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

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Glossary of abbreviation and symbols Symbol Unit Description RUA IV m Distance between the joint between the forearm and upper arm of the hoeing tool and the cutting edge of the duckfoot knife placed on the upper arm RESsys ppr Resolution of the hoeing tool Re Rear RGB Colour model in which red, green, and blue are combined in various ways to reproduce other colours RTK-GPS Real time kinematic global positioning system ∆s m Sampling distance SL Standard deviation of the data acquired with the laser sensor SRGB Standard deviation of the data acquired with the RGB sensor SA Searching area SCR Silicon controlled rectifier SR m Sampling distance T s Tmin s ∆t s Change of the time tL tL-1 s s Estimated time in which the hoeing tool arrives exactly above the following plant centre position Time in which one full rotation of the system can be achieved with rated rotational speed Absolute time value in which the plant detection unit was positioned exactly above the centre position of the latest plant Absolute time value in which the plant detection unit was positioned exactly above the centre position of the latest but one plant TTL Transistor–transistor logic TGSS True ground speed sensor ∆u rpm Change of the rotational speed uhmax rpm Maximum rotational speed of the hoeing tool
Symbol Unit Description Glossary of abbreviations and symbols uhn rpm Nominal rotational speed of the hoeing tool ummax rpm Maximum rotational speed of the servo motor unew rpm Newly calculated rotational speed of the hoeing tool uold rpm Latest rotational speed of the hoeing tool UK United Kingdom USB Universal serial bus V m s -1 Vmax m s -1 Forward speed of the hoeing tool Maximum forward speed for the hoeing system with three arms and hoeing strategy when one full rotation corresponds to three cuts between every two plants in the row VI Virtual instrument (LabVIEW) VE Virtual environment VP Virtual prototyping xfr1 xfront xmi1 xre1 xrear yfr1 ymi1 m m m m m m m Projection of the 1 section’s front duckfoot knife position to xaxis Projection of the distance between the duckfoot knife’s blade approaching the plant from the front side and the centre position of the plant to x-axis Projection of the 1 section’s middle duckfoot knife position to x-axis Projection of the 1 section’s rear duckfoot knife position to xaxis Projection of the distance between the duckfoot knife’s blade approaching the plant from the rear side and the centre position of the plant to x-axis Projection of the 1 section’s front duckfoot knife position to yaxis Projection of the 1 section’s middle duckfoot knife position to y-axis V
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 and 10: Table of contents Table of contents
Page 11 and 12: Glossary of abbreviations and symbo
Page 13: Symbol Unit Description Mmmax Nm Ma
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
Page 53 and 54: Materials and methods Figure 4.1 a)
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
Page 61 and 62: Materials and methods become a poss
Page 63 and 64: 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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