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

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Results and discussion To avoid continuous changing of the calculated speed value, caused by exaggerated accuracy, it is necessary to increase the sampling distance ∆s. On the other hand, a too big sampling distance ∆s would cause decrease of the dynamics and accuracy of the hoe’s angular positioning, directly implying plant damaging. The distance between the plant detection unit and the plane in which the hoeing tool is positioned is limited by the construction of the prototype and the software solution responsible for the online speed adjustment. For the best performance, positioning software requires initialisation of the system before the hoeing starts. The initial position of the hoeing tool’s angle is achieved when the inductive position transducer mount on the arm number 3 reaches the upper vertical position corresponding to the angle of zero degrees and corresponds to time t0 (see Figure 5.19 a). 92 Figure 5.19 Definition of the desired angular position of the hoeing tool with three arms a) when it is in the start position and b) when it is placed exactly above a crop plant One full rotation of the hoeing tool with three arms corresponds to the travelling distance equal to the average distance between plants d. In such a kinematical assumption the rotation needs to be started, respectively corrected, in the moment when the forward position of the plane analogous to the centre plane of the hoeing tool A reaches the 1/3 of the distance between two successive plants.
Results and discussion According to the listed requirements, one correction of the rotation speed on the distance equal to the average distance of the sowing pattern is scheduled in the controlling algorithm. An important question is at which point the correction of the rotation speed should take place in the time schedule. Considering the time consumption of different VI-s during the real time detection of the plant position it is obvious that the speed correction VI shall find place in the timetable when the processor has no tasks related to the plant detection. That means that the speed correction needs to be executed in the period when the plant detection unit travels between two searching areas (see Figure 5.20). SA SA EMPP EMPP d Figure 5.20 Time schedule of the VI-s execution during the real time detection of the plant position (SA - searching area, EMPP - estimated middle point of the plant, d - estimated distance between plants, - creation of the data array, - estimation of the middle point) t 93
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Institut für Landtechnik der Rhein
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Development of a novel mechatronic
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Kurzfassung Entwicklung eines neuar
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Acknowledgements Acknowledgements M
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Table of contents Table of contents
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Glossary of abbreviations and symbo
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Symbol Unit Description Mmmax Nm Ma
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Symbol Unit Description Glossary of
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ωold ωout rad s -2 Latest rotatio
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Introduction The most frequently us
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Introduction application that had p
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Introduction be to go from a system
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Introduction limited and environmen
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Introduction than 40 years before g
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Introduction techniques. It is know
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Introduction Sowing and planting al
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Introduction Inter-row weeding syst
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Introduction 18 Figure 1.3 Inter-ro
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State of the art 20 Figure 2.1 a) F
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State of the art cylinder rotates a
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State of the art 1998). This device
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State of the art 26 2.2 Detection o
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State of the art The fluorescence s
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Definition of the problem and resea
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4 Materials and methods 4.1 Detecti
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Materials and methods Figure 4.1 a)
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Materials and methods Figure 4.3 a)
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4.1.2 Data acquisition 4.1.2.1 Hard
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Page 63 and 64: Materials and methods environments
Page 65 and 66: Materials and methods dimensions ne
Page 67 and 68: Materials and methods (PFM). As the
Page 69 and 70: Materials and methods A command sig
Page 71 and 72: Materials and methods The drive con
Page 73: Materials and methods Another tool
Page 76 and 77: Results and discussion 58 Figure 5.
Page 82 and 83: Results and discussion objects. Acc
Page 84 and 85: Results and discussion Plant positi
Page 86 and 87: Results and discussion Plant positi
Page 88 and 89: Results and discussion 70 5.1.4 Dis
Page 92 and 93: Results and discussion Connection b
Page 94 and 95: Results and discussion 76 5.2.1 Opt
Page 96 and 97: Results and discussion xmi1 = ( RLA
Page 98 and 99: Results and discussion With the inv
Page 100 and 101: Results and discussion 82 Horizonta
Page 102 and 103: Results and discussion 84 5.2.4 Sel
Page 104 and 105: Results and discussion 86 5.2.5 Dis
Page 106 and 107: Results and discussion Conventional
Page 108 and 109: Results and discussion Since the fi
Page 112 and 113: Results and discussion As the size
Page 114 and 115: Results and discussion 96 5.3.4 Alg
Page 116 and 117: Results and discussion 98 V = zc( t
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Page 120 and 121: Results and discussion 102 5.3.6 Me
Page 122 and 123: Results and discussion hoeing accur
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Page 126 and 127: Results and discussion distance fro
Page 128 and 129: Results and discussion Distribution
Page 130 and 131: Results and discussion cuts are ran
Page 132 and 133: Results and discussion Forward spee
Page 134 and 135: Results and discussion x [mm] Distr
Page 136 and 137: Results and discussion The experime
Page 139 and 140: 6 Summary Summary Neither a mechani
Page 141 and 142: Summary The third part of the work
Page 143 and 144: 7 Conclusions Conclusions The prese
Page 145 and 146: 8 References References Agrios, G.
Page 147 and 148: References in California's Sacramen
Page 149 and 150: References Johnson, W C and Mullini
Page 151 and 152: References Schans, D. v. d. et al.
Page 153 and 154: List of figures List of figures Fig
Page 155 and 156: List of figures Figure 5.24 Scheme
Page 157 and 158: Plant position 9 Appendix Table 9.1
Page 159 and 160: Plant position Table 9.3 Detection
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Plant position Table 9.5 Detection
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Personal data Education About the a
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