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

List of figures
Figure 5.3 Block diagram of the VI for detection of the plant centre position......... 62
Figure 5.4 Dispersion of the impulses generated for every detected object (10 mm
wood sticks) a) with RGB sensor sampling distance 5 mm b) with laser
sensor sampling distance 5 mm c) with RGB sensor sampling distance
2mm d) with laser sensor sampling distance 2 mm ............................. 64
Figure 5.5 Rotary intra-row hoeing concept ......................................................... 72
Figure 5.6 Design variants of the arm holder........................................................ 73
Figure 5.7 Exploded view of a one-arm hoeing tool assembly with indicated joints
............................................................................................................ 74
Figure 5.8 Design variants of the hoeing tool assembly........................................ 74
Figure 5.9 Kinematics and design of the rotary hoe.............................................. 75
Figure 5.10 Trajectory of the duckfoot knife under the soil surface with minimum and
maximum hoeing depth ....................................................................... 76
Figure 5.11 Hoeing trajectories of the hoeing tool with nine arms in a field with 300
mm intra-row distance between plants (arm length 440 mm, angular
position of all arms adjusted to 0°, � - position of the plant)................ 79
Figure 5.12 Hoeing trajectories of the hoeing tool with nine arms in a field with 200
mm intra-row distance between plants (arm length 520 mm, angular
position of all arms adjusted to 0°, � - position of the plant)................ 80
Figure 5.13 Hoeing trajectories of the hoeing tool with nine arms in a field with 200
mm intra-row distance between plants (arm length 520 mm, angular
position of all arms adjusted to fr=17°, mi=0°, re= –17°, � - position of
the plant)............................................................................................. 81
Figure 5.14 Hoeing trajectories of the hoeing tool with nine arms in a field with 200
mm intra-row distance between plants (arm length 440 mm, angular
position of all arms adjusted to fr=17°, mi=0°, re= –17°, � - position of
the plant)............................................................................................. 82
Figure 5.15 The shape and dimensions of one duckfoot knife................................ 83
Figure 5.16 Hoeing trajectories of the hoeing tool with three arms providing two cuts
between following plants in a field with 200 mm intra-row distance
between plants (arm length 440 mm, angular position of all arms
adjusted to duckfoot1=17°, duckfoot2=0°, duckfoot3= –17°, � - position
of the plant) ......................................................................................... 84
Figure 5.17 Hoeing trajectories of the hoeing tool with four arms providing two cuts
between following plants in a field with 200 mm intra-row distance
between plants (arm length 440 mm, angular position of arms adjusted
to: duckfoot1= 20°, duckfoot2= -20°, duckfoot3= 20°, duckfoot4= -20° ,
� - position of the plant)...................................................................... 85
Figure 5.18 Results of the field experiment providing insight into the size of the
torque required for undisturbed hoeing with hoeing tool with three arms
in extreme conditions .......................................................................... 88
Figure 5.19 Definition of the desired angular position of the hoeing tool with three
arms a) when it is in the start position and b) when it is placed exactly
above a crop plant............................................................................... 92
Figure 5.20 Time schedule of the VI-s execution during the real time detection of the
plant position....................................................................................... 93
Figure 5.21 Definition of the required distance between the plant detection unit and
the plane in which the hoeing tool is placed ........................................ 94
Figure 5.22 Algorithm for the online control of the hoeing tool’s rotational speed ... 98
Figure 5.23 Carrier vehicle of the hoeing tool......................................................... 99
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