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

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Results and discussion hoeing accuracy of the system with nearly continuous forward speed. Average distance between plants was 200 mm, arm length 495 mm, maximum hoeing depth 18 mm, plant searching area size in the detection VI was set to 50 mm, minimum size of the recognised object which will be considered as a plant 15 mm and 1 allowed FALSE sample inside the plant area. The graphical interpretation of the results of one typical test is shown in the Figure 5.26. Forward speed [m/s] 104 Angular position [deg] 0.048 0.04 0.032 0.024 0.016 0.008 360 270 180 Forward speed Rotation speed 0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000 0 90 Detected plants 0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000 0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000 Forward position [mm] Figure 5.26 Report graph attained after the experiment with constant speed (| Estimated middle position of the plant; + Angular position of the hoeing tool; � Detected plant; � Duckfoot2 under the soil surface; � Duckfoot3 under the soil surface; � Duckfoot1 under the soil surface) 0.03 0.025 0.02 0.015 0.01 0.005 Rotation speed [rps]
Results and discussion In the second graph angular positions of the hoeing tool in relation to the forward position of the system, with highlighted position of the duckfoot knife trajectories under the soil surface are given. According to the theoretical approach of the rotational speed controlling, the first cut needs to be done with the duckfoot knife number 2 (marked with �) and its optimal placement is the middle position between two plants. The second cut needs to be done with the duckfoot knife number 3 (marked with �) and its optimal placement is the front side of the plant (marked with |) to which it approaches. Finally, the third cut needs to be done with the duckfoot knife number 1 (marked with �) and its optimal placement is the rear side of the plant. The angular position of the hoeing tool is marked with + and corresponds to the position of the plan in which the centres of cutting edges lie, when duckfoot knives are adjusted to 0°. In the experiments the positions of the duckfoot knives were shifted from the 0° position with intention to provide bigger protected area. Duckfoot knife 3 was shifted backwards by 25 mm and duckfoot knife 1 was shifted forwards by 25 mm. This modification is visible on the graph. Analysing the graph it can be concluded that significant deviation from the desired hoeing strategy was not present and 3 cuts were performed between every two plants. The third graph contains data about the positions on which the sensor for plant detection has generated a TRUE signal (marked with �). The estimated value of the plant centre position was calculated and highlighted in graph 2 (marked with |). Graph 3 shows that on all the expected plant positions sensor equipment generated several signals which provided accurate detection of all the plants in the test field. More accurate estimation of the hoeing quality in the areas near to crop plant was done by transformation of the hoeing trajectories to a relative distance from the origin of the coordinate system, which corresponds to the plant centre position (marked with �). The graph a) in Figure 5.27 shows the distribution of the sampled points under the soil surface transformed to a relative distance from the origin for duckfoot knife number 3 (marked with �) and duckfoot knife number 1 (marked with �). It is obvious that the cuts have expressive trend around the plant centre position. The cuts made with duckfoot knife number 1 look like shifted from the plant. It is caused intentionally to avoid contact 105
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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
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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 120 and 121: Results and discussion 102 5.3.6 Me
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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