breakage of the sunflower pan. The range of the threshing gap, drum speed, and feed amount were determined by a single-factor test. Design-Expert software was used to design a response surface experiment: threshing gap, drum rotation speed, and feed amount were used as test factors, and the threshing loss rate of grains and the grain mass ratio of undersize grains were used as evaluation indicators. A regression model between test factors and evaluation indexes was established by variance analysis of the test results. A software-based numerical optimization function was used to reduce the loss rate of grains and increase the grain mass ratio of undersize grains. The optimal parameters of the threshing device were obtained by multi-objective optimization of all factors: the separation gap was 24.90 mm, drum speed was 244.14 r/min, feed amount was 2.95 kg/s, the threshing loss rate grains was 2.35%, and the grain mass ratio of undersized grains was 81.34%. This study can provide a reference for the design of a combined sunflower oil harvester threshing device. Full article
(This article belongs to the Special Issue Agricultural Machinery Design and Agricultural Engineering)
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19 pages, 5265 KiB  
Article
Design and Test of Soil–Fertilizer Collision Mixing and Mulching Device for Manure Deep Application Machine
Agriculture 2023, 13(3), 709; https://doi.org/10.3390/agriculture13030709 - 18 Mar 2023
Cited by 2 | Viewed by 1397
Abstract
Aiming at the problems of low uniformity and utilization rate in the traditional deep application method of orchard manure, a soil–fertilizer collision mixing and mulching device was designed. The ditching mechanism, the structure of the soil divider, and the fertilizer delivery auger were [...] Read more.
Aiming at the problems of low uniformity and utilization rate in the traditional deep application method of orchard manure, a soil–fertilizer collision mixing and mulching device was designed. The ditching mechanism, the structure of the soil divider, and the fertilizer delivery auger were analyzed and designed. Furthermore, with the rotational speed of the cutter and auger and the deflection angle of the soil divider as factors, as well as the uniformity of soil–fertilizer mixing and mulching as evaluation indexes, the discrete element simulation tests were conducted. The simulation results showed that when the turret speed, the stirrer speed and the soil separator deflection angle were 140 r/min, 146 r/min and 22°, the mixing uniformity and mulching uniformity were the highest, which was 88.35% and 96.86%, respectively. Based on the optimal parameters, the field test was conducted, and the soil–fertilizer mixing uniformity was 87.02%, with a relative error of 1.33% compared with the simulation test results. The relative error of 94.37% of mulch uniformity is 2.49%, which indicates that the simulation optimization results are reliable and the mixing performance of the device is good and can meet the requirements of soil–fertilizer mixing operation. The results of this study can provide an important reference for the design of the soil and fertilizer mixing machine. Full article
(This article belongs to the Special Issue Agricultural Machinery Design and Agricultural Engineering)
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22 pages, 5526 KiB  
Article
Design and Operation Parameters of Vibrating Harvester for Coffea arabica L.
Agriculture 2023, 13(3), 700; https://doi.org/10.3390/agriculture13030700 - 17 Mar 2023
Cited by 2 | Viewed by 1133
Abstract
This study designed a handheld vibrating coffee harvester to improve the mechanized harvesting of Coffea arabica L. The proposed device was used to vibrate branches of Coffea arabica L. trees, and the shedding of coffee fruit and the operation parameters of vibrational harvesting [...] Read more.
This study designed a handheld vibrating coffee harvester to improve the mechanized harvesting of Coffea arabica L. The proposed device was used to vibrate branches of Coffea arabica L. trees, and the shedding of coffee fruit and the operation parameters of vibrational harvesting were analyzed. Images captured using high-speed photography were used to derive a force equation that represents the forced vibration of the coffee fruit-stalk joint. In addition, the vibrations of coffee berries and branches were theoretically analyzed, and the results were used to establish a dynamic vibration model of coffee trees. The shedding of coffee berries was primarily affected by the vibration frequency, vibration amplitude, and excitation position, which were simulated using a rigid–flexible branch-machine coupling model on RecurDyn software. Furthermore, field experiments were conducted to determine the optimal working parameters for coffee harvesting using vibrations. The results indicated optimal picking performance when the vibration frequency, vibration amplitude, and excitation position were 62 Hz, 9 mm, and 0.4 L, respectively. The harvesting rates of ripe and unripe coffee were 92.22% and 8.33%, respectively, and the damage rate was 5.23%. Thus, the proposed harvester can satisfactorily achieve the optimal harvesting of Coffea arabica L. Full article
(This article belongs to the Special Issue Agricultural Machinery Design and Agricultural Engineering)
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Review

Jump to: Research

19 pages, 4189 KiB  
Review
Review of Energy-Efficient Embedded System Acceleration of Convolution Neural Networks for Organic Weeding Robots
Agriculture 2023, 13(11), 2103; https://doi.org/10.3390/agriculture13112103 - 06 Nov 2023
Viewed by 633
Abstract
The sustainable cultivation of organic vegetables and the associated problem of weed control has been a current research topic for some time. Despite this, the use of chemical and synthetic pesticides increases every year. This is to be solved with the help of [...] Read more.
The sustainable cultivation of organic vegetables and the associated problem of weed control has been a current research topic for some time. Despite this, the use of chemical and synthetic pesticides increases every year. This is to be solved with the help of an automated robot system. The current version of the weeding robot uses GPUs to execute the inference phase. This requires a lot of energy for an 8-track robot. To enable autonomous solar operation, the system must be made more energy efficient. This work aims to evaluate possible approaches and the current state of research on implementing convolution neural networks on low power embedded systems. In the course of the work, the technical feasibility for the implementation of CNNs in FPGAs was examined, in particular, following the example of a feasibility analysis. This paper shows that the acceleration of convolution neural networks using FPGAs is technically feasible for use as detection hardware in the weeding robot. With the help of the current state of research and the existing literature, the optimization possibilities of the hardware and software have been evaluated. The trials of different networks on different hardware accelerators with diverse approaches were investigated and compared. Full article
(This article belongs to the Special Issue Agricultural Machinery Design and Agricultural Engineering)
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