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

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4 Materials and methods 4.1 Detection of the single plant position Materials and methods Considering the expeditious research and development in the field of online detection of single plant position and plant/weed distinction, it is expected that appropriate systems will be available on the market in near future. Accordingly, the development of a system for single plant position detection was not targeted as the primary objective of this research. A simplified system based on the spectral characteristics of plants combined with the context information of the planting pattern has been constructed as an interim solution. 4.1.1 Sensor equipment 4.1.1.1 Digital colour sensor After evaluation of several approaches for plant detection, concerning the basic requirement, which is accurate detection of the plant centre position in real time, a method based on non-selective detection of green-coloured objects, with an industrial RGB fibre optic sensor connected to an RGB digital fibre optic amplifier was chosen. The principle of colour detection in such sensors is based on a three-colour light source transmitter and appropriate receiver. The light emitter is located in the amplifier within which the beams of three colours are brought into a straight line by use of mirrors. The advantages of the three-colour light source sensors over conventional single-colour light source sensors are: � The received light quantity is converted into a ratio of three colours, and the target is recognized by its colour, whereas certain colours by single-colour illumination receive the same light quantity and they cannot be differentiated. � Even when the target position changes and the received light quantity changes, the ratio of the three colours does not change whereas by conventional systems the received light quantity changes according to the distance between the target and the sensor head. 33
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
Page 46 and 47: State of the art The fluorescence s
Page 48 and 49: Definition of the problem and resea
Page 52 and 53: Materials and methods 34 � Since
Page 54 and 55: Materials and methods response spee
Page 56 and 57: Materials and methods coupling. The
Page 58 and 59: Materials and methods process and c
Page 60 and 61: Materials and methods plants were r
Page 62 and 63: Materials and methods prototyping i
Page 64 and 65: Materials and methods capabilities,
Page 66 and 67: Materials and methods 48 4.3 Physic
Page 68 and 69: Materials and methods change its in
Page 70 and 71: Materials and methods P = η * P (4
Page 72 and 73: Materials and methods 54 Figure 4.6
Page 75 and 76: 5 Results and discussion Results an
Page 77 and 78: Results and discussion Before the a
Page 79 and 80: Results and discussion After the me
Page 81 and 82: 5.1.2 Results of the accuracy test
Page 83 and 84: 5.1.3 Results of the robustness tes
Page 85 and 86: Plant position Results and discussi
Page 87 and 88: Plant position Results and discussi
Page 89 and 90: 5.2 Virtual prototype of the rotary
Page 91 and 92: Results and discussion subassemblie
Page 93 and 94: Results and discussion To demonstra
Page 95 and 96: Results and discussion The Pythagor
Page 97 and 98: Horizontal position (x) [mm] Vertic
Page 99 and 100: Horizontal position (x) [mm] Vertic
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Results and discussion be mostly us
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Results and discussion With a hoein
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5.3 Physical prototype of the hoein
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Results and discussion During the e
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Results and discussion outputs from
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Results and discussion According to
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Results and discussion Based on ind
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Results and discussion position of
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5.3.5 Test bench for evaluation of
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Results and discussion Figure 5.24
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Results and discussion where zfront
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Results and discussion In the secon
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Results and discussion As a final c
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x [mm] 100 80 60 40 20 0 -20 -40 -6
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Forward speed [m/s] Angular positio
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Distribution [%] 30 25 20 15 10 5 D
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x [mm] 80 60 40 20 0 -20 -40 -60 -8
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Results and discussion Finally, exp
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Results and discussion 120 mm. Howe
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Summary For broad usage of the syst
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Summary damaged while the system st
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Conclusions system, parameter adjus
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References Bakker, T., Asselt, C. v
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References Franz, E., Gebhardt, M.
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References Noble, S. D. and Crowe,
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References Wang, G. G. 2002, Defini
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List of figures Figure 5.3 Block di
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Appendix 138 List of tables Table 5
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Appendix Plant position 140 Table 9
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