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Development of a novel mechatronic system for mechanical weed ...

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Results and discussion<br />

84<br />

5.2.4 Selection <strong>of</strong> appropriate design <strong>of</strong> the hoeing tool<br />

according to the hoeing scenario<br />

A very important aspect is selection <strong>of</strong> the appropriate number <strong>of</strong> hoeing arms<br />

depending on the number <strong>of</strong> cuts between two following plants. An example <strong>for</strong><br />

broad adaptability <strong>of</strong> the developed concept are trajectories <strong>of</strong> the duckfoot<br />

knives when the ratio between the angular speed <strong>of</strong> the hoeing tool with 3 arms<br />

and the <strong>for</strong>ward speed <strong>of</strong> the carrier is adjusted to provide two cuts between<br />

every two following plants (see Figure 5.16). Like be<strong>for</strong>e, segments <strong>of</strong> the<br />

trajectories under the soil surface are highlighted and the expected crop<br />

positions are x=200 mm, 400 mm, 600 mm; y=0. Trajectories are marked with<br />

numbers from 1 to 3 corresponding to duckfoot knives.<br />

Horizontal position (x) [mm]<br />

Vertical position (y) [mm]<br />

400<br />

200<br />

0<br />

-200<br />

-400<br />

100 200 300 400 500 600 700<br />

Travelled distance (z) [mm]<br />

50<br />

0<br />

1<br />

+ + +<br />

+<br />

2 3 1<br />

2<br />

3<br />

+ +<br />

-50<br />

100<br />

1<br />

200<br />

2<br />

300<br />

3<br />

400<br />

1<br />

500<br />

2<br />

600<br />

3<br />

700<br />

Travelled distance (z) [mm]<br />

Figure 5.16 Hoeing trajectories <strong>of</strong> the hoeing tool with three arms<br />

providing two cuts between following plants in a field with<br />

200 mm intra-row distance between plants (arm length<br />

440 mm, angular position <strong>of</strong> arms adjusted to:<br />

duckfoot1= 0°, duckfoot2= 0°, duckfoot3= 0°, � -<br />

position <strong>of</strong> the plant)

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