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

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Referent: Prof. Dr.-Ing. P. Schulze Lammers Korreferent: Prof. Dr.-Ing. habil. Jan-Welm Biermann Koreferent: Prof. Dr. Milan Martinov Tag der mündlichen Prüfung: 17.12.2007 © im Selbstverlag Bezugsquelle: Institut für Landtechnik Rheinsche Fridrich-Wilhelms-Universität Nussallee 5 531115 Bonn Alle Rechte, auch die der Übersetzung und des Nachdruckes sowie jede Art der photomechanischen Wiedergabe, auch auszugsweise, bleibt vorbehalten.
Development of a novel mechatronic system for mechanical weed control of the intra-row area in row crops based on detection of single plants and adequate controlling of the hoeing tool in real-time Abstract As a component of successful non-chemical weed control intra-row weeding shall be considered as a final weed elimination procedure and not as a primary method. Conventional methods for inter-row weed control can handle with approximately 80% of the field area in row planted crops and vegetables. However, the weeds occur in the remaining area between (intra-row) and around the plants (close-to-crop) have a much bigger impact on the development and yield of the plants. Online detection of the single plant position and the plant/weed distinction are the bottlenecks of intra-row weeding but concerning the expeditious research and development in this field it is to expect that appropriate systems would be available on the market in near future. In the meantime, construction and adjustment possibilities of implements considering the role of soil properties and mechanics need to be optimised toward universal intra-row weeding tools, which can be used in different plant spacing systems, different plant intra-row distances and growth stages. A virtual prototype of a system for intra-row weeding imitating the manual hoeing motions under the soil surface was designed. The hoeing tool consists of an arm holder and three or more integrated arms rotating around the horizontal axis above the crop row. Tests and simulations of the hoeing trajectories carried out with the virtual prototype have increasingly facilitated the design process and significantly shortened the path from the idea to the prototype. The physical prototype was realised using a servo motor with direct software control providing rotational speed adjustment according to the forward speed of the carrier, intra-row distance between plants and the observed position of the arms. A simplified methodology and system for plant position detection based on the spectral characteristics of crop plants combined with the context information of the planting pattern was developed and tested. The experimental results showed that the combination of the RGB sensor for determination of the spectral characteristics and area covering laser sensor for determination of height and reflectance can be used for accurate detection of the plant centre position independently from illumination conditions. The maximum deviation of the estimated centre positions from the plant
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Page 7 and 8: Acknowledgements Acknowledgements M
Page 9 and 10: Table of contents Table of contents
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Page 32 and 33: Introduction Sowing and planting al
Page 34 and 35: Introduction Inter-row weeding syst
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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 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
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Results and discussion 86 5.2.5 Dis
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Results and discussion Conventional
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Results and discussion Since the fi
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Results and discussion To avoid con
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Results and discussion As the size
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Results and discussion 96 5.3.4 Alg
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Results and discussion 98 V = zc( t
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Results and discussion corresponds
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Results and discussion 102 5.3.6 Me
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Results and discussion hoeing accur
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Results and discussion between the
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Results and discussion distance fro
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Results and discussion Distribution
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Results and discussion cuts are ran
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Results and discussion Forward spee
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Results and discussion x [mm] Distr
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Results and discussion The experime
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6 Summary Summary Neither a mechani
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Summary The third part of the work
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7 Conclusions Conclusions The prese
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8 References References Agrios, G.
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References in California's Sacramen
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References Johnson, W C and Mullini
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References Schans, D. v. d. et al.
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List of figures List of figures Fig
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List of figures Figure 5.24 Scheme
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Plant position 9 Appendix Table 9.1
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Plant position Table 9.3 Detection
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Personal data Education About the a
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