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

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References Wang, G. G. 2002, Definition and Review of Virtual Prototyping. Journal of Computing and Information Science in Engineering 2: pp.232-236 Waurzyniak, P. 2000. Virtual Models Gain Favor. Manufacturing Engineering 124. pp.34-46 Welsh, J. P., Tillett, N., Home, M., King, J. A. 2002. Inter-row hoeing and its associated agronomy in organic cereal and pulse crops – A review of knowledge. DEFRA Project Report (OF 0312) Woebbecke, D. M., Meyer, G. E., Von Bargen, K. and Mortensen, D. 1995. Shape features for identifying young weeds using image analysis. Transactions of the ASAE 38: pp.271-281 Yarham, D. and Turner, J. 1992. ADAS organic wheat survey. New Farmer & Grower 43: pp.31-33 Yussefi, M. and Willer, H. 2002. Organic Agriculture Worldwide 2002- Statistics and Future Prospects. Foundation of Ecology and Agriculture SÖL- Sonderausgabe Nr. 74. Bad Dürkheim, Verlagsservice Niederland. p.159 Zimdahl, R. L. 2004. Weed crop competition: A Review. Blackwell Publishing Limited. p.232 Zinati, G.M. 2002. Transition from conventional to organic farming systems: II. Summary of discussion session and recommendations for future research. HortTechnology. 12(4). pp. 611-612 Zwiggelaar, R. 1998. A review of spectral properties of plants and their potential use for crop/weed discrimination in row-crops. Crop protection 17[3], pp.189- 206 134
List of figures List of figures Figure 1.1 Total quantity of herbicides sold in the 15 EU states in the period from 1992 to 2001 ......................................................................................... 4 Figure 1.2 Total quantity of herbicides sold in some of the EU member states in the period from 1990 to 2001 ...................................................................... 5 Figure 1.3 Inter_row Mutsaers QI type 500 ...........................................................18 Figure 2.1 a) Finger weeder b) Torsion weeder ....................................................20 Figure 2.2 Concept and prototype of the intra-row hoeing developed at Halmstadt University ............................................................................................21 Figure 2.3 Hoeing system based on geo-referenced control of the Osnabrück hoe .............................................................................................................22 Figure 2.4 Clycloid trajectories of the Osnabrück hoe for a) rotational speed is equal to the forward speed b) rotational speed is 1.25 times higher than the forward speed c) rotational speed is 1.5 times higher than the forward speed .....................................................................................23 Figure 2.5 Illustration of the hoeing concept using the rotating disk ......................25 Figure 2.6 Rotating disk weeder a) the toolframe with two rotary cultivator units without inter-row cultivation blades b) the toolframe with one rotary cultivator without inter-row cultivation blades mounted on the front of the tractor...................................................................................................25 Figure 3.1 Areas in the row crop field....................................................................29 Figure 3.2 Deviations from the expected plant/weed distribution pattern in field conditions.............................................................................................30 Figure 4.1 a) RGB fibre optic sensor CZ-H35S and RGB digital fibre optic amplifier CZ – V21P b) RGB fibre optic sensor in working position with illustrated optimal detection range and spot diameter of the light source..............35 Figure 4.2 a) Laser sensor head LV – H47 with appropriate LV- 21AP amplifier b) Sensor head in working position with illustrated optimal detection range and corresponding width of the area covered by laser..........................36 Figure 4.3 a) Joint carrier of plant detection sensors b) Toolframe with wheels allowing accurate following of the soil surface ......................................37 Figure 4.4 Test objects used in experiments for detection of the plant centre position ................................................................................................41 Figure 4.5 Concept of a servo system in a closed loop .........................................50 Figure 4.6 Typical change of the torque intensity for trapezoidal response of the speed ..................................................................................................... .............................................................................................................54 Figure 4.7 Experimental determination of hoeing tool’s inertia ration.....................55 Figure 4.8 Experimental determination of hoeing tool’s inertia ration with zoomed area of interest .....................................................................................55 Figure 5.1 Interpretation of different plants with arrays of TRUE and FALSE signals ................................................................................................................ .............................................................................................................58 Figure 5.2 Algorithm of the plant centre position detection ....................................60 135
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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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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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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 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: References Schans, D. v. d. et al.
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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