Abstract
Precision agriculture (PA) refers to planning and managing the processes from tillage to harvest using modern technology and techniques in order to increase the productivity of the cultivated crops. One of the most important components of PA equipment is the location determination and verification unit. Automatic steering systems, which have started to be included in developing agricultural machines, enable reaching the targeted locations with the least deviation from the determined route. These systems are provided accurately to navigate the fields, ensuring that crops are planted, fertilized, sprayed and harvested with precision. By reducing overlaps and skips in planting and other tasks, farmers can optimize their resources and maximize yields. The use of automatic steering systems in precision agriculture not only increases efficiency but also helps to minimize environmental impact by reducing the use of inputs such as fertilizer and pesticides. In this study, simple equipment that can be connected to the tractor’s three-point linkage system was developed for pass-to-pass verification tests of the automatic steering systems in the field. For the field test, the narrowest and widest inter-row spacing that the automatic steering system was adjusted to have been taken into consideration. For the narrowest inter-row spacing, it was set to 3m; for the widest inter-row spacing, it was set to 18m. The automatic steering system was tested three times for each of the two different inter-row spacings. At the same time, the position information during the trial hours was compared with the records in the log files in the software part of the automatic steering system. Pass-to-pass tests were conducted based on ISO 12188-2:2012(EN) Tractors and Machinery for Agriculture and Forestry (Part 2). As a result of the evaluations, statistically significant difference wasn’t found between the values obtained from the field trials with developed equipment and the results obtained from the log files of the automatic steering system. The results show that this developed equipment can be used practically in pass-to-pass tests in the field.
Ethical Statement
There is no need to obtain permission from the ethics committee for this study.
References
- Burgers, T. and Vanderwerff, K. (2022). Vision and radar steering reduces agricultural sprayer operator stress without compromising steering performance. Journal of Agricultural Safety and Health, 28: 163-179. https://doi.org/10.13031/jash.15060
- D'Antonio P., Mehmeti A., Toscano F. and Fiorentino C. (2023). Operating performance of manual, semi-automatic, and automatic tractor guidance systems for precision farming. Research in Agricultural Engineering, 69(4): 179–188.
- ISO 12188-2:2012(en) Tractors and Machinery for Agriculture and Forestry — Test procedures for Positioning and Guidance Systems in Agriculture — Part 2: Testing of Satellite-Based Auto-Guidance Systems During Straight and Level Travel.
- Jing, Y., Li, Q., Ye, W. and Liu, G. (2023). Development of a GNSS/INS-based automatic navigation land levelling system. Computers and Electronics in Agriculture, 213 (2023): 108187. https://doi.org/10.1016/j.compag.2023.108187
- Li, S., Xu, H., Ji, Y., Cao, R., Zhang, M. and Li, H. (2019). Development of a following agricultural machinery automatic navigation system. Computers and Electronics in Agriculture, 158: 335-344. https://doi.org/10.1016/j.compag.2019.02.019
- Lipiński, A. J., Markowski, P., Lipiński, S. and Pyra, P. (2016). Precision of tractor operations with soil cultivation implements using manual and automatic steering modes. Biosystems Engineering, 145: 22-28. https://doi.org/10.1016/j.biosystemseng.2016.02.008
- Ming L., Imou K., Wakabayashi K. and Yokoyama S. (2009). Review of research on agricultural vehicle autonomous guidance. International Journal of Agricultural and Biological Engineering, 2(3): 1–16. https://doi.org/10.3965/j.issn.1934-6344.2009.03.001-016
- Özgüven M. M. and Türker U. (2009). The production economics of precision farming and its possible application for grain corn in Turkey. Journal of Tekirdag Agricultural Faculty, 7(1): 55-70. (In Turkish)
- Topcueri, M., Keskin, M. and Şekerli, Y. E. (2024). Efficiency of GNSS-based Tractor auto steering for the uniformity of pass-to-pass plant inter-row spacing. Journal of Tekirdag Agricultural Faculty, 21(1): 46-63. https://doi.org/10.33462/jotaf.1231452
- TS ISO 730 (2021). Agricultural Wheeled Tractors - Rear-Mounted Three-Point Linkage - Categories 1N, 1, 2N, 2, 3N, 3, 4N and 4. (In Turkish)
- Yang, Y., Zhang, G., Chen, Z., Wen, X., Cheng, S., Ma, Q., Qi, J., Zhou, Y. and Chen, L. (2022). An independent steering driving system to realize headland turning of unmanned tractors. Computers and Electronics in Agriculture, 201 (2022) 107278, https://doi.org/10.1016/j.compag.2022.107278.
