A Weighing System for Grab Loaders for Sugar Cane Yield Mapping

Abstract

There are no commercial yield monitors for sugar cane despite the economic importance of the crop for sugar and alcohol production. As sugar cane is not mechanically harvested in some regions, special yield monitors need to be developed considering the harvest and load methods used. Grab loaders are essential when the crop is manually harvested. If the weight of the crop being loaded is monitored, yield maps can be produced. This paper presents the development of a weight measurement system for grab loaders. It is based on a mechanical device that contains a load cell adapted to the machine. As it is necessary to perform this measurement dynamically, the effect of movement on the measured value must be corrected. Thus, a mathematical model was developed to assess the effect of each parameter on the dynamics of the load and on the measured weight. In order to collect data to evaluate the model, an experimental measurement system was assembled and used in field tests. The analysis of the results showed that the model was able to describe the machine behaviour within the limits considered. Mean errors of ±2% or less were obtained for each load if the sampling period was adequately chosen. The frequency response of the angle sensors used and the low sampling rate of the subsystems used restricted the ability to define a single period for error minimisation. These two points will be addressed in the development of dedicated hardware, to allow the use of filtering and processing techniques in real time to obtain measurements with consistently low errors.