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

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Summary damaged while the system stabilises its work, but stable state can be reached immediately after the stabilisation period. After parameters adjustment in the controlling software system was successfully adapted for intra-row hoeing of the row with different sowing pattern. 124
7 Conclusions Conclusions The presented concept of the intra-row hoeing system can fulfil the requirements; it has sufficient degrees of freedom to allow full adaptation to different crop species, different plant intra-row distances and plant growth stages. In combination with an inter-row hoe or installed on an autonomous vehicle, the developed robotic system could be a solution for accurate and rapid mechanical weed control. Concept for detection of the plants centre position developed in this research needs to be concerned as an interim solution for plant detection. However, results achieved during experiments in laboratory conditions certify about stabile and accurate detection of the plant centre position in real-time independently from illumination conditions. Tests and simulations carried out with the virtual prototype have increasingly facilitated the design process and significantly shortened the path from the idea to the prototype. Furthermore, the virtual prototype of the intra-row hoeing tool provides an expeditious and accurate procedure for determination of the optimal hoeing scenario if the conditions on the field, like the intra-row plant distance, average growth stage of the plants and the size of the duckfoot knives, are known. Finally, experimental tests conducted with the hoeing tool’s physical prototype proved the hypothesis that the hoeing system based on servo motor in combination with the detection of the plant centre position can provide accurate intra-row hoeing controlled in real-time. Further work The presented methodology for detection of the single plant centre position is as mentioned before only an interim solution. For development of this solution to a higher level, applicable in field conditions, it requires a comprehensive revision. The main shortage is that the implemented sensors require ad-hoc parameter adjustment according to the field conditions before the measurement, to provide desired plant detection quality. For broad usage of a 125
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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
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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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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 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: Summary The third part of the work
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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