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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Results and discussion<br />
where zfront is the projection <strong>of</strong> the distance between the blade <strong>of</strong> the duckfoot<br />
knife number 3 and estimated centre position <strong>of</strong> the plant to z-axis, xfront is the<br />
projection <strong>of</strong> the distance between the blade <strong>of</strong> the duckfoot knife number 3 and<br />
estimated centre position <strong>of</strong> the plant to x-axis, zrear is the projection <strong>of</strong> the<br />
distance between the blade <strong>of</strong> the duckfoot knife number 1 and estimated<br />
centre position <strong>of</strong> the plant to z-axis, xrear is the projection <strong>of</strong> the distance<br />
between the blade <strong>of</strong> the duckfoot knife number 1 and estimated centre position<br />
<strong>of</strong> the plant to x-axis (see Figure 5.25).<br />
x<br />
x front<br />
z front<br />
R front<br />
z c<br />
R rear<br />
Figure 5.25 Position <strong>of</strong> duckfoot knife trajectories approaching the<br />
crop plant with projection <strong>of</strong> their distances from the<br />
plant centre position to coordinate axis<br />
The x component can be estimated as the modified projection <strong>of</strong> the arm length<br />
to the x-axis as described in Chapter 5.2.2. The correction is necessary<br />
because the motion equations introduced in Chapter 5.2.2 were based on a<br />
simplified kinematical model <strong>of</strong> the hoeing tool. To avoid complex calculation <strong>of</strong><br />
the blade’s exact position, the modifying parameters which allow estimation <strong>of</strong><br />
the blade’s exact position were determined by experimental research. Finally,<br />
another M-file was written to summarise the distribution <strong>of</strong> distances between<br />
the blades and plants.<br />
z rear<br />
x rear<br />
5.3.7 Evaluation <strong>of</strong> the algorithm <strong>for</strong> online control <strong>of</strong> the<br />
hoeing tool by experimental testing<br />
Experimental testing <strong>of</strong> the physical prototype was done in order to verify the<br />
robustness <strong>of</strong> the <strong>system</strong> and controlling VI-s. The first test was the test <strong>of</strong> the<br />
z<br />
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