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

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Kurzfassung verwendet werden kann und unabhängig von den Lichtverhältnissen arbeitet. In den Versuchen betrug die maximale Abweichung des geschätzten Pflanzenmittelpunktes von dem gemessenen Mittelpunkt, ermittelt von dem RGB Sensor, 31 mm, wobei 50 % der Werte in einem Intervall von 0 bis 5 mm und 90 % der Werte in einem Intervall von 0 bis 16,9 mm lagen. Für den Laserabstandssensor lag die maximale Abweichung der geschätzten von den gemessenen Werten bei 25 mm, wobei in einem Intervall von 0 bis 3 mm 50 % der Werte und 90 % der Werte in einem Intervall von 0 bis 6, 9 mm lagen. Der Servomotor, der in dem Prototyp eingebaut war, wurde in einer Betriebsweise mit direkter Softwareregelung betrieben, die die Anpassung der Drehgeschwindigkeit entsprechend der Vorfahrtsgeschwindigkeit, dem Abstand der Pflanzen in der Reihe und der aktuellen Position der Hackarme vornimmt. Der Regelalgorithmus und die Software wurden mit Labview® erstellt. Die Hauptaufgabe des Regelalgorithmus ist die permanente Berechnung und Prüfung sowie Änderung der aktuellen Drehgeschwindigkeit des Hackorgans in Echtzeit. Die Software basiert auf einer Erweiterung der Software, die vorher für die Pflanzenerkennung benutzt wurde. Tests haben bestätigt, dass abhängig von Winkeleinstellung der Hackarme ein ausreichend unbearbeiteter Bereich um die Nutzpflanzen während des Hackvorganges in der Reihe belassen wird, um die Schädigung von Wurzeln durch das Hacksystem zu vermeiden. Das System ist in der Lage selbständig die Drehgeschwindigkeit des Hackwerkzeuges für den Fall nicht abrupter Geschwindigkeitsänderungen anzupassen. Nach einer schnellen Geschwindigkeitsänderung können einige Nutzpflanzen beschädigt werden bis das System wieder stabil arbeitet. Ein stabiler Zustand kann unmittelbar nach der Stabilisierungsperiode erreicht werden. Das dargestellte Konzept einer INTRA-Reihenhacke kann die gestellten Anforderungen erfüllen, es verfügt über ausreichend Freiheitsgrade, um die volle Anpassung an verschiedene Pflanzenarten, verschiedene Pflanzenabstände in der Reihe und Entwicklungsstadien der Nutzpflanzen zu erreichen.
Acknowledgements Acknowledgements Many people contributed, directly or indirectly, in shaping up my academic career and make it possible to complete this thesis. Here is a small tribute to all of them. First of all I would like to express my gratitude to Prof. Dr.-Ing. Peter Schulze Lammers my academic supervisor, who gave me the opportunity to become a member of the DFG Research Training Group GK 722 and study at the University of Bonn. I would like to thank him for his help from the very beginning of my application onward, for his constant encouragement and for giving me full autonomy throughout the entire time of my studies. His many helpful suggestions, detailed comments and critical reading of the manuscript were crucial for completing my thesis within a timeframe of 3 years. I really appreciate the trust he had in me. I am also grateful to Prof. Dr. Milan Martinov because our cooperation and wide ranging discussions which were not only about the scientific topics introduced me the funny side of the academic life. I am deeply indebted for his moral and all other types of supports during my M. Sc studies in Novi Sad. Professor Martinov was one of the main driving forces that I started an international academic carrier. I appreciate his willingness to be on my examination committee. I also take this opportunity to express my special gratitude to Prof. Dr. Mirjana Vojinovic – Miloradov without whose support I would never have reached this point. I owe her more than I could express here. Thanks to the academic staff of the Faculty of Technical Sciences in Novi Sad for supporting my idea to continue my studies in Germany. I am grateful for the valuable financial help that I have received from Dr. Erich- Christian Oerke, coordinator of the DFG Research Training Group 722, from the beginning onward for development of the prototype, attending scientific conferences and German language classes. In particular, I would like to thank him for his critical reading of the manuscript and suggestions. I wish to express my sincere gratitude to Prof. Dr.-Ing. habil. Jan-Welm Biermann, my second supervisor, for allowing his precious time to read the manuscript. I would like also to express my appreciation to Dr.-Ing. Lutz Damerow for his stimulating support, advices and very useful discussions.
Page 1 and 2: Institut für Landtechnik der Rhein
Page 3 and 4: Development of a novel mechatronic
Page 5: Kurzfassung Entwicklung eines neuar
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)
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4.1.2 Data acquisition 4.1.2.1 Hard
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4.1.4 Test objects Materials and me
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Materials and methods become a poss
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Materials and methods environments
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Materials and methods dimensions ne
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Materials and methods (PFM). As the
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Materials and methods A command sig
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Materials and methods The drive con
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Materials and methods Another tool
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Results and discussion 58 Figure 5.
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Results and discussion objects. Acc
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Results and discussion Plant positi
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Results and discussion Plant positi
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Results and discussion 70 5.1.4 Dis
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Results and discussion Connection b
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Results and discussion 76 5.2.1 Opt
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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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