The optimization of pasture food value, known as ‘biomass’, is crucial in the management of the farming of grazing animals and in improving food production for the future. Optical sensing methods, particularly from satellite platforms, provide relatively inexpensive and frequently updated wide-area coverage for monitoring biomass and other forage properties. However, there are also benefits from direct or proximal sensing methods for higher accuracy, more immediate results, and for continuous updates when cloud cover precludes satellite measurements. Direct measurement, by cutting and weighing the pasture, is destructive, and may not give results representative of a larger area of pasture. Proximal sensing methods may also suffer from sampling small areas, and can be generally inaccurate. A new proximal methodology is described here, in which low-frequency ultrasound is used as a sonar to obtain a measure of the vertical variation of the pasture density between the top of the pasture and the ground and to relate this to biomass. The instrument is designed to operate from a farm vehicle moving at up to 20 km h⁻¹, thus allowing a farmer to obtain wide coverage in the normal course of farm operations. This is the only method providing detailed biomass profile information from throughout the entire pasture canopy. An essential feature is the identification of features from the ultrasonic reflectance, which can be related sensibly to biomass, thereby generating a physically-based regression model. The result is significantly improved estimation of pasture biomass, in comparison with other proximal methods. Comparing remotely sensed biomass to the biomass measured via cutting and weighing gives coefficients of determination, R², in the range of 0.7 to 0.8 for a range of pastures and when operating the farm vehicle at speeds of up to 20 km h⁻¹.

The profitability of agricultural industries that utilise pasture can be strongly affected by the ability to accurately measure pasture biomass. Pasture height measurement is one technique that has been used to estimate pasture biomass. However, pasture height measurement errors can occur if the sensor is mounted to a farm vehicle that experiences tilting or bouncing. This work describes the development of novel low ultrasonic frequency arrays for pasture biomass estimation. Rather than just measuring the distance to the top of the pasture, as previous ultrasonic studies have done, this hardware is designed to also allow ultrasonic measurements to be made vertically through the pasture to the ground. The hardware was mounted to a farm bike driving over pasture at speeds of up to 20 km/h. The analysed results show the ability of the hardware to measure the ground location through the grass. This allowed pasture height measurement to be independent of tilting and bouncing of the farm vehicle, leading to 20 to 25% improvement in the $R^2$ value obtained for biomass estimation compared with the traditional technique. This corresponded to a reduction in root mean squared error of predicted biomass from about 350 to 270 kg/ha, where the average biomass of the pasture was 1915 kg/ha.

Grape yield estimation has traditionally been performed using manual techniques. However, these tend to be labour intensive and can be inaccurate. Computer vision techniques have therefore been developed for automated grape yield estimation. However, errors occur when grapes are occluded by leaves, other bunches, etc. Synthetic aperture radar has been investigated to allow imaging through leaves to detect occluded grapes. However, such equipment can be expensive. This paper investigates the potential for using ultrasound to image through leaves and identify occluded grapes. A highly directional low frequency ultrasonic array composed of ultrasonic air-coupled transducers and microphones is used to image grapes through leaves. A fan is used to help differentiate between ultrasonic reflections from grapes and leaves. Improved resolution and detail are achieved with chirp excitation waveforms and near-field focusing of the array. The overestimation in grape volume estimation using ultrasound reduced from 222% to 112% compared to the 3D scan obtained using photogrammetry or from 56% to 2.5% compared to a convex hull of this 3D scan. This also has the added benefit of producing more accurate canopy volume estimations which are important for common precision viticulture management processes such as variable rate applications.

