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

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Materials and methods response speeds associated with automatic calibration type sensors. The response time can reach 80 µs in mode for fast detection. The amplifier supports four different detection modes: standard with normal or increased hysteresis and differentiation method detecting upper or lower edge of the received light change. The light sensitivity can be calibrated for two digital channels separately. The sensor and the amplifier are illustrated in the Figure 4.2. Height detection range of the LV-H47 sensor head is between 55 mm and 85 mm and the corresponding covered width is between 20 mm and 25 mm. As a light source, a visible red semiconductor laser with 650 nm wavelength is installed in this head with pulse duration of 3.5 ms. 36 Figure 4.2 a) Laser sensor head LV – H47 with appropriate LV- 21AP amplifier b) Sensor head in working position with illustrated optimal detection range and corresponding width of the area covered by laser RGB sensor and the laser sensor were mounted on a joint carrier behind one another on a 50 mm distance as shown in Figure 4.3. The sensor carrier was mounted on a toolframe allowing accurate following of the soil surface to keep the constant distance between the sensors and the soil surface.
Materials and methods Figure 4.3 a) Joint carrier of plant detection sensors b) Toolframe with wheels allowing accurate following of the soil surface (1- laser sensor, 2 - RGB sensor, 3 - joint carrier, 4 - wheels, 5 - toolframe) 4.1.1.3 Forward position detection Accurate detection of the forward position is necessary for adequate plant detection and appropriate assignment of the relative coordinates to every single plant. For the experimental work under laboratory conditions two different methods have been used in parallel to prove the system robustness. 4.1.1.4 Position sensor with incremental encoder This device translates linear motion into a proportional electrical signal. The sensor consists of a calibrated measuring cable which winds onto an accurately machined cable drum. The drum is mounted onto a shaft which is tensioned by a coil spring which gives a specified pull-in force to maintain cable tension and control. The complete mechanical assembly is installed in a rugged enclosure together with the electronic components of the sensor. The mechanical components of the sensor drive an incremental rotary encoder with digital outputs via a 37
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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
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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
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Page 44 and 45: State of the art 26 2.2 Detection o
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Page 48 and 49: Definition of the problem and resea
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Page 73: Materials and methods Another tool
Page 76 and 77: Results and discussion 58 Figure 5.
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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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