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Results and discussion 102 5.3.6 Methodology for evaluation of the algorithm for online control of the hoeing tool For the controlling of the hoeing tool’s rotational speed, a VI was developed based on the algorithm presented in the previous chapter and implemented together with the VI-s for plant centre position detection in a final software solution. After the hoeing, the controlling VI generates a report file containing information about TRUE/FALSE values measured with sensors for plant detection, estimated forward speed, position of the last recognised plant, calculated rotation speed and angular position of the hoeing tool for every sampling step. For graphical analysis of the acquired data an M-file in Matlab was written. This function provide automatic graphical interpretation of the data from the report file, creating three graphs: the first contains the forward speed of the carrier and the rotational speed of the hoeing tool; the second contains angular positions of the hoeing tool and estimated centre positions of detected plants; and the third contains the positions at which plants have been detected. In the second graph positions under the soil surface are particularly pointed out for each duckfoot knife. Quantitative evaluation of the hoeing accuracy can be done when distances between the hoeing tool blades under the soil surface and nearest plant middle position are known. The analysis can be classified in two groups: the duckfoot knife trajectories approaching the plants from the front side and duckfoot knife trajectories approaching the plants from the rear side. In the hoeing strategy with three cuts between plants, as described in chapter 5.3.3, duckfoot knife number 3 always approaches the plant from the front and duckfoot knife number 1 from the rear. The distance between the hoeing tool blade and the centre position of the plant can be calculated as: R = z + x (5.25) 2 2 front front front R = z + x (5.26) 2 2 rear rear rear
Results and discussion where zfront is the projection of the distance between the blade of the duckfoot knife number 3 and estimated centre position of the plant to z-axis, xfront is the projection of the distance between the blade of the duckfoot knife number 3 and estimated centre position of the plant to x-axis, zrear is the projection of the distance between the blade of the duckfoot knife number 1 and estimated centre position of the plant to z-axis, xrear is the projection of the distance between the blade of the duckfoot knife number 1 and estimated centre position of the plant to x-axis (see Figure 5.25). x x front z front R front z c R rear Figure 5.25 Position of duckfoot knife trajectories approaching the crop plant with projection of their distances from the plant centre position to coordinate axis The x component can be estimated as the modified projection of the arm length to the x-axis as described in Chapter 5.2.2. The correction is necessary because the motion equations introduced in Chapter 5.2.2 were based on a simplified kinematical model of the hoeing tool. To avoid complex calculation of the blade’s exact position, the modifying parameters which allow estimation of the blade’s exact position were determined by experimental research. Finally, another M-file was written to summarise the distribution of distances between the blades and plants. z rear x rear 5.3.7 Evaluation of the algorithm for online control of the hoeing tool by experimental testing Experimental testing of the physical prototype was done in order to verify the robustness of the system and controlling VI-s. The first test was the test of the z 103
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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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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
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 110 and 111: Results and discussion To avoid con
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
Page 118 and 119: Results and discussion corresponds
Page 122 and 123: Results and discussion hoeing accur
Page 124 and 125: Results and discussion between the
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
Page 169: Personal data Education About the a
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