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

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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......................................................... 99 136
List of figures Figure 5.24 Scheme of the hoeing tool’s prototype placed on the soil box ...........101 Figure 5.25 Position of duckfoot knife trajectories approaching the crop plant with projection of their distances from the plant centre position to coordinate axis ....................................................................................................103 Figure 5.26 Report graph attained after the experiment with constant speed .......104 Figure 5.27 Estimation of the hoeing quality attained during the experiment with constant speed...................................................................................106 Figure 5.28 Estimation of the hoeing quality attained during the experiment with constant speed limited to the 100 mm transversal area around the plant centre position ...................................................................................107 Figure 5.29 Distribution of the total number of cuts based on their distance from the plant centre position for the experiment with constant speed..............108 Figure 5.30 Estimation of the hoeing quality attained during a series of experiments with constant speed, limited to the 100 mm transversal area around the plant centre position ...........................................................................109 Figure 5.31 Distribution of the total number of cuts based on their distance from the plant centre position for a series of experiments with constant speed 110 Figure 5.32 Report graph attained after the experiment with acceleration and deceleration of the forward speed .....................................................111 Figure 5.33 Estimation of the hoeing quality attained after the experiment with acceleration and deceleration of the forward speed, limited to the 100 mm transversal area around the plant centre position ........................112 Figure 5.34 Distribution of the total number of cuts based on their distance from the plant centre position for a series of experiments with the experiment with acceleration and deceleration of the forward speed ...........................113 Figure 5.35 Report graph attained after the experiment with intensive acceleration of the forward speed .............................................................................114 Figure 5.36 Estimation of the hoeing quality attained after the experiment with intensive acceleration of the forward speed, limited to the 100 mm transversal area around the plant centre position...............................115 Figure 5.37 Estimation of the hoeing quality for filtered data set acquired after intensive change of the forward speed, limited to the 100 mm transversal area around the plant centre position...............................116 Figure 5.38 Distribution of the total number of cuts based on their distance from the plant centre position for filtered data set acquired after intensive change of the forward speed ..........................................................................116 Figure 5.39 Report graph attained after the experiment with changing forward speed on the crop system with 400 mm average distance between plants ..117 Figure 5.40 Estimation of the hoeing quality attained during a series of experiments on the field with 400 mm average intra-row distance between plants, limited to the 100 mm transversal area around the plant centre position ...........................................................................................................118 Figure 5.41 Distribution of the total number of cuts based on their distance from the plant centre position for the hoeing the field with 400 mm average intrarow distance between plants ..............................................................119 137
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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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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 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 and 152: References Schans, D. v. d. et al.
Page 153: List of figures List of figures Fig
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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