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

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Acknowledgements 5 Results and discussion ......................................................................................................... 57 5.1 Algorithm for detection of the plant centre position........................................................... 57 5.1.1 Evaluation of the algorithm for detection of the plant centre position........................ 61 5.1.2 Results of the accuracy test....................................................................................... 63 5.1.3 Results of the robustness test ................................................................................... 65 5.1.4 Discussion of the plant centre position detection methodology................................. 70 5.2 Virtual prototype of the rotary hoe for intra-row weeding.................................................. 71 5.2.1 Optimisation of the arm length................................................................................... 76 5.2.2 Examination of influences of the angular position θ to the hoeing trajectories ......... 77 5.2.3 Examination of influences of the ratio between the rotational speed of the hoeing tool and the forward speed of the carrier................................................................................... 82 5.2.4 Selection of appropriate design of the hoeing tool according to the hoeing scenario84 5.2.5 Discussion of the results conducted by virtual prototyping........................................ 86 5.3 Physical prototype of the hoeing equipment..................................................................... 87 5.3.1 Determination of the maximum torque and nominal speed required......................... 87 5.3.2 Calculation and selection of the motor and transmission combination ..................... 89 5.3.2.1 External control of the rotational speed.............................................................. 90 5.3.3 Discussion of the distance between the plant detection unit and the plane in which the hoeing tool is positioned ............................................................................................... 91 5.3.4 Algorithm for the online control of the hoeing tool’s rotational speed........................ 96 5.3.5 Test bench for evaluation of the intra-row hoeing tool .............................................. 99 5.3.6 Methodology for evaluation of the algorithm for online control of the hoeing tool... 102 5.3.7 Evaluation of the algorithm for online control of the hoeing tool by experimental testing ............................................................................................................................... 103 6 Summary ............................................................................................................................... 121 7 Conclusions .......................................................................................................................... 125 Further work ............................................................................................................. 125 8 References ............................................................................................................................ 127 9 Appendix ............................................................................................................................... 139 List of figures............................................................................................................ 135 List of tables ............................................................................................................. 138
Glossary of abbreviations and symbols Symbol Unit Description Glossary of abbreviations and symbols .NET Development environment built for the .NET Framework A Austria C CAD Computer aided design General-purpose, block structured, procedural, imperative computer programming language CAE Computer aided engineering CAM Computer aided manufacturing CPU Central processing unit (processor) D Germany d m Average distance between plants Dpulley Dsens-hoe m DAQ Data acquisition DC Diameter of the pulley assembled to the rotary encoder for forward position detection Distance between the plant detection unit and the plane in which the hoeing tool is positioned Direct current (electricity) - the flow of electric charge is constant DDT Dichlordiphenyltrichlorethan C14H9Cl5 dp m E Spain Diameter of the uncultivated area around the plant after weed control with intra-row weeding system ECNC European centre for nature conservation EMPP Estimated middle point of the plant EU European Union I
Page 1 and 2: Institut für Landtechnik der Rhein
Page 3 and 4: Development of a novel mechatronic
Page 5 and 6: Kurzfassung Entwicklung eines neuar
Page 7 and 8: Acknowledgements Acknowledgements M
Page 9: Table of contents Table of contents
Page 13 and 14: Symbol Unit Description Mmmax Nm Ma
Page 15 and 16: Symbol Unit Description Glossary of
Page 17: ωold ωout rad s -2 Latest rotatio
Page 20 and 21: Introduction The most frequently us
Page 22 and 23: Introduction application that had p
Page 24 and 25: Introduction be to go from a system
Page 26 and 27: Introduction limited and environmen
Page 28 and 29: Introduction than 40 years before g
Page 30 and 31: Introduction techniques. It is know
Page 32 and 33: Introduction Sowing and planting al
Page 34 and 35: Introduction Inter-row weeding syst
Page 36 and 37: Introduction 18 Figure 1.3 Inter-ro
Page 38 and 39: State of the art 20 Figure 2.1 a) F
Page 40 and 41: State of the art cylinder rotates a
Page 42 and 43: State of the art 1998). This device
Page 44 and 45: State of the art 26 2.2 Detection o
Page 46 and 47: State of the art The fluorescence s
Page 48 and 49: Definition of the problem and resea
Page 51 and 52: 4 Materials and methods 4.1 Detecti
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Page 55 and 56: Materials and methods Figure 4.3 a)
Page 57 and 58: 4.1.2 Data acquisition 4.1.2.1 Hard
Page 59 and 60: 4.1.4 Test objects Materials and me
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Materials and methods become a poss
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Materials and methods environments
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Materials and methods dimensions ne
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Materials and methods (PFM). As the
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Materials and methods A command sig
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Materials and methods The drive con
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Materials and methods Another tool
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Results and discussion 58 Figure 5.
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Results and discussion objects. Acc
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Results and discussion Plant positi
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Results and discussion Plant positi
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Results and discussion 70 5.1.4 Dis
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Results and discussion Connection b
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Results and discussion 76 5.2.1 Opt
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Results and discussion xmi1 = ( RLA
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Results and discussion With the inv
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Results and discussion 82 Horizonta
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Results and discussion 84 5.2.4 Sel
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Results and discussion 86 5.2.5 Dis
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Results and discussion Conventional
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Results and discussion Since the fi
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Results and discussion To avoid con
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Results and discussion As the size
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Results and discussion 96 5.3.4 Alg
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Results and discussion 98 V = zc( t
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Results and discussion corresponds
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Results and discussion 102 5.3.6 Me
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Results and discussion hoeing accur
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Results and discussion between the
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Results and discussion distance fro
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Results and discussion Distribution
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Results and discussion cuts are ran
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Results and discussion Forward spee
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Results and discussion x [mm] Distr
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Results and discussion The experime
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6 Summary Summary Neither a mechani
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Summary The third part of the work
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7 Conclusions Conclusions The prese
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8 References References Agrios, G.
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References in California's Sacramen
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References Johnson, W C and Mullini
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References Schans, D. v. d. et al.
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List of figures List of figures Fig
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List of figures Figure 5.24 Scheme
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Plant position 9 Appendix Table 9.1
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Plant position Table 9.3 Detection
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Personal data Education About the a
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