Özet:

: Variable-rate spray systems with canopy leaf area density information detection are an important approach to reducing pesticide usage in orchard management. In order to estimate the canopy leaf area density using ultrasonic sensors, this article proposed three parameter model equations based on ultrasonic echo peaks for canopy leaf area density estimation and verified the accuracy of the three parameter model equations using laboratory-simulated canopy and outdoor tree experiments. The orthogonal regression statistics results from the laboratory-simulated canopy experiment indicated that parameter V c is more suitable for canopy leaf area density estimation compared to parameter V a and V b when the density ranges from 0.54 to 5.4 m 2 m − 3 . The model equation from parameter V c has minor systematic errors, and the predicted and observed values of parameter V c have good agreement with the experimental conditions. The laboratory-simulated canopy and outdoor tree canopy leaf area density verification experiments of parameter V c were carried out, and the results indicated that the absolute value of the mean relative error is 5.37% in the laboratory-simulated canopy and 2.84% in outdoor tree experiments. The maximum absolute value of the relative error is 8.61% in the laboratory-simulated canopy and 14.71% in the outdoor tree experiments, and the minimum absolute value of the relative error is 3.21% in the laboratory-simulated canopy and 0.56% in the outdoor tree experiments. The laboratory-simulated canopy leaf area density verification results showed that the mean relative errors under canopy leaf area density 0.98 and 4.92 m 2 m − 3 conditions are 6.29% and 5.82%, respectively, which is larger than the mean relative error under 2.95 m 2 m − 3 ; nevertheless, these results proved that this model equation is applicable for canopy information detection and advanced pesticide application development in future.

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