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

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Definition of the problem and research objectives Although the plants were sown with constant spacing, the distance between the plants in the row can vary and some of the expected positions can be without plants, because of various environmental conditions. A weeding tool should appropriately respond to all deviations from the expected plant/weed distribution pattern, such as the missing plants (1), weeds appearing in the close-to-crop area (2) and non-regular and varying distances between plants in the row (3) (see Figure 3.2). 30 Figure 3.2 Deviations from the expected plant/weed distribution pattern in field conditions For successful and accurate intra-row weed control, the position of every single plant has to be determined. The eventual deviation from the sowing pattern needs to be detected and used to correct the control of the weeding tool. Because of that, detection of the plants and the response of the system for plant detection need to be fast enough to be applicable in combination with real time weeding tools. 2 1 The optimal sowing distance for different crop plants is heterogeneous, thus the weeding tool has to be flexible and adaptable to different intra-row distances. 3 3 1
3.2 Research objectives Definition of the problem and research objectives The main objective of this research was the development and realisation of an autonomous intra-row weeding system based on mechanical elimination of weeds in row crops which can be used in different plant spacing systems, various plant intra-row distances and growth stages. The main objective can be split into three different sub-objectives: � Development of a hardware solution for detection of the crop plants’ centre position in real-time; � Design of a virtual prototype of the intra-row weeding tool and kinematical analysis of the suggested tool solution concerning hoeing trajectories in different plant systems and � Development of a physical prototype, based on a servo motor, which uses the information about the crop plants’ centre position for accurate controlling of the hoeing tool. The developed system needs to demonstrate ability to hoe the area between two successive plants inside the crop row in laboratory conditions in real-time. 31
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
Page 13 and 14: Symbol Unit Description Mmmax Nm Ma
Page 15 and 16: Symbol Unit Description Glossary of
Page 17: ωold ωout rad s -2 Latest rotatio
Page 20 and 21: Introduction The most frequently us
Page 22 and 23: Introduction application that had p
Page 24 and 25: Introduction be to go from a system
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
Page 40 and 41: State of the art cylinder rotates a
Page 42 and 43: State of the art 1998). This device
Page 44 and 45: State of the art 26 2.2 Detection o
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Page 51 and 52: 4 Materials and methods 4.1 Detecti
Page 53 and 54: Materials and methods Figure 4.1 a)
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
Page 61 and 62: Materials and methods become a poss
Page 63 and 64: Materials and methods environments
Page 65 and 66: Materials and methods dimensions ne
Page 67 and 68: Materials and methods (PFM). As the
Page 69 and 70: Materials and methods A command sig
Page 71 and 72: Materials and methods The drive con
Page 73: Materials and methods Another tool
Page 76 and 77: Results and discussion 58 Figure 5.
Page 82 and 83: Results and discussion objects. Acc
Page 84 and 85: Results and discussion Plant positi
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Page 92 and 93: Results and discussion Connection b
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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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