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

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