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

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State of the art The fluorescence spectroscopy as a new approach for discrimination between crops and weeds has been recently tested. A review of the methodology and promising results have been reported (Panneton et al. 2006). Most of the research in weed detection has been focused on systems which can be applied in site specific spraying. Detection of the individual plants and their relative position has been not the primary objective of those studies. However, new approaches like mechanical weed control and especially the mechanical intra-row weed control have changed the target objects which need to be recognised with machine vision. Excepting a few recent studies, systems for recognition of individual plants are still under development at the level of prototypes. As mentioned before, for successful and efficient intra-row weed control detection of the position of every crop plant is necessary. A methodical review of individual plant recognition approaches based on spectral properties, morphological and textural features and pattern recognition pointing out advantages and disadvantages has been written by Åstrand (Åstrand 2005). Particular attention is given to the implementation of the context information (knowledge about the planting grid) in the crop/weed distinction algorithm for increasing the classification efficiency. This overview of plant/weed detection methodology makes evident the considerable efforts concentrated on research in the area of single plant detection. 28
Definition of the problem and research objectives 3 Definition of the problem and research objectives 3.1 Definition of the problem According to the fact that mechanical weeding should provide cultivation of the entire space around the crop plants, three different areas need to be recognised in row crops. The first is the “inter-row area”-that is, the area between rows. Mechanical weeding of this area is more or less solved with different commercial tools available on the market. The second is the “intra-row area”- that is, the area between plants in one row and the third is the “close to crop area”-that is, the area nearest to the crop plant (Nørremark and Griepentrog 2004). The definition of the inner border (diameter) of the close to crop area is highly dependent on the crop species and growth stages, as well as from the weeding tool which is used. To ensure, with high confidence, that a weeding tool will not cause any negative influence on the crop, the area occupied by the plant should be always increased with a so-called “protected” (ring-shape) area around it. Definition of the areas of great importance for the mechanical intra- row weed control is presented in Figure 3.1. Distance between successive rows Protected area In-row distance between plants Figure 3.1 Areas in the row crop field Plant area Crop row Crop row 29
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 20 and 21: Introduction The most frequently us
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Page 26 and 27: Introduction limited and environmen
Page 28 and 29: Introduction than 40 years before g
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
Page 36 and 37: Introduction 18 Figure 1.3 Inter-ro
Page 38 and 39: State of the art 20 Figure 2.1 a) F
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Page 51 and 52: 4 Materials and methods 4.1 Detecti
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Page 55 and 56: Materials and methods Figure 4.3 a)
Page 57 and 58: 4.1.2 Data acquisition 4.1.2.1 Hard
Page 59 and 60: 4.1.4 Test objects Materials and me
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Page 76 and 77: Results and discussion 58 Figure 5.
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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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