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

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5 Results and discussion Results and discussion The development process of the intra-row weeding tool can be divided in three almost independent research phases: detection of the plant centre position, development of the virtual prototype and development of the physical prototype. Considering this particular characteristics the results are reported separately for the each development phase separately. 5.1 Algorithm for detection of the plant centre position The algorithm for the detection of the plant centre position combines the context information of the planting pattern data with the spectral and typical geometrical characteristics of the crop plant. Before a detection can be started, features like: � average distance between the plants, � sampling distance, � size of the searching area, � minimum size (diameter) of the plant which will be identified as a crop plant and � maximal error inside the plant area need to be given as inputs in the algorithm. The sampling distance is changeable and it can be set from 1 to 50 mm depending on the plant intra-row distance and the plants average development stage. A size of the area in which a plant is expected, the minimum size of the plant and maximal error inside the plant area are directly dependent on the plant habit and growth stage. If one plant is represented with an array of TRUE and FALSE values, the maximal error inside the plant area will be the number of allowed FALSE values. An example of the plant definition is presented in Figure 5.1. 57
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Institut für Landtechnik der Rhein
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Development of a novel mechatronic
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Kurzfassung Entwicklung eines neuar
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Acknowledgements Acknowledgements M
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Table of contents Table of contents
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Glossary of abbreviations and symbo
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Symbol Unit Description Mmmax Nm Ma
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Symbol Unit Description Glossary of
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ωold ωout rad s -2 Latest rotatio
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Introduction The most frequently us
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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 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 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
Page 101 and 102: Results and discussion be mostly us
Page 103 and 104: Results and discussion With a hoein
Page 105 and 106: 5.3 Physical prototype of the hoein
Page 107 and 108: Results and discussion During the e
Page 109 and 110: Results and discussion outputs from
Page 111 and 112: Results and discussion According to
Page 113 and 114: Results and discussion Based on ind
Page 115 and 116: Results and discussion position of
Page 117 and 118: 5.3.5 Test bench for evaluation of
Page 119 and 120: Results and discussion Figure 5.24
Page 121 and 122: Results and discussion where zfront
Page 123 and 124: 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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