Sensor platforms in use at the Centre for Precision Agriculture

Drones (UAVs)

Matrice 300 RTK

Matrice 300 RTK has up to 55 minutes of flight time, advanced AI features, 6 directional sensors, positioning, and more. Various types of sensors can be mounted as payload.

Mavic 3 Multispectral

Mavic 3 Multispectral (M3M) is compact, portable, and well-suited for agricultural measurements. M3M combines an RGB camera with a multispectral camera. It has a built-in sensor that combines green, red, red edge, and near-infrared sensors. Additionally, it features a camera with a 4/3 CMOS and a 20MP image sensor. M3M has a flight time of 43 minutes and can collect data from up to 2 square kilometers per battery. We use it with an RTK module to achieve centimeter-level precision.

Mavic 3 Thermal

Mavic 3 Thermal (M3T) is similar to the M3M, but it features a thermal camera instead of a multispectral camera. M3T has a flight time of 43 minutes and can collect data from up to 2 square kilometers per battery. We use it with an RTK module to achieve centimeter-level precision.

DJI Agras T50

Agras T50 can be used for both spraying and fertilizing with granules or liquid fertilizer. It has a maximum spraying capacity of 24 L/min and a maximum spreading capacity of 108 kg/min. The battery is 30,000mAh and has a charging time of 2 hours.

DJI S1000+ multicopter

Our three modified DJI S1000+ multirotor platforms meet our need for completely stabilized sensor measurements. They have a payload capacity of 4 kg, with a flight time of approximately 15 minutes.

DJI Phantom 4 Multispectral

We have previously used this drone with a multispectral imaging system extensively. Now, we mostly use its successor, the M3M.

Ground based robots

Alsvinn

An electric robot implement carrier that was originally a prototype developed by Agrointeilli (Denmark). We have further developed the drivetrain and navigation system into a custom solution suitable for use in our research.

We named it Alsvinn, after one of the horses that pulls the sun chariot in Norse mythology.

Alsvinn has fully electric operation and a three-point hitch with a hydraulic lifting capacity of 700 kg. It weighs approximately 850 kg. The battery capacity is 60 Ah. During testing with a field sprayer weighing around 250 kg, the consumption was between 30-40 A.

Superdroid robot

We use a Superdroid IG42-SB4-E 4WD All Terrain Enclosed Robot Platform for testing sensors that need to measure close to the target object. We have customized the platform to meet our needs, including equipping it for autonomous navigation using Pixhawk Autopilot, additional GNSS, and an internal navigation system.

Mobile charging station

As part of the SolarFarm project, we developed a mobile charging station that can connect an electric cable to Alsvinn or other battery-powered vehicles to charge their batteries. We use a direction-independent platform equipped with a scissor lift, making it suitable for several different vehicles.

Other platforms

Arvaker

In 2016, an electric tractor arrived at Apelsvoll. It was named Arvaker, after one of the horses that pulls the sun chariot across the sky in Norse mythology.

ARVAKER is built by Solectrac LLC in California, USA, and weighs approximately 2 tons. It delivers up to 50 electric horsepower, has a PTO with 540 RPM, and can lift 450 kg on the lift arms. The tractor is equipped with 2x4 gears and an electric shuttle (H/L, 1-4 + R), and has a top speed of about 32 km/h. According to the manufacturer, it can deliver 30 hp for 8 hours on a single battery charge. This means it can be used for lighter work such as sowing, rolling, fertilizing, and spraying (not with the largest implements on the market, of course).

We have used it with fleet navigation in the SolarFarm project, and now use it as a platform for some of our sensors.

Electric gator

In addition to its typical uses, we utilize our John Deere TE Electric as a sensor platform. It is equipped with various sensors as needed; for example, a GNSS-RTK receiver, high-precision IMU, camera, LIDAR, and a Linux-based computer to collect, store, and visualize data in real-time.