Development of a novel mechatronic system for mechanical weed ...
Development of a novel mechatronic system for mechanical weed ...
Development of a novel mechatronic system for mechanical weed ...
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Acknowledgements<br />
5 Results and discussion ......................................................................................................... 57<br />
5.1 Algorithm <strong>for</strong> detection <strong>of</strong> the plant centre position........................................................... 57<br />
5.1.1 Evaluation <strong>of</strong> the algorithm <strong>for</strong> detection <strong>of</strong> the plant centre position........................ 61<br />
5.1.2 Results <strong>of</strong> the accuracy test....................................................................................... 63<br />
5.1.3 Results <strong>of</strong> the robustness test ................................................................................... 65<br />
5.1.4 Discussion <strong>of</strong> the plant centre position detection methodology................................. 70<br />
5.2 Virtual prototype <strong>of</strong> the rotary hoe <strong>for</strong> intra-row <strong>weed</strong>ing.................................................. 71<br />
5.2.1 Optimisation <strong>of</strong> the arm length................................................................................... 76<br />
5.2.2 Examination <strong>of</strong> influences <strong>of</strong> the angular position θ to the hoeing trajectories ......... 77<br />
5.2.3 Examination <strong>of</strong> influences <strong>of</strong> the ratio between the rotational speed <strong>of</strong> the hoeing tool<br />
and the <strong>for</strong>ward speed <strong>of</strong> the carrier................................................................................... 82<br />
5.2.4 Selection <strong>of</strong> appropriate design <strong>of</strong> the hoeing tool according to the hoeing scenario84<br />
5.2.5 Discussion <strong>of</strong> the results conducted by virtual prototyping........................................ 86<br />
5.3 Physical prototype <strong>of</strong> the hoeing equipment..................................................................... 87<br />
5.3.1 Determination <strong>of</strong> the maximum torque and nominal speed required......................... 87<br />
5.3.2 Calculation and selection <strong>of</strong> the motor and transmission combination ..................... 89<br />
5.3.2.1 External control <strong>of</strong> the rotational speed.............................................................. 90<br />
5.3.3 Discussion <strong>of</strong> the distance between the plant detection unit and the plane in which<br />
the hoeing tool is positioned ............................................................................................... 91<br />
5.3.4 Algorithm <strong>for</strong> the online control <strong>of</strong> the hoeing tool’s rotational speed........................ 96<br />
5.3.5 Test bench <strong>for</strong> evaluation <strong>of</strong> the intra-row hoeing tool .............................................. 99<br />
5.3.6 Methodology <strong>for</strong> evaluation <strong>of</strong> the algorithm <strong>for</strong> online control <strong>of</strong> the hoeing tool... 102<br />
5.3.7 Evaluation <strong>of</strong> the algorithm <strong>for</strong> online control <strong>of</strong> the hoeing tool by experimental<br />
testing ............................................................................................................................... 103<br />
6 Summary ............................................................................................................................... 121<br />
7 Conclusions .......................................................................................................................... 125<br />
Further work ............................................................................................................. 125<br />
8 References ............................................................................................................................ 127<br />
9 Appendix ............................................................................................................................... 139<br />
List <strong>of</strong> figures............................................................................................................ 135<br />
List <strong>of</strong> tables ............................................................................................................. 138