Self-driven synchronized contour-following for field uneven based on triboelectricity

Abstract

To enhance agricultural machinery operations' stability, reliability, and accuracy in complex field uneven, this paper presents the development of a self-driven, finger-inserted rotational triboelectric angle sensor (SFRTAS). This sensor uses triboelectric nanogenerator (TENG) and flexible printed circuit board (FPCB) technology. When connected to a ground contour-following curved rod, the SFRTAS forms a self-driven triboelectric synchronized contour-following detection system. As the contour-following curved rod moves along uneven ground, it follows surface undulations, driving the sensor to rotate and generate continuous electrical signals containing angular information, thereby achieving ground contour-following. The developed SFRTAS has a diameter of approximately 40 mm, a thickness of 10.19 mm, and a weight of 6.58 g. It incorporates three sets of triboelectric electrode array structures with phase differences, achieving a sensing resolution of 0.188 mm, a sensitivity of 7.69 P·mm⁻¹ , an angular precision of 0.5°, durability exceeding 1 million cycles, low hysteresis, and strong resistance to environmental interference. Digital soil-trough experiments were conducted on the contour-following detection system to validate its performance. The results demonstrated that the system could continuously measure ground uneven information during operation. Neither the forward speed of the test vehicle nor changes in ridge height affected the real-time performance of the sensor signals. The system exhibited high measurement accuracy, excellent sensitivity, and strong reliability. Moreover, it can accurately, rapidly, and continuously detect ground uneven variations, making it highly applicable to the field of agricultural machinery.