- Ye, Q., Wang, R., Cai, Y. and Chadli, M. (2020). The stability and accuracy analysis of automatic steering system with time delay. ISA Transactions, 104: 278-286. https://doi.org/10.1016/j.isatra.2020.04.004
Abstract
Hassas tarım (HT), yetiştirilen ürünün verimliliğini artırmak amacıyla modern teknoloji ve teknikler kullanarak ekimden hasada kadar olan gerçekleştirilen tarımsal işlemlerin planlanması ve yönetilmesi anlamına gelir. HT ekipmanlarının en önemli bileşenlerinden biri konum belirleme ve doğrulama birimidir. Gelişen tarım makinelerine dahil edilmeye başlanan otomatik dümenleme sistemleri, belirlenen rotadan en az sapma ile hedeflenen konumlara ulaşmayı sağlamaktadır. Bu sistemler, arazide doğru bir şekilde yönlendirme sağlamak için tasarlanmıştır ve yetiştirilecek ürünlerin hassas bir şekilde ekilmesini, gübrelenmesini, ilaçlanmasını ve hasat edilmesini amaçlamaktadır. Tarımsal faaliyetler sırasında aynı alanın tekrar işlenmesini veya işlenmeyen alanları azaltarak, çiftçilerin kaynaklarını optimize edebilir ve verimlerini artırabilirler. Otomatik dümenleme sistemlerinin hassas tarımda kullanımı sadece verimliliği artırmakla kalmaz, aynı zamanda gübre ve pestisit gibi girdilerin kullanımını azaltarak çevresel etkiyi de en aza indirir. Bu çalışmada, otomatik dümenleme sistemlerinin üst üste geçiş doğrulama testlerinin arazide yapılabilmesi için traktörün üç nokta askı düzenine bağlanabilen basit bir ekipman geliştirilmiştir. Arazide gerçekleştirilen test için otomatik dümenleme sisteminin ayarlanabildiği en dar ve en geniş sıra arası mesafeler göz önüne alınmıştır. En dar sıra arası mesafe için 3m; en geniş sıra arası mesafe için 18 m olarak otomatik dümenleme sistemi ayarlanmış; iki farklı sıra arası mesafe için üçer tekrarlı denemeler gerçekleştirilmiştir. Aynı zamanda, deneme saatleri boyunca konum bilgileri, otomatik yönlendirme sisteminin yazılım kısmındaki günlük dosyalarındaki kayıtlarla karşılaştırılmıştır. Üst üste geçiş testleri, ISO 12188-2:2012(EN) Tarım ve Orman için Traktörler ve Makineler (Bölüm 2) esas alınarak gerçekleştirilmiştir. Değerlendirmeler sonucunda, geliştirilen ekipmanla yapılan saha denemelerinden elde edilen değerler ile otomatik dümenleme sisteminin günlük kayıt dosyalarından elde edilen sonuçlar arasında istatistiksel olarak anlamlı bir fark bulunmamıştır. Sonuçlar, geliştirilen bu ekipmanın sahada üst üste geçiş testlerinde pratik olarak kullanılabileceğini göstermektedir.
Ethical Statement
Bu çalışma için etik kuruldan izin alınmasına gerek yoktur.
References
- Burgers, T. and Vanderwerff, K. (2022). Vision and radar steering reduces agricultural sprayer operator stress without compromising steering performance. Journal of Agricultural Safety and Health, 28: 163-179. https://doi.org/10.13031/jash.15060
- D'Antonio P., Mehmeti A., Toscano F. and Fiorentino C. (2023). Operating performance of manual, semi-automatic, and automatic tractor guidance systems for precision farming. Research in Agricultural Engineering, 69(4): 179–188.
- ISO 12188-2:2012(en) Tractors and Machinery for Agriculture and Forestry — Test procedures for Positioning and Guidance Systems in Agriculture — Part 2: Testing of Satellite-Based Auto-Guidance Systems During Straight and Level Travel.
- Jing, Y., Li, Q., Ye, W. and Liu, G. (2023). Development of a GNSS/INS-based automatic navigation land levelling system. Computers and Electronics in Agriculture, 213 (2023): 108187. https://doi.org/10.1016/j.compag.2023.108187
- Li, S., Xu, H., Ji, Y., Cao, R., Zhang, M. and Li, H. (2019). Development of a following agricultural machinery automatic navigation system. Computers and Electronics in Agriculture, 158: 335-344. https://doi.org/10.1016/j.compag.2019.02.019
- Lipiński, A. J., Markowski, P., Lipiński, S. and Pyra, P. (2016). Precision of tractor operations with soil cultivation implements using manual and automatic steering modes. Biosystems Engineering, 145: 22-28. https://doi.org/10.1016/j.biosystemseng.2016.02.008
- Ming L., Imou K., Wakabayashi K. and Yokoyama S. (2009). Review of research on agricultural vehicle autonomous guidance. International Journal of Agricultural and Biological Engineering, 2(3): 1–16. https://doi.org/10.3965/j.issn.1934-6344.2009.03.001-016
- Özgüven M. M. and Türker U. (2009). The production economics of precision farming and its possible application for grain corn in Turkey. Journal of Tekirdag Agricultural Faculty, 7(1): 55-70. (In Turkish)
- Topcueri, M., Keskin, M. and Şekerli, Y. E. (2024). Efficiency of GNSS-based Tractor auto steering for the uniformity of pass-to-pass plant inter-row spacing. Journal of Tekirdag Agricultural Faculty, 21(1): 46-63. https://doi.org/10.33462/jotaf.1231452
- TS ISO 730 (2021). Agricultural Wheeled Tractors - Rear-Mounted Three-Point Linkage - Categories 1N, 1, 2N, 2, 3N, 3, 4N and 4. (In Turkish)
- Yang, Y., Zhang, G., Chen, Z., Wen, X., Cheng, S., Ma, Q., Qi, J., Zhou, Y. and Chen, L. (2022). An independent steering driving system to realize headland turning of unmanned tractors. Computers and Electronics in Agriculture, 201 (2022) 107278, https://doi.org/10.1016/j.compag.2022.107278.
- Ye, Q., Wang, R., Cai, Y. and Chadli, M. (2020). The stability and accuracy analysis of automatic steering system with time delay. ISA Transactions, 104: 278-286. https://doi.org/10.1016/j.isatra.2020.04.004
Details
| Primary Language | English |
|---|---|
| Subjects | Precision Agriculture Technologies |
| Journal Section | Research Article |
| Authors | |
| Submission Date | January 20, 2025 |
| Acceptance Date | August 19, 2025 |
| Early Pub Date | September 19, 2025 |
| Publication Date | September 29, 2025 |
| Published in Issue | Year 2025 Volume: 22 Issue: 3 |