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

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Introduction 18 Figure 1.3 Inter-row Mutsaers QI type 500 (1 - centre of the rotation, 2 - individual hoeing section with separate adjustment possibilities, 3.- carrier of the toolbar allowing montage to the front of the tractor, 4 - row following front sight) (Anonymous 1 2007) More advanced technologies with optical systems show even more promise. Image recognition through the use of cameras and sensors controls the toolbar’s horizontal displacement using hydraulics. The Ecodan system uses this technology and allows tractor speeds of between 6 and15 km/h. The plant must be large enough to be detected by the camera and the camera must distinguish between plants and soil (ECO-DAN A/S 2007; Schans et al 2006). Another system working on the same principles, Robocrop (Anonymous 2 2007; Schans et al 2006), has also been tested.
2 State of the art 2.1 Intra-row weed control State of the art Intra-row weeding is the last but very important stage of successful non- chemical weed control. It shall be considered as a final weed elimination procedure and not as a primary method of weed control. However, there are many technical problems associated with intra-row weeding, which are the main reason why even today the hand weeding is still the most frequently used method for intra-row weeding on organic farmlands in Western European countries. Mechanisation of the intra-row area cultivation is very complex and there are two streams of thought for solving this problem: using passive and active implements. 2.1.1 Passive tools for intra-row weed control Well-known passive implements for intra-row weeding are finger weeders and torsion weeders. Finger weeders consist of plates rotating at an acute angle with the ground which have appendages, or fingers, extending radially from the disk (see Figure 2.1 a). One disk operates on each side of a plant row, and the distance from the plant can be adjusted to several centimetres apart to interlocking with as much a 5 cm overlap. The basic idea of this weeding method is to uproot the weeds and eject them from the crop row. Usually, finger weeders are very effectively combined with flat hoes between the rows forming a tool for simultaneous inter- and intra-row hoeing which can cover several crop rows in one passage. These implements require very precise steering for row- following, which can be done manually or automatically with vision systems such as Ecodan and Robocrop. A major advantage is the flexibility, as a finger weeder can work on almost any type of crop which has sufficient distance between the rows. 19
Page 1 and 2: Institut für Landtechnik der Rhein
Page 3 and 4: Development of a novel mechatronic
Page 5 and 6: Kurzfassung Entwicklung eines neuar
Page 7 and 8: Acknowledgements Acknowledgements M
Page 9 and 10: Table of contents Table of contents
Page 11 and 12: Glossary of abbreviations and symbo
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Page 30 and 31: Introduction techniques. It is know
Page 32 and 33: Introduction Sowing and planting al
Page 34 and 35: Introduction Inter-row weeding syst
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Page 48 and 49: Definition of the problem and resea
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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 72 Figure 5.
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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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