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

More documents

Recommendations

Info

Materials and methods process and compiled into the executable machine code when requested to run as an application. Developed VI can be run under the LabVIEW environment or as a stand-alone application. Furthermore, it is possible to create distributed applications which communicate by a client/server scheme, and thus is easier to implement due to the inherently parallel nature of G-code. One benefit of LabVIEW in relation to other development environments is the extensive support for accessing instrumentation hardware. Drivers and abstraction layers for many different types of instruments and buses are included or are available for inclusion. The abstraction layers offer standard software interfaces to communicate with hardware devices. Generally, code can be slower than equivalent compiled C code, although the differences often lie more with program optimization than inherent execution speed. A benefit of the LabVIEW environment is the platform independent nature of the G-code, which is portable between the different LabVIEW systems for different operating systems such as Windows, Mac-OS and Linux. Code can be uploaded onto an increasing number of targets including devices like Phar Lap OS based LabVIEW real-time controllers, Pocket PC-s, PDA-s, FieldPoint modules and into FPGA-s on special boards. 40 4.1.3 Experimental field Experiments were conducted in a particularly prepared soil box containing three different soil types, representing the most frequently appearing types in Germany. Total length of the soil box was 9 metres and it was divided into three equal parts. The first partition was filled with a sandy soil containing 56.9% sand, 34.5% silt and 8.6% clay. The second partition was filled with a silty soil containing 10.7% sand, 71.8% silt and 17.5% clay. The last partition was filled with a clay soil containing16.1% sand, 52.6% silt and 45.6% clay. The experimental field was 2 metres wide providing a possibility to drive the carrier over the soil surface through several crop rows positioned parallel to each other.
4.1.4 Test objects Materials and methods For sensors and detection algorithm testing, three different artificial objects simulating different plant development stages have been used. Green coloured wood sticks with 5-mm and 10-mm diameter were used to simulate the early development stage of the plants. The simulation of the plants in 4- to 6-leaf stage has been done using artificial plants with diameter range between 30 and 50 mm. Test objects palette is shown in Figure 4.4. Figure 4.4 Test objects used in experiments for detection of the plant centre position 4.1.5 Test of the detection system’s accuracy Two experimental rows of 30 green coloured wood sticks, with 5-mm and 10- mm diameter respectively, were used to test the robustness of the detection system. The detection of the rows was repeated 10 times for two different scenarios in which sampling distance were set to 2 mm and 5 mm. It corresponds to the detection of 300 objects for each scenario. The conditions (sensor adjustment and input features) were the same for each series of experiments. 4.1.6 Test of the detection system’s robustness The intensity of the illumination in field conditions influences the quality of the plant detection. To check the robustness of the developed system for detection of the plant centre position experiments on an experimental row of 30 artificial 41
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 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: 4.1.2 Data acquisition 4.1.2.1 Hard
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
Page 86 and 87: Results and discussion Plant positi
Page 88 and 89: Results and discussion 70 5.1.4 Dis
Page 92 and 93: Results and discussion Connection b
Page 94 and 95: Results and discussion 76 5.2.1 Opt
Page 96 and 97: Results and discussion xmi1 = ( RLA
Page 98 and 99: Results and discussion With the inv
Page 100 and 101: Results and discussion 82 Horizonta
Page 102 and 103: Results and discussion 84 5.2.4 Sel
Page 104 and 105: Results and discussion 86 5.2.5 Dis
Page 106 and 107: Results and discussion Conventional
Page 108 and 109:
Results and discussion Since the fi
Page 110 and 111:
Results and discussion To avoid con
Page 112 and 113:
Results and discussion As the size
Page 114 and 115:
Results and discussion 96 5.3.4 Alg
Page 116 and 117:
Results and discussion 98 V = zc( t
Page 118 and 119:
Results and discussion corresponds
Page 120 and 121:
Results and discussion 102 5.3.6 Me
Page 122 and 123:
Results and discussion hoeing accur
Page 124 and 125:
Results and discussion between the
Page 126 and 127:
Results and discussion distance fro
Page 128 and 129:
Results and discussion Distribution
Page 130 and 131:
Results and discussion cuts are ran
Page 132 and 133:
Results and discussion Forward spee
Page 134 and 135:
Results and discussion x [mm] Distr
Page 136 and 137:
Results and discussion The experime
Page 139 and 140:
6 Summary Summary Neither a mechani
Page 141 and 142:
Summary The third part of the work
Page 143 and 144:
7 Conclusions Conclusions The prese
Page 145 and 146:
8 References References Agrios, G.
Page 147 and 148:
References in California's Sacramen
Page 149 and 150:
References Johnson, W C and Mullini
Page 151 and 152:
References Schans, D. v. d. et al.
Page 153 and 154:
List of figures List of figures Fig
Page 155 and 156:
List of figures Figure 5.24 Scheme
Page 157 and 158:
Plant position 9 Appendix Table 9.1
Page 159 and 160:
Plant position Table 9.3 Detection
Page 161 and 162:
Page 163 and 164:
Page 165 and 166:
Page 167 and 168:
Page 169:
Personal data Education About the a
show all

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

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?