The design of a readily useable technology for routine paddock-scale soil porosity estimation is described. The method is non-contact (proximal) and typically from “on-the-go” sensors mounted on a small farm vehicle around 1 m above the soil surface. This ultrasonic sensing method is unique in providing estimates of porosity by a non-invasive, cost-effective, and relatively simple method. Challenges arise from the need to have a compact low-power rigid structure and to allow for pasture cover and surface roughness. The high-frequency regime for acoustic reflections from a porous material is a function of the porosity ϕ, the tortuosity α_∞, and the angle of incidence θ. There is no dependence on frequency, so measurements must be conducted at two or more angles of incidence θ to obtain two or more equations in the unknown soil properties ϕ and α_∞. Sensing and correcting for scattering of ultrasound from a rough soil surface requires measurements at three or more angles of incidence. A system requiring a single transmitter/receiver pair to be moved from one angle to another is not viable for rapid sampling. Therefore, the design includes at least three transmitter/reflector pairs placed at identical distances from the ground so that they would respond identically to power reflected from a perfectly reflecting surface. A single 25 kHz frequency is a compromise which allows for the frequency-dependent signal loss from a natural rough agricultural soil surface. Multiple-transmitter and multiple-microphone arrays are described which give a good signal-to-noise ratio while maintaining a compact system design. The resulting arrays have a diameter of 100 mm. Pulsed ultrasound is used so that the reflected sound can be separated from sound travelling directly through the air horizontally from transmitter to receiver. The average porosity estimated for soil samples in the laboratory and in the field is found to be within around 0.04 of the porosity measured independently. This level of variation is consistent with uncertainties in setting the angle of incidence, although assumptions made in modelling the interaction of ultrasound with the rough surface no doubt also contribute. Although the method is applicable to all soil types, the current design has only been tested on dry, vegetation-free soils for which the sampled area does not contain large animal footprints or rocks.

The design is described of a readily useable technology for routine paddock-scale soil porosity estimation. The method is non-contact (proximal) and typically from sensors mounted on a small farm vehicle around 1 m above the soil surface. Challenges arise from the need to have a compact low-power rigid structure and to allow for pasture cover and surface roughness. The high-frequency regime for acoustic reflections from a porous material is a function of the porosity , the tortuosity , and the angle of incidence . There is no dependence on frequency, so measurements must be conducted at two or more angles of incidence in order to obtain two or more equations in the unknown soil properties and . A system requiring a single transmitter/receiver pair to be moved from one angle to another is not viable for rapid sampling. Therefore, the design includes at least two transmitter/reflector pairs placed at identical distances from the ground so that they would respond identically to power reflected from a perfectly reflecting surface. A single 25 kHz frequency is a compromise which allows for the frequency-dependent signal loss from a natural rough agricultural soil surface. Multiple-transmitter and multiple-microphone arrays are described which give a good signal to noise ratio while maintaining a compact system design. The resulting arrays have a diameter of 100 mm. Pulsed ultrasound is used so that the reflected sound can be separated from sound travelling directly through the air horizontally from transmitter to receiver. The average porosity estimated for soil samples in the laboratory and in the field is found to be within around 0.04 of the porosity measured independently. This level of variation is consistent with uncertainties in setting the angle of incidence, although assumptions made in modelling the interaction of ultrasound with the rough surface no doubt also contribute.

Irrigation is a useful crop enhancement procedure up to the point where free surface water appears. However, over-irrigation can lead to an accumulation of free water on the soil surface, which in turn results in overland flow and a high risk of contaminant loss. The current work addresses the problem of measuring free water on the surface of agricultural soils by a real-time acoustic remote sensing method. Directional acoustic transmitter and receiver arrays are used to define a “footprint” on the ground from which changes in reflectance are sensed. These arrays are mounted on a moving irrigator. Chirp signals are used to provide along-path resolution and to ensure robustness against unwanted acoustic background noise from farm machinery and the irrigator. Field measurements have been conducted above a well-defined “quadrat” with controlled and measured water content and also with the instrument mounted on an operational irrigator. A structured light camera mounted above the footprint is used to validate surface water fraction. It is found that the areal fraction of free water on the soil surface can be reliably estimated from changes in the amplitude of the reflected sound waves. The mechanism giving rise to the observed acoustic reflectivity changes is discussed and a model is developed which agrees with normalized intensity observations with a coefficient of determination R² between 0.65 and 0.83. The rms error between model predictions and observations is comparable to the rms variation of the measurements, indicating that there is insignificant error due to the choice of model.